From 9c1082a9078f4d826564f4cd27445d02cf634056 Mon Sep 17 00:00:00 2001
From: Markus Quaritsch <markus.quaritsch@tugraz.at>
Date: Tue, 20 Oct 2015 13:41:09 +0200
Subject: [PATCH] set vehicle speed to zero if below certain threshold
---
.../Impl/DefaultDriverStrategy.cs | 28 +++++++------------
.../SimulationComponent/Impl/Vehicle.cs | 3 ++
2 files changed, 13 insertions(+), 18 deletions(-)
diff --git a/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs b/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
index e16b637a9f..20e33b17a8 100644
--- a/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+++ b/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
@@ -78,6 +78,16 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
return retVal;
}
+ public IResponse Request(Second absTime, Second dt, MeterPerSecond targetVelocity, Radian gradient)
+ {
+ DriverBehavior = DrivingBehavior.Halted;
+ return Driver.DrivingActionHalt(absTime, dt, targetVelocity, gradient);
+ }
+
+
+ public DrivingBehavior DriverBehavior { get; internal set; }
+
+
private void UpdateDrivingAction(Meter currentDistance)
{
var nextAction = GetNextDrivingAction(currentDistance);
@@ -126,15 +136,6 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
}
- public IResponse Request(Second absTime, Second dt, MeterPerSecond targetVelocity, Radian gradient)
- {
- DriverBehavior = DrivingBehavior.Halted;
- return Driver.DrivingActionHalt(absTime, dt, targetVelocity, gradient);
- }
-
-
- public DrivingBehavior DriverBehavior { get; internal set; }
-
protected DrivingBehaviorEntry GetNextDrivingAction(Meter minDistance)
{
var currentSpeed = Driver.DataBus.VehicleSpeed;
@@ -152,7 +153,6 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
? entry.VehicleTargetSpeed + Driver.DriverData.OverSpeedEcoRoll.OverSpeed
: entry.VehicleTargetSpeed;
if (nextTargetSpeed < currentSpeed) {
- // TODO @@@quam currentSpeed ? targetSpeed? nextTargetSpeed?
if (!Driver.DriverData.LookAheadCoasting.Enabled ||
currentSpeed < Driver.DriverData.LookAheadCoasting.MinSpeed) {
var brakingDistance = Driver.ComputeDecelerationDistance(nextTargetSpeed);
@@ -178,14 +178,6 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
});
}
}
- //if (nextTargetSpeed > currentSpeed) {
- // nextActions.Add(new DrivingBehaviorEntry {
- // Action = DefaultDriverStrategy.DrivingBehavior.Accelerating,
- // NextTargetSpeed = entry.VehicleTargetSpeed,
- // TriggerDistance = entry.Distance,
- // ActionDistance = entry.Distance
- // });
- //}
}
return nextActions.Count == 0 ? null : nextActions.OrderBy(x => x.ActionDistance).First();
diff --git a/VectoCore/Models/SimulationComponent/Impl/Vehicle.cs b/VectoCore/Models/SimulationComponent/Impl/Vehicle.cs
index 1472ab8943..a5ac4cdc56 100644
--- a/VectoCore/Models/SimulationComponent/Impl/Vehicle.cs
+++ b/VectoCore/Models/SimulationComponent/Impl/Vehicle.cs
@@ -125,6 +125,9 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
_currentState.dt = dt;
_currentState.Acceleration = acceleration;
_currentState.Velocity = _previousState.Velocity + acceleration * dt;
+ if (_currentState.Velocity.IsEqual(0, 1e-4)) {
+ _currentState.Velocity = 0.SI<MeterPerSecond>();
+ }
_currentState.Distance = _previousState.Distance + dt * (_previousState.Velocity + _currentState.Velocity) / 2;
_currentState.DriverAcceleration = DriverAcceleration(acceleration);
--
GitLab