From 990aa0aa2409bd6f302d6e5e3b6f87310e06a753 Mon Sep 17 00:00:00 2001
From: Markus Quaritsch <markus.quaritsch@tugraz.at>
Date: Wed, 29 Jun 2016 10:45:19 +0200
Subject: [PATCH] driver strategy: use brakingstartdistance instead of
triggerdistacne-brakingdistance where possible, rename local variables for
better readability
---
.../Impl/DefaultDriverStrategy.cs | 55 +++++++++----------
1 file changed, 27 insertions(+), 28 deletions(-)
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
index 28332b8c11..dccb117997 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
@@ -536,31 +536,31 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
return response;
}
var v2 = Driver.DataBus.VehicleSpeed + response.Acceleration * response.SimulationInterval;
- var brakingDistance = Driver.DriverData.AccelerationCurve.ComputeAccelerationDistance(v2,
+ var newBrakingDistance = Driver.DriverData.AccelerationCurve.ComputeAccelerationDistance(v2,
nextAction.NextTargetSpeed) + DefaultDriverStrategy.BrakingSafetyMargin;
switch (DriverStrategy.NextDrivingAction.Action) {
case DrivingBehavior.Coasting:
var coastingDistance = DriverStrategy.ComputeCoastingDistance(v2, nextAction.CycleEntry);
- var nextActionDistance = coastingDistance;
+ var newActionDistance = coastingDistance;
var safetyFactor = 4.0;
- if (brakingDistance > coastingDistance) {
- nextActionDistance = brakingDistance;
+ if (newBrakingDistance > coastingDistance) {
+ newActionDistance = newBrakingDistance;
safetyFactor = 0.5;
}
// if the distance at the end of the simulation interval is smaller than the new ActionDistance
// we are safe - go ahead...
- if ((Driver.DataBus.Distance + ds).IsSmallerOrEqual(nextAction.TriggerDistance - nextActionDistance,
+ if ((Driver.DataBus.Distance + ds).IsSmallerOrEqual(nextAction.TriggerDistance - newActionDistance,
Constants.SimulationSettings.DriverActionDistanceTolerance * safetyFactor) &&
- (Driver.DataBus.Distance + ds).IsSmallerOrEqual(nextAction.TriggerDistance - brakingDistance)) {
+ (Driver.DataBus.Distance + ds).IsSmallerOrEqual(nextAction.TriggerDistance - newBrakingDistance)) {
return response;
}
newds = ds / 2; //EstimateAccelerationDistanceBeforeBrake(response, nextAction) ?? ds;
break;
case DrivingBehavior.Braking:
- if ((Driver.DataBus.Distance + ds).IsSmaller(nextAction.TriggerDistance - brakingDistance)) {
+ if ((Driver.DataBus.Distance + ds).IsSmaller(nextAction.TriggerDistance - newBrakingDistance)) {
return response;
}
- newds = (nextAction.TriggerDistance - brakingDistance) - Driver.DataBus.Distance -
+ newds = (nextAction.TriggerDistance - newBrakingDistance) - Driver.DataBus.Distance -
Constants.SimulationSettings.DriverActionDistanceTolerance / 2;
break;
default:
@@ -629,31 +629,31 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
}
var currentDistance = DataBus.Distance;
+ var brakingDistance = Driver.ComputeDecelerationDistance(DriverStrategy.BrakeTrigger.NextTargetSpeed) +
+ DefaultDriverStrategy.BrakingSafetyMargin;
+ DriverStrategy.BrakeTrigger.BrakingStartDistance = DriverStrategy.BrakeTrigger.TriggerDistance - brakingDistance;
if (Phase == BrakingPhase.Coast) {
- var brakingDistance = Driver.ComputeDecelerationDistance(DriverStrategy.BrakeTrigger.NextTargetSpeed) +
- DefaultDriverStrategy.BrakingSafetyMargin;
- DriverStrategy.BrakeTrigger.BrakingStartDistance = DriverStrategy.BrakeTrigger.TriggerDistance - brakingDistance;
-
var nextBrakeAction = DriverStrategy.GetNextDrivingAction(DataBus.Distance, ds);
if (nextBrakeAction != null && !DriverStrategy.BrakeTrigger.TriggerDistance.IsEqual(nextBrakeAction.TriggerDistance) &&
- nextBrakeAction.BrakingStartDistance.IsSmaller( DriverStrategy.BrakeTrigger.BrakingStartDistance)) {
