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Commit 95c0a174 authored by Markus Quaritsch's avatar Markus Quaritsch
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add databus property to driver strategy for easier debugging (access databus in the same way)

parent 8f803c33
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VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+ 67
− 65
View file @ 95c0a174
...@@ -130,16 +130,18 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -130,16 +130,18 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
public IDriverActions Driver { get; set; } public IDriverActions Driver { get; set; }
protected IDataBus DataBus => Driver?.DataBus;
protected internal DrivingBehaviorEntry BrakeTrigger { get; set; } protected internal DrivingBehaviorEntry BrakeTrigger { get; set; }
public IResponse Request(Second absTime, Meter ds, MeterPerSecond targetVelocity, Radian gradient) public IResponse Request(Second absTime, Meter ds, MeterPerSecond targetVelocity, Radian gradient)
{ {
var retVal = DoHandleRequest(absTime, ds, targetVelocity, gradient); var retVal = DoHandleRequest(absTime, ds, targetVelocity, gradient);
if (retVal is ResponseSuccess) { if (retVal is ResponseSuccess) {
EcoRollState.PreviousBrakePower = Driver.DataBus.Brakes.BrakePower; EcoRollState.PreviousBrakePower = DataBus.Brakes.BrakePower;
if (retVal.Source is ICombustionEngine) { if (retVal.Source is ICombustionEngine) {
var success = retVal as ResponseSuccess; var success = retVal as ResponseSuccess;
var avgEngineSpeed = (success.Engine.EngineSpeed + Driver.DataBus.EngineInfo.EngineSpeed) / 2.0; var avgEngineSpeed = (success.Engine.EngineSpeed + DataBus.EngineInfo.EngineSpeed) / 2.0;
EcoRollState.AcceleratorPedalIdle = success.Engine.DragPower.IsEqual(success.Engine.TotalTorqueDemand * avgEngineSpeed, 10.SI<Watt>()); EcoRollState.AcceleratorPedalIdle = success.Engine.DragPower.IsEqual(success.Engine.TotalTorqueDemand * avgEngineSpeed, 10.SI<Watt>());
} else { } else {
EcoRollState.AcceleratorPedalIdle = false; EcoRollState.AcceleratorPedalIdle = false;
...@@ -158,8 +160,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -158,8 +160,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
} }
var retVal = Driver.DrivingActionHalt( var retVal = Driver.DrivingActionHalt(
absTime, dt, VectoMath.Min(Driver.DataBus.VehicleInfo.MaxVehicleSpeed, targetVelocity), gradient); absTime, dt, VectoMath.Min(DataBus.VehicleInfo.MaxVehicleSpeed, targetVelocity), gradient);
EcoRollState.PreviousBrakePower = Driver.DataBus.Brakes.BrakePower; EcoRollState.PreviousBrakePower = DataBus.Brakes.BrakePower;
return retVal; return retVal;
} }
...@@ -168,11 +170,11 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -168,11 +170,11 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
container.SetDataValue("EcoRollConditionsMet", EcoRollState.AllConditionsMet ? 1 : 0); container.SetDataValue("EcoRollConditionsMet", EcoRollState.AllConditionsMet ? 1 : 0);
if (PCCSegments.Count > 0) { if (PCCSegments.Count > 0) {
var val = 0; var val = 0;
if (Driver.DataBus.MileageCounter.Distance > PCCSegments.Current.EndDistance) { if (DataBus.MileageCounter.Distance > PCCSegments.Current.EndDistance) {
val = 0; val = 0;
} else if (Driver.DataBus.MileageCounter.Distance > PCCSegments.Current.DistanceAtLowestSpeed) { } else if (DataBus.MileageCounter.Distance > PCCSegments.Current.DistanceAtLowestSpeed) {
val = 5; val = 5;
} else if (Driver.DataBus.MileageCounter.Distance > PCCSegments.Current.StartDistance) { } else if (DataBus.MileageCounter.Distance > PCCSegments.Current.StartDistance) {
val = -5; val = -5;
} }
container.SetDataValue("PCCSegment", val); container.SetDataValue("PCCSegment", val);
...@@ -186,7 +188,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -186,7 +188,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
