Code development platform for open source projects from the European Union institutions

Skip to content
Snippets Groups Projects
Commit aa51bc95 authored by Markus Quaritsch's avatar Markus Quaritsch
Browse files

refactored driver actions

parent aa9f0570
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
VectoCore/Models/SimulationComponent/Impl/Driver.cs
+ 56
− 101
View file @ aa51bc95
......@@ -203,50 +203,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
/// <returns></returns>
public IResponse DrivingActionCoast(Second absTime, Meter ds, Radian gradient)
{
var operatingPoint = ComputeAcceleration(ds, 0.SI<MeterPerSecond>());
if (operatingPoint.SimulationInterval <= 0) {
return new ResponseFailTimeInterval();
}
CurrentState.Acceleration = operatingPoint.Acceleration;
var response = Next.Request(absTime, operatingPoint.SimulationInterval, operatingPoint.Acceleration, gradient,
dryRun: true);
operatingPoint = SearchOperatingPoint(absTime, operatingPoint.SimulationDistance, gradient,
operatingPoint.Acceleration, response, coasting: true);
if (!ds.IsEqual(operatingPoint.SimulationDistance)) {
// vehicle is at low speed, coasting would lead to stop before ds is reached.
Log.Debug("SearchOperatingPoint reduced the max. distance: {0} -> {1}. Issue new request from driving cycle!",
operatingPoint.SimulationDistance, ds);
return new ResponseDrivingCycleDistanceExceeded {
MaxDistance = operatingPoint.SimulationDistance,
SimulationInterval = CurrentState.dt
};
}
Log.Debug("Found operating point for coasting. dt: {0}, acceleration: {1}", CurrentState.dt,
CurrentState.Acceleration);
operatingPoint = LimitAccelerationByDriverModel(operatingPoint, true);
CurrentState.dt = operatingPoint.SimulationInterval;
CurrentState.Acceleration = operatingPoint.Acceleration;
var retVal = Next.Request(absTime, CurrentState.dt, CurrentState.Acceleration, gradient);
CurrentState.Response = retVal;
retVal.Switch().
Case<ResponseSuccess>(r => r.SimulationInterval = CurrentState.dt).
Case<ResponseEngineOverload>(() => {
/* an overload may occur due to limiting the acceleration. strategy has to handle this */
}).
Case<ResponseGearShift>(r => retVal = r).
Default(() => { throw new VectoSimulationException("unhandled response from powertrain: {0}", retVal); });
return retVal; //new ResponseDrivingCycleDistanceExceeded() { SimulationInterval = CurrentState.dt };
return CoastOrRollAction(absTime, ds, gradient);
}
......@@ -258,6 +215,11 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
/// <param name="gradient"></param>
/// <returns></returns>
public IResponse DrivingActionRoll(Second absTime, Meter ds, Radian gradient)
{
return CoastOrRollAction(absTime, ds, gradient);
}
protected IResponse CoastOrRollAction(Second absTime, Meter ds, Radian gradient)
{
var operatingPoint = ComputeAcceleration(ds, 0.SI<MeterPerSecond>());
......@@ -299,11 +261,13 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
Case<ResponseEngineOverload>(() => {
/* an overload may occur due to limiting the acceleration. strategy has to handle this */
}).
Case<ResponseGearShift>(r => retVal = r).
