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Commit d2f5d20f authored by Michael KRISPER's avatar Michael KRISPER
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Merge remote-tracking branch... 

Merge remote-tracking branch 'quaritsch/feature/VECTO-125-comparison-of-vecto2.2-and-vecto3' into feature/VECTO-124-pdf-report
parents 7d0e4dea ce4bc3fe
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VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+ 131
− 85
View file @ d2f5d20f
......@@ -17,7 +17,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
{
public class DefaultDriverStrategy : LoggingObject, IDriverStrategy
{
protected DrivingBehaviorEntry NextDrivingAction;
protected internal DrivingBehaviorEntry NextDrivingAction;
public enum DrivingMode
{
......@@ -75,58 +75,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
var retVal = DrivingModes[CurrentDrivingMode].Request(absTime, ds, targetVelocity, gradient);
if (NextDrivingAction == null || !(retVal is ResponseSuccess)) {
return retVal;
}
// if we accelerate in the current simulation interval the ActionDistance of the next action
// changes and we might pass the ActionDistance - check again...
if (retVal.Acceleration <= 0) {
return retVal;
}
// if the speed at the end of the simulation interval is below the next target speed
// we are fine (no need to brake right now)
var v2 = Driver.DataBus.VehicleSpeed + retVal.Acceleration * retVal.SimulationInterval;
if (v2 <= NextDrivingAction.NextTargetSpeed) {
return retVal;
}
Meter newds;
switch (NextDrivingAction.Action) {
case DrivingBehavior.Coasting:
var coastingDistance = Formulas.DecelerationDistance(v2, NextDrivingAction.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(NextDrivingAction.TriggerDistance - coastingDistance,
Constants.SimulationSettings.DriverActionDistanceTolerance)) {
return retVal;
}
newds = EstimateAccelerationDistanceBeforeBrake(retVal, NextDrivingAction);
break;
case DrivingBehavior.Braking:
var brakingDistance = Driver.DriverData.AccelerationCurve.ComputeAccelerationDistance(v2,
NextDrivingAction.NextTargetSpeed);
if ((Driver.DataBus.Distance + ds).IsSmaller(NextDrivingAction.TriggerDistance - brakingDistance)) {
return retVal;
}
newds = (NextDrivingAction.TriggerDistance - brakingDistance) - Driver.DataBus.Distance;
break;
default:
return retVal;
}
if (newds.IsEqual(0, 1e-3) || ds.IsEqual(newds, 1e-3.SI<Meter>())) {
return retVal;
}
Log.Debug("Exceeding next ActionDistance at {0}. Reducing max Distance to {1}", NextDrivingAction.ActionDistance,
newds);
return new ResponseDrivingCycleDistanceExceeded() {
Source = this,
MaxDistance = newds,
};
return retVal;
}
private void UpdateDrivingAction(Meter currentDistance)
......@@ -186,28 +135,6 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
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
// coasting with the dirver's LookaheadDeceleration.
// TriggerDistance - CurrentDistance = s_accelerate + s_lookahead
// s_coast(dt) = - (currentSpeed + a * dt + nextTargetSpeed) * (nextTargetSpeed - (currentSpeed + a * dt)) / (2 * a_lookahead)
// s_acc(dt) = currentSpeed * dt + a / 2 * dt^2
// => solve for dt, compute ds = currentSpeed * dt + a / 2 * dt^2
var dtList = VectoMath.QuadraticEquationSolver(
(retVal.Acceleration / 2 -
retVal.Acceleration * retVal.Acceleration / 2 / Driver.DriverData.LookAheadCoasting.Deceleration).Value(),
(Driver.DataBus.VehicleSpeed -