public void CommitSimulationStep() public void CommitSimulationStep()
{ {
if (PCCSegments.Count > 0) { if (PCCSegments.Count > 0) {
if (Driver.DataBus.MileageCounter.Distance > PCCSegments.Current.EndDistance) { if (DataBus.MileageCounter.Distance > PCCSegments.Current.EndDistance) {
PCCSegments.MoveNext(); PCCSegments.MoveNext();
pccState = PCCStates.OutsideSegment; pccState = PCCStates.OutsideSegment;
} }
...@@ -211,8 +213,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -211,8 +213,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
if (EcoRollState.State != EcoRollStates.EcoRollOn && pccState != PCCStates.UseCase1 && if (EcoRollState.State != EcoRollStates.EcoRollOn && pccState != PCCStates.UseCase1 &&
pccState != PCCStates.UseCase2) { pccState != PCCStates.UseCase2) {
EngineOffTimestamp = null; EngineOffTimestamp = null;
if (Driver.DataBus.PowertrainInfo.HasCombustionEngine && !Driver.DataBus.PowertrainInfo.HasElectricMotor) { if (DataBus.PowertrainInfo.HasCombustionEngine && !DataBus.PowertrainInfo.HasElectricMotor) {
Driver.DataBus.EngineCtl.CombustionEngineOn = true; DataBus.EngineCtl.CombustionEngineOn = true;
} }
} }
//} //}
...@@ -222,7 +224,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -222,7 +224,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
if (nextAction != null && !BrakeTrigger.HasEqualTrigger(nextAction) && nextAction.ActionDistance.IsSmallerOrEqual(BrakeTrigger.ActionDistance)) { if (nextAction != null && !BrakeTrigger.HasEqualTrigger(nextAction) && nextAction.ActionDistance.IsSmallerOrEqual(BrakeTrigger.ActionDistance)) {
BrakeTrigger = nextAction; BrakeTrigger = nextAction;
} }
if (Driver.DataBus.MileageCounter.Distance.IsGreaterOrEqual(BrakeTrigger.TriggerDistance, 1e-3.SI<Meter>())) { if (DataBus.MileageCounter.Distance.IsGreaterOrEqual(BrakeTrigger.TriggerDistance, 1e-3.SI<Meter>())) {
CurrentDrivingMode = DrivingMode.DrivingModeDrive; CurrentDrivingMode = DrivingMode.DrivingModeDrive;
NextDrivingAction = null; NextDrivingAction = null;
DrivingModes[CurrentDrivingMode].ResetMode(); DrivingModes[CurrentDrivingMode].ResetMode();
...@@ -232,27 +234,27 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -232,27 +234,27 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
} }
if (CurrentDrivingMode == DrivingMode.DrivingModeDrive) { if (CurrentDrivingMode == DrivingMode.DrivingModeDrive) {
var currentDistance = Driver.DataBus.MileageCounter.Distance; var currentDistance = DataBus.MileageCounter.Distance;
//var coasting = LookAheadCoasting(ds); //var coasting = LookAheadCoasting(ds);
UpdateDrivingAction(currentDistance, ds); UpdateDrivingAction(currentDistance, ds);
if (NextDrivingAction != null) { if (NextDrivingAction != null) {
var remainingDistance = NextDrivingAction.ActionDistance - currentDistance; var remainingDistance = NextDrivingAction.ActionDistance - currentDistance;
var estimatedTimestep = remainingDistance / Driver.DataBus.VehicleInfo.VehicleSpeed; var estimatedTimestep = remainingDistance / DataBus.VehicleInfo.VehicleSpeed;
var atTriggerTistance = remainingDistance.IsEqual( var atTriggerTistance = remainingDistance.IsEqual(
0.SI<Meter>(), Constants.SimulationSettings.DriverActionDistanceTolerance); 0.SI<Meter>(), Constants.SimulationSettings.DriverActionDistanceTolerance);
var closeBeforeBraking = estimatedTimestep.IsSmaller(Constants.SimulationSettings.LowerBoundTimeInterval); var closeBeforeBraking = estimatedTimestep.IsSmaller(Constants.SimulationSettings.LowerBoundTimeInterval);
var brakingIntervalTooShort = NextDrivingAction.Action == DrivingBehavior.Braking && var brakingIntervalTooShort = NextDrivingAction.Action == DrivingBehavior.Braking &&
((NextDrivingAction.TriggerDistance - NextDrivingAction.ActionDistance) / Driver.DataBus.VehicleInfo.VehicleSpeed) ((NextDrivingAction.TriggerDistance - NextDrivingAction.ActionDistance) / DataBus.VehicleInfo.VehicleSpeed)
