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Commit f8758c2c authored by Markus Quaritsch's avatar Markus Quaritsch
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driver strategy: lookahead coasting 

IDriverActions: adapt interface
parent 291f475a
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VectoCore/Models/SimulationComponent/IDriverActions.cs
+ 2
− 1
View file @ f8758c2c
using TUGraz.VectoCore.Models.Connector.Ports;
using TUGraz.VectoCore.Models.Simulation.DataBus;
using TUGraz.VectoCore.Models.SimulationComponent.Data;
using TUGraz.VectoCore.Utils;
namespace TUGraz.VectoCore.Models.SimulationComponent
......@@ -93,6 +94,6 @@ namespace TUGraz.VectoCore.Models.SimulationComponent
/// </summary>
IDataBus DataBus { get; }
MeterPerSquareSecond LookaheadDeceleration { get; }
DriverData DriverData { get; }
}
}
\ No newline at end of file
VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+ 33
− 14
View file @ f8758c2c
......@@ -9,6 +9,7 @@ using TUGraz.VectoCore.Exceptions;
using TUGraz.VectoCore.Models.Connector.Ports;
using TUGraz.VectoCore.Models.Connector.Ports.Impl;
using TUGraz.VectoCore.Models.Declaration;
using TUGraz.VectoCore.Models.SimulationComponent.Data;
using TUGraz.VectoCore.Utils;
namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
......@@ -92,9 +93,14 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
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 <= nextAction.NextTargetSpeed) {
return retVal;
}
var coastingDistance = Formulas.DecelerationDistance(v2, nextAction.NextTargetSpeed,
Driver.LookaheadDeceleration);
Driver.DriverData.LookAheadCoasting.Deceleration);
//if (Driver.DataBus.Distance.IsEqual(nextAction.TriggerDistance - coastingDistance,
// Constants.SimulationSettings.DriverActionDistanceTolerance.Value())) {
......@@ -125,11 +131,13 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
// 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.LookaheadDeceleration).Value(),
(Driver.DataBus.VehicleSpeed - Driver.DataBus.VehicleSpeed * retVal.Acceleration / Driver.LookaheadDeceleration)
(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
(),
(-Driver.DataBus.VehicleSpeed * Driver.DataBus.VehicleSpeed / 2 / Driver.LookaheadDeceleration -
(-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>();
......@@ -150,25 +158,36 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
// distance until halt
var lookaheadDistance = Formulas.DecelerationDistance(currentSpeed, 0.SI<MeterPerSecond>(),
Driver.LookaheadDeceleration);
Driver.DriverData.LookAheadCoasting.Deceleration);
var lookaheadData = Driver.DataBus.LookAhead(1.2 * lookaheadDistance);
Log.Debug("Lookahead distance: {0} @ current speed {1}", lookaheadDistance, currentSpeed);
var nextActions = new List<DrivingBehaviorEntry>();
for (var i = 0; i < lookaheadData.Count; i++) {
var entry = lookaheadData[i];
foreach (var entry in lookaheadData) {
if (entry.VehicleTargetSpeed < currentSpeed) {
var coastingDistance = Formulas.DecelerationDistance(currentSpeed, entry.VehicleTargetSpeed,
Driver.LookaheadDeceleration);
Log.Debug("adding 'Coasting' starting at distance {0}", entry.Distance - coastingDistance);
nextActions.Add(
new DrivingBehaviorEntry {
Action = DefaultDriverStrategy.DrivingBehavior.Coasting,
ActionDistance = entry.Distance - coastingDistance,
if (!Driver.DriverData.LookAheadCoasting.Enabled ||
currentSpeed < Driver.DriverData.LookAheadCoasting.MinSpeed) {
var brakingDistance = Driver.ComputeDecelerationDistance(entry.VehicleTargetSpeed);
Log.Debug("adding 'Braking' starting at distance {0}", entry.Distance - brakingDistance);
nextActions.Add(new DrivingBehaviorEntry {
Action = DrivingBehavior.Braking,
ActionDistance = entry.Distance - brakingDistance,
TriggerDistance = entry.Distance,
NextTargetSpeed = entry.VehicleTargetSpeed
});
} else {
var coastingDistance = Formulas.DecelerationDistance(currentSpeed, entry.VehicleTargetSpeed,
Driver.DriverData.LookAheadCoasting.Deceleration);
Log.Debug("adding 'Coasting' starting at distance {0}", entry.Distance - coastingDistance);
nextActions.Add(
new DrivingBehaviorEntry {
Action = DefaultDriverStrategy.DrivingBehavior.Coasting,
ActionDistance = entry.Distance - coastingDistance,
TriggerDistance = entry.Distance,
NextTargetSpeed = entry.VehicleTargetSpeed
});
}
}
if (entry.VehicleTargetSpeed > currentSpeed) {
nextActions.Add(new DrivingBehaviorEntry {
......
