From 21462d79285a300ad1a7f744cb108375b1b356a6 Mon Sep 17 00:00:00 2001
From: Markus Quaritsch <markus.quaritsch@tugraz.at>
Date: Tue, 17 May 2016 10:59:44 +0200
Subject: [PATCH] fix: estimating distance before brake: handle case of no
positive results can be found for dt
---
.../SimulationComponent/Impl/DefaultDriverStrategy.cs | 7 +++++--
1 file changed, 5 insertions(+), 2 deletions(-)
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
index b67fecf445..56972493d3 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
@@ -477,8 +477,11 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
Driver.DataBus.VehicleSpeed * Driver.DataBus.VehicleSpeed / 2 / Driver.DriverData.LookAheadCoasting.Deceleration -
(nextAction.TriggerDistance - Driver.DataBus.Distance)).Value());
dtList.Sort();
+ if (!dtList.Any(x => x > 0)) {
+ return null;
+ }
var dt = dtList.First(x => x > 0).SI<Second>();
- var newds = Driver.DataBus.VehicleSpeed * dt + retVal.Acceleration / 2 * dt * dt;
+ var newds = Driver.DataBus.VehicleSpeed * dt + (retVal.Acceleration / 2 * dt * dt);
return newds;
}
}
@@ -566,7 +569,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
Constants.SimulationSettings.DriverActionDistanceTolerance)) {
return response;
}
- newds = EstimateAccelerationDistanceBeforeBrake(response, nextAction);
+ newds = EstimateAccelerationDistanceBeforeBrake(response, nextAction) ?? ds;
break;
case DrivingBehavior.Braking:
var brakingDistance = Driver.DriverData.AccelerationCurve.ComputeAccelerationDistance(v2,
--
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