diff --git a/Assets/AWSIM/Prefabs/Vehicles/Lexus RX450h 2015 Sample Sensor.prefab b/Assets/AWSIM/Prefabs/Vehicles/Lexus RX450h 2015 Sample Sensor.prefab index 90aeb3269c..6bff959b25 100644 --- a/Assets/AWSIM/Prefabs/Vehicles/Lexus RX450h 2015 Sample Sensor.prefab +++ b/Assets/AWSIM/Prefabs/Vehicles/Lexus RX450h 2015 Sample Sensor.prefab @@ -382,7 +382,7 @@ Transform: m_GameObject: {fileID: 2540743507290084091} serializedVersion: 2 m_LocalRotation: {x: 0, y: 0, z: 0, w: 1} - m_LocalPosition: {x: -0.07, y: 0.936, z: 0.87} + m_LocalPosition: {x: 0.17, y: 1.026, z: 0.87} m_LocalScale: {x: 1, y: 1, z: 1} m_ConstrainProportionsScale: 0 m_Children: [] @@ -404,7 +404,7 @@ ReflectionProbe: m_Resolution: 256 m_UpdateFrequency: 0 m_BoxSize: {x: 25, y: 5, z: 25} - m_BoxOffset: {x: -0.2515869, y: 1.5, z: 0.48220825} + m_BoxOffset: {x: 0, y: 1.5, z: 0} m_NearClip: 0.5 m_FarClip: 10 m_ShadowDistance: 10 @@ -478,7 +478,7 @@ Transform: m_GameObject: {fileID: 2963106999894658623} serializedVersion: 2 m_LocalRotation: {x: -0, y: -0, z: -0, w: 1} - m_LocalPosition: {x: 0.9326711, y: 0.37483424, z: -1.4200822} + m_LocalPosition: {x: 0.9329091, y: 0.41799986, z: -1.4188654} m_LocalScale: {x: 1, y: 1, z: 1} m_ConstrainProportionsScale: 0 m_Children: @@ -511,7 +511,7 @@ Transform: m_GameObject: {fileID: 2963107000137126779} serializedVersion: 2 m_LocalRotation: {x: -0, y: -0, z: -0, w: 1} - m_LocalPosition: {x: 0.9326711, y: 0.3748342, z: 1.3677951} + m_LocalPosition: {x: 0.9329091, y: 0.41799983, z: 1.3690119} m_LocalScale: {x: 1, y: 1, z: 1} m_ConstrainProportionsScale: 0 m_Children: @@ -577,7 +577,7 @@ Transform: m_GameObject: {fileID: 2963107000432534361} serializedVersion: 2 m_LocalRotation: {x: -0, y: -0, z: -0, w: 1} - m_LocalPosition: {x: -0.8872308, y: 0.3748342, z: 1.3677951} + m_LocalPosition: {x: -0.8869929, y: 0.41799983, z: 1.3690119} m_LocalScale: {x: 1, y: 1, z: 1} m_ConstrainProportionsScale: 0 m_Children: @@ -643,7 +643,7 @@ Transform: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 2963107000747016822} serializedVersion: 2 - m_LocalRotation: {x: 0, y: -0.0009598613, z: 0, w: 0.9999996} + m_LocalRotation: {x: 0, y: 0, z: 0, w: 1} m_LocalPosition: {x: 0, y: 0, z: 0} m_LocalScale: {x: 1, y: 1, z: 1} m_ConstrainProportionsScale: 0 @@ -685,7 +685,7 @@ Transform: m_GameObject: {fileID: 2963107000967671468} serializedVersion: 2 m_LocalRotation: {x: -0, y: -0, z: -0, w: 1} - m_LocalPosition: {x: -0.8872308, y: 0.37483424, z: -1.4200822} + m_LocalPosition: {x: -0.8869929, y: 0.41799986, z: -1.4188654} m_LocalScale: {x: 1, y: 1, z: 1} m_ConstrainProportionsScale: 0 m_Children: @@ -955,7 +955,7 @@ Transform: m_GameObject: {fileID: 3204577569035564864} serializedVersion: 2 m_LocalRotation: {x: -0, y: -0, z: -0, w: 1} - m_LocalPosition: {x: 0.9326711, y: 0.3748342, z: 1.3677951} + m_LocalPosition: {x: 0.9329091, y: 0.41799983, z: 1.3690119} m_LocalScale: {x: 1, y: 1, z: 