VectoCore/Models/SimulationComponent/Impl/Driver.cs
+ 17
− 13
View file @ f8758c2c
......@@ -24,11 +24,11 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
protected IDriverDemandOutPort NextComponent;
protected DriverData DriverData;
public DriverData DriverData { get; protected set; }
protected IDriverStrategy DriverStrategy;
public MeterPerSquareSecond LookaheadDeceleration { get; protected set; }
//public MeterPerSquareSecond LookaheadDeceleration { get; protected set; }
public Driver(VehicleContainer container, DriverData driverData, IDriverStrategy strategy) : base(container)
{
......@@ -36,7 +36,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
DriverStrategy = strategy;
strategy.Driver = this;
LookaheadDeceleration = DeclarationData.Driver.LookAhead.Deceleration;
//LookaheadDeceleration = DeclarationData.Driver.LookAhead.Deceleration;
}
public IDriverDemandInPort InPort()
......@@ -52,7 +52,12 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
public IResponse Initialize(MeterPerSecond vehicleSpeed, Radian roadGradient)
{
LookaheadDeceleration = DriverData.AccelerationCurve.MinDeceleration();
//LookaheadDeceleration = DriverData.AccelerationCurve.MinDeceleration();
if (DriverData.LookAheadCoasting.Deceleration < DriverData.AccelerationCurve.MinDeceleration()) {
Log.Warn(
"LookAhead Coasting Deceleration is lower than Driver's min. Deceleration. Coasting may start too late. Lookahead dec.: {0}, Driver min. deceleration: {1}",
DriverData.LookAheadCoasting.Deceleration, DriverData.AccelerationCurve.MinDeceleration());
}
return NextComponent.Initialize(vehicleSpeed, roadGradient);
}
......@@ -61,9 +66,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
{
Log.Debug("==== DRIVER Request ====");
Log.Debug(
"Request: absTime: {0}, ds: {1}, targetVelocity: {2}, gradient: {3} | distance: {4}, velocity: {5}",
absTime, ds,
targetVelocity, gradient, DataBus.Distance, DataBus.VehicleSpeed);
"Request: absTime: {0}, ds: {1}, targetVelocity: {2}, gradient: {3} | distance: {4}, velocity: {5} gear: {6}",
absTime, ds, targetVelocity, gradient, DataBus.Distance, DataBus.VehicleSpeed, DataBus.Gear);
var retVal = DriverStrategy.Request(absTime, ds, targetVelocity, gradient);
//DoHandleRequest(absTime, ds, targetVelocity, gradient);
......@@ -400,8 +404,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
var limitApplied = false;
var originalAcceleration = operatingPoint.Acceleration;
if (((limits & LimitationMode.LimitDecelerationLookahead) != 0) &&
operatingPoint.Acceleration < LookaheadDeceleration) {
operatingPoint.Acceleration = LookaheadDeceleration;
operatingPoint.Acceleration < DriverData.LookAheadCoasting.Deceleration) {
operatingPoint.Acceleration = DriverData.LookAheadCoasting.Deceleration;
limitApplied = true;
}
var accelerationLimits = DriverData.AccelerationCurve.Lookup(DataBus.VehicleSpeed);
......@@ -453,11 +457,11 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
Default(r => {
throw new UnexpectedResponseException("cannot use response for searching braking power!", r);
});
var delta = searchInterval;
var delta = 0.SI<Watt>();
debug.Add(new { brakingPower = 0.SI<Watt>(), searchInterval, delta });
debug.Add(new { brakingPower = 0.SI<Watt>(), searchInterval, delta = origDelta, operatingPoint });
var breakingPower = origDelta.Abs();
var breakingPower = searchInterval * -delta.Sign();
// double the searchInterval until a good interval was found
var intervalFactor = 1.0;
......@@ -477,7 +481,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
return operatingPoint;
}
debug.Add(new { breakingPower, searchInterval, delta });
debug.Add(new { breakingPower, searchInterval, delta, operatingPoint });
// check if a correct searchInterval was found (when the delta changed signs, we stepped through the 0-point)
// from then on the searchInterval can be bisected.
......
VectoCoreTest/Integration/DriverStrategy/DriverStrategyTest.cs
+ 36
− 1
View file @ f8758c2c
......@@ -281,6 +281,39 @@ namespace TUGraz.VectoCore.Tests.Integration.DriverStrategy
CreatePowerTrain(cycle, "DriverStrategy_Decelerate_60_20_level.vmod").Run();
}
[TestMethod]
public void Decelerate_45_0_level()
{
var cycle = CreateCycleData(new[] {
// <s>,<v>,<grad>,<stop>
" 0, 45, 0, 0",
" 200, 0, 0, 2",
});
CreatePowerTrain(cycle, "DriverStrategy_Decelerate_45_0_level.vmod").Run();
}
[TestMethod]
public void Decelerate_45_0_uphill_5()
{
var cycle = CreateCycleData(new[] {
// <s>,<v>,<grad>,<stop>
" 0, 45, 5, 0",
" 200, 0, 5, 2",
});
CreatePowerTrain(cycle, "DriverStrategy_Decelerate_45_0_uphill_5.vmod").Run();
}
[TestMethod]
public void Decelerate_45_0_downhill_5()
{
var cycle = CreateCycleData(new[] {
// <s>,<v>,<grad>,<stop>
" 0, 45, -5, 0",
" 200, 0, -5, 2",
});
CreatePowerTrain(cycle, "DriverStrategy_Decelerate_45_0_downhill_5.vmod").Run();
}
[TestMethod]
public void Decelerate_60_20_uphill_5()
{
......@@ -1036,7 +1069,9 @@ namespace TUGraz.VectoCore.Tests.Integration.DriverStrategy
return new DriverData {
AccelerationCurve = AccelerationCurveData.ReadFromFile(accelerationFile),
LookAheadCoasting = new DriverData.LACData {
Enabled = false,
Enabled = true,
MinSpeed = 50.KMPHtoMeterPerSecond(),
Deceleration = -0.5.SI<MeterPerSquareSecond>(),
},
OverSpeedEcoRoll = new DriverData.OverSpeedEcoRollData {
Mode = DriverData.DriverMode.Off
......
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