Pull request #874: set gearbox disengage speed for AT transmissions based on...

Pull request #874: set gearbox disengage speed for AT transmissions based on downshift line in first locked gear

Merge in VECTO/vecto-sim from VECTO/mq_vecto-sim:feature/VECTO-1549-error-in-gearshift-behavior-for-at-transmissions-when-braking to develop

* commit '6b7dc0b1':
  set gearbox disengage speed for AT transmissions based on downshift line in first locked gear

VectoCore/VectoCore/InputData/Reader/DataObjectAdapter/DeclarationDataAdapter.cs

@@ -362,6 +362,18 @@ namespace TUGraz.VectoCore.InputData.Reader.DataObjectAdapter
 				retVal.TorqueConverterData.CertificationNumber = torqueConverter.CertificationNumber;
 			}
 
+			// update disengageWhenHaltingSpeed
+			if (retVal.Type.AutomaticTransmission()) {
+				var firstGear = retVal.GearList.First(x => x.IsLockedGear());
+				if (retVal.Gears[firstGear.Gear].ShiftPolygon.Downshift.Any()) {
+					var downshiftSpeedInc = retVal.Gears[firstGear.Gear].ShiftPolygon
+						.InterpolateDownshiftSpeed(0.SI<NewtonMeter>()) * 1.05;
+					var vehicleSpeedDisengage = downshiftSpeedInc / axlegearRatio / retVal.Gears[firstGear.Gear].Ratio *
+												dynamicTyreRadius;
+					retVal.DisengageWhenHaltingSpeed = vehicleSpeedDisengage;
+				}
+			}
+
 			return retVal;
 		}
 

VectoCore/VectoCore/InputData/Reader/DataObjectAdapter/EngineeringDataAdapter.cs

@@ -333,6 +333,18 @@ namespace TUGraz.VectoCore.InputData.Reader.DataObjectAdapter
 					gearshiftData.CLUpshiftMinAcceleration, gearshiftData.CCUpshiftMinAcceleration);
 			}
 
+			// update disengageWhenHaltingSpeed
+			if (retVal.Type.AutomaticTransmission()) {
+				var firstGear = retVal.GearList.First(x => x.IsLockedGear());
+				if (retVal.Gears[firstGear.Gear].ShiftPolygon.Downshift.Any()) {
+					var downshiftSpeedInc = retVal.Gears[firstGear.Gear].ShiftPolygon
+						.InterpolateDownshiftSpeed(0.SI<NewtonMeter>()) * 1.05;
+					var vehicleSpeedDisengage = downshiftSpeedInc / axlegearRatio / retVal.Gears[firstGear.Gear].Ratio *
+												dynamicTyreRadius;
+					retVal.DisengageWhenHaltingSpeed = vehicleSpeedDisengage;
+				}
+			}
+
 			return retVal;
 		}
 

VectoCore/VectoCore/Models/SimulationComponent/Data/GearboxData.cs

@@ -38,6 +38,7 @@ using System.Runtime.Serialization;
 using Newtonsoft.Json;
 using TUGraz.VectoCommon.Models;
 using TUGraz.VectoCommon.Utils;
+using TUGraz.VectoCore.Configuration;
 using TUGraz.VectoCore.Models.SimulationComponent.Data.Gearbox;
 using TUGraz.VectoCore.Models.SimulationComponent.Impl;
 
@@ -52,6 +53,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Data
 	public class GearboxData : SimulationComponentData
 	{
 		private GearList _gearlist;
+		private MeterPerSecond _disengageWhenHaltingSpeed;
 
 		public GearboxType Type { get; internal set; }
 
@@ -73,6 +75,19 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Data
 		[JsonIgnore]
 		public GearList GearList => _gearlist ?? (_gearlist = CreateGearList());
 
+		public MeterPerSecond DisengageWhenHaltingSpeed {
+			get {
+				return _disengageWhenHaltingSpeed != null
+					? _disengageWhenHaltingSpeed
+					: (Type.AutomaticTransmission()
+						? Constants.SimulationSettings.ATGearboxDisengageWhenHaltingSpeed
+						: Constants.SimulationSettings.ClutchDisengageWhenHaltingSpeed);
+			}
+			internal set {
+				_disengageWhenHaltingSpeed = value;
+			}
+		}
+
 		private GearList CreateGearList()
 		{
 			var gearList = new List<GearshiftPosition>();

VectoCore/VectoCore/Models/SimulationComponent/Impl/ATShiftStrategy.cs

@@ -157,7 +157,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 			var braking = DataBus.DriverInfo.DriverBehavior == DrivingBehavior.Braking;
 			var torqueNegative = outTorque.IsSmaller(0);
 			var slowerThanDisengageSpeed =
-				DataBus.VehicleInfo.VehicleSpeed.IsSmaller(Constants.SimulationSettings.ATGearboxDisengageWhenHaltingSpeed);
+				DataBus.VehicleInfo.VehicleSpeed.IsSmaller(GearboxModelData.DisengageWhenHaltingSpeed);
 			var disengageBeforeHalting = braking && torqueNegative && slowerThanDisengageSpeed;
 
 			// 2) L -> 0: disengage if inAngularVelocity == 0

VectoCore/VectoCore/Models/SimulationComponent/Impl/Gearbox.cs

@@ -258,7 +258,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 											(inAngularVelocity.IsSmaller(DataBus.EngineInfo.EngineIdleSpeed))) &&
 											(DataBus.Brakes.BrakePower.IsGreater(0) || inTorque.IsSmaller(0));
 			var vehicleSpeedBelowThreshold =
-				DataBus.VehicleInfo.VehicleSpeed.IsSmaller(Constants.SimulationSettings.ClutchDisengageWhenHaltingSpeed);
+				DataBus.VehicleInfo.VehicleSpeed.IsSmaller(ModelData.DisengageWhenHaltingSpeed);
 			if (halted || (driverDeceleratingNegTorque && vehicleSpeedBelowThreshold)) {
 				EngageTime = VectoMath.Max(EngageTime, absTime + dt);
 				_strategy?.Disengage(absTime, dt, outTorque, outAngularVelocity);