Driver.DataBus.VehicleSpeed * retVal.Acceleration / Driver.DriverData.LookAheadCoasting.Deceleration).Value(),
(nextAction.NextTargetSpeed * nextAction.NextTargetSpeed / 2 / Driver.DriverData.LookAheadCoasting.Deceleration -
Driver.DataBus.VehicleSpeed * Driver.DataBus.VehicleSpeed / 2 / Driver.DriverData.LookAheadCoasting.Deceleration -
(nextAction.TriggerDistance - Driver.DataBus.Distance)).Value());
dtList.Sort();
var dt = dtList.First(x => x > 0).SI<Second>();
var newds = Driver.DataBus.VehicleSpeed * dt + retVal.Acceleration / 2 * dt * dt;
return newds;
}
protected DrivingBehaviorEntry GetNextDrivingAction(Meter minDistance)
{
var currentSpeed = Driver.DataBus.VehicleSpeed;
......@@ -285,20 +212,15 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
public abstract class AbstractDriverMode : LoggingObject, IDriverMode
{
private DefaultDriverStrategy _driverStrategy;
private IDriverActions _driver;
private DriverData _driverData;
private IDataBus _dataBus;
public DefaultDriverStrategy DriverStrategy
{
get { return _driverStrategy; }
set { _driverStrategy = value; }
}
public DefaultDriverStrategy DriverStrategy { get; set; }
protected IDriverActions Driver
{
get { return _driver ?? (_driver = _driverStrategy.Driver); }
get { return _driver ?? (_driver = DriverStrategy.Driver); }
}
protected DriverData DriverData
......@@ -311,15 +233,78 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
get { return _dataBus ?? (_dataBus = Driver.DataBus); }
}
public abstract IResponse Request(Second absTime, Meter ds, MeterPerSecond targetVelocity, Radian gradient);
public IResponse Request(Second absTime, Meter ds, MeterPerSecond targetVelocity, Radian gradient)
{
var response = DoHandleRequest(absTime, ds, targetVelocity, gradient);
if (DriverStrategy.NextDrivingAction == null || !(response is ResponseSuccess)) {
return response;
}
// if we accelerate in the current simulation interval the ActionDistance of the next action
// changes and we might pass the ActionDistance - check again...
if (response.Acceleration <= 0) {
return response;
}
// if the speed at the end of the simulation interval is below the next target speed
// we are fine (no need to brake right now)
var v2 = Driver.DataBus.VehicleSpeed + response.Acceleration * response.SimulationInterval;
if (v2 <= DriverStrategy.NextDrivingAction.NextTargetSpeed) {
return response;
}
Meter newds;
response = CheckRequestDoesNotExceedNextAction(absTime, ds, targetVelocity, gradient, response, out newds);
if (newds.IsEqual(0, 1e-3) || ds.IsEqual(newds, 1e-3.SI<Meter>())) {
return response;
}
Log.Debug("Exceeding next ActionDistance at {0}. Reducing max Distance to {1}",
DriverStrategy.NextDrivingAction.ActionDistance,
newds);
return new ResponseDrivingCycleDistanceExceeded() {
Source = this,
MaxDistance = newds,
};
}
protected abstract IResponse DoHandleRequest(Second absTime, Meter ds, MeterPerSecond targetVelocity, Radian gradient);
protected abstract IResponse CheckRequestDoesNotExceedNextAction(Second absTime, Meter ds,
MeterPerSecond targetVelocity, Radian gradient, IResponse response, out Meter newSimulationDistance);
public abstract void ResetMode();
protected Meter EstimateAccelerationDistanceBeforeBrake(IResponse retVal, DrivingBehaviorEntry nextAction)
{
// estimate the distance to drive when accelerating with the current acceleration (taken from retVal) and then
// coasting with the dirver's LookaheadDeceleration.
