From 47b786d882d0ac8cf965d05644638b8ef4d0b9f4 Mon Sep 17 00:00:00 2001
From: Michael Krisper <michael.krisper@tugraz.at>
Date: Thu, 14 Apr 2022 16:38:25 +0200
Subject: [PATCH] DefaultDriverStrategy.DoBrake: Added debug variable for
response history
---
.../Impl/DefaultDriverStrategy.cs | 69 +++++++++++++------
1 file changed, 47 insertions(+), 22 deletions(-)
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
index deec758f40..c24b81ff83 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
@@ -1222,22 +1222,26 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
Meter brakingDistance, Meter currentDistance)
{
IResponse response;
- Log.Debug(
- "Phase: BRAKE. breaking distance: {0} start braking @ {1}", brakingDistance,
+ var debug = new DebugData();
+
+ Log.Debug("Phase: BRAKE. breaking distance: {0} start braking @ {1}", brakingDistance,
DriverStrategy.BrakeTrigger.BrakingStartDistance);
+
if (DriverStrategy.BrakeTrigger.BrakingStartDistance.IsSmaller(
- currentDistance,
- Constants.SimulationSettings.DriverActionDistanceTolerance / 2)) {
- Log.Info(
- "Expected Braking Deceleration could not be reached! {0}",
+ currentDistance, Constants.SimulationSettings.DriverActionDistanceTolerance / 2)) {
+ Log.Info("Expected Braking Deceleration could not be reached! {0}",
DriverStrategy.BrakeTrigger.BrakingStartDistance - currentDistance);
}
- var targetDistance = DataBus.VehicleInfo.VehicleSpeed < Constants.SimulationSettings.MinVelocityForCoast
- ? DriverStrategy.BrakeTrigger.TriggerDistance
- : null;
+
+ Meter targetDistance = null;
+ if (DataBus.VehicleInfo.VehicleSpeed < Constants.SimulationSettings.MinVelocityForCoast) {
+ targetDistance = DriverStrategy.BrakeTrigger.TriggerDistance;
+ }
+
if (targetDistance == null && DriverStrategy.BrakeTrigger.NextTargetSpeed.IsEqual(0.SI<MeterPerSecond>())) {
targetDistance = DriverStrategy.BrakeTrigger.TriggerDistance - DefaultDriverStrategy.BrakingSafetyMargin;
}
+
Driver.DriverBehavior = DrivingBehavior.Braking;
if (DataBus.VehicleInfo.VehicleSpeed.IsEqual(0) && DriverStrategy.BrakeTrigger.NextTargetSpeed.IsEqual(0)) {
@@ -1248,62 +1252,81 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
}
response = Driver.DrivingActionAccelerate(absTime, ds, 1.KMPHtoMeterPerSecond(), gradient);
+ debug.Add(new { a = "(1) Accelerate", response });
+
if (response is ResponseUnderload) {
- response = Driver.DrivingActionBrake(
- absTime, ds, 1.KMPHtoMeterPerSecond(), gradient, response, overrideAction: DrivingAction.Accelerate);
+ response = Driver.DrivingActionBrake(absTime, ds, 1.KMPHtoMeterPerSecond(), gradient, response,
+ overrideAction: DrivingAction.Accelerate);
+ debug.Add(new { a = "(2) Brake", response });
}
} else {
- response = Driver.DrivingActionBrake(
- absTime, ds, DriverStrategy.BrakeTrigger.NextTargetSpeed,
+ response = Driver.DrivingActionBrake(absTime, ds, DriverStrategy.BrakeTrigger.NextTargetSpeed,
gradient, targetDistance: targetDistance);
+ debug.Add(new { a = "(3) Brake", response });
}
- if ((DataBus.GearboxInfo.GearboxType.AutomaticTransmission() || DataBus.HybridControllerInfo != null) && response == null) {
+ if ((DataBus.GearboxInfo.GearboxType.AutomaticTransmission() || DataBus.HybridControllerInfo != null)
+ && response == null) {
for (var i = 0; i < 3 && response == null; i++) {
DataBus.Brakes.BrakePower = 0.SI<Watt>();
- response = Driver.DrivingActionBrake(
- absTime, ds, DriverStrategy.BrakeTrigger.NextTargetSpeed,
+ response = Driver.DrivingActionBrake(absTime, ds, DriverStrategy.BrakeTrigger.NextTargetSpeed,
