Haul Truck

R2026b

Mining haul truck in the Offroad Vehicle Library

Add-On Required: This feature requires the Robotics System Toolbox Offroad Autonomy Library add-on.

Mining and construction haul truck used for hauling material in open-pit mining and large construction sites. The haul truck has four wheels on two axles with front-wheel steering.

Description

The haul truck is the largest vehicle in the Offroad Vehicle Library, with wide track width and large wheels designed for wide haul roads in open-pit environments.

Load it programmatically with loadvehicle("haultruck") or add it to a Simulink^® model with the Simulation 3D Haul Truck block to simulate in an Unreal Engine^® scene.

MATLAB (rigidBodyTree)	Simulation 3D (Unreal Engine)

Dimensions

These illustrations show the dimensions and wheel positions of the haul truck.

The vehicleData structure returned by loadvehicle includes separate FrontTrackWidth and RearTrackWidth fields for this vehicle instead of a single TrackWidth value, since the front and rear tracks differ.

The rigidBodyTree model includes measurement frames such as front_axle_center and rear_axle_center. Use getTransform to obtain axle positions and distances programmatically.

The haul truck model is designed for kinematic workflows and does not include body inertia data.

Examples

Load Haul Truck and Visualize

Load the haul truck vehicle model and its associated data.

[truck,truckData] = loadvehicle("haultruck");
disp(truckData)

         VehicleName: "HaulTruck"
             Version: 1
           WheelBase: 7.2593
     FrontTrackWidth: 7.3328
      RearTrackWidth: 7.6919
         WheelRadius: 1.9747
    MinTurningRadius: 10.3674
     MaxForwardSpeed: 16.7000
     MaxReverseSpeed: 2.8000
         MotionModel: [1×1 bicycleKinematics]

Visualize the visual and collision meshes of the haul truck.

tiledlayout(1,2,TileSpacing="compact",Padding="compact")
sgtitle("Haul Truck Vehicle Model")
nexttile
show(truck);
title("Visual Meshes")
axis auto
nexttile
show(truck,Collisions="on",Visuals="off");
title("Collision Meshes")
axis auto