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syn-rei-tomita authored and dazzhe committed Jun 10, 2024
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135 changes: 121 additions & 14 deletions docs/specifications/simulator.en.md
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Expand Up @@ -11,12 +11,9 @@ The vehicle conforms to the specifications of the [EGO Vehicle](https://tier4.gi
![vehicle-appearance](./images/vehicle-appearance.png)

### Parameters
The following table summarizes the vehicle parameters.

![vehicle-component](./images/vehicle-component.png)

![rigidbody-component](./images/rigidbody-component.png)

| Item | Value |
| **Item** | **Value** |
| --------------------- | ---------- |
| Vehicle Weight | 160 kg |
| Length | 200 cm |
Expand All @@ -30,6 +27,60 @@ The vehicle conforms to the specifications of the [EGO Vehicle](https://tier4.gi
| Maximum Steering Angle| 80° |
| Maximum Acceleration | 3.2 m/s^2 |

#### Vehicle Script
The following table summarizes the contents of the Vehicle Script. For more information, see [this manual](https://tier4.github.io/AWSIM/Components/Vehicle/EgoVehicle/#vehicle-script).

| **Item** | **Value** |
| ------------------------------- | ------------------------- |
| **Vehicle Settings** | |
| Center Of Mass Transform | CoM (Transform) |
| Use Inertia | Off |
| Inertia | X: 15, Y: 25, Z: 20 |
| **Physics Settings (experimental)** | |
| Sleep Velocity Threshold | 0.02 |
| Sleep Time Threshold | 0 |
| Skidding Cancel Rate | 0.236 |
| **Axles Settings** | |
| **Front Axle** | |
| Left Wheel | FrontLeftWheel (Wheel) |
| Right Wheel | FrontRightWheel (Wheel) |
| **Rear Axle** | |
| Left Wheel | RearLeftWheel (Wheel) |
| Right Wheel | RearRightWheel (Wheel) |
| **Input Settings** | |
| Max Steer Angle Input | 80 |
| Max Acceleration Input | 3.2 |
| **Inputs** | |
| Automatic Shift Input | DRIVE |
| Acceleration Input | 0 |
| Steer Angle Input | 0 |
| Signal Input | NONE |

#### Rigidbody Component
The following table summarizes the contents of the Rigidbody component. For more information, see [this manual](https://tier4.github.io/AWSIM/Components/Vehicle/EgoVehicle/#rigidbody).

| **Item** | **Value** |
|-------------------------|-----------------|
| Mass | 160 |
| Drag | 0 |
| Angular Drag | 0 |
| Use Gravity | On |
| Is Kinematic | Off |
| Interpolate | Interpolate |
| Collision Detection | Continuous Dynamic |
| **Constraints** | |
| Freeze Position | X: Off, Y: Off, Z: Off |
| Freeze Rotation | X: Off, Y: Off, Z: Off |
| **Info** | |
| Speed | 0 |
| Velocity | X: 0, Y: 0, Z: 0 |
| Angular Velocity | X: 0, Y: 0, Z: 0 |
| Inertia Tensor | X: 38.50399, Y: 57.13089, Z: 23.12513 |
| Inertia Tensor Rotation | X: 0.069100, Y: 359.208, Z: 359.8651 |
| Local Center of Mass| X: 0.002359, Y: 0.2155101, Z: 0.0887787 |
| World Center of Mass| X: 375.2133, Y: 7.30751, Z: -4.844843 |
| Sleep State | Awake |

### CoM Position
CoM (Center of Mass) is the mass center of the vehicle Rigidbody. The CoM position is set at the center of the vehicle and at the height of the wheel axles.

Expand All @@ -44,26 +95,82 @@ The configuration of the Colliders object is as follows.

Colliders ensure that the vehicle can make contact with other objects. The MeshCollider component takes the mesh of the vehicle object and constructs a collider based on it.

