diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
index 9e10084aa6a710e25566ffbc0f0e01884280b244..5671ed4ae61fe7e16ee607f1c0e35e00b8e12572 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
@@ -33,6 +33,7 @@ using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
+using System.Windows.Markup;
using TUGraz.VectoCommon.Models;
using TUGraz.VectoCommon.Utils;
using TUGraz.VectoCore.Configuration;
@@ -40,6 +41,7 @@ using TUGraz.VectoCore.InputData.Impl;
using TUGraz.VectoCore.Models.Connector.Ports.Impl;
using TUGraz.VectoCore.Models.Declaration;
using TUGraz.VectoCore.Models.Simulation.DataBus;
+using TUGraz.VectoCore.Models.SimulationComponent.Data;
using TUGraz.VectoCore.OutputData;
using TUGraz.VectoCore.Utils;
using DriverData = TUGraz.VectoCore.Models.SimulationComponent.Data.DriverData;
@@ -119,65 +121,99 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
/// <summary>
/// Checks if Look Ahead Coasting triggers
/// </summary>
- private bool CheckLookAheadCoasting(Meter ds)
+ public Dictionary<string, object> LookAheadCoasting(Meter ds)
{
+ var dict = new Dictionary<string, object>();
+
// (1) & (2) : x_decelerationpoint - d_prev <= x_veh < x_decelerationpoint
+ var v_veh = Driver.DataBus.VehicleSpeed;
var d_prev = 10 * Driver.DataBus.VehicleSpeed.ConvertTo().Kilo.Meter.Per.Hour.Value();
- var lookAheadData = Driver.DataBus.LookAhead(d_prev.SI<Meter>());
+ var lookaheadData = Driver.DataBus.LookAhead(d_prev.SI<Meter>());
+ var nextActions = new SortedDictionary<Meter, DrivingCycleData.DrivingCycleEntry>();
+ foreach (var entry in lookaheadData.Where(e => e.VehicleTargetSpeed <= v_veh)) {
+ var nextTargetSpeed = entry.VehicleTargetSpeed;
+ if (nextTargetSpeed < Driver.DataBus.VehicleSpeed) {
+ var coastingDistance = Formulas.DecelerationDistance(Driver.DataBus.VehicleSpeed, nextTargetSpeed,
+ Driver.DriverData.LookAheadCoasting.Deceleration);
+ nextActions.Add(entry.Distance - coastingDistance, entry);
+ }
+ }
- // only deceleration points!
- var v_veh = Driver.DataBus.VehicleSpeed;
- var decelerationLookAhead = lookAheadData.Where(e => e.VehicleTargetSpeed <= v_veh);
+ var dec = nextActions.FirstOrDefault().Value;
// (4) v_veh < v_max_deceleration * 0.98
- foreach (var dec in decelerationLookAhead) {
+ if (dec != null) {
var x_dec = dec.Distance;
+ dict["x_dec"] = x_dec.Value();
+
var x_delta = x_dec - Driver.DataBus.Distance;
+ dict["x_delta"] = x_delta.Value();
+
var v_target = dec.VehicleTargetSpeed;
- var retVal = new OperatingPoint { SimulationDistance = x_dec };
+ dict["v_target"] = v_target.Value();
var x_max_deceleration = Driver.ComputeDecelerationDistance(v_target);
- var coastingPossible = x_delta < x_max_deceleration * 0.98;
+ dict["x_max_deceleration"] = x_max_deceleration.Value();
+ var coastingPossible = x_delta >= x_max_deceleration * 0.98;
+ dict["CoastingAllowed"] = coastingPossible ? 1 : 0;
// 3. CDP > DF_coasting
if (coastingPossible) {
var m = Driver.DataBus.VehicleMass;
var g = Physics.GravityAccelleration;
var h_target = dec.Altitude;
+ dict["h_target"] = h_target.Value();
// todo mk-2016-05-11 left or right sample of cycle data?
var h_vehicle = Driver.DataBus.CycleData.LeftSample.Altitude;
+ dict["h_vehicle"] = h_vehicle.Value();
var E_kin_veh = m * v_veh * v_veh / 2;
var E_kin_target = m * v_target * v_target / 2;
var E_pot_target = m * g * h_target;
var E_pot_veh = m * g * h_vehicle;
+ dict["E_kin_veh"] = E_kin_veh.Value();
+ dict["E_kin_target"] = E_kin_target.Value();
+ dict["E_pot_target"] = E_pot_target.Value();
+ dict["E_pot_veh"] = E_pot_veh.Value();
- var delta_E_deceleration = (E_kin_veh + E_pot_veh) - (E_kin_target + E_pot_target);
+ var delta_E = (E_kin_veh + E_pot_veh) - (E_kin_target + E_pot_target);
+ dict["delta_E"] = delta_E.Value();
- var f_dec_average = delta_E_deceleration / x_delta;
+ var F_dec_average = delta_E / x_delta;
+ dict["F_dec_average"] = F_dec_average.Value();
var avgVelocity = (v_veh + v_target) / 2;
var acc = (v_target - v_veh) * (avgVelocity / ds);
var F_air = Driver.DataBus.AirDragResistance(v_veh, acc, ds / v_veh);
+ dict["F_air"] = F_air.Value();
+
var F_roll = Driver.DataBus.RollingResistance(Driver.DataBus.CycleData.LeftSample.RoadGradient);
+ dict["F_roll"] = F_roll.Value();
- var P_enginedrag = Driver.DataBus.EngineDragPower(Driver.DataBus.EngineSpeed);
- var P_loss_gb = Driver.DataBus.GearboxLoss(Driver.DataBus.EngineSpeed, Driver.DataBus.EngineTorque);
+ var F_enginedrag = Driver.DataBus.EngineDragPower(Driver.DataBus.EngineSpeed) / v_veh;
+ dict["F_enginedrag"] = F_enginedrag.Value();
+
+ var F_loss_gb = Driver.DataBus.GearboxLoss(Driver.DataBus.EngineSpeed, Driver.DataBus.EngineTorque) / v_veh;
+ dict["F_loss_gb"] = F_loss_gb.Value();
// todo mk-2016-05-11 calculate ra loss
