From dffd8d12eac5da70c2307d2fdff191f6c992ab83 Mon Sep 17 00:00:00 2001
From: Markus Quaritsch <markus.quaritsch@tugraz.at>
Date: Mon, 14 Sep 2015 15:54:20 +0200
Subject: [PATCH] work on testcases for driving strategy
---
.../Impl/DefaultDriverStrategy.cs | 5 +++
.../Models/SimulationComponent/Impl/Driver.cs | 35 +++++++++++--------
.../DriverStrategy/DriverStrategyTest.cs | 35 +++++++++++++++----
3 files changed, 54 insertions(+), 21 deletions(-)
diff --git a/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs b/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
index 49001b9d27..3bf6c5c3a5 100644
--- a/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+++ b/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
@@ -158,6 +158,9 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
Case<ResponseUnderload>(() => {
// overload may happen if driver limits acceleration when rolling downhill
response = DriverStrategy.Driver.DrivingActionBrake(absTime, ds, targetVelocity, gradient);
+ }).
+ Case<ResponseSpeedLimitExceeded>(() => {
+ response = DriverStrategy.Driver.DrivingActionBrake(absTime, ds, targetVelocity, gradient);
});
}).
Case<ResponseUnderload>(r => {
@@ -168,6 +171,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
response.Switch().
Case<ResponseUnderload>(r => {
response = DriverStrategy.Driver.DrivingActionBrake(absTime, ds, targetVelocity, gradient, r);
+ }).Case<ResponseSpeedLimitExceeded>(() => {
+ response = DriverStrategy.Driver.DrivingActionBrake(absTime, ds, targetVelocity, gradient);
});
}
return response;
diff --git a/VectoCore/Models/SimulationComponent/Impl/Driver.cs b/VectoCore/Models/SimulationComponent/Impl/Driver.cs
index 6184a7c99b..1344c0e30c 100644
--- a/VectoCore/Models/SimulationComponent/Impl/Driver.cs
+++ b/VectoCore/Models/SimulationComponent/Impl/Driver.cs
@@ -240,7 +240,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
// compute speed at the end of the simulation interval. if it exceeds the limit -> return
var v2 = DataBus.VehicleSpeed + operatingPoint.Acceleration * operatingPoint.SimulationInterval;
if (v2 > maxVelocity) {
- return new ResponseSpeedLimitExceeded();
+ return new ResponseSpeedLimitExceeded() { Source = this };
}
var retVal = NextComponent.Request(absTime, CurrentState.dt, CurrentState.Acceleration, gradient);
@@ -275,16 +275,18 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
var operatingPoint = ComputeAcceleration(ds, nextTargetSpeed);
- var v2 = DataBus.VehicleSpeed + operatingPoint.Acceleration * operatingPoint.SimulationInterval;
- var nextAcceleration = DriverData.AccelerationCurve.Lookup(v2).Deceleration;
- var tmp = ComputeTimeInterval(VectoMath.Min(operatingPoint.Acceleration, nextAcceleration),
- operatingPoint.SimulationDistance);
- if (operatingPoint.SimulationDistance.Equals(tmp.SimulationDistance)) {
- // only decelerate more of the simulation interval is not modified
- // i.e., braking to the next sample point
- Log.Debug("adjusting acceleration from {0} to {1}", operatingPoint.Acceleration, tmp.Acceleration);
- operatingPoint = tmp;
- // ComputeTimeInterval((operatingPoint.Acceleration + tmp.Acceleration) / 2, operatingPoint.SimulationDistance);
+ if (operatingPoint.Acceleration < 0) {
+ var v2 = DataBus.VehicleSpeed + operatingPoint.Acceleration * operatingPoint.SimulationInterval;
+ var nextAcceleration = DriverData.AccelerationCurve.Lookup(v2).Deceleration;
+ var tmp = ComputeTimeInterval(VectoMath.Min(operatingPoint.Acceleration, nextAcceleration),
+ operatingPoint.SimulationDistance);
+ if (operatingPoint.SimulationDistance.Equals(tmp.SimulationDistance)) {
+ // only decelerate more of the simulation interval is not modified
+ // i.e., braking to the next sample point
+ Log.Debug("adjusting acceleration from {0} to {1}", operatingPoint.Acceleration, tmp.Acceleration);
+ operatingPoint = tmp;
+ // ComputeTimeInterval((operatingPoint.Acceleration + tmp.Acceleration) / 2, operatingPoint.SimulationDistance);
+ }
}
@@ -403,7 +405,10 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
Case<ResponseGearShift>(r => origDelta = r.GearboxPowerRequest).