.IsSmaller( .IsSmaller(
Constants.SimulationSettings.LowerBoundTimeInterval / 20) && !Driver.DataBus.ClutchInfo.ClutchClosed(absTime); Constants.SimulationSettings.LowerBoundTimeInterval / 20) && !DataBus.ClutchInfo.ClutchClosed(absTime);
var brakingIntervalShort = NextDrivingAction.Action == DrivingBehavior.Braking && var brakingIntervalShort = NextDrivingAction.Action == DrivingBehavior.Braking &&
NextDrivingAction.ActionDistance.IsSmaller(currentDistance + ds) && NextDrivingAction.ActionDistance.IsSmaller(currentDistance + ds) &&
((NextDrivingAction.TriggerDistance - NextDrivingAction.ActionDistance) / Driver.DataBus.VehicleInfo.VehicleSpeed) ((NextDrivingAction.TriggerDistance - NextDrivingAction.ActionDistance) / DataBus.VehicleInfo.VehicleSpeed)
.IsSmaller( .IsSmaller(
Constants.SimulationSettings.LowerBoundTimeInterval / 2) && (Driver.DataBus.GearboxInfo.GearboxType.AutomaticTransmission() || !Driver.DataBus.ClutchInfo.ClutchClosed(absTime)); Constants.SimulationSettings.LowerBoundTimeInterval / 2) && (DataBus.GearboxInfo.GearboxType.AutomaticTransmission() || !DataBus.ClutchInfo.ClutchClosed(absTime));
if (brakingIntervalShort && remainingDistance.IsEqual(ds)) { if (brakingIntervalShort && remainingDistance.IsEqual(ds)) {
return new ResponseDrivingCycleDistanceExceeded(this) { return new ResponseDrivingCycleDistanceExceeded(this) {
MaxDistance = ds / 2 MaxDistance = ds / 2
...@@ -278,14 +280,14 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -278,14 +280,14 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
} }
var retVal = DrivingModes[CurrentDrivingMode].Request( var retVal = DrivingModes[CurrentDrivingMode].Request(
absTime, ds, VectoMath.Min(Driver.DataBus.VehicleInfo.MaxVehicleSpeed, targetVelocity), gradient); absTime, ds, VectoMath.Min(DataBus.VehicleInfo.MaxVehicleSpeed, targetVelocity), gradient);
return retVal; return retVal;
} }
private void HandlePCC(Second absTime, MeterPerSecond targetVelocity) private void HandlePCC(Second absTime, MeterPerSecond targetVelocity)
{ {
var dataBus = Driver.DataBus; var dataBus = DataBus;
var vehicleSpeed = dataBus.VehicleInfo.VehicleSpeed; var vehicleSpeed = dataBus.VehicleInfo.VehicleSpeed;
UpdatePCCState(targetVelocity); UpdatePCCState(targetVelocity);
...@@ -347,7 +349,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -347,7 +349,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
private void UpdatePCCState(MeterPerSecond targetVelocity) private void UpdatePCCState(MeterPerSecond targetVelocity)
{ {
// check if within PCC segment and update state ---------------------------- // check if within PCC segment and update state ----------------------------
var distance = Driver.DataBus.MileageCounter.Distance; var distance = DataBus.MileageCounter.Distance;
var withinPCCSegment = PCCSegments.Current != null var withinPCCSegment = PCCSegments.Current != null
&& PCCSegments.Current.StartDistance <= distance && PCCSegments.Current.StartDistance <= distance
&& distance <= PCCSegments.Current.EndDistance; && distance <= PCCSegments.Current.EndDistance;
...@@ -367,13 +369,13 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -367,13 +369,13 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
var endEnergyUseCase1 = PCCSegments.Current.EnergyAtEnd; var endEnergyUseCase1 = PCCSegments.Current.EnergyAtEnd;
if ((distance + Driver.DriverData.PCC.PreviewDistanceUseCase1).IsSmallerOrEqual(endUseCase1)) { if ((distance + Driver.DriverData.PCC.PreviewDistanceUseCase1).IsSmallerOrEqual(endUseCase1)) {
endUseCase1 = distance + Driver.DriverData.PCC.PreviewDistanceUseCase1; endUseCase1 = distance + Driver.DriverData.PCC.PreviewDistanceUseCase1;
