![]() 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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