Default(() => { throw new VectoSimulationException("unhandled response from powertrain: {0}", retVal); });
return retVal; //new ResponseDrivingCycleDistanceExceeded() { SimulationInterval = CurrentState.dt };
}
/// <summary>
///
/// </summary>
......@@ -321,19 +285,16 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
return new ResponseFailTimeInterval();
}
var response = Next.Request(absTime, operatingPoint.SimulationInterval, operatingPoint.Acceleration, gradient, true);
var response =
(ResponseDryRun)
Next.Request(absTime, operatingPoint.SimulationInterval, operatingPoint.Acceleration, gradient, true);
var dryRun = response as ResponseDryRun;
if (dryRun == null) {
throw new VectoSimulationException("Expected DryRunResponse after Dry-Run Request!");
}
if (dryRun.DeltaDragLoad > 0) {
if (response.DeltaDragLoad > 0) {
throw new VectoSimulationException("Braking not required, above drag load! Use engine brake!");
}
operatingPoint = SearchBreakingPower(absTime, operatingPoint.SimulationDistance, gradient,
operatingPoint.Acceleration, dryRun);
operatingPoint.Acceleration, response);
if (!ds.IsEqual(operatingPoint.SimulationDistance)) {
Log.Debug(
......@@ -389,32 +350,31 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
/// <param name="ds"></param>
/// <param name="gradient"></param>
/// <param name="acceleration"></param>
/// <param name="response"></param>
/// <param name="initialResponse"></param>
/// <returns></returns>
private OperatingPoint SearchBreakingPower(Second absTime, Meter ds, Radian gradient,
MeterPerSquareSecond acceleration, IResponse response)
MeterPerSquareSecond acceleration, IResponse initialResponse)
{
var debug = new List<dynamic>(); // only used while testing
var searchInterval = Constants.SimulationSettings.BreakingPowerInitialSearchInterval;
var operatingPoint = new OperatingPoint() { SimulationDistance = ds, Acceleration = acceleration };
var origDelta = DataBus.ClutchState() == ClutchState.ClutchClosed
? response.DeltaDragLoad
: response.GearboxPowerRequest;
Watt origDelta = null;
initialResponse.Switch().
Case<ResponseGearShift>(r => origDelta = r.GearboxPowerRequest).
Case<ResponseDryRun>(r => origDelta = DataBus.ClutchState() == ClutchState.ClutchClosed
? r.DeltaDragLoad
: r.GearboxPowerRequest);
var delta = origDelta;
var breakingPower = origDelta.Abs();
// double the searchInterval until a good interval was found
var intervalFactor = 2.0;
var retryCount = 0;
//ResponseDryRun response;
do {
var delta = DataBus.ClutchState() == ClutchState.ClutchClosed
? response.DeltaDragLoad
: response.GearboxPowerRequest;
debug.Add(new { breakingPower, searchInterval, delta });
// check if a correct searchInterval was found (when the delta changed signs, we stepped through the 0-point)
......@@ -423,19 +383,19 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
intervalFactor = 0.5;
}
if (delta.IsEqual(0, Constants.SimulationSettings.EngineFLDPowerTolerance)) {
Log.Debug("found operating point in {0} iterations, delta: {1}", debug.Count, delta);
return operatingPoint;
}
breakingPower += searchInterval * -delta.Sign();
searchInterval *= intervalFactor;
operatingPoint = ComputeTimeInterval(operatingPoint.Acceleration, ds);
DataBus.BreakPower = breakingPower;
response =
var response =
(ResponseDryRun)
Next.Request(absTime, operatingPoint.SimulationInterval, operatingPoint.Acceleration, gradient, true);
delta = DataBus.ClutchState() == ClutchState.ClutchClosed ? response.DeltaDragLoad : response.GearboxPowerRequest;
if (delta.IsEqual(0, Constants.SimulationSettings.EngineFLDPowerTolerance)) {
Log.Debug("found operating point in {0} iterations, delta: {1}", debug.Count, delta);
return operatingPoint;
}
} while (retryCount++ < Constants.SimulationSettings.DriverSearchLoopThreshold);
Log.Warn("Exceeded max iterations when searching for operating point!");
......@@ -457,13 +417,12 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
/// <param name="ds">ds from the original request</param>
/// <param name="gradient">gradient from the original request</param>
/// <param name="acceleration"></param>
/// <param name="response">response of the former request that resulted in an overload response (or a dry-run response)</param>
/// <param name="initialResponse"></param>
/// <param name="coasting">if true approach the drag-load curve, otherwise full-load curve</param>
/// <returns></returns>
protected OperatingPoint SearchOperatingPoint(Second absTime, Meter ds, Radian gradient,
MeterPerSquareSecond acceleration, IResponse response, bool coasting = false)
MeterPerSquareSecond acceleration, IResponse initialResponse, bool coasting = false)
{
// remove accelerating param
var debug = new List<dynamic>();
var searchInterval = Constants.SimulationSettings.OperatingPointInitialSearchIntervalAccelerating;
......@@ -474,44 +433,32 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
var actionRoll = DataBus.ClutchState() == ClutchState.ClutchOpened;
var delta = 0.SI<Watt>();
Watt origDelta = null;
var retryCount = 0;
if (actionRoll) {
initialResponse.Switch().
