From a2c21f641b1dd8640b1ca562c629fb4e1f027130 Mon Sep 17 00:00:00 2001
From: Markus Quaritsch <markus.quaritsch@tugraz.at>
Date: Wed, 10 Jun 2020 10:30:00 +0200
Subject: [PATCH] cause of the error: a short simulation interval occurs
because braking to the next but one target speed (stop) starts slightly
before the next target speed change. thus the simulation first goes to the
distance where braking has to start and then simulates the short distance to
the next target speed (as we do not cross target speed changes) solution:
allow simulating over a target speed change if the distance to the next
target speed change is short and the vehicle is already below the next target
speed.
---
.../Impl/DistanceBasedDrivingCycle.cs | 16 ++++++++++++++++
1 file changed, 16 insertions(+)
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DistanceBasedDrivingCycle.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DistanceBasedDrivingCycle.cs
index e3310f1d60..8e54430aa9 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DistanceBasedDrivingCycle.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DistanceBasedDrivingCycle.cs
@@ -31,6 +31,7 @@
using System;
using System.Collections.Generic;
+using System.Globalization;
using System.Linq;
using TUGraz.VectoCommon.Exceptions;
using TUGraz.VectoCommon.Models;
@@ -58,6 +59,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
internal readonly DrivingCycleEnumerator CycleIntervalIterator;
private bool _intervalProlonged;
internal IdleControllerSwitcher IdleController;
+ private Meter CycleEndDistance;
+
private DrivingCycleData.DrivingCycleEntry Left
{
@@ -74,6 +77,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
Data = cycle;
CycleIntervalIterator = new DrivingCycleEnumerator(Data);
CycleStartDistance = Data.Entries.Count > 0 ? Data.Entries.First().Distance : 0.SI<Meter>();
+ CycleEndDistance = Data.Entries.Count > 0 ? Data.Entries.Last().Distance : 0.SI<Meter>();
var first = Data.Entries.First();
PreviousState = new DrivingCycleState {
@@ -139,6 +143,18 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
};
return CurrentState.Response;
}
+
+ if (DataBus.VehicleSpeed.IsGreater(0) && Right.Distance.IsSmaller(CycleEndDistance)) {
+ var distanceToSpeedChange = nextSpeedChange - PreviousState.Distance;
+ var estimatedTimeToSpeedChange = distanceToSpeedChange / DataBus.VehicleSpeed;
+ if (estimatedTimeToSpeedChange.IsSmaller(Constants.SimulationSettings.LowerBoundTimeInterval / 2) &&
+ DataBus.VehicleSpeed.IsSmaller(Left.VehicleTargetSpeed, 1.KMPHtoMeterPerSecond()) &&
+ DataBus.VehicleSpeed.IsSmaller(Right.VehicleTargetSpeed, 1.KMPHtoMeterPerSecond())) {
+ CurrentState.Response = DriveDistance(absTime, ds);
+ return CurrentState.Response;
+ }
+ }
+
// only drive until next sample point in cycle with speed change
Log.Debug("Limiting distance to next sample point {0}",
Right.Distance - PreviousState.Distance);
--
GitLab