var endCycleEntry = Driver.DataBus.DrivingCycleInfo.CycleLookAhead(Driver.DriverData.PCC.PreviewDistanceUseCase1); var endCycleEntry = DataBus.DrivingCycleInfo.CycleLookAhead(Driver.DriverData.PCC.PreviewDistanceUseCase1);
endEnergyUseCase1 = CalculateEnergy(endCycleEntry.Altitude, endCycleEntry.VehicleTargetSpeed, Driver.DataBus.VehicleInfo.TotalMass); endEnergyUseCase1 = CalculateEnergy(endCycleEntry.Altitude, endCycleEntry.VehicleTargetSpeed, DataBus.VehicleInfo.TotalMass);
} }
var vehicleSpeed = Driver.DataBus.VehicleInfo.VehicleSpeed; var vehicleSpeed = DataBus.VehicleInfo.VehicleSpeed;
var coastingForce = CalculateCoastingForce(targetVelocity, vehicleSpeed, PCCSegments.Current.Altitude, endUseCase1); var coastingForce = CalculateCoastingForce(targetVelocity, vehicleSpeed, PCCSegments.Current.Altitude, endUseCase1);
var energyCoastingEndUseCase1 = (coastingForce * (endUseCase1 - distance)).Cast<Joule>(); var energyCoastingEndUseCase1 = (coastingForce * (endUseCase1 - distance)).Cast<Joule>();
var currentEnergy = CalculateEnergy(Driver.DataBus.DrivingCycleInfo.Altitude, vehicleSpeed, Driver.DataBus.VehicleInfo.TotalMass); var currentEnergy = CalculateEnergy(DataBus.DrivingCycleInfo.Altitude, vehicleSpeed, DataBus.VehicleInfo.TotalMass);
var energyCoastingLow = (coastingForce * (PCCSegments.Current.DistanceAtLowestSpeed - distance)).Cast<Joule>(); var energyCoastingLow = (coastingForce * (PCCSegments.Current.DistanceAtLowestSpeed - distance)).Cast<Joule>();
var beforeVLow = distance.IsSmaller(PCCSegments.Current.DistanceAtLowestSpeed); var beforeVLow = distance.IsSmaller(PCCSegments.Current.DistanceAtLowestSpeed);
...@@ -394,8 +396,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -394,8 +396,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
var endEnergyUseCase2 = PCCSegments.Current.EnergyAtEnd; var endEnergyUseCase2 = PCCSegments.Current.EnergyAtEnd;
if ((distance + Driver.DriverData.PCC.PreviewDistanceUseCase2).IsSmallerOrEqual(endUseCase2)) { if ((distance + Driver.DriverData.PCC.PreviewDistanceUseCase2).IsSmallerOrEqual(endUseCase2)) {
endUseCase2 = distance + Driver.DriverData.PCC.PreviewDistanceUseCase2; endUseCase2 = distance + Driver.DriverData.PCC.PreviewDistanceUseCase2;
var endCycleEntry = Driver.DataBus.DrivingCycleInfo.CycleLookAhead(Driver.DriverData.PCC.PreviewDistanceUseCase2); var endCycleEntry = DataBus.DrivingCycleInfo.CycleLookAhead(Driver.DriverData.PCC.PreviewDistanceUseCase2);
endEnergyUseCase2 = CalculateEnergy(endCycleEntry.Altitude, endCycleEntry.VehicleTargetSpeed, Driver.DataBus.VehicleInfo.TotalMass); endEnergyUseCase2 = CalculateEnergy(endCycleEntry.Altitude, endCycleEntry.VehicleTargetSpeed, DataBus.VehicleInfo.TotalMass);
} }
var energyCoastingEndUseCase2 = coastingForce * (endUseCase2 - distance); var energyCoastingEndUseCase2 = coastingForce * (endUseCase2 - distance);
...@@ -414,26 +416,26 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -414,26 +416,26 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
private Newton CalculateCoastingForce(MeterPerSecond targetVelocity, MeterPerSecond vehicleSpeed, Meter targetAltitude, Meter targetDistance) private Newton CalculateCoastingForce(MeterPerSecond targetVelocity, MeterPerSecond vehicleSpeed, Meter targetAltitude, Meter targetDistance)
{ {
var dataBus = Driver.DataBus; var dataBus = DataBus;
var airDragForce = Driver.DataBus.VehicleInfo.AirDragResistance(vehicleSpeed, targetVelocity); var airDragForce = DataBus.VehicleInfo.AirDragResistance(vehicleSpeed, targetVelocity);
var rollResistanceForce = Driver.DataBus.VehicleInfo.RollingResistance(dataBus.DrivingCycleInfo.RoadGradient); var rollResistanceForce = DataBus.VehicleInfo.RollingResistance(dataBus.DrivingCycleInfo.RoadGradient);
//mk20211008 shouldn't we calculate it the same as in ComputeCoastingDistance? //mk20211008 shouldn't we calculate it the same as in ComputeCoastingDistance?
