ApolloAuto/apollo

What is the vehicle center? how to find front_edge_to_center & back_edge_to_center?

Closed this issue · 3 comments

the-arctic-sun commented

How to calculate the following values? How is the centre defined for the vehicle?

front_edge_to_center: 1.385
back_edge_to_center: 0.405
left_edge_to_center: 0.430
right_edge_to_center: 0.430

alexiskovi commented

@tanmoy-sabir, the center here means the center of mass of your vehicle

  • 👍1
haina0421 commented

Center of the vehicle could be defined as you want. You just need to compensate the difference into your calibration.
The most often used center:
IMU; center of rear axle; Mass(hard to find)

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daohu527 commented

Seems to be resolved, we will close this issue. If the problem persists, pls feel free to reopen it or create a new one and refer to it.