Case<ResponseUnderload>(r => origDelta = DataBus.ClutchClosed(absTime)
? r.Delta
- : r.GearboxPowerRequest);
+ : r.GearboxPowerRequest).
+ Default(r => {
+ throw new UnexpectedResponseException("cannot use response for searching braking power!", r);
+ });
var delta = origDelta;
debug.Add(new { brakingPower = 0.SI<Watt>(), searchInterval, delta });
@@ -517,9 +522,9 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
LogManager.EnableLogging();
Log.Warn("Operating Point outside driver acceleration limits: a: {0}", retVal.Acceleration);
LogManager.DisableLogging();
- throw new VectoSimulationException(
- "Could not find an operating point: operating point outside of driver acceleration limits. a: {0}",
- retVal.Acceleration);
+ //throw new VectoSimulationException(
+ // "Could not find an operating point: operating point outside of driver acceleration limits. a: {0}",
+ // retVal.Acceleration);
}
// TODO: move to driving mode
diff --git a/VectoCoreTest/Integration/DriverStrategy/DriverStrategyTest.cs b/VectoCoreTest/Integration/DriverStrategy/DriverStrategyTest.cs
index c1141ddf26..8c61fba198 100644
--- a/VectoCoreTest/Integration/DriverStrategy/DriverStrategyTest.cs
+++ b/VectoCoreTest/Integration/DriverStrategy/DriverStrategyTest.cs
@@ -101,7 +101,8 @@ namespace TUGraz.VectoCore.Tests.Integration.DriverStrategy
{
var cycle = CreateCycleData(new[] {
// <s>,<v>,<grad>,<stop>
- " 0, 20, -15, 0",
+ " 0, 20, -15, 0",
+ " 10, 60, -15, 0",
"1000, 60, -15, 0",
});
CreatePowerTrain(cycle, "DriverStrategy_Accelerate_20_60_downhill_15.vmod").Run();
@@ -234,7 +235,7 @@ namespace TUGraz.VectoCore.Tests.Integration.DriverStrategy
// <s>,<v>,<grad>,<stop>
" 0, 85, 0, 0",
"1000, 85, 0, 0",
- " 0, 0, 0, 2",
+ "1000, 0, 0, 2",
});
CreatePowerTrain(cycle, "DriverStrategy_Accelerate_85_0_level_stop.vmod").Run();
}
@@ -435,14 +436,36 @@ namespace TUGraz.VectoCore.Tests.Integration.DriverStrategy
}
[TestMethod]
- public void Drive_80_downhill_25()
+ public void Drive_20_downhill_15()
+ {
+ var cycle = CreateCycleData(new[] {
+ // <s>, <v>, <grad>, <stop>
+ " 0, 20, -15, 0",
+ " 500, 20, -25, 0",
+ });
+ CreatePowerTrain(cycle, "DriverStrategy_Drive_20_downhill_15.vmod").Run();
+ }
+
+ [TestMethod]
+ public void Drive_30_downhill_15()
+ {
+ var cycle = CreateCycleData(new[] {
+ // <s>, <v>, <grad>, <stop>
+ " 0, 30, -15, 0",
+ " 500, 30, -15, 0",
+ });
+ CreatePowerTrain(cycle, "DriverStrategy_Drive_30_downhill_15.vmod").Run();
+ }
+
+ [TestMethod]
+ public void Drive_50_downhill_15()
{
var cycle = CreateCycleData(new[] {
// <s>, <v>, <grad>, <stop>
- " 0, 80, -25, 0",
- " 500, 80, -25, 0",
+ " 0, 50, -15, 0",
+ " 500, 50, -15, 0",
});
- CreatePowerTrain(cycle, "DriverStrategy_Drive_80_downhill_25.vmod").Run();
+ CreatePowerTrain(cycle, "DriverStrategy_Drive_50_downhill_15.vmod").Run();
}
[TestMethod]
--
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