Different coordinate systems. Due to the side view, only two of the three coordinate axes are drawn for most of the coordinate systems. The direction of the third coordinate axis can be inferred using the fact that all these coordinate systems are right-handed. Apart from the world frame, all frames are attached to the vehicle, which means that their origin moves with the vehicle, and their axes are defined based on the vehicle’s forwards, left, and up directions. Note that in general the $X_w$-$Y_w$ plane is not parallel to the road. However, in the Carla simulator this is often the case.¶