From 176511c7f4beb06f93637e04693067347ca8b550 Mon Sep 17 00:00:00 2001
From: Markus Quaritsch <markus.quaritsch@tugraz.at>
Date: Fri, 13 May 2016 13:50:05 +0200
Subject: [PATCH] use WB2016 method to calculate starting point of coasting
---
.../Impl/DefaultDriverStrategy.cs | 91 +++++++++++++++----
1 file changed, 72 insertions(+), 19 deletions(-)
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
index 5671ed4ae6..b67fecf445 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
@@ -88,7 +88,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
if (CurrentDrivingMode == DrivingMode.DrivingModeDrive) {
var currentDistance = Driver.DataBus.Distance;
- var coasting = CheckLookAheadCoasting(ds);
+ //var coasting = LookAheadCoasting(ds);
UpdateDrivingAction(currentDistance, ds);
if (NextDrivingAction != null) {
@@ -126,7 +126,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
var dict = new Dictionary<string, object>();
// (1) & (2) : x_decelerationpoint - d_prev <= x_veh < x_decelerationpoint
- var v_veh = Driver.DataBus.VehicleSpeed;
+ var v_veh = Driver.DataBus.CycleData.LeftSample.VehicleTargetSpeed; //Driver.DataBus.VehicleSpeed;
var d_prev = 10 * Driver.DataBus.VehicleSpeed.ConvertTo().Kilo.Meter.Per.Hour.Value();
var lookaheadData = Driver.DataBus.LookAhead(d_prev.SI<Meter>());
var nextActions = new SortedDictionary<Meter, DrivingCycleData.DrivingCycleEntry>();
@@ -159,13 +159,12 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
// 3. CDP > DF_coasting
if (coastingPossible) {
- var m = Driver.DataBus.VehicleMass;
+ var m = Driver.DataBus.TotalMass;
var g = Physics.GravityAccelleration;
var h_target = dec.Altitude;
dict["h_target"] = h_target.Value();
- // todo mk-2016-05-11 left or right sample of cycle data?
- var h_vehicle = Driver.DataBus.CycleData.LeftSample.Altitude;
+ var h_vehicle = Driver.DataBus.Altitude;
dict["h_vehicle"] = h_vehicle.Value();
var E_kin_veh = m * v_veh * v_veh / 2;
@@ -183,12 +182,12 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
var F_dec_average = delta_E / x_delta;
dict["F_dec_average"] = F_dec_average.Value();
- var avgVelocity = (v_veh + v_target) / 2;
- var acc = (v_target - v_veh) * (avgVelocity / ds);
- var F_air = Driver.DataBus.AirDragResistance(v_veh, acc, ds / v_veh);
+ //var avgVelocity = (v_veh + v_target) / 2;
+ //var acc = (v_target - v_veh) * (avgVelocity / x_delta);
+ var F_air = Driver.DataBus.AirDragResistance(v_veh, v_target);
dict["F_air"] = F_air.Value();
- var F_roll = Driver.DataBus.RollingResistance(Driver.DataBus.CycleData.LeftSample.RoadGradient);
+ var F_roll = Driver.DataBus.RollingResistance(((h_target - h_vehicle) / x_delta).Value().SI<Radian>());
dict["F_roll"] = F_roll.Value();
var F_enginedrag = Driver.DataBus.EngineDragPower(Driver.DataBus.EngineSpeed) / v_veh;
@@ -201,10 +200,10 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
var F_loss_ra = 0.SI<Newton>();
dict["F_loss_ra"] = F_loss_ra.Value();
- var F_coasting = F_air + F_roll + F_enginedrag + F_loss_gb + F_loss_ra;
+ var F_coasting = F_enginedrag - F_air - F_roll - F_loss_gb - F_loss_ra;
dict["F_coasting"] = F_coasting.Value();
- var CDP = F_dec_average / F_coasting;
+ var CDP = F_dec_average / -F_coasting;
dict["CDP"] = CDP.Value();
var DF_coasting = LACDecisionFactor.Lookup(v_target, v_veh - v_target);
@@ -236,9 +235,9 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
if (Driver.DataBus.VehicleSpeed > NextDrivingAction.NextTargetSpeed) {
switch (NextDrivingAction.Action) {
case DrivingBehavior.Coasting:
- var coastingDistance = Formulas.DecelerationDistance(Driver.DataBus.VehicleSpeed,
- NextDrivingAction.NextTargetSpeed,
- Driver.DriverData.LookAheadCoasting.Deceleration);
+
+ //var coastingDistance = ComputeCoastingDistance(Driver.DataBus.VehicleSpeed, NextDrivingAction.NextTargetSpeed);
+ var coastingDistance = ComputeCoastingDistance(Driver.DataBus.VehicleSpeed, NextDrivingAction.CycleEntry);
NextDrivingAction.ActionDistance = NextDrivingAction.TriggerDistance - coastingDistance;
break;
case DrivingBehavior.Braking:
@@ -287,8 +286,10 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
