From 624bc48cddd4bd899e01be3a02ed824fb7a4666e Mon Sep 17 00:00:00 2001
From: Markus Quaritsch <markus.quaritsch@tugraz.at>
Date: Mon, 1 Feb 2021 13:35:51 +0100
Subject: [PATCH] allow 'searchoperatingpoint' to shorten simulation distance
(e.g. if roll action at low speeds) - allow vehicle stop, drive off again
---
.../Impl/DefaultDriverStrategy.cs | 5 ++++-
.../Models/SimulationComponent/Impl/Driver.cs | 20 +++++++++++++++++--
2 files changed, 22 insertions(+), 3 deletions(-)
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
index 00539ff9c3..02d0ed555b 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
@@ -865,6 +865,9 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
}
var response = HandleRequestDisengaged(absTime, ds, gradient, velocityWithOverspeed, debug);
+ if (response is ResponseDrivingCycleDistanceExceeded) {
+ return response;
+ }
if (!(response is ResponseSuccess) && DataBus.ClutchInfo.ClutchClosed(absTime)) {
response = HandleRequestEngaged(
absTime, ds, targetVelocity, gradient, prohibitOverspeed, velocityWithOverspeed, debug);
@@ -1100,7 +1103,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
Second absTime, Meter ds, MeterPerSecond targetVelocity, Radian gradient,
bool prohibitOverspeed = false)
{
- if (DataBus.VehicleInfo.VehicleSpeed <= DriverStrategy.BrakeTrigger.NextTargetSpeed && !DataBus.VehicleInfo.VehicleStopped) {
+ if (DataBus.VehicleInfo.VehicleSpeed.IsSmallerOrEqual(DriverStrategy.BrakeTrigger.NextTargetSpeed) && !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);
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs
index 0d6b683abb..905ffc56df 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs
@@ -440,6 +440,22 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
searchedOperatingPoint = SetTCOperatingPointATGbxCoastOrRoll(absTime, gradient, requestedOperatingPoint, initialResponse as ResponseDryRun);
}
+ if (searchedOperatingPoint == null) {
+ searchedOperatingPoint = SearchOperatingPoint(
+ absTime, requestedOperatingPoint.SimulationDistance,
+ gradient,
+ requestedOperatingPoint.Acceleration, initialResponse, coastingOrRoll: true, allowDistanceDecrease: true);
+ if (searchedOperatingPoint == null) {
+ throw new NotImplementedException();
+ }
+
+ if (searchedOperatingPoint.SimulationDistance.IsSmaller(ds)) {
+ return new ResponseDrivingCycleDistanceExceeded(this) {
+ MaxDistance = searchedOperatingPoint.SimulationDistance
+ };
+ }
+ }
+
if (!ds.IsEqual(searchedOperatingPoint.SimulationDistance)) {
// vehicle is at low speed, coasting would lead to stop before ds is reached: reduce simulated distance to stop distance.
Log.Debug(
@@ -1052,7 +1068,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
}
protected OperatingPoint SearchOperatingPoint(Second absTime, Meter ds, Radian gradient,
- MeterPerSquareSecond acceleration, IResponse initialResponse, bool coastingOrRoll = false)
+ MeterPerSquareSecond acceleration, IResponse initialResponse, bool coastingOrRoll = false, bool allowDistanceDecrease = false)
{
IterationStatistics.Increment(this, "SearchOperatingPoint", 0);
@@ -1124,7 +1140,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
if (nanCount > 10) {
return true;
}
- return r != null && !actionRoll && !ds.IsEqual(r.Driver.OperatingPoint.SimulationDistance);
+ return r != null && !actionRoll && !allowDistanceDecrease && !ds.IsEqual(r.Driver.OperatingPoint.SimulationDistance);
});
return ComputeTimeInterval(retVal.Acceleration, retVal.SimulationDistance);
} catch (VectoSearchAbortedException) {
--
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