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AutomotiveAIChallenge · May 27, 2024 · e9d1e92 · e9d1e92
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diff --git a/docs/specifications/.DS_Store b/docs/specifications/.DS_Store
diff --git a/docs/specifications/images/body-collider.png b/docs/specifications/images/body-collider.png
diff --git a/docs/specifications/images/colliders-object.png b/docs/specifications/images/colliders-object.png
diff --git a/docs/specifications/images/mesh-collider-component.png b/docs/specifications/images/mesh-collider-component.png
diff --git a/docs/specifications/images/rigidbody-component.png b/docs/specifications/images/rigidbody-component.png
diff --git a/docs/specifications/images/vehicle-appearance.png b/docs/specifications/images/vehicle-appearance.png
diff --git a/docs/specifications/images/vehicle-component.png b/docs/specifications/images/vehicle-component.png
diff --git a/docs/specifications/images/wheel-collider-component.png b/docs/specifications/images/wheel-collider-component.png
diff --git a/docs/specifications/images/wheel-collider.png b/docs/specifications/images/wheel-collider.png
diff --git a/docs/specifications/simulator.en.md b/docs/specifications/simulator.en.md
@@ -1,28 +1,69 @@
 # Simulator
 
 ## Overview
-This page provides detailed information related to the simulator.
-
-## Vehicle Specifications
-Below is a table of the specifications for the vehicle model created specifically for use in the simulator.
-
-| Item                     | Value     |
-| ------------------------ | --------- |
-| Vehicle Weight           | 160 kg    |
-| Overall Length           | 200 cm    |
-| Overall Width            | 145 cm    |
-| Front Wheel Diameter     | 24 cm     |
-| Front Wheel Width        | 13 cm     |
-| Front Wheel Tread        | 93 cm     |
-| Rear Wheel Diameter      | 24 cm     |
-| Rear Wheel Width         | 18 cm     |
-| Rear Wheel Tread         | 112 cm    |
-| Maximum Steering Angle   | 80°       |
-| Max Acceleration When Driving | 3.2 m/s^2 |
-
-## CoM Position
-CoM (Center of Mass) refers to the center of mass of the vehicle's Rigidbody. The CoM is strategically positioned at the center of the vehicle and at the height of the wheel axis.
+This page describes the specifications of the simulator used in the AI Challenge.
+
+The simulator is based on the open-source autonomous driving simulator "[AWSIM](https://github.com/tier4/AWSIM)" developed for Autoware.
+
+## Vehicle (Go-Kart)
+The vehicle conforms to the specifications of the [EGO Vehicle](https://tier4.github.io/AWSIM/Components/Vehicle/EgoVehicle/) in AWSIM and is designed with specifications close to an actual go-kart.
+
+![vehicle-appearance](./images/vehicle-appearance.png)
+
+### Parameters
+
+![vehicle-component](./images/vehicle-component.png)
+
+![rigidbody-component](./images/rigidbody-component.png)
+
+| Item                  | Value      |
+| --------------------- | ---------- |
+| Vehicle Weight        | 160 kg     |
+| Length                | 200 cm     |
+| Width                 | 145 cm     |
+| Front Wheel Diameter  | 24 cm      |
+| Front Wheel Width     | 13 cm      |
+| Front Wheel Tread     | 93 cm      |
+| Rear Wheel Diameter   | 24 cm      |
+| Rear Wheel Width      | 18 cm      |
+| Rear Wheel Tread      | 112 cm     |
+| Maximum Steering Angle| 80°        |
+| Maximum Acceleration  | 3.2 m/s^2  |
+
+### 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.
 
 ![side-view-of-com](./images/side-view-of-com.png)
 
-![top-view-of-com](./images/top-view-of-com.png)
+![top-view-of-com](./images/top-view-of-com.png)
+
+### Colliders
+The configuration of the Colliders object is as follows.
+
+![colliders-object](./images/colliders-object.png)
+
+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)
+
+### 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 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) has been developed to prevent inspector entry for the WheelCollider which ensures that friction is set to 0 and only wheel suspension and collisions are enabled. For more details, please see [this manual](https://docs.unity3d.com/Manual/class-WheelCollider.html).
+
+![wheel-collider-component](./images/wheel-collider-component.png)
+
+![wheel-collider](./images/wheel-collider.png)
+
+### Sensor Configuration
+TODO
diff --git a/docs/specifications/simulator.ja.md b/docs/specifications/simulator.ja.md
@@ -1,10 +1,20 @@
 # シミュレーター
 
 ## 概要
-本ページでは、シミュレーターに関連した項目について説明します。
+このページではAIチャレンジで使用されるシミュレーターの仕様について説明します。
 
-## 車両スペック
-シミュレーター用に作成した車両モデルのスペックを、以下の表に示します。
+シミュレーターは、Autowareのためのオープンソース自動運転シミュレーター「[AWSIM](https://github.com/tier4/AWSIM)」をベースとして作成されています。
+
+## 車両（ゴーカート）
+車両はAWSIMにおける[EGO Vehicle](https://tier4.github.io/AWSIM/Components/Vehicle/EgoVehicle/)の仕様に準拠しており、実際のゴーカートに近いスペックで作成されています。
+
+![vehicle-appearance](./images/vehicle-appearance.png)
+
+### パラメータ
+
+![vehicle-component](./images/vehicle-component.png)
+
+![rigidbody-component](./images/rigidbody-component.png)
 
 | 項目                | 値        |
 | ------------------ | --------- |
@@ -20,9 +30,40 @@
 | 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 |
 
-## CoM位置
+### 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。
 
 ![side-view-of-com](./images/side-view-of-com.png)
 
-![top-view-of-com](./images/top-view-of-com.png)
+![top-view-of-com](./images/top-view-of-com.png)
+
+### コライダー
+Collidersオブジェクトの構成は以下の通りです。
+
+![colliders-object](./images/colliders-object.png)
+
+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)
+
+### 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。
+
+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：
+
+- ホイールコライダーのステアリング角を更新する
+- 速度とターンの角度に応じて車輪の視覚部分を更新する
+- WheelHitオブジェクトに保存された車輪の接触情報を新する
+- 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開発されました。詳細は[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-component](./images/wheel-collider-component.png)
+
+![wheel-collider](./images/wheel-collider.png)
+
+### センサ構成
+TODO