From a7aef1c9483a5ea022d4db7a648d6da77701d798 Mon Sep 17 00:00:00 2001
From: Markus Quaritsch <markus.quaritsch@tugraz.at>
Date: Mon, 27 Jun 2016 13:58:33 +0200
Subject: [PATCH] fix: update braking distance for current brakeTrigger
---
.../SimulationComponent/Impl/DefaultDriverStrategy.cs | 11 +++++++----
1 file changed, 7 insertions(+), 4 deletions(-)
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
index d81b556d56..c37df9ba81 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
@@ -631,15 +631,18 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
var currentDistance = DataBus.Distance;
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)) {
DriverStrategy.BrakeTrigger = nextBrakeAction;
+ Log.Debug("setting brake trigger to new trigger: trigger distance: {0}, start braking @ {1}", nextBrakeAction.TriggerDistance, nextBrakeAction.BrakingStartDistance);
}
- var brakingDistance = Driver.ComputeDecelerationDistance(DriverStrategy.BrakeTrigger.NextTargetSpeed) +
- DefaultDriverStrategy.BrakingSafetyMargin;
- Log.Debug("breaking distance: {0}, start braking @ {1}", brakingDistance,
- DriverStrategy.BrakeTrigger.TriggerDistance - brakingDistance);
+
+ Log.Debug("start braking @ {0}", DriverStrategy.BrakeTrigger.TriggerDistance - brakingDistance);
var remainingDistanceToBrake = DriverStrategy.BrakeTrigger.TriggerDistance - brakingDistance - currentDistance;
var estimatedTimeInterval = remainingDistanceToBrake / DataBus.VehicleSpeed;
if (estimatedTimeInterval.IsSmaller(Constants.SimulationSettings.LowerBoundTimeInterval) ||
--
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