//var rollResistanceForce = Driver.DataBus.VehicleInfo.RollingResistance( //var rollResistanceForce = DataBus.VehicleInfo.RollingResistance(
// ((targetAltitude - Driver.DataBus.DrivingCycleInfo.Altitude) / (targetDistance - Driver.DataBus.MileageCounter.Distance)) // ((targetAltitude - DataBus.DrivingCycleInfo.Altitude) / (targetDistance - DataBus.MileageCounter.Distance))
// .Value().SI<Radian>()); // .Value().SI<Radian>());
var gearboxLoss = Driver.DataBus.GearboxInfo.GearboxLoss(); var gearboxLoss = DataBus.GearboxInfo.GearboxLoss();
var axleLoss = Driver.DataBus.AxlegearInfo.AxlegearLoss(); var axleLoss = DataBus.AxlegearInfo.AxlegearLoss();
var emDragLoss = CalculateElectricMotorDragLoss(); var emDragLoss = CalculateElectricMotorDragLoss();
var iceDragLoss = 0.SI<Watt>(); var iceDragLoss = 0.SI<Watt>();
if (dataBus.GearboxInfo.GearboxType.AutomaticTransmission()) { if (dataBus.GearboxInfo.GearboxType.AutomaticTransmission()) {
if (ADAS.EcoRoll == EcoRollType.None && ATEcoRollReleaseLockupClutch) { if (ADAS.EcoRoll == EcoRollType.None && ATEcoRollReleaseLockupClutch) {
iceDragLoss = Driver.DataBus.EngineInfo.EngineDragPower(Driver.DataBus.EngineInfo.EngineSpeed); iceDragLoss = DataBus.EngineInfo.EngineDragPower(DataBus.EngineInfo.EngineSpeed);
} }
} else { } else {
if (ADAS.EcoRoll == EcoRollType.None) { if (ADAS.EcoRoll == EcoRollType.None) {
iceDragLoss = Driver.DataBus.EngineInfo.EngineDragPower(Driver.DataBus.EngineInfo.EngineSpeed); iceDragLoss = DataBus.EngineInfo.EngineDragPower(DataBus.EngineInfo.EngineSpeed);
} }
} }
...@@ -447,7 +449,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -447,7 +449,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
private void HandleEcoRoll(Second absTime, MeterPerSecond targetVelocity) private void HandleEcoRoll(Second absTime, MeterPerSecond targetVelocity)
{ {
var dBus = Driver.DataBus; var dBus = DataBus;
var vehicleSpeedAboveLowerThreshold = dBus.VehicleInfo.VehicleSpeed >= Driver.DriverData.EcoRoll.MinSpeed; var vehicleSpeedAboveLowerThreshold = dBus.VehicleInfo.VehicleSpeed >= Driver.DriverData.EcoRoll.MinSpeed;
var slopeNegative = dBus.DrivingCycleInfo.RoadGradient.IsSmaller(0); var slopeNegative = dBus.DrivingCycleInfo.RoadGradient.IsSmaller(0);
// potential optimization... // potential optimization...
...@@ -524,7 +526,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -524,7 +526,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
private void HandleEngineStopStartDuringVehicleStop(Second absTime) private void HandleEngineStopStartDuringVehicleStop(Second absTime)
{ {
if (Driver.DataBus.DrivingCycleInfo.CycleData.LeftSample.PTOActive != PTOActivity.Inactive) { if (DataBus.DrivingCycleInfo.CycleData.LeftSample.PTOActive != PTOActivity.Inactive) {
// engine stop start is disabled for stops where the PTO is activated // engine stop start is disabled for stops where the PTO is activated
return; return;
} }
...@@ -537,12 +539,12 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -537,12 +539,12 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
Driver.DriverData.EngineStopStart.EngineOffStandStillActivationDelay)) { Driver.DriverData.EngineStopStart.EngineOffStandStillActivationDelay)) {
if (EngineOffTimestamp == null) { if (EngineOffTimestamp == null) {
EngineOffTimestamp = absTime; EngineOffTimestamp = absTime;
Driver.DataBus.EngineCtl.CombustionEngineOn = false; DataBus.EngineCtl.CombustionEngineOn = false;
} }
} }
if (EngineOffTimestamp != null && if (EngineOffTimestamp != null &&
(absTime - EngineOffTimestamp).IsGreaterOrEqual(Driver.DriverData.EngineStopStart.MaxEngineOffTimespan)) { (absTime - EngineOffTimestamp).IsGreaterOrEqual(Driver.DriverData.EngineStopStart.MaxEngineOffTimespan)) {
Driver.DataBus.EngineCtl.CombustionEngineOn = true; DataBus.EngineCtl.CombustionEngineOn = true;
} }
} }
...@@ -585,13 +587,13 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -585,13 +587,13 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
private void UpdateDistancesForCurrentNextAction() private void UpdateDistancesForCurrentNextAction()
{ {
if (Driver.DataBus.VehicleInfo.VehicleSpeed > NextDrivingAction.NextTargetSpeed) { if (DataBus.VehicleInfo.VehicleSpeed > NextDrivingAction.NextTargetSpeed) {
