I would like to better understand the physics of wheel colliders.

Hi, I m doing a school project with 2 friends. We re making a small self driving car which avoids obstacles and goes from A to B by itself. I am the one designing the algorithm which consist of a neural network and a genetic algorithm. So for my genetic algorithm I made a simulation in Unity. Everything is pretty much set and I m almost done. The only thing is that I still haven't figured out how wheel colliders work so I don't know if my simulated car got well simulated turning mechanics. Since all my simulation is aiming at making the car turn it must not be good to have such random parameters. I looked up many websites but I couldn't find really precise documents. So if you got experience with wheel colliders or if you found good ressources I would be glad to hear from you :). I am 18 and I m currently doing my senior yearof high school in France so my understanding of physics is limited but I understand torque, forces etc. My biggest problem with unity is the unit system. It s not clear for me what values I should put. Also I had to bump up the size of my car to 15 times because the physics engine wasn't behaving right at normal size. Thank you very much for the time you spent reading/answering my post. If I have forgotten any details don't hesitate to ask me for them.