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Commit be021acc authored by Markus Quaritsch's avatar Markus Quaritsch
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consider adapting simulation distance also in case the next (exceeding) action is braking

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VectoCore/Models/SimulationComponent/Impl/Clutch.cs
+ 1
− 0
View file @ be021acc
......@@ -66,6 +66,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
{
if (angularVelocity == null) {
//var retval = NextComponent.Request(absTime, dt, torque, null, dryRun);
Log.Debug("Invoking IdleController...");
var retval = IdleController.Request(absTime, dt, torque, null, dryRun);
retval.ClutchPowerRequest = 0.SI<Watt>();
return retval;
......
VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+ 58
− 42
View file @ be021acc
......@@ -23,14 +23,6 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
DrivingModeBrake,
}
public enum DrivingBehavior
{
Accelerating,
Drive,
Coasting,
Braking,
}
protected DrivingMode CurrentDrivingMode;
protected Dictionary<DrivingMode, IDriverMode> DrivingModes = new Dictionary<DrivingMode, IDriverMode>();
......@@ -100,22 +92,36 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
if (v2 <= nextAction.NextTargetSpeed) {
return retVal;
}
var coastingDistance = Formulas.DecelerationDistance(v2, nextAction.NextTargetSpeed,
Driver.DriverData.LookAheadCoasting.Deceleration);
//if (Driver.DataBus.Distance.IsEqual(nextAction.TriggerDistance - coastingDistance,
// Constants.SimulationSettings.DriverActionDistanceTolerance.Value())) {
// return retVal;
//}
// if the distance at the end of the simulation interval is smaller than the new ActionDistance
// we are safe - go ahead...
if ((Driver.DataBus.Distance + ds).IsSmallerOrEqual(nextAction.TriggerDistance - coastingDistance,
Constants.SimulationSettings.DriverActionDistanceTolerance)) {
Meter newds;
switch (nextAction.Action) {
case DrivingBehavior.Coasting:
var coastingDistance = Formulas.DecelerationDistance(v2, nextAction.NextTargetSpeed,
Driver.DriverData.LookAheadCoasting.Deceleration);
// if the distance at the end of the simulation interval is smaller than the new ActionDistance
// we are safe - go ahead...
if ((Driver.DataBus.Distance + ds).IsSmallerOrEqual(nextAction.TriggerDistance - coastingDistance,
Constants.SimulationSettings.DriverActionDistanceTolerance)) {
return retVal;
}
newds = EstimateAccelerationDistanceBeforeBrake(retVal, nextAction);
break;
case DrivingBehavior.Braking:
var brakingDistance = Driver.DriverData.AccelerationCurve.ComputeAccelerationDistance(v2,
nextAction.NextTargetSpeed);
if ((Driver.DataBus.Distance + ds).IsSmaller(nextAction.TriggerDistance - brakingDistance)) {
return retVal;
}
newds = (nextAction.TriggerDistance - brakingDistance) - Driver.DataBus.Distance;
break;
default:
return retVal;
}
if (ds.IsEqual(newds, 1e-3.SI<Meter>())) {
return retVal;
}
var newds = EstimateAccelerationDistanceBeforeBrake(retVal, nextAction);
Log.Debug("Exceeding next ActionDistance at {0}. Reducing max Distance to {1}", nextAction.ActionDistance, newds);
return new ResponseDrivingCycleDistanceExceeded() {
Source = this,
......@@ -123,6 +129,16 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
};
}
public IResponse Request(Second absTime, Second dt, MeterPerSecond targetVelocity, Radian gradient)
{
DriverBehavior = DrivingBehavior.Halted;
return Driver.DrivingActionHalt(absTime, dt, targetVelocity, gradient);
}
public DrivingBehavior DriverBehavior { get; internal set; }
private Meter EstimateAccelerationDistanceBeforeBrake(IResponse retVal, DrivingBehaviorEntry nextAction)
{
// estimate the distance to drive when accelerating with the current acceleration (taken from retVal) and then
......@@ -145,13 +161,6 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
return newds;
}
public IResponse Request(Second absTime, Second dt, MeterPerSecond targetVelocity, Radian gradient)
