From c978835eae259978b282ab5de47cc30caf3c2f5e Mon Sep 17 00:00:00 2001
From: Markus Quaritsch <markus.quaritsch@tugraz.at>
Date: Mon, 13 Jul 2020 18:05:06 +0200
Subject: [PATCH] driver strategy: handle the case engine is off during first
accelerate action (overspeed), hybrid strategy: try to stay in the same gear
if no best solution is found
---
.../VectoCommon/Models/OperatingPoint.cs | 12 ++++++++++
.../Impl/DefaultDriverStrategy.cs | 4 ++++
.../Models/SimulationComponent/Impl/Driver.cs | 23 ++++++++++---------
.../Strategies/HybridStrategy.cs | 16 ++++++++-----
4 files changed, 38 insertions(+), 17 deletions(-)
diff --git a/VectoCommon/VectoCommon/Models/OperatingPoint.cs b/VectoCommon/VectoCommon/Models/OperatingPoint.cs
index 639ce72bbf..ddcd47f3e6 100644
--- a/VectoCommon/VectoCommon/Models/OperatingPoint.cs
+++ b/VectoCommon/VectoCommon/Models/OperatingPoint.cs
@@ -40,6 +40,18 @@ namespace TUGraz.VectoCommon.Models
public MeterPerSquareSecond Acceleration;
public Meter SimulationDistance;
public Second SimulationInterval;
+
+
+ public OperatingPoint(OperatingPoint operatingPoint)
+ {
+ Acceleration = operatingPoint.Acceleration;
+ SimulationDistance = operatingPoint.SimulationDistance;
+ SimulationInterval = operatingPoint.SimulationInterval;
+ }
+
+ public OperatingPoint()
+ {
+ }
public override string ToString()
{
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
index 1635e547bd..cffac5072d 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
@@ -1001,6 +1001,10 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
first = Driver.DrivingActionAccelerate(absTime, ds, targetVelocity, gradient);
debug.Add(new { action = "Coast:(Success & Acc<0) -> Accelerate", first });
}
+ if (!DataBus.EngineInfo.EngineOn && first is ResponseOverload) {
+ first = Driver.DrivingActionAccelerate(absTime, ds, targetVelocity, gradient);
+ debug.Add(new { action = "Coast:(Overload & ICE off) -> Accelerate", first });
+ }
} else {
if (DataBus.GearboxInfo.GearboxType.AutomaticTransmission() && DataBus.GearboxInfo.DisengageGearbox) {
first = Driver.DrivingActionCoast(absTime, ds, velocityWithOverspeed, gradient);
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs
index eb07caafaa..94ae6f8030 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs
@@ -922,30 +922,31 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
LimitationMode limits)
{
var limitApplied = false;
- var originalAcceleration = operatingPoint.Acceleration;
+ var retVal = new OperatingPoint(operatingPoint);
+ var originalAcceleration = retVal.Acceleration;
//if (((limits & LimitationMode.LimitDecelerationLookahead) != 0) &&
- // operatingPoint.Acceleration < DriverData.LookAheadCoasting.Deceleration) {
- // operatingPoint.Acceleration = DriverData.LookAheadCoasting.Deceleration;
+ // retVal.Acceleration < DriverData.LookAheadCoasting.Deceleration) {
+ // retVal.Acceleration = DriverData.LookAheadCoasting.Deceleration;
// limitApplied = true;
//}
var accelerationLimits = DriverData.AccelerationCurve.Lookup(DataBus.VehicleInfo.VehicleSpeed);
- if (operatingPoint.Acceleration > accelerationLimits.Acceleration) {
- operatingPoint.Acceleration = accelerationLimits.Acceleration;
+ if (retVal.Acceleration > accelerationLimits.Acceleration) {
+ retVal.Acceleration = accelerationLimits.Acceleration;
limitApplied = true;
}
if (((limits & LimitationMode.LimitDecelerationDriver) != 0) &&
- operatingPoint.Acceleration < accelerationLimits.Deceleration) {
- operatingPoint.Acceleration = accelerationLimits.Deceleration;
+ retVal.Acceleration < accelerationLimits.Deceleration) {
+ retVal.Acceleration = accelerationLimits.Deceleration;
limitApplied = true;
}
if (limitApplied) {
- operatingPoint.SimulationInterval =
- ComputeTimeInterval(operatingPoint.Acceleration, operatingPoint.SimulationDistance)
+ retVal.SimulationInterval =
+ ComputeTimeInterval(retVal.Acceleration, retVal.SimulationDistance)
.SimulationInterval;
Log.Debug("Limiting acceleration from {0} to {1}, dt: {2}", originalAcceleration,
- operatingPoint.Acceleration, operatingPoint.SimulationInterval);
+ retVal.Acceleration, retVal.SimulationInterval);
}
- return operatingPoint;
+ return retVal;
}
/// <summary>