? entry.VehicleTargetSpeed + Driver.DriverData.OverSpeedEcoRoll.OverSpeed
: entry.VehicleTargetSpeed;
if (nextTargetSpeed < currentSpeed) {
+ var coastingDistance = ComputeCoastingDistance(currentSpeed, entry);
if (!Driver.DriverData.LookAheadCoasting.Enabled ||
- currentSpeed < Driver.DriverData.LookAheadCoasting.MinSpeed) {
+ currentSpeed < Driver.DriverData.LookAheadCoasting.MinSpeed ||
+ coastingDistance < 0) {
var brakingDistance = Driver.ComputeDecelerationDistance(nextTargetSpeed) + BrakingSafetyMargin;
Log.Debug(
"adding 'Braking' starting at distance {0}. brakingDistance: {1}, triggerDistance: {2}, nextTargetSpeed: {3}",
@@ -297,11 +298,12 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
Action = DrivingBehavior.Braking,
ActionDistance = entry.Distance - brakingDistance,
TriggerDistance = entry.Distance,
- NextTargetSpeed = nextTargetSpeed
+ NextTargetSpeed = nextTargetSpeed,
+ CycleEntry = entry,
});
} else {
- var coastingDistance = Formulas.DecelerationDistance(currentSpeed, nextTargetSpeed,
- Driver.DriverData.LookAheadCoasting.Deceleration);
+ //var coastingDistance = ComputeCoastingDistance(currentSpeed, nextTargetSpeed);
+
Log.Debug(
"adding 'Coasting' starting at distance {0}. coastingDistance: {1}, triggerDistance: {2}, nextTargetSpeed: {3}",
entry.Distance - coastingDistance, coastingDistance, entry.Distance, nextTargetSpeed);
@@ -310,7 +312,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
Action = DrivingBehavior.Coasting,
ActionDistance = entry.Distance - coastingDistance,
TriggerDistance = entry.Distance,
- NextTargetSpeed = nextTargetSpeed
+ NextTargetSpeed = nextTargetSpeed,
+ CycleEntry = entry,
});
}
}
@@ -319,6 +322,55 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
return nextActions.Count == 0 ? null : nextActions.OrderBy(x => x.ActionDistance).First();
}
+ protected virtual Meter ComputeCoastingDistance(MeterPerSecond currentSpeed, MeterPerSecond nextTargetSpeed)
+ {
+ return Formulas.DecelerationDistance(currentSpeed, nextTargetSpeed,
+ Driver.DriverData.LookAheadCoasting.Deceleration);
+ }
+
+ protected virtual Meter ComputeCoastingDistance(MeterPerSecond v_veh, DrivingCycleData.DrivingCycleEntry actionEntry)
+ {
+ var v_target = OverspeedAllowed(actionEntry.RoadGradient, actionEntry.VehicleTargetSpeed)
+ ? actionEntry.VehicleTargetSpeed + Driver.DriverData.OverSpeedEcoRoll.OverSpeed
+ : actionEntry.VehicleTargetSpeed;
+
+ var m = Driver.DataBus.TotalMass;
+ var g = Physics.GravityAccelleration;
+ var h_target = actionEntry.Altitude; //dec.Altitude;
+
+ var h_vehicle = Driver.DataBus.Altitude;
+
+ var E_kin_veh = m * v_veh * v_veh / 2;
+ var E_kin_target = m * v_target * v_target / 2;
+ var E_pot_target = m * g * h_target;
+ var E_pot_veh = m * g * h_vehicle;
+
+ var delta_E = (E_kin_veh + E_pot_veh) - (E_kin_target + E_pot_target);
+
+ //var F_dec_average = delta_E / x_delta;
+
+ var F_air = Driver.DataBus.AirDragResistance(v_veh, v_target);
+ var F_roll =
+ Driver.DataBus.RollingResistance(
+ ((h_target - h_vehicle) / (actionEntry.Distance - Driver.DataBus.Distance)).Value().SI<Radian>());
+ var F_enginedrag = Driver.DataBus.EngineDragPower(Driver.DataBus.EngineSpeed) / v_veh;
+ var F_loss_gb = Driver.DataBus.GearboxLoss(Driver.DataBus.EngineSpeed, Driver.DataBus.EngineTorque) / v_veh;
+
+ // todo mk-2016-05-11 calculate ra loss
+ var F_loss_ra = 0.SI<Newton>();
+
+ var F_coasting = F_air + F_roll + F_loss_gb + F_loss_ra - F_enginedrag;
+
+ //var CDP = F_dec_average / -F_coasting;
+
+ var DF_coasting = LACDecisionFactor.Lookup(v_target, v_veh - v_target);
+
+ var delta_x = (delta_E / (DF_coasting * F_coasting)).Cast<Meter>();
+
+ return delta_x;
+ }
+
+
public bool OverspeedAllowed(Radian gradient, MeterPerSecond velocity)
{
return Driver.DriverData.OverSpeedEcoRoll.Mode == DriverMode.Overspeed &&
@@ -738,6 +790,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
public MeterPerSecond NextTargetSpeed;
public Meter TriggerDistance;
public Meter ActionDistance;
+ public DrivingCycleData.DrivingCycleEntry CycleEntry;
public bool HasEqualTrigger(DrivingBehaviorEntry other)
{
--
GitLab