var brakingDistance = Driver.ComputeDecelerationDistance(NextDrivingAction.NextTargetSpeed) + BrakingSafetyMargin; var brakingDistance = Driver.ComputeDecelerationDistance(NextDrivingAction.NextTargetSpeed) + BrakingSafetyMargin;
switch (NextDrivingAction.Action) { switch (NextDrivingAction.Action) {
case DrivingBehavior.Coasting: case DrivingBehavior.Coasting:
//var coastingDistance = ComputeCoastingDistance(Driver.DataBus.VehicleSpeed, NextDrivingAction.NextTargetSpeed); //var coastingDistance = ComputeCoastingDistance(DataBus.VehicleSpeed, NextDrivingAction.NextTargetSpeed);
var coastingDistance = ComputeCoastingDistance(Driver.DataBus.VehicleInfo.VehicleSpeed, NextDrivingAction.CycleEntry); var coastingDistance = ComputeCoastingDistance(DataBus.VehicleInfo.VehicleSpeed, NextDrivingAction.CycleEntry);
NextDrivingAction.CoastingStartDistance = NextDrivingAction.TriggerDistance - coastingDistance; NextDrivingAction.CoastingStartDistance = NextDrivingAction.TriggerDistance - coastingDistance;
NextDrivingAction.BrakingStartDistance = NextDrivingAction.TriggerDistance - brakingDistance; NextDrivingAction.BrakingStartDistance = NextDrivingAction.TriggerDistance - brakingDistance;
break; break;
...@@ -613,20 +615,20 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -613,20 +615,20 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
protected internal MeterPerSecond GetOverspeed() protected internal MeterPerSecond GetOverspeed()
{ {
return ADAS.PredictiveCruiseControl == PredictiveCruiseControlType.Option_1_2_3 && Driver.DataBus.DrivingCycleInfo.CycleData.LeftSample.Highway return ADAS.PredictiveCruiseControl == PredictiveCruiseControlType.Option_1_2_3 && DataBus.DrivingCycleInfo.CycleData.LeftSample.Highway
? Driver.DriverData.PCC.OverspeedUseCase3 ? Driver.DriverData.PCC.OverspeedUseCase3
: Driver.DriverData.OverSpeed.OverSpeed; : Driver.DriverData.OverSpeed.OverSpeed;
} }
protected internal DrivingBehaviorEntry GetNextDrivingAction(Meter ds) protected internal DrivingBehaviorEntry GetNextDrivingAction(Meter ds)
{ {
var currentSpeed = Driver.DataBus.VehicleInfo.VehicleSpeed; var currentSpeed = DataBus.VehicleInfo.VehicleSpeed;
var lookaheadDistance = var lookaheadDistance =
(currentSpeed.Value() * 3.6 * Driver.DriverData.LookAheadCoasting.LookAheadDistanceFactor).SI<Meter>(); (currentSpeed.Value() * 3.6 * Driver.DriverData.LookAheadCoasting.LookAheadDistanceFactor).SI<Meter>();
var stopDistance = Driver.ComputeDecelerationDistance(0.SI<MeterPerSecond>()); var stopDistance = Driver.ComputeDecelerationDistance(0.SI<MeterPerSecond>());
lookaheadDistance = VectoMath.Max(2 * ds, lookaheadDistance, 1.2 * stopDistance + ds); lookaheadDistance = VectoMath.Max(2 * ds, lookaheadDistance, 1.2 * stopDistance + ds);
var lookaheadData = Driver.DataBus.DrivingCycleInfo.LookAhead(lookaheadDistance); var lookaheadData = DataBus.DrivingCycleInfo.LookAhead(lookaheadDistance);
Log.Debug("Lookahead distance: {0} @ current speed {1}", lookaheadDistance, currentSpeed); Log.Debug("Lookahead distance: {0} @ current speed {1}", lookaheadDistance, currentSpeed);
var nextActions = new List<DrivingBehaviorEntry>(); var nextActions = new List<DrivingBehaviorEntry>();
...@@ -700,9 +702,9 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -700,9 +702,9 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
targetSpeed += Driver.DriverData.OverSpeed.OverSpeed; targetSpeed += Driver.DriverData.OverSpeed.OverSpeed;
} }
var vehicleMass = Driver.DataBus.VehicleInfo.TotalMass + Driver.DataBus.WheelsInfo.ReducedMassWheels; var vehicleMass = DataBus.VehicleInfo.TotalMass + DataBus.WheelsInfo.ReducedMassWheels;
var targetAltitude = actionEntry.Altitude; var targetAltitude = actionEntry.Altitude;
var vehicleAltitude = Driver.DataBus.DrivingCycleInfo.Altitude; var vehicleAltitude = DataBus.DrivingCycleInfo.Altitude;
var kineticEnergyAtTarget = vehicleMass * Physics.GravityAccelleration * targetAltitude var kineticEnergyAtTarget = vehicleMass * Physics.GravityAccelleration * targetAltitude
+ vehicleMass * targetSpeed * targetSpeed / 2; + vehicleMass * targetSpeed * targetSpeed / 2;
...@@ -710,15 +712,15 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -710,15 +712,15 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
