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followme_e-tron
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Safety: AEB updates

This commit is contained in:
Sidi Liang 2020-04-07 18:11:49 +08:00
parent a79f3c2238
commit 4f2384364a
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GPG Key ID: 79F0A6B20B72F42F
1 changed files with 61 additions and 19 deletions
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80
Nasal/systems.nas
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@ -469,12 +469,29 @@ var resetOnPosition = func(){
setprop("/fdm/jsbsim/simulation/pause", 0);
}
var brakesABS = func(){
var gearFrtLftSpeed = math.round(props.getNode("/",1).getValue("/fdm/jsbsim/gear/unit/wheel-speed-fps"));
var gearFrtRgtSpeed = math.round(props.getNode("/",1).getValue("/fdm/jsbsim/gear/unit[1]/wheel-speed-fps"));
var gearBckLftSpeed = math.round(props.getNode("/",1).getValue("/fdm/jsbsim/gear/unit[2]/wheel-speed-fps"));
var gearBckRgtSpeed = math.round(props.getNode("/",1).getValue("/fdm/jsbsim/gear/unit[3]/wheel-speed-fps"));
if(gearFrtLftSpeed == 0 or gearBckLftSpeed == 0 or gearFrtRgtSpeed == 0 or gearBckRgtSpeed == 0){
safety.emergencyMode();
props.getNode("/",1).setValue("/controls/gear/brake-left", 0);
props.getNode("/",1).setValue("/controls/gear/brake-right", 0);
}else{
props.getNode("/",1).setValue("/controls/gear/brake-left", 1);
props.getNode("/",1).setValue("/controls/gear/brake-right", 1);
}
}
var Safety = {
new: func(airbagAccelerationLimit=140, sideAirbagAccelerationLimit=72){
var newSafety = { parents:[Safety] };
newSafety.airbagAccelerationLimit = airbagAccelerationLimit;
newSafety.sideAirbagAccelerationLimit = sideAirbagAccelerationLimit;
newSafety.frontRadar = Radar.new(0.3, 0, 0, 9, 0.1, 180, 0, 0);#For AEB
newSafety.absTimer = maketimer(0.001, brakesABS);
return newSafety;
},
isOn: 0,
@ -482,6 +499,7 @@ var Safety = {
updateInterval: 0.01,
frontRadarEnabled: 0,
aebActivated: 0,
lastRadarOutput:10000,
throttleNode: props.getNode("/controls/engines/engine/throttle",1),
#Airbag
accXProp: props.getNode("/fdm/jsbsim/accelerations/a-pilot-x-ft_sec2", 1),
@ -547,15 +565,20 @@ var Safety = {
me.sideAirbagProp.setValue(1);
me.emergencyMode();
}
#AEB, Automatic Emergency Brake
var currentSpeed = props.getNode("/", 1).getValue("sim/multiplay/generic/float[15]")*1.852;#In km/h
#AEB, Automatic Emergency Brake
var radarOutput = me.frontRadar.radarOutput;
var deltaX = me.lastRadarOutput - radarOutput;
var reletiveSpeed = 3.6 * (deltaX / me.updateInterval);#In km/h
if(currentSpeed > 30 and engine.engine_1.getDirection() == 1){
#Enable AEB when speed is greater then 30kmh
if(me.frontRadarEnabled){
me.frontRadar.init();
if(me.frontRadar.radarOutput <= 8 and !me.aebActivated){
if(me.frontRadar.radarOutput <= 8 and reletiveSpeed > 30 and !me.aebActivated){
me.aebActive();
me.emergencyMode();
}else if(me.frontRadar.radarOutput >= 8 and me.aebActivated){
}else if((me.frontRadar.radarOutput >= 8 or reletiveSpeed <= 0) and me.aebActivated){
me.aebStop();
}
}
@ -563,6 +586,13 @@ var Safety = {
if(me.frontRadarEnabled and me.frontRadar.radarTimer.isRunning) me.frontRadar.stop();
}
#ABS
#var brakeCmd = props.getNode("/",1).getValue("/controls/gear/brake-left");
#if(brakeCmd and currentSpeed){
# me.absTimer.start();
#}else{
# me.absTimer.stop();
#}
},
@ -602,24 +632,12 @@ var Safety = {
},
};
var safety = Safety.new(140, 72);
var brakesABS = func(){
var gearFrtLftSpeed = math.round(props.getNode("/",1).getValue("/fdm/jsbsim/gear/unit/wheel-speed-fps"));
var gearFrtRgtSpeed = math.round(props.getNode("/",1).getValue("/fdm/jsbsim/gear/unit[1]/wheel-speed-fps"));
var gearBckLftSpeed = math.round(props.getNode("/",1).getValue("/fdm/jsbsim/gear/unit[2]/wheel-speed-fps"));
var gearBckRgtSpeed = math.round(props.getNode("/",1).getValue("/fdm/jsbsim/gear/unit[3]/wheel-speed-fps"));
if(gearFrtLftSpeed == 0 or gearBckLftSpeed == 0 or gearFrtRgtSpeed == 0 or gearBckRgtSpeed == 0){
props.getNode("/",1).setValue("/controls/gear/brake-left", 0);
props.getNode("/",1).setValue("/controls/gear/brake-right", 0);
}else{
props.getNode("/",1).setValue("/controls/gear/brake-left", 1);
props.getNode("/",1).setValue("/controls/gear/brake-right", 1);
}
}
var absTimer = maketimer(0.001, brakesABS);
var brakeWithABS = func(){ #//Doesn't seems to work because it seems that jsbsim wheels never overbrake?
var brakeCmd = props.getNode("/",1).getValue("/controls/gear/brake-cmd");
#//abondoned since the new safety system
var brakeCmd = props.getNode("/",1).getValue("/controls/gear/brake-left");
if(brakeCmd){
absTimer.start();
}else{
@ -627,4 +645,28 @@ var brakeWithABS = func(){ #//Doesn't seems to work because it seems that jsbsim
}
}
#setlistener("/controls/gear/brake-cmd", brakeWithABS);
var testingProgram_1_Entry = func(){
autospeed.startAutoSpeed();
autospeed.targetSpeedChange(100);
settimer(testingProgram_1, 10);
}
var testingProgram_1 = func(){
props.getNode("/",1).setValue("/controls/gear/brake-left", 1);
props.getNode("/",1).setValue("/controls/gear/brake-right", 1);
props.getNode("/",1).setValue("/controls/gear/brake-parking", 1);
}
var testingProgram_2_Entry = func(){
autospeed.startAutoSpeed();
autospeed.targetSpeedChange(100);
settimer(testingProgram_2, 10);
}
var testingProgram_2 = func(){
props.getNode("/",1).setValue("/controls/gear/brake-left", 1);
props.getNode("/",1).setValue("/controls/gear/brake-right", 1);
#props.getNode("/",1).setValue("/controls/gear/brake-parking", 1);
}
#setlistener("/controls/gear/brake-left", brakeWithABS);