Case<ResponseDryRun>(r => origDelta = r.GearboxPowerRequest).
Default(r => { throw new VectoSimulationException("Unknown response type. {0}", r); });
} else {
initialResponse.Switch().
Case<ResponseEngineOverload>(r => origDelta = r.Delta). // search operating point in drive action after overload
Case<ResponseDryRun>(r => origDelta = coasting ? r.DeltaDragLoad : r.DeltaFullLoad).
Default(r => { throw new VectoSimulationException("Unknown response type. {0}", r); });
}
var delta = origDelta;
var retryCount = 0;
do {
if (actionRoll) {
response.Switch().
Case<ResponseEngineOverload>().
Case <
} else {
response.Switch().
Case<ResponseEngineOverload>(r => delta = r.Delta).
Case<ResponseDryRun>(r => delta = coasting ? r.DeltaDragLoad : r.DeltaFullLoad).
Default(r => { throw new VectoSimulationException(string.Format("Unknown response type. {0}", r)); });
}
debug.Add(new { delta, acceleration = retVal.Acceleration, searchInterval, intervalFactor });
if (origDelta == null) {
origDelta = delta;
} else {
// check if a correct searchInterval was found (when the delta changed signs, we stepped through the 0-point)
// from then on the searchInterval can be bisected.
if (origDelta.Sign() != delta.Sign()) {
intervalFactor = 0.5;
}
}
if (delta.IsEqual(0, Constants.SimulationSettings.EngineFLDPowerTolerance)) {
Log.Debug(
"found operating point in {0} iterations. Engine Power req: {2}, Gearbox Power req: {3} delta: {1}",
debug.Count, delta, response.EnginePowerRequest, response.GearboxPowerRequest);
return retVal;
// check if a correct searchInterval was found (when the delta changed signs, we stepped through the 0-point)
// from then on the searchInterval can be bisected.
if (origDelta.Sign() != delta.Sign()) {
intervalFactor = 0.5;
}
searchInterval *= intervalFactor;
retVal.Acceleration += searchInterval * -delta.Sign();
// TODO: move to driving mode
// check for minimum acceleration, add some safety margin due to search
if (!coasting && retVal.Acceleration.Abs() < Constants.SimulationSettings.MinimumAcceleration.Value() / 5.0 /* &&
......@@ -522,7 +469,15 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
var tmp = ComputeTimeInterval(retVal.Acceleration, ds);
retVal.SimulationInterval = tmp.SimulationInterval;
response = Next.Request(absTime, retVal.SimulationInterval, retVal.Acceleration, gradient, true);
var response = (ResponseDryRun)Next.Request(absTime, retVal.SimulationInterval, retVal.Acceleration, gradient, true);
delta = actionRoll ? response.GearboxPowerRequest : (coasting ? response.DeltaDragLoad : response.DeltaFullLoad);
if (delta.IsEqual(0, Constants.SimulationSettings.EngineFLDPowerTolerance)) {
Log.Debug(
"found operating point in {0} iterations. Engine Power req: {2}, Gearbox Power req: {3} delta: {1}",
debug.Count, delta, response.EnginePowerRequest, response.GearboxPowerRequest);
return retVal;
}
} while (retryCount++ < Constants.SimulationSettings.DriverSearchLoopThreshold);
Log.Warn("Exceeded max iterations when searching for operating point!");
......
