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Code Issues 123 Wiki Activity

AI driver has more histeresis when using ep brake

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Królik Uszasty
2021-05-17 16:53:02 +02:00
parent 4d7b14d607
commit 8a8e8d9c61
1 changed files with 4 additions and 1 deletions
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5
Driver.cpp
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@@ -7730,8 +7730,11 @@ void TController::control_braking_force() {
fAccGravity < 0.025 ? // HACK: when going downhill be more responsive to desired deceleration fAccGravity < 0.025 ? // HACK: when going downhill be more responsive to desired deceleration
fAccThreshold : fAccThreshold :
std::max( -0.2, fAccThreshold ) ) }; std::max( -0.2, fAccThreshold ) ) };
auto const AccMax{ std::min(fBrake_a0[0] + 12 * fBrake_a1[0], mvOccupied->MED_amax) };
auto const accmargin = ((AccMax > 1.1 * AccDesired) && (fAccGravity < 0.025)) ?
0.05 : 0.0;
if( ( AccDesired < accthreshold ) // jeśli hamować - u góry ustawia się hamowanie na fAccThreshold if( ( AccDesired < accthreshold ) // jeśli hamować - u góry ustawia się hamowanie na fAccThreshold
&& ( ( AbsAccS > AccDesired ) && ( ( AbsAccS > AccDesired + accmargin)
|| ( BrakeCtrlPosition < 0 ) ) ) { || ( BrakeCtrlPosition < 0 ) ) ) {
// hamować bardziej, gdy aktualne opóźnienie hamowania mniejsze niż (AccDesired) // hamować bardziej, gdy aktualne opóźnienie hamowania mniejsze niż (AccDesired)
cue_action( locale::string::driver_hint_brakingforceincrease ); cue_action( locale::string::driver_hint_brakingforceincrease );