+ nextBrakeAction.BrakingStartDistance.IsSmaller(DriverStrategy.BrakeTrigger.BrakingStartDistance)) {
DriverStrategy.BrakeTrigger = nextBrakeAction;
- Log.Debug("setting brake trigger to new trigger: trigger distance: {0}, start braking @ {1}", nextBrakeAction.TriggerDistance, nextBrakeAction.BrakingStartDistance);
+ Log.Debug("setting brake trigger to new trigger: trigger distance: {0}, start braking @ {1}",
+ nextBrakeAction.TriggerDistance, nextBrakeAction.BrakingStartDistance);
}
-
- Log.Debug("start braking @ {0}", DriverStrategy.BrakeTrigger.TriggerDistance - brakingDistance);
- var remainingDistanceToBrake = DriverStrategy.BrakeTrigger.TriggerDistance - brakingDistance - currentDistance;
+
+ Log.Debug("start braking @ {0}", DriverStrategy.BrakeTrigger.BrakingStartDistance);
+ var remainingDistanceToBrake = DriverStrategy.BrakeTrigger.BrakingStartDistance - currentDistance;
var estimatedTimeInterval = remainingDistanceToBrake / DataBus.VehicleSpeed;
if (estimatedTimeInterval.IsSmaller(Constants.SimulationSettings.LowerBoundTimeInterval) ||
currentDistance + Constants.SimulationSettings.DriverActionDistanceTolerance >
- DriverStrategy.BrakeTrigger.TriggerDistance - brakingDistance) {
+ DriverStrategy.BrakeTrigger.BrakingStartDistance) {
Phase = BrakingPhase.Brake;
Log.Debug("Switching to BRAKE Phase. currentDistance: {0}", currentDistance);
} else {
- if ((currentDistance + ds).IsGreater(DriverStrategy.BrakeTrigger.TriggerDistance - brakingDistance)) {
+ if ((currentDistance + ds).IsGreater(DriverStrategy.BrakeTrigger.BrakingStartDistance)) {
return new ResponseDrivingCycleDistanceExceeded() {
//Source = this,
- MaxDistance = DriverStrategy.BrakeTrigger.TriggerDistance - brakingDistance - currentDistance
+ MaxDistance = DriverStrategy.BrakeTrigger.BrakingStartDistance - currentDistance
};
}
}
@@ -704,13 +704,12 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
});
break;
case BrakingPhase.Brake:
- var brakingDistance = Driver.ComputeDecelerationDistance(DriverStrategy.BrakeTrigger.NextTargetSpeed) +
- DefaultDriverStrategy.BrakingSafetyMargin;
+
Log.Debug("Phase: BRAKE. breaking distance: {0} start braking @ {1}", brakingDistance,
- DriverStrategy.BrakeTrigger.TriggerDistance - brakingDistance);
- if (DriverStrategy.BrakeTrigger.TriggerDistance - brakingDistance < currentDistance) {
+ DriverStrategy.BrakeTrigger.BrakingStartDistance);
+ if (DriverStrategy.BrakeTrigger.BrakingStartDistance < currentDistance) {
Log.Info("Expected Braking Deceleration could not be reached! {0}",
- DriverStrategy.BrakeTrigger.TriggerDistance - brakingDistance - currentDistance);
+ DriverStrategy.BrakeTrigger.BrakingStartDistance - currentDistance);
}
var targetDistance = DataBus.VehicleSpeed < Constants.SimulationSettings.MinVelocityForCoast
? DriverStrategy.BrakeTrigger.TriggerDistance
@@ -760,12 +759,12 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
switch (nextAction.Action) {
case DrivingBehavior.Coasting:
var v2 = Driver.DataBus.VehicleSpeed + response.Acceleration * response.SimulationInterval;
- var brakingDistance = Driver.DriverData.AccelerationCurve.ComputeAccelerationDistance(v2,
+ var newBrakingDistance = Driver.DriverData.AccelerationCurve.ComputeAccelerationDistance(v2,
nextAction.NextTargetSpeed);
- if ((Driver.DataBus.Distance + ds).IsSmaller(nextAction.TriggerDistance - brakingDistance)) {
+ if ((Driver.DataBus.Distance + ds).IsSmaller(nextAction.TriggerDistance - newBrakingDistance)) {
return response;
}
- newds = (nextAction.TriggerDistance - brakingDistance) - Driver.DataBus.Distance -
+ newds = nextAction.TriggerDistance - newBrakingDistance - Driver.DataBus.Distance -
Constants.SimulationSettings.DriverActionDistanceTolerance / 2;
break;
default:
--
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