From c063c09092a9df34cc5705ba3db11948079fffd1 Mon Sep 17 00:00:00 2001 From: syn_ReiTomita Date: Thu, 23 May 2024 18:39:05 +0900 Subject: [PATCH 1/6] Add Vehicle Specifications and CoM Position --- docs/specifications/.DS_Store | Bin 0 -> 6148 bytes docs/specifications/simulator.en.md | 85 +++++++--------------------- docs/specifications/simulator.ja.md | 51 ++--------------- 3 files changed, 27 insertions(+), 109 deletions(-) create mode 100644 docs/specifications/.DS_Store diff --git a/docs/specifications/.DS_Store b/docs/specifications/.DS_Store new file mode 100644 index 0000000000000000000000000000000000000000..3dcb30bfded4f8ed2231c2157525039c515bf1b9 GIT binary patch literal 6148 zcmeHK%}N6?5T03!Rs`+Qi;yQM_y%jK2hYBMZP!+1?LvR>x_95fSMd2f={J+1w7V&I z5J8!N$(Lm3%VfWV&4!40ur4l%dPLNP3uebC5+={ZTb5bR5s-C^7aGxm?x_!V`wI%l z+MUvau3JId>o>0ywk9x+f96bOl@iS74)nd>;Z_FgL6t>Zb#RUIBm|bgQ8*zlp*LhPh!K z5l>(oslZ5OyJB#pqd!<&ZdgZ*bYi=Fuw`bup|EDh_(8*o^N3!$0^~6<}^y SM???Ie*{zpFI<6NRp1M0`F33Z literal 0 HcmV?d00001 diff --git a/docs/specifications/simulator.en.md b/docs/specifications/simulator.en.md index 096ed96..69b2b6f 100644 --- a/docs/specifications/simulator.en.md +++ b/docs/specifications/simulator.en.md @@ -1,69 +1,28 @@ # Simulator ## Overview -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. +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. ![side-view-of-com](./images/side-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 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) - -### Sensor Configuration -TODO \ No newline at end of file +![top-view-of-com](./images/top-view-of-com.png) \ No newline at end of file diff --git a/docs/specifications/simulator.ja.md b/docs/specifications/simulator.ja.md index 45f567e..b78ded5 100644 --- a/docs/specifications/simulator.ja.md +++ b/docs/specifications/simulator.ja.md @@ -1,20 +1,10 @@ # シミュレーター ## 概要 -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。 +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。 -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) +## 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。 | 項目 | 値 | | ------------------ | --------- | @@ -30,40 +20,9 @@ | 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) - -### 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更新する -- 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-component](./images/wheel-collider-component.png) - -![wheel-collider](./images/wheel-collider.png) - -### センサ構成 -TODO \ No newline at end of file +![top-view-of-com](./images/top-view-of-com.png) \ No newline at end of file From 8d49bc3e1348d611bc7e93c4a9b26fe90b9019f8 Mon Sep 17 00:00:00 2001 From: syn_ReiTomita Date: Mon, 27 May 2024 19:36:00 +0900 Subject: [PATCH 2/6] Change configuration --- docs/specifications/.DS_Store | Bin 6148 -> 6148 bytes docs/specifications/simulator.en.md | 85 +++++++++++++++++++++------- docs/specifications/simulator.ja.md | 51 +++++++++++++++-- 3 files changed, 109 insertions(+), 27 deletions(-) diff --git a/docs/specifications/.DS_Store b/docs/specifications/.DS_Store index 3dcb30bfded4f8ed2231c2157525039c515bf1b9..93cceac904d04d22c472bc00421ea9914a3a818c 100644 GIT binary patch delta 295 zcmZoMXfc=|#>B!ku~2NHo+2aX#(>?7iw`g}F>+4kVOl=9or$+Tsl2!#DJMUPfq`LL zQbA5;afyM!HAW_87FITP4h{}(j@aOg{PN(E#FEltr^KRY5HBP@KPL&sPD~2ROf8QW z5OL1WD@n}EODzIx$V^EEDv1ft%uC5Hcgio#ODP8H4TeZ?aB_0S3y4+6SDTvaC>Yf0 zC{!C785!