How to the tracking data out from the multi object tracking block

I have created this kind of simulink system to detect a object using radar sensor.

Now I need take this sensored data out from the multi object tracker and stop the vehicle.

But I don't know how to do this.

Can you you tell me what kind of blocks should I used to do this?

Answer 1

[Harsh]

Hi @supun dassanayake,

Assuming that by “stop the vehicle” you mean halting the Simulink simulation to represent the vehicle coming to a stop when an object breaches a safety distance. In practice, that boolean signal could instead drive your brake-command logic.

Here's an overview of how you can achieve this:

1. Extract & Preprocess Tracked-Object Data:

• Use a "Bus Selector" block to pull out the "ConfirmedTracks" bus from the Multi-Object Tracker output (gives you an array of track buses).
• Use "Bus to Vector" to flatten each track bus into a vector of fields.
• Finally you can use a "Math Function" block to compute the Euclidean distance for each [x y] pair.

2. Evaluate Proximity & Trigger Stop

• Use the "Relational Operator" to compare the distance vector against your stopping threshold.
• Finally you can use the "Stop Simulation" block which halts the simulation to simulate an emergency stop when the comparator outputs true.

Refer to the following documentation pages for the blocks mentioned in the above answer:

• Bus Selector: https://www.mathworks.com/help/simulink/slref/busselector.html

• Bus to Vector: https://www.mathworks.com/help/simulink/slref/bustovector.html

• Math Function: https://www.mathworks.com/help/simulink/slref/mathfunction.html

• Relational Operator: https://www.mathworks.com/help/simulink/slref/relationaloperator.html

• Stop Simulation: https://www.mathworks.com/help/simulink/slref/stopsimulation.html