docs(components): add vehicle dimensions page

docs/design/autoware-interfaces/components/.pages

@@ -3,3 +3,4 @@ nav:
   - planning.md
   - control.md
   - vehicle-interface.md
+  - vehicle-dimensions.md

docs/design/autoware-interfaces/components/vehicle-dimensions.md

@@ -0,0 +1,83 @@
+# Vehicle dimensions
+
+## Vehicle axes and base_link
+
+![Vehicle Axes](images/vehicle_axes.svg){: style="width:500px"}
+
+The `base_link` frame is used very frequently throughout the stack, and is in the center of the rear axle.
+
+- Localization module outputs the `map` to `base_link` transformation.
+- Planning module plans the poses for where the `base_link` frame should be in the future.
+- Control module tries to fit `base_link` to incoming poses.
+
+## Vehicle dimensions
+
+![Vehicle Dimensions](images/vehicle_dimensions.svg){: style="width:550px"}
+
+### wheelbase
+
+The distance between front and rear axles.
+
+### track_width
+
+The distance between left and right wheels.
+
+### Overhangs
+
+Overhangs are part of the minimum safety box calculation.
+
+When measuring overhangs, side mirrors, protruding sensors and wheels should be taken into consideration.
+
+#### left_overhang
+
+The distance between the axis centers of the left wheels and the left-most point of the vehicle.
+
+#### right_overhang
+
+The distance between the axis centers of the right wheels and the right-most point of the vehicle.
+
+#### front_overhang
+
+The distance between the front axle and the foremost point of the vehicle.
+
+#### rear_overhang
+
+The distance between the rear axle and the rear-most point of the vehicle.
+
+### vehicle_length
+
+Total length of the vehicle. Calculated by `front_overhang + wheelbase + rear_overhang`
+
+### vehicle_width
+
+Total width of the vehicle. Calculated by `left_overhang + track_width + right_overhang`
+
+### Wheel parameters
+
+![Wheel Dimensions](images/wheels.svg){: style="width:350px"}
+
+#### wheel_width
+
+The lateral width of a wheel tire, primarily used for dead reckoning.
+
+#### wheel_radius
+
+The radius of the wheel, primarily used for dead reckoning.
+
+### polygon_footprint
+
+![Wheel Dimensions](images/polygon_footprint.svg){: style="width:350px"}
+
+The polygon defines the minimum collision area for the vehicle.
+
+The points should be ordered clockwise, with the origin on the `base_link`.
+
+## Wheel orientations
+
+If the vehicle is going forward, a positive wheel angle will result in the vehicle turning left.
+
+Autoware assumes the rear wheels don't turn on `z` axis.
+
+## Notice
+
+The vehicle used in the illustrations was created by xvlblo22 and is from <https://www.turbosquid.com/3d-models/modular-sedan-3d-model-1590886>.