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Strategies/HybridStrategy.cs b/VectoCore/VectoCore/Models/SimulationComponent/Strategies/HybridStrategy.cs
index 5bd6a91359..a1fe968e5a 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Strategies/HybridStrategy.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Strategies/HybridStrategy.cs
@@ -150,7 +150,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
return response;
}
- if (dryRun && DataBus.DriverInfo.DrivingAction == DrivingAction.Brake) {
+ if (dryRun && DataBus.DriverInfo.DrivingAction == DrivingAction.Brake && (DataBus.GearboxInfo.GearEngaged(absTime) || ElectricMotorCanPropellDuringTractionInterruption)) {
var tmp = MaxRecuperationSetting(absTime, dt, outTorque, outAngularVelocity);
var outTorqueWithoutBraking =
outTorque - 2 * DataBus.Brakes.BrakePower / (PreviousState.AngularVelocity + outAngularVelocity);
@@ -159,7 +159,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
DryRunAction = DataBus.DriverInfo.DrivingAction;
DryRunResult = tmp;
var brakeRetVal = CreateResponse(tmp, currentGear);
- DebugData.Add(new { Best = tmp, RetVal = brakeRetVal, DryRun = dryRun });
+ DebugData.Add(new { DrivingAction = DataBus.DriverInfo.DrivingAction, Best = tmp, RetVal = brakeRetVal, DryRun = dryRun });
return brakeRetVal;
}
}
@@ -227,7 +227,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
CurrentState.GearshiftTriggerTstmp = absTime;
}
- DebugData.Add(new { Evaluations = eval, Best = best, RetVal = retVal, DryRun = dryRun });
+ DebugData.Add(new { DrivingAction = DataBus.DriverInfo.DrivingAction, Evaluations = eval, Best = best, RetVal = retVal, DryRun = dryRun });
return retVal;
}
@@ -237,7 +237,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
{
var best = eval.Where(x => !double.IsNaN(x.Score)).OrderBy(x => x.Score).FirstOrDefault();
if (best == null) {
- best = eval.FirstOrDefault(x => !DataBus.EngineCtl.CombustionEngineOn || !x.IgnoreReason.InvalidEngineSpeed());
+ best = eval.OrderBy(x => Math.Abs((int)currentGear - x.Gear)).FirstOrDefault(x => !DataBus.EngineCtl.CombustionEngineOn || !x.IgnoreReason.InvalidEngineSpeed());
if (best == null /*&& dryRun*/) {
var emEngaged = (!ElectricMotorCanPropellDuringTractionInterruption ||
(DataBus.GearboxInfo.GearEngaged(absTime) && eval.First().Response.Gearbox.Gear != 0));
@@ -300,14 +300,15 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
GearboxInNeutral = false,
MechanicalAssistPower = ElectricMotorsOff
};
- var firstResponse = RequestDryRun(absTime, dt, outTorque, outAngularVelocity, DataBus.GearboxInfo.Gear, first);
+ var currentGear = PreviousState.GearboxEngaged ? DataBus.GearboxInfo.Gear : Controller.ShiftStrategy.NextGear.Gear;
+ var firstResponse = RequestDryRun(absTime, dt, outTorque, outAngularVelocity, currentGear, first);
var allowICEOff = PreviousState.ICEStartTStmp == null ||
PreviousState.ICEStartTStmp.IsSmaller(absTime + MIN_ICE_ON_TIME);
var emPos = ModelData.ElectricMachinesData.First().Item1;
- var currentGear = PreviousState.GearboxEngaged ? DataBus.GearboxInfo.Gear : Controller.ShiftStrategy.NextGear.Gear;
+
var emTorque = !ElectricMotorCanPropellDuringTractionInterruption && (firstResponse.Gearbox.Gear == 0 || !DataBus.GearboxInfo.GearEngaged(absTime)) ? null : firstResponse.ElectricMotor.MaxRecuperationTorque;
return TryConfiguration(absTime, dt, outTorque, outAngularVelocity, currentGear, emPos, emTorque, double.NaN, allowICEOff);
}
@@ -607,6 +608,9 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
TestPowertrain.CombustionEngine.PreviousState.EngineTorqueOut = (DataBus.EngineInfo as CombustionEngine).PreviousState.EngineTorqueOut;
TestPowertrain.CombustionEngine.PreviousState.DynamicFullLoadTorque = (DataBus.EngineInfo as CombustionEngine).PreviousState.DynamicFullLoadTorque;
+ TestPowertrain.Clutch.PreviousState.InAngularVelocity =
+ (DataBus.ClutchInfo as SwitchableClutch).PreviousState.InAngularVelocity;
+
if (/*nextGear != DataBus.GearboxInfo.Gear && */TestPowertrain.ElectricMotorP2 != null) {
TestPowertrain.ElectricMotorP2.PreviousState.OutAngularVelocity =
DataBus.ElectricMotorInfo(PowertrainPosition.HybridP2).ElectricMotorSpeed;
--
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