From 2fc7ad47863cc201b4a3792d768a32aecc7681a8 Mon Sep 17 00:00:00 2001
From: Michael Krisper <michael.krisper@tugraz.at>
Date: Thu, 21 Jul 2022 11:32:37 +0200
Subject: [PATCH] VECTO-1615 and VECTO-1616: Braking ended in vehiclespeed
being slightly below TargetSpeed. Added Tolerance of 0.1 km/h
(cherry picked from commit 61157f8470367e3f120f757ee01d15965a44f18a)
---
VectoCore/VectoCore/Configuration/Constants.cs | 5 +++++
.../Models/SimulationComponent/Impl/DefaultDriverStrategy.cs | 3 ++-
2 files changed, 7 insertions(+), 1 deletion(-)
diff --git a/VectoCore/VectoCore/Configuration/Constants.cs b/VectoCore/VectoCore/Configuration/Constants.cs
index cd55cf98a9..f4df273aa7 100644
--- a/VectoCore/VectoCore/Configuration/Constants.cs
+++ b/VectoCore/VectoCore/Configuration/Constants.cs
@@ -282,6 +282,11 @@ namespace TUGraz.VectoCore.Configuration
public static readonly Meter BrakeNextTargetDistance = 2.5.SI<Meter>();
+ /// <summary>
+ /// used in DriverModeBrake to detect if a vehicle is already below the speed of the brake trigger.
+ /// </summary>
+ public static readonly MeterPerSecond BrakeTriggerSpeedTolerance = 0.1.KMPHtoMeterPerSecond();
+
public static readonly MeterPerSecond MinVelocityForCoast = 5.KMPHtoMeterPerSecond();
/// <summary>
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
index 5a40c85b10..a45144c5ca 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
@@ -1178,7 +1178,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
Second absTime, Meter ds, MeterPerSecond targetVelocity, Radian gradient,
bool prohibitOverspeed = false)
{
- if (DataBus.VehicleInfo.VehicleSpeed.IsSmallerOrEqual(DriverStrategy.BrakeTrigger.NextTargetSpeed) && !DataBus.VehicleInfo.VehicleStopped) {
+ if (DataBus.VehicleInfo.VehicleSpeed.IsSmaller(DriverStrategy.BrakeTrigger.NextTargetSpeed, Constants.SimulationSettings.BrakeTriggerSpeedTolerance)
+ && !DataBus.VehicleInfo.VehicleStopped) {
var retVal = HandleTargetspeedReached(absTime, ds, targetVelocity, gradient);
for (var i = 0; i < 3 && retVal == null; i++) {
retVal = HandleTargetspeedReached(absTime, ds, targetVelocity, gradient);
--
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