From 7df48c0a33e7ff9342ca024dc425b0aee17203b6 Mon Sep 17 00:00:00 2001
From: Markus Quaritsch <quaritsch@ivt.tugraz.at>
Date: Thu, 2 Feb 2023 17:21:51 +0100
Subject: [PATCH] consider overspeed to check in the driving cycle if the
target speed is already reached and we do not need to drive exactly to the
next speed-change entry. reduce tolerance to check whether the targetspeed is
reached
---
VectoCore/VectoCore/Models/Simulation/DataBus/IDriverInfo.cs | 2 ++
.../VectoCore/Models/Simulation/Impl/PowertrainBuilder.cs | 1 +
.../VectoCore/Models/SimulationComponent/IDriverStrategy.cs | 2 ++
.../Models/SimulationComponent/Impl/DefaultDriverStrategy.cs | 2 +-
.../SimulationComponent/Impl/DistanceBasedDrivingCycle.cs | 4 ++--
VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs | 1 +
.../SimulationComponent/Impl/MeasuredSpeedDrivingCycle.cs | 1 +
.../VectoCore/Models/SimulationComponent/Impl/PWheelCycle.cs | 1 +
.../SimulationComponent/Impl/SimplePowertrainContainer.cs | 1 +
.../Models/SimulationComponent/Strategies/TestPowertrain.cs | 2 ++
VectoCore/VectoCoreTest/Utils/MockDriver.cs | 1 +
VectoCore/VectoCoreTest/Utils/MockVehicleContainer.cs | 1 +
12 files changed, 16 insertions(+), 3 deletions(-)
diff --git a/VectoCore/VectoCore/Models/Simulation/DataBus/IDriverInfo.cs b/VectoCore/VectoCore/Models/Simulation/DataBus/IDriverInfo.cs
index 0995064cb8..9119340085 100644
--- a/VectoCore/VectoCore/Models/Simulation/DataBus/IDriverInfo.cs
+++ b/VectoCore/VectoCore/Models/Simulation/DataBus/IDriverInfo.cs
@@ -54,5 +54,7 @@ namespace TUGraz.VectoCore.Models.Simulation.DataBus
PCCStates PCCState { get; }
MeterPerSecond NextBrakeTriggerSpeed { get; }
+
+ MeterPerSecond ApplyOverspeed(MeterPerSecond targetSpeed);
}
}
\ No newline at end of file
diff --git a/VectoCore/VectoCore/Models/Simulation/Impl/PowertrainBuilder.cs b/VectoCore/VectoCore/Models/Simulation/Impl/PowertrainBuilder.cs
index 7c05025a81..c715c37b3e 100644
--- a/VectoCore/VectoCore/Models/Simulation/Impl/PowertrainBuilder.cs
+++ b/VectoCore/VectoCore/Models/Simulation/Impl/PowertrainBuilder.cs
@@ -2297,6 +2297,7 @@ namespace TUGraz.VectoCore.Models.Simulation.Impl
public MeterPerSquareSecond DriverAcceleration => 0.SI<MeterPerSquareSecond>();
public PCCStates PCCState => PCCStates.OutsideSegment;
public MeterPerSecond NextBrakeTriggerSpeed => 0.SI<MeterPerSecond>();
+ public MeterPerSecond ApplyOverspeed(MeterPerSecond targetSpeed) => targetSpeed;
#endregion
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/IDriverStrategy.cs b/VectoCore/VectoCore/Models/SimulationComponent/IDriverStrategy.cs
index 73b382beeb..2a3536504c 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/IDriverStrategy.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/IDriverStrategy.cs
@@ -51,5 +51,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent
void CommitSimulationStep();
DrivingBehaviorEntry BrakeTrigger { get; }
+
+ MeterPerSecond ApplyOverspeed(MeterPerSecond targetSpeed);
}
}
\ No newline at end of file
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
index a45144c5ca..18791f0767 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
@@ -615,7 +615,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
}
}
- public MeterPerSecond ApplyOverspeed(MeterPerSecond targetSpeed)
+ public virtual MeterPerSecond ApplyOverspeed(MeterPerSecond targetSpeed)
{
return (targetSpeed + GetOverspeed()).LimitTo(
0.KMPHtoMeterPerSecond(), VehicleCategory.IsBus() ? Constants.BusParameters.MaxBusSpeed : 500.KMPHtoMeterPerSecond());
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DistanceBasedDrivingCycle.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DistanceBasedDrivingCycle.cs
index 0772429479..223a0e406f 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DistanceBasedDrivingCycle.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DistanceBasedDrivingCycle.cs
@@ -164,8 +164,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
var distanceToSpeedChange = nextSpeedChange - PreviousState.Distance;
var estimatedTimeToSpeedChange = distanceToSpeedChange / DataBus.VehicleInfo.VehicleSpeed;
if (estimatedTimeToSpeedChange.IsSmaller(Constants.SimulationSettings.LowerBoundTimeInterval / 2) &&
- DataBus.VehicleInfo.VehicleSpeed.IsSmaller(Left.VehicleTargetSpeed, 1.KMPHtoMeterPerSecond()) &&
- DataBus.VehicleInfo.VehicleSpeed.IsSmaller(Right.VehicleTargetSpeed, 1.KMPHtoMeterPerSecond())) {
+ DataBus.VehicleInfo.VehicleSpeed.IsSmaller(DataBus.DriverInfo.ApplyOverspeed(Left.VehicleTargetSpeed), 0.1.KMPHtoMeterPerSecond()) &&
+ DataBus.VehicleInfo.VehicleSpeed.IsSmaller(DataBus.DriverInfo.ApplyOverspeed(Right.VehicleTargetSpeed), 0.1.KMPHtoMeterPerSecond())) {
CurrentState.Response = DriveDistance(absTime, ds);
