AEB: improve naming, use independent timer for AEB to improve stablity
This commit is contained in:
Sidi Liang
parent
9ae79b1c17
commit
d20ee0c48e
|
|
@ -560,14 +560,15 @@ var Safety = {
|
|||
var newSafety = { parents:[Safety] };
|
||||
newSafety.airbagAccelerationLimit = airbagAccelerationLimit;
|
||||
newSafety.sideAirbagAccelerationLimit = sideAirbagAccelerationLimit;
|
||||
newSafety.frontRadar = Radar.new(0.3, 0, 0, 15, 0.1, 180, 0, 0.01);#For AEB
|
||||
newSafety.frontRadar = Radar.new(0.3, 0, 0, 15, 0.1, 180, 0, 0.001);#For AEB
|
||||
newSafety.absTimer = maketimer(0.001, brakesABS);
|
||||
newSafety.aebTimer = maketimer(0.001, func newSafety.aebUpdate());
|
||||
return newSafety;
|
||||
},
|
||||
isOn: 0,
|
||||
safetySystemTimer: nil,
|
||||
updateInterval: 0.01,
|
||||
frontRadarEnabled: 0,
|
||||
aebEnabled: 0,
|
||||
aebActivated: 0,
|
||||
lastRadarOutput:10000,
|
||||
throttleNode: props.getNode("/controls/engines/engine/throttle",1),
|
||||
|
|
@ -584,27 +585,29 @@ var Safety = {
|
|||
#Frontwards radar
|
||||
frontRadar: nil,
|
||||
|
||||
enableFrontRadar: func(){
|
||||
enableAEB: func(){
|
||||
#Enables the front radar
|
||||
me.frontRadarEnabled = 1;
|
||||
me.aebTimer.start();
|
||||
me.aebEnabled = 1;
|
||||
me.frontRadar.initWithoutStarting();
|
||||
#//me.frontRadar.stop();
|
||||
me.aebOnProp.setValue(1);
|
||||
print("Front radar(AEB) enabled");
|
||||
print("AEB enabled");
|
||||
},
|
||||
disableFrontRadar: func(){
|
||||
disableAEB: func(){
|
||||
#Disables the front radar
|
||||
if(me.frontRadarEnabled) me.frontRadar.stop();
|
||||
me.frontRadarEnabled = 0;
|
||||
me.aebTimer.stop();
|
||||
if(me.aebEnabled) me.frontRadar.stop();
|
||||
me.aebEnabled = 0;
|
||||
me.aebOnProp.setValue(0);
|
||||
print("Front radar(AEB) disabled");
|
||||
print("AEB disabled");
|
||||
},
|
||||
toggleFrontRadar: func(){
|
||||
if(!me.frontRadarEnabled){
|
||||
me.enableFrontRadar();
|
||||
toggleAEB: func(){
|
||||
if(!me.aebEnabled){
|
||||
me.enableAEB();
|
||||
playAudio("parking_radar_init.wav");
|
||||
}
|
||||
else me.disableFrontRadar();
|
||||
else me.disableAEB();
|
||||
},
|
||||
|
||||
aebThreshold: 9,
|
||||
|
|
@ -658,23 +661,8 @@ var Safety = {
|
|||
print("AEB Full Brake Activated!");
|
||||
},
|
||||
|
||||
update: func(){
|
||||
#print("running");
|
||||
#Front airbag
|
||||
if(math.abs(me.accXProp.getValue() * FT2M) > me.airbagAccelerationLimit){
|
||||
#active Front
|
||||
me.frontAirbagProp.setValue(1);
|
||||
me.emergencyMode();
|
||||
}
|
||||
#side airbag
|
||||
if(math.abs(me.accYProp.getValue() * FT2M) > me.sideAirbagAccelerationLimit){
|
||||
#active side
|
||||
me.sideAirbagProp.setValue(1);
|
||||
me.emergencyMode();
|
||||
}
|
||||
|
||||
aebUpdate: func(){
|
||||
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);
|
||||
|
|
@ -686,7 +674,7 @@ var Safety = {
|
|||
#if(reletiveSpeed) print(reletiveSpeed);
|
||||
if(currentSpeed > 30 and engine.engine_1.getDirection() == 1){
|
||||
#Enable AEB when speed is greater then 30kmh and in D gear
|
||||
if(me.frontRadarEnabled){
|
||||
if(me.aebEnabled){
|
||||
if(!me.frontRadar.isRunning) me.frontRadar.start();
|
||||
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
|
||||
|
|
@ -719,8 +707,26 @@ var Safety = {
|
|||
#print("22");
|
||||
}
|
||||
}
|
||||
if(me.frontRadarEnabled and me.frontRadar.isRunning) me.frontRadar.stop();
|
||||
if(me.aebEnabled and me.frontRadar.isRunning) me.frontRadar.stop();
|
||||
}
|
||||
},
|
||||
|
||||
update: func(){
|
||||
#print("running");
|
||||
#Front airbag
|
||||
if(math.abs(me.accXProp.getValue() * FT2M) > me.airbagAccelerationLimit){
|
||||
#active Front
|
||||
me.frontAirbagProp.setValue(1);
|
||||
me.emergencyMode();
|
||||
}
|
||||
#side airbag
|
||||
if(math.abs(me.accYProp.getValue() * FT2M) > me.sideAirbagAccelerationLimit){
|
||||
#active side
|
||||
me.sideAirbagProp.setValue(1);
|
||||
me.emergencyMode();
|
||||
}
|
||||
#AEB, Automatic Emergency Brake
|
||||
|
||||
|
||||
#ABS
|
||||
#var brakeCmd = props.getNode("/",1).getValue("/controls/gear/brake-left");
|
||||
|
|
@ -742,7 +748,7 @@ var Safety = {
|
|||
reset: func(){
|
||||
#resetting stops the safety system
|
||||
me.safetySystemTimer.stop();
|
||||
if(me.frontRadarEnabled) me.frontRadar.stop();
|
||||
if(me.aebEnabled) me.disableAEB();;#//disable AEB
|
||||
me.frontAirbagProp.setValue(0);
|
||||
me.sideAirbagProp.setValue(0);
|
||||
me.aebStateProp.setValue(0);
|
||||
|
|
@ -754,14 +760,14 @@ var Safety = {
|
|||
me.aebStateProp.setValue(0);
|
||||
if(me.safetySystemTimer == nil) me.safetySystemTimer = maketimer(me.updateInterval, func me.update());
|
||||
me.safetySystemTimer.start();
|
||||
if(me.frontRadarEnabled) me.enableFrontRadar();
|
||||
#if(me.aebEnabled) me.enableAEB();
|
||||
me.isOn = 1;
|
||||
print("Safety system initialized");
|
||||
},
|
||||
stop: func(){
|
||||
me.isOn = 0;
|
||||
me.aebStateProp.setValue(0);
|
||||
me.disableFrontRadar();
|
||||
me.disableAEB();
|
||||
me.safetySystemTimer.stop();
|
||||
print("Safety system stoped");
|
||||
},
|
||||
|
|
|
|||
Loading…
Reference in New Issue