From c5b29faadd8daaa1b385c83ceabdb3d02b78f233 Mon Sep 17 00:00:00 2001
From: Markus Quaritsch <markus.quaritsch@tugraz.at>
Date: Mon, 7 Jun 2021 11:20:51 +0200
Subject: [PATCH] driver strategy: handle the case that another brake action
gets more urgent during a coasting phase in a braking action (at the end of
the interurban cycle)
---
.../SimulationComponent/Impl/DefaultDriverStrategy.cs | 6 ++++++
1 file changed, 6 insertions(+)
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
index 04c979bd3a..3d9f71a01e 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
@@ -214,12 +214,18 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
//}
if (CurrentDrivingMode == DrivingMode.DrivingModeBrake) {
+ var nextAction = GetNextDrivingAction(ds);
+ if (nextAction != null && !BrakeTrigger.HasEqualTrigger(nextAction) && nextAction.ActionDistance.IsSmallerOrEqual(BrakeTrigger.ActionDistance)) {
+ BrakeTrigger = nextAction;
+ }
if (Driver.DataBus.MileageCounter.Distance.IsGreaterOrEqual(BrakeTrigger.TriggerDistance, 1e-3.SI<Meter>())) {
CurrentDrivingMode = DrivingMode.DrivingModeDrive;
NextDrivingAction = null;
DrivingModes[CurrentDrivingMode].ResetMode();
Log.Debug("Switching to DrivingMode DRIVE");
}
+
+
}
if (CurrentDrivingMode == DrivingMode.DrivingModeDrive) {
var currentDistance = Driver.DataBus.MileageCounter.Distance;
--
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