Converting a Driving Scenario to occupancy grid map for path planning in Simulink

I have created a driving scenario using driving scenario designer app and exported the model to Simulink, but I am unable to create an updating occupancy grid map from the scenaio reader and the vision detection generator. I want to use it for vehicle motion planning. There is matlab code to generate the occupancy grid map from the scenario matlab function, and I was thinking to create a matlab function block in Simulink for generating the map. Could you please let me know if there is any way I can feed the scenario and the sensor information from the scenario simulink model to such a function block?