From bc14c4f8258dd1923ca51128a79c9473700c02f8 Mon Sep 17 00:00:00 2001
From: Markus Quaritsch <markus.quaritsch@tugraz.at>
Date: Wed, 12 Jun 2019 08:13:01 +0200
Subject: [PATCH] additional condition to avoid short simulation intervals.
if disengaged and the braking interval is pretty short (due to a slight decrease in target speed), start braking one simulation interval earlier instead of driving exactly to the point where braking starts and then have a pretty short interval of braking (<0.05s)
---
.../Impl/DefaultDriverStrategy.cs | 13 ++++++++++---
1 file changed, 10 insertions(+), 3 deletions(-)
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
index 1c926f3c48..329a280050 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
@@ -89,9 +89,16 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
UpdateDrivingAction(currentDistance, ds);
if (NextDrivingAction != null) {
var remainingDistance = NextDrivingAction.ActionDistance - currentDistance;
- var estimatedNextTimestep = remainingDistance / Driver.DataBus.VehicleSpeed;
- if (remainingDistance.IsEqual(0.SI<Meter>(), Constants.SimulationSettings.DriverActionDistanceTolerance) ||
- estimatedNextTimestep.IsSmaller(Constants.SimulationSettings.LowerBoundTimeInterval)) {
+ var estimatedTimestep = remainingDistance / Driver.DataBus.VehicleSpeed;
+
+ var atTriggerTistance = remainingDistance.IsEqual(
+ 0.SI<Meter>(), Constants.SimulationSettings.DriverActionDistanceTolerance);
+ var closeBeforeBraking = estimatedTimestep.IsSmaller(Constants.SimulationSettings.LowerBoundTimeInterval);
+ var brakingIntervalTooShort = NextDrivingAction.Action == DrivingBehavior.Braking &&
+ ((NextDrivingAction.TriggerDistance - NextDrivingAction.ActionDistance) / Driver.DataBus.VehicleSpeed)
+ .IsSmaller(
+ Constants.SimulationSettings.LowerBoundTimeInterval / 20) && !Driver.DataBus.ClutchClosed(absTime);
+ if ( atTriggerTistance || closeBeforeBraking || brakingIntervalTooShort) {
CurrentDrivingMode = DrivingMode.DrivingModeBrake;
DrivingModes[CurrentDrivingMode].ResetMode();
Log.Debug("Switching to DrivingMode BRAKE");
--
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