return CurrentState.Response;
}
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs
index a144bd0869..ee722f9eb5 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs
@@ -1460,6 +1460,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
public PCCStates PCCState => DriverStrategy.PCCState;
public MeterPerSecond NextBrakeTriggerSpeed => DriverStrategy.BrakeTrigger?.NextTargetSpeed;
+ public MeterPerSecond ApplyOverspeed(MeterPerSecond targetSpeed) => DriverStrategy.ApplyOverspeed(targetSpeed);
protected override bool DoUpdateFrom(object other) => false;
}
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/MeasuredSpeedDrivingCycle.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/MeasuredSpeedDrivingCycle.cs
index bac76f3641..43a228a115 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/MeasuredSpeedDrivingCycle.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/MeasuredSpeedDrivingCycle.cs
@@ -451,6 +451,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
public PCCStates PCCState => PCCStates.OutsideSegment;
public MeterPerSecond NextBrakeTriggerSpeed => 0.SI<MeterPerSecond>();
+ public MeterPerSecond ApplyOverspeed(MeterPerSecond targetSpeed) => targetSpeed;
public Meter Distance => CurrentState.Distance;
}
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/PWheelCycle.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/PWheelCycle.cs
index 3b9c6810b8..f714f1cf16 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/PWheelCycle.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/PWheelCycle.cs
@@ -181,6 +181,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
public MeterPerSquareSecond DriverAcceleration => 0.SI<MeterPerSquareSecond>();
public PCCStates PCCState => PCCStates.OutsideSegment;
public MeterPerSecond NextBrakeTriggerSpeed => 0.SI<MeterPerSecond>();
+ public MeterPerSecond ApplyOverspeed(MeterPerSecond targetSpeed) => targetSpeed;
private void DetermineDriverAction()
{
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/SimplePowertrainContainer.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/SimplePowertrainContainer.cs
index 2696b49047..ca3134ab84 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/SimplePowertrainContainer.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/SimplePowertrainContainer.cs
@@ -34,6 +34,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl {
public MeterPerSquareSecond DriverAcceleration => 0.SI<MeterPerSquareSecond>();
public PCCStates PCCState => PCCStates.OutsideSegment;
public MeterPerSecond NextBrakeTriggerSpeed => 0.SI<MeterPerSecond>();
+ public MeterPerSecond ApplyOverspeed(MeterPerSecond targetSpeed) => targetSpeed;
#endregion
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Strategies/TestPowertrain.cs b/VectoCore/VectoCore/Models/SimulationComponent/Strategies/TestPowertrain.cs
index 8fcefba0d8..a56ff6fe71 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Strategies/TestPowertrain.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Strategies/TestPowertrain.cs
@@ -202,6 +202,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
public PCCStates PCCState => PCCStates.OutsideSegment;
public MeterPerSecond NextBrakeTriggerSpeed => 0.SI<MeterPerSecond>();
+ public MeterPerSecond ApplyOverspeed(MeterPerSecond targetSpeed) => targetSpeed;
+
#endregion
#region Overrides of VectoSimulationComponent
diff --git a/VectoCore/VectoCoreTest/Utils/MockDriver.cs b/VectoCore/VectoCoreTest/Utils/MockDriver.cs
index e387785e4c..9de8644de9 100644
--- a/VectoCore/VectoCoreTest/Utils/MockDriver.cs
+++ b/VectoCore/VectoCoreTest/Utils/MockDriver.cs
@@ -125,6 +125,7 @@ namespace TUGraz.VectoCore.Tests.Utils
public MeterPerSquareSecond DriverAcceleration { get; set; }
public PCCStates PCCState => PCCStates.OutsideSegment;
public MeterPerSecond NextBrakeTriggerSpeed => 0.SI<MeterPerSecond>();
+ public MeterPerSecond ApplyOverspeed(MeterPerSecond targetSpeed) => targetSpeed;
protected override bool DoUpdateFrom(object other) => false;
diff --git a/VectoCore/VectoCoreTest/Utils/MockVehicleContainer.cs b/VectoCore/VectoCoreTest/Utils/MockVehicleContainer.cs
index 7e29d4735d..fd9df1f477 100644
--- a/VectoCore/VectoCoreTest/Utils/MockVehicleContainer.cs
+++ b/VectoCore/VectoCoreTest/Utils/MockVehicleContainer.cs
@@ -239,6 +239,7 @@ namespace TUGraz.VectoCore.Tests.Utils
public MeterPerSquareSecond DriverAcceleration { get; set; }
public PCCStates PCCState => PCCStates.OutsideSegment;
public MeterPerSecond NextBrakeTriggerSpeed => 0.SI<MeterPerSecond>();
+ public MeterPerSecond ApplyOverspeed(MeterPerSecond targetSpeed) => targetSpeed;
public CycleData CycleData { get; set; }
--
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