// TriggerDistance - CurrentDistance = s_accelerate + s_lookahead
// s_coast(dt) = - (currentSpeed + a * dt + nextTargetSpeed) * (nextTargetSpeed - (currentSpeed + a * dt)) / (2 * a_lookahead)
// s_acc(dt) = currentSpeed * dt + a / 2 * dt^2
// => solve for dt, compute ds = currentSpeed * dt + a / 2 * dt^2
var dtList = VectoMath.QuadraticEquationSolver(
(retVal.Acceleration / 2 -
retVal.Acceleration * retVal.Acceleration / 2 / Driver.DriverData.LookAheadCoasting.Deceleration).Value(),
(Driver.DataBus.VehicleSpeed -
Driver.DataBus.VehicleSpeed * retVal.Acceleration / Driver.DriverData.LookAheadCoasting.Deceleration).Value(),
(nextAction.NextTargetSpeed * nextAction.NextTargetSpeed / 2 / Driver.DriverData.LookAheadCoasting.Deceleration -
Driver.DataBus.VehicleSpeed * Driver.DataBus.VehicleSpeed / 2 / Driver.DriverData.LookAheadCoasting.Deceleration -
(nextAction.TriggerDistance - Driver.DataBus.Distance)).Value());
dtList.Sort();
var dt = dtList.First(x => x > 0).SI<Second>();
var newds = Driver.DataBus.VehicleSpeed * dt + retVal.Acceleration / 2 * dt * dt;
return newds;
}
}
//=====================================
public class DriverModeDrive : AbstractDriverMode
{
public override IResponse Request(Second absTime, Meter ds, MeterPerSecond targetVelocity, Radian gradient)
protected override IResponse DoHandleRequest(Second absTime, Meter ds, MeterPerSecond targetVelocity, Radian gradient)
{
IResponse response = null;
......@@ -371,6 +356,42 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
return response;
}
protected override IResponse CheckRequestDoesNotExceedNextAction(Second absTime, Meter ds,
MeterPerSecond targetVelocity, Radian gradient, IResponse response, out Meter newds)
{
var nextAction = DriverStrategy.NextDrivingAction;
newds = ds;
if (nextAction == null) {
return response;
}
var v2 = Driver.DataBus.VehicleSpeed + response.Acceleration * response.SimulationInterval;
switch (DriverStrategy.NextDrivingAction.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 response;
}
newds = EstimateAccelerationDistanceBeforeBrake(response, nextAction);
break;
case DrivingBehavior.Braking:
var brakingDistance = Driver.DriverData.AccelerationCurve.ComputeAccelerationDistance(v2,
nextAction.NextTargetSpeed);
if ((Driver.DataBus.Distance + ds).IsSmaller(nextAction.TriggerDistance - brakingDistance)) {
return response;
}
newds = (nextAction.TriggerDistance - brakingDistance) - Driver.DataBus.Distance;
break;
default:
return response;
}
return null;
}
public override void ResetMode() {}
}
......@@ -386,7 +407,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
protected BrakingPhase Phase;
public override IResponse Request(Second absTime, Meter ds, MeterPerSecond targetVelocity, Radian gradient)
protected override IResponse DoHandleRequest(Second absTime, Meter ds, MeterPerSecond targetVelocity, Radian gradient)
{
IResponse response = null;
if (DataBus.VehicleSpeed <= DriverStrategy.BrakeTrigger.NextTargetSpeed) {
......@@ -498,6 +519,31 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
return response;
}
protected override IResponse CheckRequestDoesNotExceedNextAction(Second absTime, Meter ds,
MeterPerSecond targetVelocity, Radian gradient, IResponse response, out Meter newds)
{
var nextAction = DriverStrategy.NextDrivingAction;
newds = ds;
if (nextAction == null) {
return response;
}
switch (nextAction.Action) {
case DrivingBehavior.Coasting:
var v2 = Driver.DataBus.VehicleSpeed + response.Acceleration * response.SimulationInterval;
var brakingDistance = Driver.DriverData.AccelerationCurve.ComputeAccelerationDistance(v2,
nextAction.NextTargetSpeed);
if ((Driver.DataBus.Distance + ds).IsSmaller(nextAction.TriggerDistance - brakingDistance)) {
return response;
}
newds = (nextAction.TriggerDistance - brakingDistance) - Driver.DataBus.Distance;
break;
default:
return response;
}
return null;
}
public override void ResetMode()
{
Phase = BrakingPhase.Coast;
......
VectoCoreTest/Integration/DriverStrategy/DriverStrategyTestTruck.cs
+ 15
− 0
View file @ d2f5d20f
......@@ -334,6 +334,21 @@ namespace TUGraz.VectoCore.Tests.Integration.DriverStrategy
@"..\..\TestData\Integration\DriverStrategy\Vecto2.2\40t Truck\40t_Long_Haul_Truck_Cycle_Decelerate_80_0_uphill_3.vmod");
}
[TestMethod]
public void Truck_Decelerate_80_0_SlopeChangeDuringCoast()
{
var data = new string[] {
// <s>,<v>,<grad>,<stop>
" 0, 60, -1.15, 0",
" 70, 60, -1.85, 0",
"300, 0, -1.85, 2",
};
var cycle = SimpleDrivingCycles.CreateCycleData(data);
Truck40tPowerTrain.CreateEngineeringRun(cycle, "Truck_DriverStrategy_Decelerate_80_0_SlopeChangeDuringCoast.vmod")
.Run();
}
[TestMethod, Ignore]
public void Truck_Decelerate_80_0_uphill_5()
{
......
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