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Box Truck

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:

  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.


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Top-down view of box truck with the origin marked in blue at its center and its width marked as 2.72 meters.

Side view of box truck with the origin marked in blue beneath its center and its length and overhang dimensions shown. The rear overhang is 2.41 meters. The distance from the rear overhang to the origin is 2.19 meters. The distance from the origin to the front overhang is 3.35 meters. The front overhang is 1.25 meters. The tire radius is 0.540 meters.

Front view of box truck with the origin marked in blue beneath its center and its front tire width and front axle dimensions shown. The front tire width is 0.32 meters. The front axle width is 2.25 meters.

Rear view of box truck with the origin marked in blue beneath its center and its rear tire width, rear axle dimensions, and height shown. The rear tire width is 0.30 meters. The rear axle width is 2.27 meters. The height from the ground to the tire center is 0.54 meters. The height from the tire center to the top of the vehicle is 3.47 meters.

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 LocationX (m)Y (m)Z (m)
Front bumper5.1000.60
Rear bumper–500.60

Right mirror


Left mirror


Rearview mirror


Hood center


Roof center


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, ...
boxTruckDims = 
  vehicleDimensions with properties:

           Length: 9.2000
            Width: 2.7200
           Height: 4.0100
        Wheelbase: 5.5400
     RearOverhang: 2.4100
    FrontOverhang: 1.2500
       WorldUnits: 'meters'