speed-dreams/speed-dreams-code
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Update shadow's driver

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git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@6680 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 8490e7825f5296f16a182f1964e7ee4fb63afe9b
Former-commit-id: 2dd6c43f41c904e26658b6d175dd9545ed86d9ff
This commit is contained in:
torcs-ng 2019-06-23 14:19:18 +00:00
parent 3b1b16cbcb
commit 9dda55e873
6 changed files with 120 additions and 78 deletions
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10
src/drivers/shadow/src/CarModel.cpp
View file

@ -156,8 +156,7 @@ double CarModel::CalcMaxSpeed(double k, double k1, double kz, double kFriction,
LogSHADOW.debug("MU = %.f\n", Mu); LogSHADOW.debug("MU = %.f\n", Mu);
} }
Den = (AbsCrv - ScaleBump * kz) - (CA_FW * MuF + CA_RW * MuR Den = (AbsCrv - ScaleBump * kz) - (CA_FW * MuF + CA_RW * MuR + CA_GE_F * MuF + CA_GE_R * MuR) / MASS;
+ CA_GE_F * MuF + CA_GE_R * MuR) / MASS;
if (Den < 0.00001) if (Den < 0.00001)
Den = 0.00001; Den = 0.00001;
@ -329,7 +328,7 @@ double CarModel::CalcAcceleration(double k0, double kz0, double k1, double kz1,
// 3m/ss @ 60m/s // 3m/ss @ 60m/s
// 1m/ss @ 75m/s // 1m/ss @ 75m/s
// 0m/ss @ 85m/s // 0m/ss @ 85m/s
//Quadratic accFromSpd(0.001852, -0.35, 17.7); // approx. clkdtm //Quadratic accFromSpd(0.001852, -0.35, 17.7); // approx. clkdtm
Quadratic accFromSpd(21.0/5400, -43.0/60, 30); // approx. clkdtm Quadratic accFromSpd(21.0/5400, -43.0/60, 30); // approx. clkdtm
double OldV = 0.0; double OldV = 0.0;
// Power (kW) = Torque (Nm) x Speed (RPM) / 9.5488 // Power (kW) = Torque (Nm) x Speed (RPM) / 9.5488
@ -348,8 +347,8 @@ double CarModel::CalcAcceleration(double k0, double kz0, double k1, double kz1,
if( Flatroad > Froad ) if( Flatroad > Froad )
Flatroad = Froad; Flatroad = Froad;
double Ftanroad = sqrt(Froad * Froad - Flatroad * Flatroad) + Ftan;
double Ftanroad = sqrt(Froad * Froad - Flatroad * Flatroad) + Ftan;
double acc = Ftanroad / M; double acc = Ftanroad / M;
double maxAcc = MIN(11.5, accFromSpd.CalcY(avgV)); double maxAcc = MIN(11.5, accFromSpd.CalcY(avgV));
@ -398,6 +397,7 @@ double CarModel::CalcMaxLateralF( double spd, double kFriction, double kz ) cons
double CarModel::CalcMaxSpeedCrv() const double CarModel::CalcMaxSpeedCrv() const
{ {
const double MAX_SPD = 112; // 400 km/h const double MAX_SPD = 112; // 400 km/h
return GRAVITY * TYRE_MU / (MAX_SPD * MAX_SPD); return GRAVITY * TYRE_MU / (MAX_SPD * MAX_SPD);
} }
@ -488,4 +488,4 @@ void CarModel::CalcSimuSpeedRanges( double spd0, double dist, double kFriction,
// t = dist / spd0; // t = dist / spd0;
double turnT = dist / spd0; double turnT = dist / spd0;
maxDY = 0.5 * max_acc * turnT * turnT; maxDY = 0.5 * max_acc * turnT * turnT;
} }

4
src/drivers/shadow/src/CarModel.h
View file

@ -76,7 +76,7 @@ public:
double lftOH; double lftOH;
double rgtOH; double rgtOH;
double AVOID_KZ_SCALE; // bump sensitivity. double AVOID_KZ_SCALE; // bump sensitivity.
double WIDTH; // width of car (m). double WIDTH; // width of car (m).
double BRAKE_FACTOR; // higher number = slower braking double BRAKE_FACTOR; // higher number = slower braking
double CT_FACTOR; double CT_FACTOR;
@ -85,4 +85,4 @@ public:
double TYRECONDITIONREAR; double TYRECONDITIONREAR;
}; };
#endif #endif