- var P_loss_ra = 0.SI<Watt>();
+ var F_loss_ra = 0.SI<Newton>();
+ dict["F_loss_ra"] = F_loss_ra.Value();
+
+ var F_coasting = F_air + F_roll + F_enginedrag + F_loss_gb + F_loss_ra;
+ dict["F_coasting"] = F_coasting.Value();
- var f_coasting = F_air + F_roll + (P_enginedrag + P_loss_gb + P_loss_ra) / v_veh;
+ var CDP = F_dec_average / F_coasting;
+ dict["CDP"] = CDP.Value();
- var CDP = f_dec_average / f_coasting;
var DF_coasting = LACDecisionFactor.Lookup(v_target, v_veh - v_target);
+ dict["DF_coasting"] = DF_coasting;
- return CDP > DF_coasting;
+ dict["EnableCoasting"] = CDP > DF_coasting ? 1 : 0;
}
}
-
- return false;
+ return dict;
}
public IResponse Request(Second absTime, Second dt, MeterPerSecond targetVelocity, Radian gradient)
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs
index 0ed256cafd31f92966eade61e4521006c3041136..98aa75c196f3e5c34d6fdf440fbfcd6c7f062735 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs
@@ -30,6 +30,7 @@
*/
using System;
+using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using iTextSharp.text.pdf;
@@ -57,6 +58,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
public DriverData DriverData { get; protected set; }
protected IDriverStrategy DriverStrategy;
+ private Dictionary<string, object> _coastData = new Dictionary<string, object>(20);
+ private string CurrentAction = "";
//public MeterPerSquareSecond LookaheadDeceleration { get; protected set; }
@@ -108,7 +111,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
absTime, ds, targetVelocity, gradient, DataBus.Distance, DataBus.VehicleSpeed, DataBus.VehicleStopped);
var retVal = DriverStrategy.Request(absTime, ds, targetVelocity, gradient);
- //DoHandleRequest(absTime, ds, targetVelocity, gradient);
+
+ _coastData = ((DefaultDriverStrategy)DriverStrategy).LookAheadCoasting(ds);
CurrentState.Response = retVal;
retVal.SimulationInterval = CurrentState.dt;
@@ -153,7 +157,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
IResponse previousResponse = null)
{
IterationStatistics.Increment(this, "Accelerate");
-
+ CurrentAction = "Accelerate";
Log.Debug("DrivingAction Accelerate");
var operatingPoint = ComputeAcceleration(ds, targetVelocity);
@@ -233,6 +237,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
public IResponse DrivingActionCoast(Second absTime, Meter ds, MeterPerSecond maxVelocity, Radian gradient)
{
IterationStatistics.Increment(this, "Coast");
+ CurrentAction = "Coast";
Log.Debug("DrivingAction Coast");
return CoastOrRollAction(absTime, ds, maxVelocity, gradient, false);
@@ -248,6 +253,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
/// <returns></returns>
public IResponse DrivingActionRoll(Second absTime, Meter ds, MeterPerSecond maxVelocity, Radian gradient)
{
+ CurrentAction = "Roll";
IterationStatistics.Increment(this, "Roll");
Log.Debug("DrivingAction Roll");
@@ -353,7 +359,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
IResponse previousResponse = null, Meter targetDistance = null)
{
IterationStatistics.Increment(this, "Brake");
-
+ CurrentAction = "Brake";
Log.Debug("DrivingAction Brake");
IResponse retVal = null;
@@ -761,6 +767,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
/// <returns></returns>
public IResponse DrivingActionHalt(Second absTime, Second dt, MeterPerSecond targetVelocity, Radian gradient)
{
+ CurrentAction = "Halt";
if (!targetVelocity.IsEqual(0) || !DataBus.VehicleStopped) {
Log.Error("TargetVelocity ({0}) and VehicleVelocity ({1}) must be zero when vehicle is halting!", targetVelocity,
DataBus.VehicleSpeed);
@@ -787,6 +794,15 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
protected override void DoWriteModalResults(IModalDataContainer container)
{
container[ModalResultField.acc] = CurrentState.Acceleration;
+
+ //todo mk-2016-05-11: remove additional columns in moddata after testing of LAC finished
+ foreach (var kv in _coastData) {
+ container.SetDataValue(kv.Key, kv.Value);
+ }
+ container.SetDataValue("Alt", DataBus.CycleData.LeftSample.Altitude.Value());
+ container.SetDataValue("DrivingMode", ((DefaultDriverStrategy)DriverStrategy).CurrentDrivingMode);
+ container.SetDataValue("Action", CurrentAction);
+ _coastData.Clear();
}
protected override void DoCommitSimulationStep()
@@ -809,18 +825,10 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
protected enum LimitationMode
{
NoLimitation = 0x0,
- //LimitAccelerationDriver = 0x1,
LimitDecelerationDriver = 0x2,
LimitDecelerationLookahead = 0x4
}
public DrivingBehavior DriverBehavior { get; set; }
-
- //public bool VehicleStopped { get; protected set; }
-
- //public DrivingBehavior DrivingBehavior
- //{
- // get { return DriverStrategy.DriverBehavior; }
- //}
}
}
\ No newline at end of file