+ vehicleMass * vehicleSpeed * vehicleSpeed / 2; + vehicleMass * vehicleSpeed * vehicleSpeed / 2;
var energyDifference = currentKineticEnergy - kineticEnergyAtTarget; var energyDifference = currentKineticEnergy - kineticEnergyAtTarget;
var airDragForce = Driver.DataBus.VehicleInfo.AirDragResistance(vehicleSpeed, targetSpeed); var airDragForce = DataBus.VehicleInfo.AirDragResistance(vehicleSpeed, targetSpeed);
var rollingResistanceForce = Driver.DataBus.VehicleInfo.RollingResistance( var rollingResistanceForce = DataBus.VehicleInfo.RollingResistance(
((targetAltitude - vehicleAltitude) / (actionEntry.Distance - Driver.DataBus.MileageCounter.Distance)) ((targetAltitude - vehicleAltitude) / (actionEntry.Distance - DataBus.MileageCounter.Distance))
.Value().SI<Radian>()); .Value().SI<Radian>());
var gearboxLossPower = Driver.DataBus.GearboxInfo?.GearboxLoss() ?? 0.SI<Watt>(); var gearboxLossPower = DataBus.GearboxInfo?.GearboxLoss() ?? 0.SI<Watt>();
var axleLossPower = Driver.DataBus.AxlegearInfo?.AxlegearLoss() ?? 0.SI<Watt>(); var axleLossPower = DataBus.AxlegearInfo?.AxlegearLoss() ?? 0.SI<Watt>();
var emDragLossPower = CalculateElectricMotorDragLoss(); var emDragLossPower = CalculateElectricMotorDragLoss();
var iceDragLossPower = Driver.DataBus.EngineInfo?.EngineDragPower(Driver.DataBus.EngineInfo.EngineSpeed) ?? 0.SI<Watt>(); var iceDragLossPower = DataBus.EngineInfo?.EngineDragPower(DataBus.EngineInfo.EngineSpeed) ?? 0.SI<Watt>();
var totalComponentLossPowers = gearboxLossPower + axleLossPower + emDragLossPower - iceDragLossPower; var totalComponentLossPowers = gearboxLossPower + axleLossPower + emDragLossPower - iceDragLossPower;
var coastingResistanceForce = airDragForce + rollingResistanceForce + totalComponentLossPowers / vehicleSpeed; var coastingResistanceForce = airDragForce + rollingResistanceForce + totalComponentLossPowers / vehicleSpeed;
...@@ -732,7 +734,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -732,7 +734,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
private Watt CalculateElectricMotorDragLoss() private Watt CalculateElectricMotorDragLoss()
{ {
var sum = 0.SI<Watt>(); var sum = 0.SI<Watt>();
var db = Driver.DataBus; var db = DataBus;
foreach (var pos in db.PowertrainInfo.ElectricMotorPositions) foreach (var pos in db.PowertrainInfo.ElectricMotorPositions)
sum += db.ElectricMotorInfo(pos).DragPower( sum += db.ElectricMotorInfo(pos).DragPower(
db.BatteryInfo.InternalVoltage, db.BatteryInfo.InternalVoltage,
...@@ -744,7 +746,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -744,7 +746,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
!prohibitOverspeed !prohibitOverspeed
&& Driver.DriverData.OverSpeed.Enabled && Driver.DriverData.OverSpeed.Enabled
&& velocity > Driver.DriverData.OverSpeed.MinSpeed && velocity > Driver.DriverData.OverSpeed.MinSpeed
&& ApplyOverspeed(velocity) < (Driver.DataBus.VehicleInfo.MaxVehicleSpeed ?? 500.KMPHtoMeterPerSecond()); && ApplyOverspeed(velocity) < (DataBus.VehicleInfo.MaxVehicleSpeed ?? 500.KMPHtoMeterPerSecond());
} }
public struct EcoRoll public struct EcoRoll
...@@ -805,7 +807,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -805,7 +807,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
// if the speed at the end of the simulation interval is below the next target speed // 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) // we are fine (no need to brake right now)
var v2 = Driver.DataBus.VehicleInfo.VehicleSpeed + response.Driver.Acceleration * response.SimulationInterval; var v2 = DataBus.VehicleInfo.VehicleSpeed + response.Driver.Acceleration * response.SimulationInterval;
if (v2 <= DriverStrategy.NextDrivingAction.NextTargetSpeed) { if (v2 <= DriverStrategy.NextDrivingAction.NextTargetSpeed) {
return response; return response;
} }
...@@ -829,7 +831,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -829,7 +831,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
if (newOperatingPoint.SimulationInterval.IsSmaller(Constants.SimulationSettings.LowerBoundTimeInterval)) { if (newOperatingPoint.SimulationInterval.IsSmaller(Constants.SimulationSettings.LowerBoundTimeInterval)) {
// the next time interval will be too short, this may lead to issues with inertia etc. // the next time interval will be too short, this may lead to issues with inertia etc.