97
src/drivers/shadow/src/Driver.cpp
View file

@ -1318,36 +1318,54 @@ void TDriver::SpeedControl1( double targetSpd, double spd0, double& acc, double&
void TDriver::SpeedControl2( double targetSpd, double spd0, double& acc, double& brk ) void TDriver::SpeedControl2( double targetSpd, double spd0, double& acc, double& brk )
{ {
if( m_lastBrk && m_lastTargV ) if (m_lastBrk && m_lastTargV)
{ {
if( m_lastBrk > 0 ) if (m_lastBrk > 0)//|| (car->ctrl.accelCmd == -m_lastBrk) )
{ {
double err = m_lastTargV - spd0; double err = m_lastTargV - spd0;
m_accBrkCoeff.Sample( err, m_lastBrk ); m_accBrkCoeff.Sample(err, m_lastBrk);
} // GfOut( "accbrk sample %g -> %g\n", err, m_lastBrk );
m_lastBrk = 0; }
m_lastTargV = 0; m_lastBrk = 0;
} m_lastTargV = 0;
}
if( spd0 > targetSpd ) if (spd0 > targetSpd)
{ // if( targetSpd < 100 )
{ {
double MAX_BRK = 0.5; // if( spd0 - 1 > targetSpd )
double err = spd0 - targetSpd; {
brk = MX(0, MN(m_accBrkCoeff.CalcY(err), MAX_BRK)); double MAX_BRK = 0.9;
acc = 0; // double MAX_BRK = 0.75;
double err = spd0 - targetSpd;
brk = MX(0, MN(m_accBrkCoeff.CalcY(err), MAX_BRK));
// GfOut( "accbrk calcy %g -> %g\n", err, t );
acc = 0;
m_lastBrk = brk; m_lastBrk = brk;
m_lastTargV = 0; m_lastTargV = 0;
if( brk > 0 ) if (brk > 0)
{ {
if( targetSpd > 0 ) if (targetSpd > 0)
m_lastTargV = spd0; m_lastTargV = spd0;
} }
} // GfOut( "*** brake *** spd0 %g targ %g brk %g acc %g\n",
} // spd0, targetSpd, brk, acc );
}
// else
// acc = MN(acc, 0.1);
}
#if 1
else
{
double x = (0 + spd0) * (targetSpd - spd0) / 200;
if (x > 0)
acc = x;
}
#endif
} }
void TDriver::SpeedControl3( double targetSpd, double spd0, double& acc, double& brk ) void TDriver::SpeedControl3( double targetSpd, double spd0, double& acc, double& brk )
@ -1546,15 +1564,38 @@ void TDriver::Drive( tSituation* s )
PtInfo pi, aheadPi; PtInfo pi, aheadPi;
double angle = 0.0; double angle = 0.0;
#if 1
/*if (m_Strategy->WantToPit())
angle = SteerAngle2(car, pi, aheadPi);
else*/
{
int steerControl = ((MN(car->_trkPos.toLeft, car->_trkPos.toRight) < 0.0 && car->_speed_x < MN(20.0f, m_lastTargV - 10.0f)) ? STEERCONTROL_RECOVERY : STEERCONTROL);
switch (steerControl)
{
case 0:
angle = SteerAngle0(car, pi, aheadPi); break;
case 1:
angle = SteerAngle1(car, pi, aheadPi); break;
case 2:
angle = SteerAngle2(car, pi, aheadPi); break;
case 3:
angle = SteerAngle3(car, pi, aheadPi); break;
case 4:
angle = SteerAngle4(car, pi, aheadPi); break;
}
}
#else
switch (STEER_CTRL) switch (STEER_CTRL)
{ {
case 0: angle = SteerAngle0(car, pi, aheadPi); break; case 0: angle = SteerAngle0(car, pi, aheadPi); break;
case 1: angle = SteerAngle1(car, pi, aheadPi); break; case 1: angle = SteerAngle1(car, pi, aheadPi); break;
case 2: angle = SteerAngle2(car, pi, aheadPi); break; case 2: angle = SteerAngle2(car, pi, aheadPi); break;
case 3: angle = SteerAngle3(car, pi, aheadPi); break; case 3: angle = SteerAngle3(car, pi, aheadPi); break;
case 4: angle = SteerAngle4(car, pi, aheadPi); break; case 4: angle = SteerAngle4(car, pi, aheadPi); break;
default: angle = SteerAngle0(car, pi, aheadPi); break; default: angle = SteerAngle0(car, pi, aheadPi); break;
} }
#endif
double steer = angle / car->_steerLock; double steer = angle / car->_steerLock;