{
return Driver.DrivingActionHalt(absTime, dt, targetVelocity, gradient);
}
protected DrivingBehaviorEntry GetNextDrivingAction(Meter minDistance)
{
var currentSpeed = Driver.DataBus.VehicleSpeed;
......@@ -165,12 +174,12 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
Log.Debug("Lookahead distance: {0} @ current speed {1}", lookaheadDistance, currentSpeed);
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;
var nextTargetSpeed = OverspeedAllowed(entry.RoadGradient, entry.VehicleTargetSpeed)
? entry.VehicleTargetSpeed + Driver.DriverData.OverSpeedEcoRoll.OverSpeed
: entry.VehicleTargetSpeed;
if (nextTargetSpeed < currentSpeed) {
if (!Driver.DriverData.LookAheadCoasting.Enabled ||
currentSpeed < Driver.DriverData.LookAheadCoasting.MinSpeed) {
entry.VehicleTargetSpeed < Driver.DriverData.LookAheadCoasting.MinSpeed) {
var brakingDistance = Driver.ComputeDecelerationDistance(nextTargetSpeed);
Log.Debug("adding 'Braking' starting at distance {0}. brakingDistance: {1}, triggerDistance: {2}",
entry.Distance - brakingDistance, brakingDistance, entry.Distance);
......@@ -187,21 +196,21 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
entry.Distance - coastingDistance, coastingDistance, entry.Distance);
nextActions.Add(
new DrivingBehaviorEntry {
Action = DefaultDriverStrategy.DrivingBehavior.Coasting,
Action = DrivingBehavior.Coasting,
ActionDistance = entry.Distance - coastingDistance,
TriggerDistance = entry.Distance,
NextTargetSpeed = nextTargetSpeed
});
}
}
if (entry.VehicleTargetSpeed > currentSpeed) {
nextActions.Add(new DrivingBehaviorEntry {
Action = DefaultDriverStrategy.DrivingBehavior.Accelerating,
NextTargetSpeed = entry.VehicleTargetSpeed,
TriggerDistance = entry.Distance,
ActionDistance = entry.Distance
});
}
//if (nextTargetSpeed > currentSpeed) {
// nextActions.Add(new DrivingBehaviorEntry {
// Action = DefaultDriverStrategy.DrivingBehavior.Accelerating,
// NextTargetSpeed = entry.VehicleTargetSpeed,
// TriggerDistance = entry.Distance,
// ActionDistance = entry.Distance
// });
//}
}
return nextActions.Count == 0 ? null : nextActions.OrderBy(x => x.ActionDistance).First();
......@@ -386,6 +395,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
}
switch (Phase) {
case BrakingPhase.Coast:
DriverStrategy.DriverBehavior = DrivingBehavior.Coasting;
response = DataBus.ClutchClosed(absTime)
? Driver.DrivingActionCoast(absTime, ds, targetVelocity, gradient)
: Driver.DrivingActionRoll(absTime, ds, targetVelocity, gradient);
......@@ -396,6 +406,11 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
gradient, r);
Phase = BrakingPhase.Brake;
}).
Case<ResponseOverload>(r => {
// limiting deceleration while coast may result in an overload => issue brakes to decelerate with driver's max deceleration
response = Driver.DrivingActionAccelerate(absTime, ds, targetVelocity, gradient);
//Phase = BrakingPhase.Brake;
}).
Case<ResponseGearShift>(r => {
response = Driver.DrivingActionRoll(absTime, ds, targetVelocity, gradient);
}).
......@@ -414,6 +429,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
var targetDistance = DataBus.VehicleSpeed < Constants.SimulationSettings.MinVelocityForCoast
? DriverStrategy.BrakeTrigger.TriggerDistance
: null;
DriverStrategy.DriverBehavior = DrivingBehavior.Braking;
response = Driver.DrivingActionBrake(absTime, ds, DriverStrategy.BrakeTrigger.NextTargetSpeed,
gradient, targetDistance: targetDistance);
response.Switch().
......@@ -441,7 +457,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
[DebuggerDisplay("ActionDistance: {ActionDistance}, TriggerDistance: {TriggerDistance}, Action: {Action}")]
public class DrivingBehaviorEntry
{
public DefaultDriverStrategy.DrivingBehavior Action;
public DrivingBehavior Action;
public MeterPerSecond NextTargetSpeed;
public Meter TriggerDistance;
public Meter ActionDistance;
......
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