Vehicle dimensions#
Vehicle axes and base_link#
The base_link frame is used very frequently throughout the Autoware stack, and is a projection of the rear-axle center onto the ground surface.
- Localization module outputs the
maptobase_linktransformation. - Planning module plans the poses for where the
base_linkframe should be in the future. - Control module tries to fit
base_linkto incoming poses.
Vehicle dimensions#
wheelbase#
The distance between front and rear axles.
track_width#
The distance between left and right wheels.
Overhangs#
Overhangs are part of the minimum safety box calculation.
When measuring overhangs, side mirrors, protruding sensors and wheels should be taken into consideration.
left_overhang#
The distance between the axis centers of the left wheels and the left-most point of the vehicle.
right_overhang#
The distance between the axis centers of the right wheels and the right-most point of the vehicle.
front_overhang#
The distance between the front axle and the foremost point of the vehicle.
rear_overhang#
The distance between the rear axle and the rear-most point of the vehicle.
vehicle_length#
Total length of the vehicle. Calculated by front_overhang + wheelbase + rear_overhang
vehicle_width#
Total width of the vehicle. Calculated by left_overhang + track_width + right_overhang
Wheel parameters#
wheel_width#
The lateral width of a wheel tire, primarily used for dead reckoning.
wheel_radius#
The radius of the wheel, primarily used for dead reckoning.
polygon_footprint#
The polygon defines the minimum collision area for the vehicle.
The points should be ordered clockwise, with the origin on the base_link.
Wheel orientations#
If the vehicle is going forward, a positive wheel angle will result in the vehicle turning left.
Autoware assumes the rear wheels don't turn on z axis.
Notice#
The vehicle used in the illustrations was created by xvlblo22 and is from https://www.turbosquid.com/3d-models/modular-sedan-3d-model-1590886.