1} m_ConstrainProportionsScale: 0 m_Children: [] @@ -1063,7 +1063,7 @@ Transform: m_GameObject: {fileID: 3774390953481019643} serializedVersion: 2 m_LocalRotation: {x: -0, y: -0, z: -0, w: 1} - m_LocalPosition: {x: 0.9326711, y: 0.37483424, z: -1.4200822} + m_LocalPosition: {x: 0.9329091, y: 0.41799986, z: -1.4188654} m_LocalScale: {x: 1, y: 1, z: 1} m_ConstrainProportionsScale: 0 m_Children: [] @@ -1190,7 +1190,7 @@ Rigidbody: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 4981081891045692864} serializedVersion: 4 - m_Mass: 1800 + m_Mass: 2110 m_Drag: 0 m_AngularDrag: 0 m_CenterOfMass: {x: 0, y: 0.395, z: 1.185} @@ -1300,7 +1300,7 @@ MonoBehaviour: powerRatio: 5 coastRatio: 5 centerDifferential: - type: 1 + type: 0 gearRatio: 1 preload: 0 powerStiffness: 0.2 @@ -1329,7 +1329,7 @@ MonoBehaviour: preload: 0 stiffness: 0.5 steering: - maxSteerAngle: 50 + maxSteerAngle: 40 toeAngle: 0 ackerman: 1 ackermanReference: {fileID: 5055317025945945549} @@ -1360,22 +1360,22 @@ MonoBehaviour: frictionMultiplier: 1 maxAdherentSpeed: 6.388889 engine: - idleRpm: 1100 - peakRpm: 8336 - maxRpm: 9000 - idleRpmTorque: 106 - peakRpmTorque: 188 - idleRpmCurveBias: 0.95700055 - peakRpmCurveBias: 0 + idleRpm: 1000 + peakRpm: 7700 + maxRpm: 8000 + idleRpmTorque: 105 + peakRpmTorque: 140 + idleRpmCurveBias: 0.855 + peakRpmCurveBias: 0.5 inertia: 0.15 frictionTorque: 20 - rotationalFriction: 0.06 - viscousFriction: 0.007 - torqueCap: 1 - torqueCapLimit: 210 + rotationalFriction: 0.14 + viscousFriction: 0.0167 + torqueCap: 0 + torqueCapLimit: 290.4 rpmLimiter: 1 rpmLimiterMode: 0 - rpmLimiterMax: 8700 + rpmLimiterMax: 6000 rpmLimiterCutoffTime: 0.075 idleControl: 1 maxIdleThrottle: 0.8 @@ -1422,8 +1422,8 @@ MonoBehaviour: autoShiftDownInterval: 0.2 automaticTransitionTime: 0.5 automaticShiftInterval: 1 - automaticGearDownRevs: 3000 - automaticGearUpRevs: 6500 + automaticGearDownRevs: 2000 + automaticGearUpRevs: 5000 automaticThrottleSens: 0 automaticThrottleSensMin: 0.6 automaticFullThrottleGearDownRevs: 3000 @@ -2062,7 +2062,7 @@ Transform: m_GameObject: {fileID: 5889245242532048299} serializedVersion: 2 m_LocalRotation: {x: -0, y: -0, z: -0, w: 1} - m_LocalPosition: {x: -0.8872308, y: 0.37483424, z: -1.4200822} + m_LocalPosition: {x: -0.8869929, y: 0.41799986, z: -1.4188654} m_LocalScale: {x: 1, y: 1, z: 1} m_ConstrainProportionsScale: 0 m_Children: [] @@ -2391,7 +2391,7 @@ MonoBehaviour: m_Name: m_EditorClassIdentifier: dragModel: 0 - dragCoefficientQuadratic: 0.31 + dragCoefficientQuadratic: 0.33 dragCoefficientCubic: 0.3 dragMixedRefSpeed: 25 dragMixedRefForce: 4000 @@ -3084,7 +3084,7 @@ Transform: m_GameObject: {fileID: 8142014580109698536} serializedVersion: 2 m_LocalRotation: {x: -0, y: -0, z: -0, w: 1} - m_LocalPosition: {x: -0.8872308, y: 0.3748342, z: 1.3677951} + m_LocalPosition: {x: -0.887, y: 0.418, z: 1.369} m_LocalScale: {x: 1, y: 1, z: 1} m_ConstrainProportionsScale: 