VectoCoreTest/Integration/SimulationRuns/FullPowertrain.cs
+ 3
− 3
View file @ aa51bc95
......@@ -53,7 +53,7 @@ namespace TUGraz.VectoCore.Tests.Integration.SimulationRuns
dynamic tmp = Port.AddComponent(cycle, new Driver(container, driverData, new DefaultDriverStrategy()));
tmp = Port.AddComponent(tmp, new Vehicle(container, vehicleData));
tmp = Port.AddComponent(tmp, new Wheels(container, vehicleData.DynamicTyreRadius));
tmp = Port.AddComponent(tmp, new Breaks(container));
tmp = Port.AddComponent(tmp, new Brakes(container));
tmp = Port.AddComponent(tmp, new AxleGear(container, axleGearData));
tmp = Port.AddComponent(tmp, new Gearbox(container, gearboxData));
tmp = Port.AddComponent(tmp, new Clutch(container, engineData));
......@@ -114,7 +114,7 @@ namespace TUGraz.VectoCore.Tests.Integration.SimulationRuns
dynamic tmp = Port.AddComponent(cycle, new Driver(container, driverData, new DefaultDriverStrategy()));
tmp = Port.AddComponent(tmp, new Vehicle(container, vehicleData));
tmp = Port.AddComponent(tmp, new Wheels(container, vehicleData.DynamicTyreRadius));
tmp = Port.AddComponent(tmp, new Breaks(container));
tmp = Port.AddComponent(tmp, new Brakes(container));
tmp = Port.AddComponent(tmp, new AxleGear(container, axleGearData));
tmp = Port.AddComponent(tmp, new Gearbox(container, gearboxData));
tmp = Port.AddComponent(tmp, new Clutch(container, engineData));
......@@ -184,7 +184,7 @@ namespace TUGraz.VectoCore.Tests.Integration.SimulationRuns
dynamic tmp = Port.AddComponent(cycle, new Driver(container, driverData, new DefaultDriverStrategy()));
tmp = Port.AddComponent(tmp, new Vehicle(container, vehicleData));
tmp = Port.AddComponent(tmp, new Wheels(container, vehicleData.DynamicTyreRadius));
tmp = Port.AddComponent(tmp, new Breaks(container));
tmp = Port.AddComponent(tmp, new Brakes(container));
tmp = Port.AddComponent(tmp, new AxleGear(container, axleGearData));
tmp = Port.AddComponent(tmp, new Gearbox(container, gearboxData));
tmp = Port.AddComponent(tmp, new Clutch(container, engineData));
......
VectoCoreTest/Integration/SimulationRuns/MinimalPowertrain.cs
+ 2
− 2
View file @ aa51bc95
......@@ -102,7 +102,7 @@ namespace TUGraz.VectoCore.Tests.Integration.SimulationRuns
dynamic tmp = Port.AddComponent(cycle, new Driver(vehicleContainer, driverData, new DefaultDriverStrategy()));
tmp = Port.AddComponent(tmp, new Vehicle(vehicleContainer, vehicleData));
tmp = Port.AddComponent(tmp, new Wheels(vehicleContainer, vehicleData.DynamicTyreRadius));
tmp = Port.AddComponent(tmp, new Breaks(vehicleContainer));
tmp = Port.AddComponent(tmp, new Brakes(vehicleContainer));
tmp = Port.AddComponent(tmp, new AxleGear(vehicleContainer, axleGearData));
tmp = Port.AddComponent(tmp, new Clutch(vehicleContainer, engineData));
Port.AddComponent(tmp, new CombustionEngine(vehicleContainer, engineData));
......@@ -171,7 +171,7 @@ namespace TUGraz.VectoCore.Tests.Integration.SimulationRuns
dynamic tmp = Port.AddComponent(cycle, new Driver(vehicleContainer, driverData, new DefaultDriverStrategy()));
tmp = Port.AddComponent(tmp, new Vehicle(vehicleContainer, vehicleData));
tmp = Port.AddComponent(tmp, new Wheels(vehicleContainer, vehicleData.DynamicTyreRadius));
tmp = Port.AddComponent(tmp, new Breaks(vehicleContainer));
tmp = Port.AddComponent(tmp, new Brakes(vehicleContainer));
tmp = Port.AddComponent(tmp, new AxleGear(vehicleContainer, axleGearData));
tmp = Port.AddComponent(tmp, new Clutch(vehicleContainer, engineData));
Port.AddComponent(tmp, new CombustionEngine(vehicleContainer, engineData));
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment

For further information about the platform and support, please see https://code.europa.eu/info/about