![mesh-collider-component](./images/mesh-collider-component.png)

![body-collider](./images/body-collider.png)

#### Mesh Collider Component
The following table summarizes the contents of the Mesh Collider component. For more details, please refer to [this manual](https://tier4.github.io/AWSIM/Components/Vehicle/EgoVehicle/#bodycollider).

| **Item** | **Value** |
| ----------------- | ------------------- |
| Convex | On |
| Is Trigger | Off |
| Cooking Options | Cook For Faster Simulation |
| 　　　　　　　　 | Enable Mesh Cleaning |
| 　　　　　　　　 | Weld Colocated Vertices |
| 　　　　　　　　 | Use Fast Midphase |
| Material | None (Physic Material) |
| Mesh | Collision |


### Wheel Colliders
The vehicle has a total of four wheel colliders, one for each wheel, in addition to the visual objects related to the wheels. Wheel colliders are the only parts that make contact with the road.
The vehicle has a total of four wheel colliders, one for each wheel, in addition to the visual objects related to the wheels. Wheel colliders are the only parts that make contact with the road.Note that the simulations are performed using an equivalent four-wheel model, not an equivalent two-wheel model.

The Wheel (script) provides a reference to the collider and visual object for the particular wheel. This allows the Vehicle (script) to perform certain actions on each of the wheels, such as:
![wheel-collider](./images/wheel-collider.png)


The Wheel script provides a reference to the collider and visual object for the particular wheel. This allows the Vehicle script to perform certain actions on each of the wheels, such as:

- Update the steering angle in the WheelCollider.
- Update the visual part of the wheel depending on the speed and angle of the turn.
- Update the wheel contact information stored in the WheelHit object.
- Update the force exerted by the tire forward and sideways depending on the acceleration (including cancellation of skidding).
- Ensure setting the tire sleep (it is impossible to put Rigidbody to sleep, but putting all wheels to sleep allows to get closer to this effect).

The Wheel Collider Config script is designed to prevent inspector input for wheel colliders, set friction to zero, and only enable wheel suspension and collisions. For more details on wheel colliders, please refer to [this manual](https://docs.unity3d.com/Manual/class-WheelCollider.html).

![wheel-collider-component](./images/wheel-collider-component.png)

![wheel-collider](./images/wheel-collider.png)
The Wheel Collider Config script is designed to prevent inspector input for wheel colliders, set friction to zero, and only enable wheel suspension and collisions. For more details on wheel colliders, please refer to [this manual](https://tier4.github.io/AWSIM/Components/Vehicle/EgoVehicle/#wheels-colliders).

#### Wheel Collider Component
| **Item** | **Value** |
| -------------------------- | ------------------------------ |
| Mass | 1 |
| Radius | 0.12 |
| Wheel Damping Rate | 0.25 |
| Suspension Distance | 0.001 |
| Force App Point Distance | 0 |
| Center (X, Y, Z) | (0, 0, 0) |
| **Suspension Spring** | |
| Spring (N/m) | 35000 |
| Damper (N*s/m) | 3500 |
| Target Position | 0.01 |
| **Forward Friction** | |
| Extremum Slip | 0 |
| Extremum Value | 0 |
| Asymptote Slip | 0 |
| Asymptote Value | 0 |
| Stiffness | 0 |
| **Sideways Friction** | |
| Extremum Slip | 0 |
| Extremum Value | 0 |
| Asymptote Slip | 0 |
| Asymptote Value | 0 |
| Stiffness | 0 |

#### Wheel Script

| **Item** | **Value** |
| ------------------------ | -------------------------------------- |
| Wheel Collider | RearLeftWheel (Wheel Collider) |
| Wheel Visual Transform | RearLeftWheel (Transform) |

#### Wheel Collider Config Script

| **Item** | **Value** |
| ------------------------ | --------- |
| Radius (m) | 0.12 |
| Suspension Distance (m) | 0.001 |
| **Suspension Spring** | |
| Spring (N/m) | 35000 |
| Damper (N*s/m) | 3500 |
| Target Position | 0.01 |

### Sensor Configuration
TODO
130 changes: 118 additions & 12 deletions docs/specifications/simulator.ja.md
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Expand Up @@ -11,12 +11,9 @@
![vehicle-appearance](./images/vehicle-appearance.png)

