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Modified AWSIM vehicle's turning behavior #176

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Modified AWSIM vehicle's turning behavior #176

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1d07172
Modified AWSIM vehicle's turning behavior
TGW795 Aug 8, 2023
428b21c
Minor modifications and additions
TGW795 Aug 17, 2023
a9e499a
Merge branch 'main' into feature/vehicle-turning-modified
TGW795 Aug 17, 2023
8dcbfa7
Added test environment for vehicle's turning experiments.
TGW795 Sep 12, 2023
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101 changes: 53 additions & 48 deletions Assets/AWSIM/Scenes/Main/AutowareSimulation.unity
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I don't think this scene needs to be changed.

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Restored the original value for m_IndirectSpecularColor.

Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ RenderSettings:
m_ReflectionIntensity: 1
m_CustomReflection: {fileID: 0}
m_Sun: {fileID: 0}
m_IndirectSpecularColor: {r: 1536.168, g: 1903.334, b: 2519.2246, a: 1}
m_IndirectSpecularColor: {r: 0, g: 0, b: 0, a: 1}
m_UseRadianceAmbientProbe: 0
--- !u!157 &3
LightmapSettings:
Expand Down Expand Up @@ -520,6 +520,7 @@ MonoBehaviour:
m_Name:
m_EditorClassIdentifier:
meshSource: 2
semanticCategoryDictionaryFile:
--- !u!114 &543989982
MonoBehaviour:
m_ObjectHideFlags: 0
Expand Down Expand Up @@ -4019,6 +4020,53 @@ MonoBehaviour:
m_Script: {fileID: 11500000, guid: 23c1ce4fb46143f46bc5cb5224c934f6, type: 3}
m_Name:
m_EditorClassIdentifier:
m_Version: 7
m_ObsoleteRenderingPath: 0
m_ObsoleteFrameSettings:
overrides: 0
enableShadow: 0
enableContactShadows: 0
enableShadowMask: 0
enableSSR: 0
enableSSAO: 0
enableSubsurfaceScattering: 0
enableTransmission: 0
enableAtmosphericScattering: 0
enableVolumetrics: 0
enableReprojectionForVolumetrics: 0
enableLightLayers: 0
enableExposureControl: 1
diffuseGlobalDimmer: 0
specularGlobalDimmer: 0
shaderLitMode: 0
enableDepthPrepassWithDeferredRendering: 0
enableTransparentPrepass: 0
enableMotionVectors: 0
enableObjectMotionVectors: 0
enableDecals: 0
enableRoughRefraction: 0
enableTransparentPostpass: 0
enableDistortion: 0
enablePostprocess: 0
enableOpaqueObjects: 0
enableTransparentObjects: 0
enableRealtimePlanarReflection: 0
enableMSAA: 0
enableAsyncCompute: 0
runLightListAsync: 0
runSSRAsync: 0
runSSAOAsync: 0
runContactShadowsAsync: 0
runVolumeVoxelizationAsync: 0
lightLoopSettings:
overrides: 0
enableDeferredTileAndCluster: 0
enableComputeLightEvaluation: 0
enableComputeLightVariants: 0
enableComputeMaterialVariants: 0
enableFptlForForwardOpaque: 0
enableBigTilePrepass: 0
isFptlEnabled: 0
clearColorMode: 0
backgroundColorHDR: {r: 0.025, g: 0.07, b: 0.19, a: 0}
clearDepth: 1
Expand Down Expand Up @@ -4074,53 +4122,6 @@ MonoBehaviour:
data1: 0
data2: 0
defaultFrameSettings: 0
m_Version: 7
m_ObsoleteRenderingPath: 0
m_ObsoleteFrameSettings:
overrides: 0
enableShadow: 0
enableContactShadows: 0
enableShadowMask: 0
enableSSR: 0
enableSSAO: 0
enableSubsurfaceScattering: 0
enableTransmission: 0
enableAtmosphericScattering: 0
enableVolumetrics: 0
enableReprojectionForVolumetrics: 0
enableLightLayers: 0
enableExposureControl: 1
diffuseGlobalDimmer: 0
specularGlobalDimmer: 0
shaderLitMode: 0
enableDepthPrepassWithDeferredRendering: 0
enableTransparentPrepass: 0
enableMotionVectors: 0
enableObjectMotionVectors: 0
enableDecals: 0
enableRoughRefraction: 0
enableTransparentPostpass: 0
enableDistortion: 0
enablePostprocess: 0
enableOpaqueObjects: 0
enableTransparentObjects: 0
enableRealtimePlanarReflection: 0
enableMSAA: 0
enableAsyncCompute: 0
runLightListAsync: 0
runSSRAsync: 0
runSSAOAsync: 0
runContactShadowsAsync: 0
runVolumeVoxelizationAsync: 0
lightLoopSettings:
overrides: 0
enableDeferredTileAndCluster: 0
enableComputeLightEvaluation: 0
enableComputeLightVariants: 0
enableComputeMaterialVariants: 0
enableFptlForForwardOpaque: 0
enableBigTilePrepass: 0
isFptlEnabled: 0
--- !u!81 &2122627085
AudioListener:
m_ObjectHideFlags: 0
Expand Down Expand Up @@ -4233,6 +4234,10 @@ PrefabInstance:
propertyPath: m_Name
value: Lexus RX450h 2015 Sample Sensor
objectReference: {fileID: 0}
- target: {fileID: 4981081891045692866, guid: 164645b2d105b6b4ab4e3d2e7c65dab2, type: 3}
propertyPath: sleepVelocityThreshold
value: 0.02
objectReference: {fileID: 0}
- target: {fileID: 5650763240072318842, guid: 164645b2d105b6b4ab4e3d2e7c65dab2, type: 3}
propertyPath: m_RootOrder
value: 0
Expand Down
33 changes: 29 additions & 4 deletions Assets/AWSIM/Scripts/Vehicles/Vehicle.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -208,7 +208,9 @@ public class Axle

private float sleepTimer = 0.0f; ///Count the time until CanSleep is switched to true


// Vehicle dynamics parameters used for calculating of front wheel angles.
private float wheelBase = 2.787877f;
private float tread = 1.8199022f;
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Wheelbase and tread could be calculated automatically from the positions of the front and rear wheels, I believe. Therefore, it is preferable not to provide these variables.