gradient, targetDistance: targetDistance);
+ debug.Add(new { a = "(4) Brake", response });
}
if (response == null) {
throw new VectoException("No valid operating point found");
}
}
-
switch (response) {
case ResponseOverload r:
Log.Info("Brake -> Got OverloadResponse during brake action - desired deceleration could not be reached! response: {0}", r);
if (!DataBus.ClutchInfo.ClutchClosed(absTime)) {
Log.Info("Brake -> Overload -> Clutch is open - Trying roll action");
response = Driver.DrivingActionRoll(absTime, ds, targetVelocity, gradient);
- if (response is ResponseSpeedLimitExceeded)
+ debug.Add(new { a = "(5) Roll", response });
+ if (response is ResponseSpeedLimitExceeded) {
response = Driver.DrivingActionBrake(absTime, ds, targetVelocity, gradient);
+ debug.Add(new { a = "(6) Brake", response });
+ }
} else {
Log.Info("Brake -> Overload -> Clutch is closed - Trying brake action again");
DataBus.Brakes.BrakePower = 0.SI<Watt>();
DataBus.HybridControllerCtl?.RepeatDrivingAction(absTime);
response = Driver.DrivingActionBrake(absTime, ds, DriverStrategy.BrakeTrigger.NextTargetSpeed,
gradient, targetDistance: targetDistance);
+ debug.Add(new { a = "(7) Brake", response });
if (response is ResponseOverload) {
Log.Info("Brake -> Overload -> 2nd Brake -> Overload -> Trying accelerate action");
var gear = DataBus.GearboxInfo.Gear;
- if (DataBus.GearboxInfo.GearEngaged(absTime))
+ if (DataBus.GearboxInfo.GearEngaged(absTime)) {
response = Driver.DrivingActionAccelerate(absTime, ds, DriverStrategy.BrakeTrigger.NextTargetSpeed, gradient);
- else
- response = Driver.DrivingActionRoll(absTime, ds, targetVelocity, gradient);
+ debug.Add(new { a = "(8) Accelerate", response });
+ } else {
+ //try {
+ response = Driver.DrivingActionRoll(absTime, ds, targetVelocity, gradient);
+ debug.Add(new { a = "(9) Roll", response });
+ //} catch (VectoException e) {
+ // debug.Add(new { a = "(10) Exception", e });
+ // Log.Info("Got a VectoException {e}", e);
+ // response = Driver.DrivingActionCoast(absTime, ds, DriverStrategy.BrakeTrigger.NextTargetSpeed, gradient);
+ // debug.Add(new { a = "(11) Coast", response });
+ //}
+ }
switch (response) {
case ResponseGearShift _:
- Log.Info("Brake -> Overload -> 2nd Brake -> Accelerate -> Got GearShift response, performing roll action");
+ Log.Info("Brake -> Overload -> 2nd Brake -> Accelerate or Roll -> Got GearShift response, performing roll action");
response = Driver.DrivingActionRoll(absTime, ds,
DriverStrategy.BrakeTrigger.NextTargetSpeed, gradient);
+ debug.Add(new { a = "(12) Roll", response });
break;
case ResponseUnderload _:
if (gear.Gear != DataBus.GearboxInfo.Gear.Gear) {
// AT Gearbox switched gears, shift losses are no longer applied, try once more...
response = Driver.DrivingActionAccelerate(absTime, ds,
DriverStrategy.BrakeTrigger.NextTargetSpeed, gradient);
+ debug.Add(new { a = "(13 Accelerate", response });
}
break;
}
@@ -1317,9 +1340,11 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
DataBus.Brakes.BrakePower = 0.SI<Watt>();
response = Driver.DrivingActionBrake(absTime, ds, DriverStrategy.BrakeTrigger.NextTargetSpeed,
gradient, targetDistance: targetDistance);
+ debug.Add(new { a = "(14) Brake", response });
if (response is ResponseOverload) {
Log.Info("Brake -> Gearshift -> Overload -> trying roll action (no gear engaged)");
response = Driver.DrivingActionRoll(absTime, ds, DriverStrategy.BrakeTrigger.NextTargetSpeed, gradient);
+ debug.Add(new { a = "(15) Roll", response });
}
break;
}
--
GitLab