#+n46o{)^c))D(hPZ#b@W_=H+()odyJqj1ZcE7fQpZP9TGgA(J7OA(0`S zA(f%HEVw8yCqFM8D9*Tf15+l`W_AvK4qz~B-pKr&c{0C(^b delta 67 zcmZoMXfc=|#>B)qu~2NHo+2ar#(>?7jO>$nSe9>I$ePBqvEd!lW_AvK4xp0Ff*jwO VC-aLqaxee^BLf4=<_M8B%m8Ya5Q_i+ diff --git a/docs/specifications/simulator.en.md b/docs/specifications/simulator.en.md index 69b2b6f..ceb6a56 100644 --- 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) \ No newline at end of file +![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 \ No newline at end of file diff --git a/docs/specifications/simulator.ja.md b/docs/specifications/simulator.ja.md index b78ded5..05bccc6 100644 --- 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) \ No newline at end of file +![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 \ No newline at end of file From c0a0c94b1c321ebf4d47ceedad570c85c1f7f0b2 Mon Sep 17 00:00:00 2001 From: Rei TOMITA Date: Tue, 28 May 2024 14:43:14 +0900 Subject: [PATCH 3/6] fix Wheel script and Wheel Collider Config script --- docs/specifications/simulator.en.md | 2 +- docs/specifications/simulator.ja.md | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/docs/specifications/simulator.en.md b/docs/specifications/simulator.en.md index ceb6a56..096ed96 100644 --- a/docs/specifications/simulator.en.md +++ b/docs/specifications/simulator.en.md @@ -59,7 +59,7 @@ The Wheel (script) provides a reference to the collider and visual object for th - 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). +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) diff --git a/docs/specifications/simulator.ja.md b/docs/specifications/simulator.ja.md index 05bccc6..45f567e 100644 --- a/docs/specifications/simulator.ja.md +++ b/docs/specifications/simulator.ja.md @@ -55,11 +55,11 @@ 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 - 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 +- WheelHitオブジェクトに保存された車輪の接触情報を更新する - 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 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-component](./images/wheel-collider-component.png) From 6bcd88dd8b6b65c2d91b42e4d7760c692c0a2d2a Mon Sep 17 00:00:00 2001 From: Rei TOMITA Date: Tue, 28 May 2024 19:54:26 +0900 Subject: [PATCH 4/6] chore: remove .DS_Store files --- docs/specifications/.DS_Store | Bin 6148 -> 0 bytes 1 file changed, 0 insertions(+), 0 deletions(-) delete mode 100644 docs/specifications/.DS_Store diff --git a/docs/specifications/.DS_Store b/docs/specifications/.DS_Store deleted file mode 100644 index 93cceac904d04d22c472bc00421ea9914a3a818c..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 6148 zcmeHKO>fgM7=GQAEnxzB0K^3;64z>ULsJi2LN^Xv34#Nlk}PElWcHM#Lkfkf_}V7Jc952)P`I; z_Z^=HujfHmS$Gn@37kaV95)CS>UZU0%J&WUA_sn##1)+{iR| 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za3Wq`wiX2x=ay99$VWZI2i*lM-)G7AcP<>~NqN;5M$0uM^h06;Pmg+J&0~!Kweo<^ zA)seSUB`d3{U1wUh!;@27QY%6H^Q&&WaPwQ;^dt{)hE^Ds?%{R96!A{DxABjju?w!Oelc4-s`F?2_;M-yS|w;810u zToZ9#+Icg5nF145Kq@Tf=C08yzWPG)a;dJ`4UP_}k=hUjTZ8-ZZT{mYjI9`bQiFG& z0fGzicIa_{xIe9E(aVDsg(hHYFz$cLZ2O@TdXL_@z(V%_gyF)BzF%`83`g7P0=|C+ z)%MW`mD%l6ym~J*RFO>o`w$uXhQiJ^Rv%6H0^vWC{sGbUKO~?2Jy77IxW8Cx8efP6 z(Vy3slb}ZiJN|##jrjC$!eHe`PB)3@ul>7#qW}Hmzni|`|A_Vfz5Rcq6N9-{9}lU< oe@pl80?Yo#2LIjR(rn+$ye8tlnrh&O0njfsC2hqDd8^R>0}@Z=g#Z8m diff --git a/docs/specifications/simulator.en.md b/docs/specifications/simulator.en.md index 096ed96..bbe0a4a 100644 --- a/docs/specifications/simulator.en.md +++ b/docs/specifications/simulator.en.md @@ -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 | @@ -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. @@ -44,14 +95,30 @@ 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. @@ -59,11 +126,51 @@ The Wheel (script) provides a reference to the collider and visual object for th - 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 \ No newline at end of file diff --git a/docs/specifications/simulator.ja.md b/docs/specifications/simulator.ja.md index 45f567e..58f2842 100644 --- a/docs/specifications/simulator.ja.md +++ b/docs/specifications/simulator.ja.md @@ -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 | @@ -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。 @@ -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： @@ -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 \ No newline at end of file From f8757feee114696d00a89a99af7ec922c29eb45f Mon Sep 17 00:00:00 2001 From: Kazumasa Sakiyama Date: Mon, 10 Jun 2024 21:32:37 +0900 Subject: [PATCH 6/6] fix: revise vehicle specification document --- docs/specifications/simulator.en.md | 105 ++------------------------- docs/specifications/simulator.ja.md | 107 +++------------------------- 2 files changed, 15 insertions(+), 197 deletions(-) diff --git a/docs/specifications/simulator.en.md b/docs/specifications/simulator.en.md index bbe0a4a..961517e 100644 --- a/docs/specifications/simulator.en.md +++ b/docs/specifications/simulator.en.md @@ -27,59 +27,29 @@ The following table summarizes the vehicle parameters. | 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). +#### Vehicle Component +The following table summarizes the settings of the Vehicle component. For detailed information of the setting items, 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). +The following table summarizes the settings 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. @@ -88,89 +58,28 @@ CoM (Center of Mass) is the mass center of the vehicle Rigidbody. The CoM positi ![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. +### Vehicle Collider +Vehicle collider is used to detect collision between the vehicle and other objects or checkpoints. The vehicle collider is created based on the mesh of the vehicle object. ![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.Note that the simulations are performed using an equivalent four-wheel model, not an equivalent two-wheel model. +The vehicle has a total of four wheel colliders - one for each wheel, simulating the vehicle on a four-wheel model, rather than a kinematic bicycle model. ![wheel-collider](./images/wheel-collider.png) +The Wheel Collider is set as follows. For more details on wheel colliders, please refer to [this manual](https://tier4.github.io/AWSIM/Components/Vehicle/EgoVehicle/#wheels-colliders). -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://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 \ No newline at end of file diff --git a/docs/specifications/simulator.ja.md b/docs/specifications/simulator.ja.md index 58f2842..837d7d8 100644 --- a/docs/specifications/simulator.ja.md +++ b/docs/specifications/simulator.ja.md @@ -27,59 +27,28 @@ | 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。 +#### Vehicleコンポーネント +Vehicleコンポーネントの設定内容を以下の表にまとめています。各項目の詳細については[こちらのマニュアル](https://tier4.github.io/AWSIM/Components/Vehicle/EgoVehicle/#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。 +#### Rigidbodyコンポーネント +Rigidbodyコンポーネントの設定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。 @@ -88,88 +57,28 @@ CoM(Center of Mass)は、車両Rigidbodyの質量中心です。CoM位置は、 ![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。 +### 車両コライダー +車両コライダーは、車両と他オブジェクトやチェックポイントとの接触判定に利用されます。車両コライダーは車両オブジェクトのメッシュをベースとして作成されています。 ![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。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。 +車両には各車輪に1つずつ、合計4つのホイールコライダーが設定されており、等価二輪モデルではなく四輪モデルでの車両シミュレーションが行われています。 ![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： +ホイールコライダーは以下のよう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。 -- 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更新する -- 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 | - ### センサ構成 TODO \ No newline at end of file