### パラメータ
車両のパラメータを以下の表にまとめています。

![vehicle-component](./images/vehicle-component.png)

![rigidbody-component](./images/rigidbody-component.png)

| 項目 | 値 |
| **項目** | **値** |
| ------------------ | --------- |
| 車両重量 | 160 kg |
| 全長 | 200 cm |
Expand All @@ -30,6 +27,60 @@
| 最大ステアリング転舵角 | 80 ° |
| 駆動時最大加速度 | 3.2 m/s^2 |

#### Vehicle スクリプト
Vehicle スクリプトの内容を以下の表にまとめています。詳細については[こちらのマニュアル](https://tier4.github.io/AWSIM/Components/Vehicle/EgoVehicle/#vehicle-script)をご覧ください。

| **項目** | **値** |
| ------------------------------- | ------------------------- |
| **Vehicle Settings** | |
| Center Of Mass Transform | CoM (Transform) |
| Use Inertia | Off |
| Inertia | X: 15, Y: 25, Z: 20 |
| **Physics Settings (experimental)** | |
| Sleep Velocity Threshold | 0.02 |
| Sleep Time Threshold | 0 |
| Skidding Cancel Rate | 0.236 |
| **Axles Settings** | |
| **Front Axle** | |
| Left Wheel | FrontLeftWheel (Wheel) |
| Right Wheel | FrontRightWheel (Wheel) |
| **Rear Axle** | |
| Left Wheel | RearLeftWheel (Wheel) |
| Right Wheel | RearRightWheel (Wheel) |
| **Input Settings** | |
| Max Steer Angle Input | 80 |
| Max Acceleration Input | 3.2 |
| **Inputs** | |
| Automatic Shift Input | DRIVE |
| Acceleration Input | 0 |
| Steer Angle Input | 0 |
| Signal Input | NONE |

#### Rigidbody コンポーネント
Rigidbody コンポーネントの内容を以下の表にまとめています。詳細については[こちらのマニュアル](https://tier4.github.io/AWSIM/Components/Vehicle/EgoVehicle/#rigidbody)をご覧ください。

| **項目** | **値** |
|-------------------------|-----------------|
| Mass | 160 |
| Drag | 0 |
| Angular Drag | 0 |
| Use Gravity | On |
| Is Kinematic | Off |
| Interpolate | Interpolate |
| Collision Detection | Continuous Dynamic |
| **Constraints** | |
| Freeze Position | X: Off, Y: Off, Z: Off |
| Freeze Rotation | X: Off, Y: Off, Z: Off |
| **Info** | |
| Speed | 0 |
| Velocity | X: 0, Y: 0, Z: 0 |
| Angular Velocity | X: 0, Y: 0, Z: 0 |
| Inertia Tensor | X: 38.50399, Y: 57.13089, Z: 23.12513 |
| Inertia Tensor Rotation | X: 0.069100, Y: 359.208, Z: 359.8651 |
| Local Center of Mass| X: 0.002359, Y: 0.2155101, Z: 0.0887787 |
| World Center of Mass| X: 375.2133, Y: 7.30751, Z: -4.844843 |
| Sleep State | Awake |

### CoM位置
CoM(Center of Mass)は、車両Rigidbodyの質量中心です。CoM位置は、車両の中心かつ車輪軸の高さに設定されています。

Expand All @@ -44,12 +95,26 @@ Collidersオブジェクトの構成は以下の通りです。

コライダーは、車両が他のオブジェクトと接触できるように設定します。MeshColliderコンポーネントは車両オブジェクトのメッシュを取得し、それに基づいてコライダーを構築します。

![mesh-collider-component](./images/mesh-collider-component.png)

![body-collider](./images/body-collider.png)