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Modified to have wheelbase and tread calculated from the coordinates of each wheel.


// Cache components.
Wheel[] wheels;
Expand Down Expand Up @@ -335,7 +337,7 @@ bool IsEachWheelGrounded()
// Is less than sleepVelocityThreshold ?
bool IsCanSleepVelocity()
{
if (Mathf.Abs(Velocity.z) < sleepVelocityThreshold)
if (Mathf.Abs(LocalVelocity.z) < sleepVelocityThreshold)
return true;
else
return false;
Expand Down Expand Up @@ -424,8 +426,31 @@ void UpdateWheelsForce(float acceleration)
var perWheelAcceleration = acceleration / wheels.Length;

// Update the acceleration output by each wheel.
foreach (var wheel in wheels)
wheel.UpdateWheelForce(perWheelAcceleration);
var dif1 = Mathf.Sin(Mathf.Asin(1 / Mathf.Sqrt(Mathf.Pow((1 / Mathf.Tan(Mathf.Abs(SteerAngle) * Mathf.Deg2Rad) + tread / wheelBase), 2) + 1))) / Mathf.Sin(SteerAngle * Mathf.Deg2Rad);
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Is it possible to leave comments on the calculations and logic of dif1, dif2, dif3, etc. so that other developers can easily understand them?

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Added some comments of dif1, dif2, dif3.

var dif2 = (Mathf.Cos(Mathf.Asin(1 / Mathf.Sqrt(Mathf.Pow((1 / Mathf.Tan(Mathf.Abs(SteerAngle) * Mathf.Deg2Rad) + tread / wheelBase), 2) + 1))) + tread * Mathf.Sin(Mathf.Asin(1 / Mathf.Sqrt(Mathf.Pow((1 / Mathf.Tan(SteerAngle * Mathf.Deg2Rad) + tread / wheelBase), 2) + 1))) / wheelBase);
var dif3 = Mathf.Cos(Mathf.Asin(1 / Mathf.Sqrt(Mathf.Pow((1 / Mathf.Tan(Mathf.Abs(SteerAngle) * Mathf.Deg2Rad) + tread / wheelBase), 2) + 1)));

if (SteerAngle > 0.001)
{
frontAxle.LeftWheel.UpdateWheelForce(perWheelAcceleration);
frontAxle.RightWheel.UpdateWheelForce(perWheelAcceleration * dif1);
rearAxle.LeftWheel.UpdateWheelForce(perWheelAcceleration * dif2);
rearAxle.RightWheel.UpdateWheelForce(perWheelAcceleration * dif3);
}

else if (SteerAngle < -0.001)
{
frontAxle.LeftWheel.UpdateWheelForce(perWheelAcceleration * dif1);
frontAxle.RightWheel.UpdateWheelForce(perWheelAcceleration);
rearAxle.LeftWheel.UpdateWheelForce(perWheelAcceleration * dif3);
rearAxle.RightWheel.UpdateWheelForce(perWheelAcceleration * dif2);
}

else
{
foreach (var wheel in wheels)
wheel.UpdateWheelForce(perWheelAcceleration);
}
}
}
}
Expand Down
15 changes: 14 additions & 1 deletion Assets/AWSIM/Scripts/Vehicles/Wheel.cs
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Why should the Wheel class make changes? I think the Wheel class should just reflect the SteerAngle set from the Vehicle class, right?

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Reverted Wheel.cs to the original version and moved the relevant part to Vehicle.cs.

Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,10 @@ public class Wheel : MonoBehaviour
// Coefficient for cancelling the skidding while stopping of the tire.
float skiddingCancelRate;

// Vehicle dynamics parameters used for calculating of front wheel angles.
private float wheelBase = 2.787877f;
private float tread = 1.8199022f;

void Reset()
{
// Initializes the value of WheelCollider.
Expand Down Expand Up @@ -106,7 +110,16 @@ public void UpdateWheelSteerAngle(float steerAngle)
steerAngle = 0.00001f;

if (wheelCollider.steerAngle != steerAngle)
wheelCollider.steerAngle = steerAngle;
{
if (steerAngle > 40 && name == "FrontLeftWheel")
wheelCollider.steerAngle = Mathf.Asin(1 / Mathf.Sqrt(Mathf.Pow((1 / Mathf.Tan(Mathf.Abs(steerAngle) * Mathf.Deg2Rad) + tread / wheelBase), 2) + 1)) * Mathf.Rad2Deg;

else if (steerAngle < -40 && name == "FrontRightWheel")
wheelCollider.steerAngle = -Mathf.Asin(1 / Mathf.Sqrt(Mathf.Pow((1 / Mathf.Tan(Mathf.Abs(steerAngle) * Mathf.Deg2Rad) + tread / wheelBase), 2) + 1)) * Mathf.Rad2Deg;

else
wheelCollider.steerAngle = steerAngle;
}
}

/// <summary>
Expand Down