// instead of accelerating, drive at constant speed. // instead of accelerating, drive at constant speed.
response = DoHandleRequest(absTime, ds, Driver.DataBus.VehicleInfo.VehicleSpeed, gradient, true); response = DoHandleRequest(absTime, ds, DataBus.VehicleInfo.VehicleSpeed, gradient, true);
return response; return response;
} }
...@@ -1104,7 +1106,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -1104,7 +1106,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
return response; return response;
} }
var v2 = Driver.DataBus.VehicleInfo.VehicleSpeed + response.Driver.Acceleration * response.SimulationInterval; var v2 = DataBus.VehicleInfo.VehicleSpeed + response.Driver.Acceleration * response.SimulationInterval;
var newBrakingDistance = Driver.DriverData.AccelerationCurve.ComputeDecelerationDistance(v2, var newBrakingDistance = Driver.DriverData.AccelerationCurve.ComputeDecelerationDistance(v2,
nextAction.NextTargetSpeed) + DefaultDriverStrategy.BrakingSafetyMargin; nextAction.NextTargetSpeed) + DefaultDriverStrategy.BrakingSafetyMargin;
switch (DriverStrategy.NextDrivingAction.Action) { switch (DriverStrategy.NextDrivingAction.Action) {
...@@ -1119,21 +1121,21 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -1119,21 +1121,21 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
// if the distance at the end of the simulation interval is smaller than the new ActionDistance // if the distance at the end of the simulation interval is smaller than the new ActionDistance
// we are safe - go ahead... // we are safe - go ahead...
if ((Driver.DataBus.MileageCounter.Distance + ds).IsSmallerOrEqual( if ((DataBus.MileageCounter.Distance + ds).IsSmallerOrEqual(
nextAction.TriggerDistance - newActionDistance, nextAction.TriggerDistance - newActionDistance,
Constants.SimulationSettings.DriverActionDistanceTolerance * safetyFactor) && Constants.SimulationSettings.DriverActionDistanceTolerance * safetyFactor) &&
(Driver.DataBus.MileageCounter.Distance + ds).IsSmallerOrEqual(nextAction.TriggerDistance - newBrakingDistance)) { (DataBus.MileageCounter.Distance + ds).IsSmallerOrEqual(nextAction.TriggerDistance - newBrakingDistance)) {
return response; return response;
} }
newds = ds / 2; //EstimateAccelerationDistanceBeforeBrake(response, nextAction) ?? ds; newds = ds / 2; //EstimateAccelerationDistanceBeforeBrake(response, nextAction) ?? ds;
break; break;
case DrivingBehavior.Braking: case DrivingBehavior.Braking:
if ((Driver.DataBus.MileageCounter.Distance + ds).IsSmaller(nextAction.TriggerDistance - newBrakingDistance)) { if ((DataBus.MileageCounter.Distance + ds).IsSmaller(nextAction.TriggerDistance - newBrakingDistance)) {
return response; return response;
} }
newds = nextAction.TriggerDistance - newBrakingDistance - Driver.DataBus.MileageCounter.Distance - newds = nextAction.TriggerDistance - newBrakingDistance - DataBus.MileageCounter.Distance -
Constants.SimulationSettings.DriverActionDistanceTolerance / 2; Constants.SimulationSettings.DriverActionDistanceTolerance / 2;
break; break;
default: return response; default: return response;
...@@ -1510,15 +1512,15 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl ...@@ -1510,15 +1512,15 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
switch (nextAction.Action) { switch (nextAction.Action) {
case DrivingBehavior.Coasting: case DrivingBehavior.Coasting:
var v2 = Driver.DataBus.VehicleInfo.VehicleSpeed + response.Driver.Acceleration * response.SimulationInterval; var v2 = DataBus.VehicleInfo.VehicleSpeed + response.Driver.Acceleration * response.SimulationInterval;
var newBrakingDistance = Driver.DriverData.AccelerationCurve.ComputeDecelerationDistance( var newBrakingDistance = Driver.DriverData.AccelerationCurve.ComputeDecelerationDistance(
v2, v2,
nextAction.NextTargetSpeed); nextAction.NextTargetSpeed);
if ((Driver.DataBus.MileageCounter.Distance + ds).IsSmaller(nextAction.TriggerDistance - newBrakingDistance)) { if ((DataBus.MileageCounter.Distance + ds).IsSmaller(nextAction.TriggerDistance - newBrakingDistance)) {
return response; return response;
} }
newds = nextAction.TriggerDistance - newBrakingDistance - Driver.DataBus.MileageCounter.Distance - newds = nextAction.TriggerDistance - newBrakingDistance - DataBus.MileageCounter.Distance -
Constants.SimulationSettings.DriverActionDistanceTolerance / 2; Constants.SimulationSettings.DriverActionDistanceTolerance / 2;
break; break;
default: return response; default: return response;
......
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