#### Mesh Collider コンポーネント
Mesh Collider コンポーネントの内容を以下の表にまとめています。詳細については[こちらのマニュアル](https://tier4.github.io/AWSIM/Components/Vehicle/EgoVehicle/#bodycollider)をご覧ください。

| **項目** | **値** |
| ----------------- | ------------------- |
| Convex | On |
| Is Trigger | Off |
| Cooking Options | Cook For Faster Simulation |
| 　　　　　　　　 | Enable Mesh Cleaning |
| 　　　　　　　　 | Weld Colocated Vertices |
| 　　　　　　　　 | Use Fast Midphase |
| Material | None (Physic Material) |
| Mesh | Collision |

### ホイールコライダー
車両は、車輪に関連する視覚オブジェクトとともに、各車輪に1つずつ、合計4つのホイールコライダーを持ちます。ホイールコライダーが、道路と接触する唯一の部分です。
車両は、車輪に関連する視覚オブジェクトとともに、各車輪に1つずつ、合計4つのホイールコライダーを持ちます。ホイールコライダーが、道路と接触する唯一の部分です。なお、シミュレーションは等価二輪モデルではなく、等価四輪モデルで行っています。

![wheel-collider](./images/wheel-collider.png)

Wheelスクリプトは特定の車輪のコライダーと視覚オブジェクトへの参照を提供します。これにより、Vehicleスクリプトは各車輪に対して以下のようなアクションを実行できるようになります：

Expand All @@ -59,11 +124,52 @@ Wheelスクリプトは特定の車輪のコライダーと視覚オブジェク
- 加速（スキッドのキャンセルを含む）に応じてタイヤが前方および側方に及ぼす力を更新する
- タイヤのスリープ設定を保証する（Rigidbodyをスリープ状態にすることは不可能ですが、すべての車輪をスリープ状態にすることで、この効果に近づけます）。

Wheel Collider Configスクリプトは、ホイールコライダーに対するインスペクター入力を防ぎ、摩擦を0に設定し、車輪のサスペンションと衝突のみを有効にするために設定されています。ホイールコライダーの詳細については[こちらのマニュアル](https://docs.unity3d.com/Manual/class-WheelCollider.html)をご覧ください。
Wheel Collider Configスクリプトは、ホイールコライダーに対するインスペクター入力を防ぎ、摩擦を0に設定し、車輪のサスペンションと衝突のみを有効にするために設定されています。ホイールコライダーの詳細については[こちらのマニュアル](https://tier4.github.io/AWSIM/Components/Vehicle/EgoVehicle/#wheels-colliders)をご覧ください。

#### Wheel Collider コンポーネント
| **項目** | **値** |
| -------------------------- | ------------------------------ |
| Mass | 1 |
| Radius | 0.12 |
| Wheel Damping Rate | 0.25 |
| Suspension Distance | 0.001 |
| Force App Point Distance | 0 |
| Center (X, Y, Z) | (0, 0, 0) |
| **Suspension Spring** | |
| Spring (N/m) | 35000 |
| Damper (N*s/m) | 3500 |
| Target Position | 0.01 |
| **Forward Friction** | |
| Extremum Slip | 0 |
| Extremum Value | 0 |
| Asymptote Slip | 0 |
| Asymptote Value | 0 |
| Stiffness | 0 |
| **Sideways Friction** | |
| Extremum Slip | 0 |
| Extremum Value | 0 |
| Asymptote Slip | 0 |
| Asymptote Value | 0 |
| Stiffness | 0 |

#### Wheel スクリプト

| **項目** | **値** |
| ------------------------ | -------------------------------------- |
| Wheel Collider | RearLeftWheel (Wheel Collider) |
| Wheel Visual Transform | RearLeftWheel (Transform) |

#### Wheel Collider Config スクリプト

| **項目** | **値** |
| ------------------------ | --------- |
| Radius (m) | 0.12 |
| Suspension Distance (m) | 0.001 |
| **Suspension Spring** | |
| Spring (N/m) | 35000 |
| Damper (N*s/m) | 3500 |
| Target Position | 0.01 |

![wheel-collider-component](./images/wheel-collider-component.png)

![wheel-collider](./images/wheel-collider.png)

### センサ構成
TODO

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