From b3378b352744ec09a1ce9f4577dc79473e84ca89 Mon Sep 17 00:00:00 2001
From: Markus Quaritsch <markus.quaritsch@tugraz.at>
Date: Mon, 29 Jan 2018 17:03:17 +0100
Subject: [PATCH] Extend Driver functionality: if no operating point can be
found because the vehicle already stopped and no acceleration > 0 can be
achieved (e.g. because steep uphill and the gearbox is disengaged), insert a
'halt' action and drive off again
---
.../Models/SimulationComponent/Impl/Driver.cs | 26 ++++++++++++++++++-
1 file changed, 25 insertions(+), 1 deletion(-)
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs
index 894dd1b709..c9c7b0cbf4 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs
@@ -181,6 +181,23 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
response);
}
+ if (nextOperatingPoint == null && absTime > 0 && DataBus.VehicleStopped) {
+ Log.Info(
+ "No operating point found! Vehicle stopped! trying HALT action");
+ DataBus.BrakePower = 1.SI<Watt>();
+ retVal = DrivingActionHalt(absTime, operatingPoint.SimulationInterval, 0.SI<MeterPerSecond>(), gradient);
+
+ retVal.SimulationDistance = 0.SI<Meter>();
+ retVal.Acceleration = 0.SI<MeterPerSquareSecond>();
+ retVal.SimulationInterval = operatingPoint.SimulationInterval;
+ retVal.OperatingPoint = new OperatingPoint() {
+ Acceleration = retVal.Acceleration,
+ SimulationDistance = retVal.SimulationDistance,
+ SimulationInterval = operatingPoint.SimulationInterval
+ };
+ return retVal;
+ }
+
var limitedOperatingPoint = nextOperatingPoint;
if (!(retVal is ResponseEngineSpeedTooHigh || DataBus.ClutchClosed(absTime))) {
limitedOperatingPoint = LimitAccelerationByDriverModel(nextOperatingPoint,
@@ -746,12 +763,18 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
retVal.Acceleration = tmp.Acceleration;
retVal.SimulationInterval = tmp.SimulationInterval;
retVal.SimulationDistance = tmp.SimulationDistance;
+
+
+ } else {
+ retVal.Acceleration = acc;
+ retVal.SimulationDistance = 0.SI<Meter>();
}
IterationStatistics.Increment(this, "SearchOperatingPoint");
DriverAcceleration = acc;
var response = NextComponent.Request(absTime, retVal.SimulationInterval, acc, gradient, true);
response.OperatingPoint = retVal;
return response;
+
},
criterion: response => {
var r = (ResponseDryRun)response;
@@ -768,6 +791,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
var r = (ResponseDryRun)response;
return r != null && !actionRoll && !ds.IsEqual(r.OperatingPoint.SimulationDistance);
});
+ return ComputeTimeInterval(retVal.Acceleration, retVal.SimulationDistance);
} catch (VectoSearchAbortedException) {
// search aborted, try to go ahead with the last acceleration
} catch (Exception) {
@@ -779,7 +803,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
DriverData.AccelerationCurve.MaxAcceleration())) {
Log.Info("Operating Point outside driver acceleration limits: a: {0}", retVal.Acceleration);
}
- return ComputeTimeInterval(retVal.Acceleration, retVal.SimulationDistance);
+ return null;
}
private static Watt GetOrigDelta(IResponse initialResponse, bool coastingOrRoll, bool actionRoll)
--
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