Box Truck

Box truck vehicle dimensions

Description

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:

1. Add a Simulation 3D Vehicle with Ground Following block to your Simulink^® model.

2. In this block, set the Type parameter to Box truck.

Dimensions

Top-down view — Vehicle width dimensions

diagram

Side view — Vehicle length, front overhang, and rear overhang dimensions

diagram

Front view — Tire width and front axle dimensions

diagram

Rear view — Vehicle height and rear axle dimensions

diagram

Sensor Mounting Locations

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)
Front bumper	5.10	0	0.60
Rear bumper	–5	0	0.60
Right mirror	2.90	1.60	2.10
Left mirror	2.90	–1.60	2.10
Rearview mirror	2.60	0.20	2.60
Hood center	3.80	0	2.10
Roof center	1.30	0	4.20

Specify Box Truck Vehicle Dimensions

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 vehicleDimensions object.

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'