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AEB: improvements

This commit is contained in:
Sidi Liang 2020-08-11 01:04:30 +08:00
parent 3aa32b3ee3
commit 5ce733b2ed
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GPG Key ID: 79F0A6B20B72F42F
2 changed files with 75 additions and 12 deletions
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1
Nasal/radar.nas
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@ -75,6 +75,7 @@ var Radar = {
}else{
#print("Radar Stopped!");
}
me.radarOutput = 10000;
if(me.warnEnabled) me.warningTimer.stop();
me.radarTimer.stop();
},

86
Nasal/systems.nas
View File

@ -503,7 +503,7 @@ var Safety = {
var newSafety = { parents:[Safety] };
newSafety.airbagAccelerationLimit = airbagAccelerationLimit;
newSafety.sideAirbagAccelerationLimit = sideAirbagAccelerationLimit;
newSafety.frontRadar = Radar.new(0.3, 0, 0, 9, 0.1, 180, 0, 0.1);#For AEB
newSafety.frontRadar = Radar.new(0.3, 0, 0, 15, 0.1, 180, 0, 0.1);#For AEB
newSafety.absTimer = maketimer(0.001, brakesABS);
return newSafety;
},
@ -533,13 +533,14 @@ var Safety = {
me.frontRadar.init();
me.frontRadar.stop();
me.aebOnProp.setValue(1);
print("Front radar enabled");
print("Front radar(AEB) enabled");
},
disableFrontRadar: func(){
#Disables the front radar
if(me.frontRadarEnabled) me.frontRadar.stop();
me.frontRadarEnabled = 0;
me.aebOnProp.setValue(0);
print("Front radar(AEB) disabled");
},
toggleFrontRadar: func(){
if(!me.frontRadarEnabled){
@ -549,14 +550,36 @@ var Safety = {
else me.disableFrontRadar();
},
aebThreshold: 9,
aebFullThreshold: 8,
aebMode: 1, #//1: slow mode 2: fast mode
aebCount: 0,
aebSlowMode: func(){
me.frontRadar.maxRange = 10;
me.frontRadar.maxWidth = 0.1;
me.aebThreshold = 10;
me.aebFullThreshold = 10;
me.aebMode = 1;
print("AEB Slow Mode");
},
aebFastMode: func(){
me.frontRadar.maxRange = 18;
me.frontRadar.maxWidth = 0.03;
me.aebThreshold = 18;
me.aebFullThreshold = 15;
me.aebMode = 2;
print("AEB Fast Mode");
},
aebJudge: func(){
if(me.frontRadar.radarOutput <= me.aebThreshold and !me.aebActivated) return 1;
else return 0;
},
aebActive: func(){
me.aebActivated = 1;
#engine.engine_1.engineSwitch.switchDisconnect();
brakeController.applyBrakes(0.8);#//Pre brake
me.throttleNode.setValue(0);
brakeController.activeEmergencyBrake();
playAudio("parking_radar_high.wav");
playAudio("parking_radar_high.wav");
playAudio("parking_radar_high.wav");
me.aebWarning();
me.aebStateProp.setValue(1);
print("AEB Activated!");
},
@ -567,6 +590,16 @@ var Safety = {
#engine.engine_1.engineSwitch.switchConnect();
brakeController.releaseAllBrakes();
},
aebWarning: func(){
playAudio("parking_radar_high.wav");
playAudio("parking_radar_high.wav");
playAudio("parking_radar_high.wav");
},
aebFullBrake: func(){
brakeController.activeEmergencyBrake();
#playAudio("parking_radar_high.wav");
print("AEB Full Brake Activated!");
},
update: func(){
#print("running");
@ -586,21 +619,50 @@ var Safety = {
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;
#print("radar output: " ~ radarOutput);
#print("last radar output: " ~ me.lastRadarOutput);
var deltaX = me.lastRadarOutput - radarOutput;
var reletiveSpeed = 3.6 * (deltaX / me.updateInterval);#In km/h
if(me.lastRadarOutput <= radarOutput) me.aebCount += 1;
else me.aebCount = 0;
if(radarOutput != 10000) me.lastRadarOutput = radarOutput;
#var reletiveSpeed = 3.6 * (deltaX / me.updateInterval);#In km/h
#if(reletiveSpeed) print(reletiveSpeed);
if(currentSpeed > 30 and engine.engine_1.getDirection() == 1){
#Enable AEB when speed is greater then 30kmh
#Enable AEB when speed is greater then 30kmh and in D gear
if(me.frontRadarEnabled){
me.frontRadar.init();
if(me.frontRadar.radarOutput <= 8 and reletiveSpeed > 30 and !me.aebActivated){
if(currentSpeed >= 48 and me.aebMode == 1) me.aebFastMode();
else if(currentSpeed < 48 and me.aebMode == 2) me.aebSlowMode();#//Adjust mode dynamically according to speed
if(me.aebJudge()){
me.aebActive();
}else if((me.frontRadar.radarOutput >= 8 or reletiveSpeed <= 0) and me.aebActivated){
me.aebStop();
if(me.frontRadar.radarOutput <= me.aebFullThreshold){ #//Phase two of braking
me.aebFullBrake();
}
}
if(me.aebActivated){
#if(currentSpeed <= 0 or me.aebCount >= 10) me.aebStop();
if(currentSpeed <= 0){
me.aebStop();
#print("1");
}else if(me.aebCount >= 15){
me.aebStop();
#print("2");
}
}
}
}else{
if(me.aebActivated){
if(currentSpeed <= 0){
me.aebStop();
#print("11");
}else if(me.aebCount >= 15){
me.aebStop();
#print("22");
}
}
if(me.frontRadarEnabled and me.frontRadar.radarTimer.isRunning) me.frontRadar.stop();
if(reletiveSpeed <= 0 and me.aebActivated) me.aebStop();
}
#ABS