diff --git a/VectoCore/Models/SimulationComponent/Impl/Clutch.cs b/VectoCore/Models/SimulationComponent/Impl/Clutch.cs
index 76ec4161601b7a2b5ab5dbc9246be9811603c2e4..410adf931ecb660dbf688f5e805351b5a7c4886b 100644
--- a/VectoCore/Models/SimulationComponent/Impl/Clutch.cs
+++ b/VectoCore/Models/SimulationComponent/Impl/Clutch.cs
@@ -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;
diff --git a/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs b/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
index e35702072e068d872e90f9ce64a58d5c8ee39414..7f1a20eb9fceb0b0b9e0e2bc54223d40fc532a47 100644
--- a/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+++ b/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
@@ -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;