From e7f71fd38ef08d182cc08786c55723fadd7d71b3 Mon Sep 17 00:00:00 2001
From: Markus Quaritsch <markus.quaritsch@tugraz.at>
Date: Fri, 27 May 2016 09:50:25 +0200
Subject: [PATCH] remove estimation of distance to drive before switching to
coasting. no longer possible with new coasting model
---
.../Impl/DefaultDriverStrategy.cs | 25 -------------------
1 file changed, 25 deletions(-)
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
index cde387fdb2..170b2b7417 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
@@ -460,31 +460,6 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
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();
- if (!dtList.Any(x => x > 0)) {
- return null;
- }
- var dt = dtList.First(x => x > 0).SI<Second>();
- var newds = Driver.DataBus.VehicleSpeed * dt + (retVal.Acceleration / 2 * dt * dt);
- return newds;
- }
}
//=====================================
--
GitLab