0 m_Children: [] diff --git a/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity b/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity index 463a3a8854..74daea48de 100644 --- a/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity +++ b/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity @@ -1394,26 +1394,16 @@ PrefabInstance: propertyPath: m_Enabled value: 0 objectReference: {fileID: 0} + - target: {fileID: 2963107000747016823, guid: 164645b2d105b6b4ab4e3d2e7c65dab2, + type: 3} + propertyPath: m_LocalEulerAnglesHint.y + value: 0 + objectReference: {fileID: 0} - target: {fileID: 4981081891045692864, guid: 164645b2d105b6b4ab4e3d2e7c65dab2, type: 3} propertyPath: m_Name value: Lexus RX450h 2015 Sample Sensor objectReference: {fileID: 0} - - target: {fileID: 4981081891045692865, guid: 164645b2d105b6b4ab4e3d2e7c65dab2, - type: 3} - propertyPath: m_Mass - value: 1500 - objectReference: {fileID: 0} - - target: {fileID: 4981081891045692865, guid: 164645b2d105b6b4ab4e3d2e7c65dab2, - type: 3} - propertyPath: m_CenterOfMass.x - value: 0.000008165836 - objectReference: {fileID: 0} - - target: {fileID: 4981081891045692865, guid: 164645b2d105b6b4ab4e3d2e7c65dab2, - type: 3} - propertyPath: m_CenterOfMass.z - value: 1.1850014 - objectReference: {fileID: 0} - target: {fileID: 5650763240072318842, guid: 164645b2d105b6b4ab4e3d2e7c65dab2, type: 3} propertyPath: m_LocalPosition.x @@ -1422,7 +1412,7 @@ PrefabInstance: - target: {fileID: 5650763240072318842, guid: 164645b2d105b6b4ab4e3d2e7c65dab2, type: 3} propertyPath: m_LocalPosition.y - value: -1.246 + value: -1.316 objectReference: {fileID: 0} - target: {fileID: 5650763240072318842, guid: 164645b2d105b6b4ab4e3d2e7c65dab2, type: 3} diff --git a/docs/Components/Vehicle/VPPIntegration/index.md b/docs/Components/Vehicle/VPPIntegration/index.md index 9cecaf7908..59d7e83014 100644 --- a/docs/Components/Vehicle/VPPIntegration/index.md +++ b/docs/Components/Vehicle/VPPIntegration/index.md @@ -61,7 +61,8 @@ As for the other components we've added to the vehicle, we have to give their ne | Variable | Description | |--------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------| -| `Front Wheel Collider 1/2` | Used for handling the steering input. Give front wheel colliders of the vehicle. | +| `Front Wheels` | Used for handling the steering input. Give front wheel colliders of the vehicle. | +| `Simulate Steering` | Simulate the steering instead of assigning wheel angles directly. | | `Steer Wheel Input` | Change applied to steering wheel when simulating steering. Applied every in fixed update as an input to the VPP steering. _(0-100)_ | | `Do Use Pedal Maps` | Whether to use the pedal maps for the vehicle or not. If set to false the vehicle will use the PID Controller for the longitudinal control. | | `Emergency Brake Percent` | The amount of brake pedal percent applied when the emergency is triggered. _(0-1)_ |