From b888486b53687985e69f19091f74eea91edac7de Mon Sep 17 00:00:00 2001
From: Markus Quaritsch <markus.quaritsch@tugraz.at>
Date: Tue, 9 Jul 2019 17:08:43 +0200
Subject: [PATCH] driverstrategy: switch to braking phase immediately if
nextdrivingaction.action is set to braking (instead of doing the same
calculations again
---
.../Models/SimulationComponent/Impl/DefaultDriverStrategy.cs | 3 +++
1 file changed, 3 insertions(+)
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
index 329a280050..fab8b3f7e9 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
@@ -664,6 +664,9 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
var brakingDistance = Driver.ComputeDecelerationDistance(DriverStrategy.BrakeTrigger.NextTargetSpeed) +
DefaultDriverStrategy.BrakingSafetyMargin;
DriverStrategy.BrakeTrigger.BrakingStartDistance = DriverStrategy.BrakeTrigger.TriggerDistance - brakingDistance;
+ if (DriverStrategy.BrakeTrigger.Action == DrivingBehavior.Braking) {
+ Phase = BrakingPhase.Brake;
+ }
if (Phase == BrakingPhase.Coast) {
var resp = CheckSwitchingToBraking(ds, currentDistance);
if (resp != null) {
--
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