The Vehicle Cabin Coordinate System is the coordinate system attached to the cabin body suspended above the primary vehicle body (see Base Vehicle Coordinate System). In a truck configuration, the Base Vehicle Coordinate System refers to the tractor chassis. Future extensions will allow placement of sensors relative to other vehicle bodies.īase Vehicle Coordinate System Note In a passenger car configuration, the Base Vehicle Coordinate System refers to the car body, and is often simply referred to as the "rig". See ISO8855:2011(2.10, 2.12).Ĭurrently, the Base Vehicle Coordinate System is the one that dwRig relies on to describe all sensor positions.
The origin is fixed in the body and chosen as the mid-point of the (virtual) rear-axle, projected onto ground. The Y axis is horizontal, perpendicular to the X axis and pointing to the left, and the Z axis is vertical, perpendicular to both X and Y and pointing upwards. The axis system is fixed in the body such that, in nominal resting condition on horizontal ground, the X axis is horizontal, parallel to the vehicle's longitudinal plane of symmetry and pointing forwards. The Base Vehicle Coordinate System is the coordinate system attached to the primary vehicle body supported by suspension. Coordinate systems for a set of rigid bodies of a vehicle are described below. Vehicle coordinate systems are used to determine vehicle parameters, sensor placement and pose of objects in the environment relative to the vehicle.
The following sections describe the conventions for each coordinate system. The DriveWorks SDK defines multiple coordinate systems, given by dwCoordinateSystem.
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