How to plot the world reference coordinate system of an birdsEye image?

How do I plot the world reference coordinate system for the image in 2D, i.e. the physical coordinate system of the vehicle, with the x-axis pointing in the forward direction of the vehicle and the y-axis pointing to the left side of the vehicle. x and y are both world coordinates, not image pixel coordinates. I have tried to use imref2d to construct the link between its coordinate systems and the image is drawn as follows, but the direction and position is wrong, how should I modify it to reach the physical coordinate system of the vehicle represented by the red arrow? Your answer would be greatly appreciate!

load data.mat
figure;
hobj = imshow(BEV,Ref) % Ref is imref2d object

hobj = 
  Image with properties:

           CData: [561×250×3 uint8]
    CDataMapping: 'direct'

  Show all properties

xlabel('X(m)');ylabel('Y(m)')

The red arrow coordinate system below is what I want：

Notes:

hobj can modify the position of the origin via hobj.XData, hobj.YData, but the axis direction is set to ax.YDir = ''reverse'' and the image is reversed, which of course is not what I It's not what I want.