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Accel vehicle

AccelVehicle is acceleration based vehicle. This vehicle model was created for Autoware simulation, and assuming that Autoware has already created a gas pedal map, this vehicle model uses acceleration as an input value. It has the following features:

  • Longitudinal control by acceleration (\(\frac{m}{s^2}\)).
  • Lateral control by two-wheel model.
  • Yaw, roll and pitch controlled by Physics engine.
  • Mass-spring-damper suspension model (WheelColliders).
  • automatic gears change.
  • 3D Mesh as road surface for vehicle driving, gradient resistance.

Prefab

Please refer to Lexus RX450h 2015.prefab as a sample prefab

Class Feature
AccelVehicle The main script of AccelVehicle.
AccelVehicleGroundSlip Apply slip to AccelVehicle.
AccelVehicleVisualEffect Visuals such as tires and lights for AccelVehicle.
IReadOnlyAccelVehicle Read only interface of AccelVehicle.
AccelVehicleControlModeBasedInputter Input classes supporting Autoware control input override.
AccelVehicleKeyboardInput Keyboard input for AccelVehicle.
AccelVehicleLogitechG29Input Logitech G29 steering wheel input for AccelVehicle.
AccelVehicleRos2Input ROS2 input for AccelVehicle.
IAccelVehicleInput Interface for input class.
AccelVehicleControlModeSrvServer ROS2 service server with switchable Autoware's vehicle control mode.
AccelVehicleReportRos2Publisher ROS2 publisher to publish topics for Autoware's vehicle report.
AccelVehicleRos2MsgConverter ROS (Autoware) and Unity (Awsim) type conversion.

Autoware's vehicle control mode

Assigned key list

By default, each key is assigned to the following classes.

  • AccelVehicleKeyboardInput
Key Feature
D Switch to move drive gear.
R Switch to move reverse gear.
N Switch to neutral gear.
P Switch to parking gear.
C Switch control mode to AUTONOMOUS.
Up arrow Forward acceleration.
Down arrow Reverse acceleration.
Left arrow Left turning.
Right arrow right turning.
1 Turn left blinker on.
2 Turn right blinker on.
3 Turn on hazard lights.
4 Turn off blinker or hazard lights.
  • AccelVehicleLogitechG29Input
Key Feature
Triangle Switch to move drive gear.
Square Switch to move reverse gear.
Circle Switch to neutral gear.
Cross Switch to parking gear.
L2 Swtich control mode to MANUAL.
L3 Switch control mode to AUTONOMOUS.
Throttle pedal Forward acceleration.
Brake pedal Reverse acceleration.
Steering wheel Turning.
Left paddle Turn left blinker on.
Right paddle Turn right blinker on.
R2 Turn on hazard lights.
R3 Turn off blinker or hazard lights.

Create custom vehicle

It is easier to understand if you refer to Lexus RX450h 2015.prefab.

  1. Prepare a 3D model of the vehicle. (Separate the wheels, body and lights)
  2. Set up WheelCollider for each wheel and MeshCollider or other collider for vehicle body.
  3. Attach the Rigidbody component to the vehicle and configure inspector.
  4. Attach the AccelVehicle.cs script to the vehicle and configure inspector.
  5. Attach the AccelVehicleVisualEffect.cs script to the vehicle and configure inspector.
  6. Attach the AccelVehicleControlModeBasedInputter script the vehicle and configure inspector.
  7. Attach and configure any VehicleInput classes (AccelVehicleKeyboardInput, AccelVehicleRos2Input, AccelVehicleLogitechG29Input) that inherits from IAccelVehicleInput.
  8. (optional) By attaching AccelVehicleReportRos2Publisher and AccelVehicleControlModeSrvServer, it is possible to connect to Autoware.

Create custom input

  1. Create a new class that inherits from IAccelVehicleInput.
  2. Implement updates to the values of IAccelVehicleInput input values.
  3. Reference the custom input class you created to AccelVehicleControlModeBasedInputter and use it in either autonomous mode or manual mode.