Box truck vehicle dimensions
Box truck is one of the vehicles that you can use within the 3D simulation environment. This environment is rendered using the Unreal Engine® from Epic Games®. The following diagram provides the dimensions of this vehicle. The height dimensions are with respect to the vertical ground plane. The length and width dimensions are with respect to the origin of the vehicle in the vehicle coordinate system. The origin is on the ground, at the geometric center of the vehicle. For more detailed views of these diagrams, see the Dimensions section.
To add this type of vehicle to the 3D simulation environment:
Add a Simulation 3D Vehicle with Ground Following block to your Simulink® model.
In this block, set the Type parameter to
Top-down view— Vehicle width dimensions
Side view— Vehicle length, front overhang, and rear overhang dimensions
Front view— Tire width and front axle dimensions
Rear view— Vehicle height and rear axle dimensions
In the 3D simulation sensor blocks, use the Mounting location parameter to mount sensors at predefined locations on the vehicle. The table shows the X, Y, and Z positions of the mounting locations relative to the vehicle origin. These locations are in the vehicle coordinate system, where:
The X-axis points forward from the vehicle.
The Y-axis points to the left of the vehicle, as viewed when facing forward.
The Z-axis points up from the ground.
Box Truck — Sensor Locations Relative to Vehicle Origin
|Mounting Location||X (m)||Y (m)||Z (m)|
When simulating a path planner in the 3D environment, the path planner must use a vehicle whose dimensions are consistent with the one used in the environment. To make these dimensions consistent, you can use a
Specify the dimensions of a Box Truck vehicle in a
vehicleDimensions object. Units are in meters. For an example that uses this object in a path planner, see Visualize Automated Parking Valet Using Unreal Engine Simulation.
centerToFront = 3.35; centerToRear = 2.19; frontOverhang = 1.25; rearOverhang = 2.41; vehicleWidth = 2.72; vehicleHeight = 4.01; vehicleLength = centerToFront + centerToRear + frontOverhang + rearOverhang; boxTruckDims = vehicleDimensions(vehicleLength,vehicleWidth,vehicleHeight, ... 'FrontOverhang',frontOverhang,'RearOverhang',rearOverhang)
boxTruckDims = vehicleDimensions with properties: Length: 9.2000 Width: 2.7200 Height: 4.0100 Wheelbase: 5.5400 RearOverhang: 2.4100 FrontOverhang: 1.2500 WorldUnits: 'meters'