From ad98cf3a284d9821a8c4f7791efc0007cdc9e5ec Mon Sep 17 00:00:00 2001
From: Markus Quaritsch <markus.quaritsch@tugraz.at>
Date: Tue, 13 Oct 2015 10:33:55 +0200
Subject: [PATCH] bugfix: consider overspeed for next actions
---
.../Impl/DefaultDriverStrategy.cs | 22 +++++++++----------
1 file changed, 11 insertions(+), 11 deletions(-)
diff --git a/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs b/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
index 199d653b52..e35702072e 100644
--- a/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+++ b/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
@@ -166,31 +166,31 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
var nextActions = new List<DrivingBehaviorEntry>();
foreach (var entry in lookaheadData) {
if (entry.VehicleTargetSpeed < currentSpeed) {
+ var nextTargetSpeed = OverspeedAllowed(entry.RoadGradient, entry.VehicleTargetSpeed)
+ ? entry.VehicleTargetSpeed + Driver.DriverData.OverSpeedEcoRoll.OverSpeed
+ : entry.VehicleTargetSpeed;
if (!Driver.DriverData.LookAheadCoasting.Enabled ||
currentSpeed < Driver.DriverData.LookAheadCoasting.MinSpeed) {
- var brakingDistance = Driver.ComputeDecelerationDistance(entry.VehicleTargetSpeed);
- Log.Debug("adding 'Braking' starting at distance {0}", entry.Distance - brakingDistance);
+ var brakingDistance = Driver.ComputeDecelerationDistance(nextTargetSpeed);
+ Log.Debug("adding 'Braking' starting at distance {0}. brakingDistance: {1}, triggerDistance: {2}",
+ entry.Distance - brakingDistance, brakingDistance, entry.Distance);
nextActions.Add(new DrivingBehaviorEntry {
Action = DrivingBehavior.Braking,
ActionDistance = entry.Distance - brakingDistance,
TriggerDistance = entry.Distance,
- NextTargetSpeed =
- OverspeedAllowed(entry.RoadGradient, entry.VehicleTargetSpeed)
- ? entry.VehicleTargetSpeed + Driver.DriverData.OverSpeedEcoRoll.OverSpeed
- : entry.VehicleTargetSpeed
+ NextTargetSpeed = nextTargetSpeed
});
} else {
- var coastingDistance = Formulas.DecelerationDistance(currentSpeed, entry.VehicleTargetSpeed,
+ var coastingDistance = Formulas.DecelerationDistance(currentSpeed, nextTargetSpeed,
Driver.DriverData.LookAheadCoasting.Deceleration);
- Log.Debug("adding 'Coasting' starting at distance {0}", entry.Distance - coastingDistance);
+ Log.Debug("adding 'Coasting' starting at distance {0}. coastingDistance: {1}, triggerDistance: {2}",
+ entry.Distance - coastingDistance, coastingDistance, entry.Distance);
nextActions.Add(
new DrivingBehaviorEntry {
Action = DefaultDriverStrategy.DrivingBehavior.Coasting,
ActionDistance = entry.Distance - coastingDistance,
TriggerDistance = entry.Distance,
- NextTargetSpeed = OverspeedAllowed(entry.RoadGradient, entry.VehicleTargetSpeed)
- ? entry.VehicleTargetSpeed + Driver.DriverData.OverSpeedEcoRoll.OverSpeed
- : entry.VehicleTargetSpeed
+ NextTargetSpeed = nextTargetSpeed
});
}
}
--
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