76
src/drivers/shadow/src/Driver.h
View file

@ -183,35 +183,35 @@ public:
TDriver(int index); // Constructor TDriver(int index); // Constructor
~TDriver(); // Destructor ~TDriver(); // Destructor
void InitTrack(tTrack* track, void* carHandle, void** carParmHandle, tSituation* s); void InitTrack(tTrack* track, void* carHandle, void** carParmHandle, tSituation* s);
void NewRace(tCarElt* car, tSituation* s ); void NewRace(tCarElt* car, tSituation* s );
void GetPtInfo( int path, double pos, PtInfo& pi ) const; void GetPtInfo( int path, double pos, PtInfo& pi ) const;
void GetPosInfo( double pos, PtInfo& pi, double u, double v ) const; void GetPosInfo( double pos, PtInfo& pi, double u, double v ) const;
void GetPosInfo( double pos, PtInfo& pi ) const; void GetPosInfo( double pos, PtInfo& pi ) const;
double CalcPathTarget( double pos, double offs, double s ) const; double CalcPathTarget( double pos, double offs, double s ) const;
double CalcPathTarget( double pos, double offs ) const; double CalcPathTarget( double pos, double offs ) const;
Vec2d CalcPathTarget2( double pos, double offs ) const; Vec2d CalcPathTarget2( double pos, double offs ) const;
double CalcPathOffset( double pos, double s, double t ) const; double CalcPathOffset( double pos, double s, double t ) const;
void CalcBestPathUV( double pos, double offs, double& u, double& v ) const; void CalcBestPathUV( double pos, double offs, double& u, double& v ) const;
double CalcBestSpeed( double pos, double offs ) const; double CalcBestSpeed( double pos, double offs ) const;
void GetPathToLeftAndRight( const CarElt* pCar, double& toL, double& toR ) const; void GetPathToLeftAndRight( const CarElt* pCar, double& toL, double& toR ) const;
double filterTCL(double accel); double filterTCL(double accel);
double filterTrk(double accel); double filterTrk(double accel);
double filterAccel(double Accel); double filterAccel(double Accel);
void initCa(); void initCa();
//void initCa_MPA1(); //void initCa_MPA1();
//void initCa_MPA11(); //void initCa_MPA11();
void initCw(); void initCw();
void initCR(); void initCR();
void initDriveTrain(); void initDriveTrain();
void initWheelRadius(); void initWheelRadius();
void initTireMu(); void initTireMu();
void initWheelPos(); void initWheelPos();
void initBrake(); void initBrake();
double SteerAngle0( tCarElt* car, PtInfo& pi, PtInfo& aheadPi ); double SteerAngle0( tCarElt* car, PtInfo& pi, PtInfo& aheadPi );
double SteerAngle1( tCarElt* car, PtInfo& pi, PtInfo& aheadPi ); double SteerAngle1( tCarElt* car, PtInfo& pi, PtInfo& aheadPi );
@ -219,21 +219,21 @@ public:
double SteerAngle3( tCarElt* car, PtInfo& pi, PtInfo& aheadPi ); double SteerAngle3( tCarElt* car, PtInfo& pi, PtInfo& aheadPi );
double SteerAngle4( tCarElt* car, PtInfo& pi, PtInfo& aheadPi ); double SteerAngle4( tCarElt* car, PtInfo& pi, PtInfo& aheadPi );
void SpeedControl0( double targetSpd, double spd0, double& acc, double& brk ); void SpeedControl0( double targetSpd, double spd0, double& acc, double& brk );
void SpeedControl1( double targetSpd, double spd0, double& acc, double& brk ); void SpeedControl1( double targetSpd, double spd0, double& acc, double& brk );
void SpeedControl2( double targetSpd, double spd0, double& acc, double& brk ); void SpeedControl2( double targetSpd, double spd0, double& acc, double& brk );
void SpeedControl3( double targetSpd, double spd0, double& acc, double& brk ); void SpeedControl3( double targetSpd, double spd0, double& acc, double& brk );
void SpeedControl4( double targetSpd, double spd0, CarElt* car, double& acc, double& brk ); void SpeedControl4( double targetSpd, double spd0, CarElt* car, double& acc, double& brk );
void SpeedControl5(double targetSpd, double spd0, CarElt* car, double& acc, double& brk ); void SpeedControl5(double targetSpd, double spd0, CarElt* car, double& acc, double& brk );
void SpeedControl6(double targetSpd, double spd0, CarElt* car, double& acc, double& brk ); void SpeedControl6(double targetSpd, double spd0, CarElt* car, double& acc, double& brk );
void SpeedControl( int which, double targetSpd, double spd0, CarElt* car, double& acc, double& brk ); void SpeedControl( int which, double targetSpd, double spd0, CarElt* car, double& acc, double& brk );
void Drive(tSituation* s ); void Drive(tSituation* s );
int PitCmd(tSituation* s ); int PitCmd(tSituation* s );
void EndRace(tSituation* s ); void EndRace(tSituation* s );
void Shutdown(); void Shutdown();
double CurrSimTime; // Current simulation time double CurrSimTime; // Current simulation time
double Frc; // Friction coefficient double Frc; // Friction coefficient
//bool UseBrakeLimit; // Enable/disable brakelimit //bool UseBrakeLimit; // Enable/disable brakelimit
@ -470,15 +470,15 @@ private:
PidController m_speedController; // controller for speed. PidController m_speedController; // controller for speed.
double m_prevYawError; double m_prevYawError;
double m_prevLineError; double m_prevLineError;
double m_Jumping; // Car is jumping double m_Jumping; // Car is jumping
double m_JumpOffset; // Offset for calculation of jumps double m_JumpOffset; // Offset for calculation of jumps
bool m_FirstJump; bool m_FirstJump;
int m_Flying; // Flag prepare landing int m_Flying; // Flag prepare landing
int m_nCars; int m_nCars;
int m_myOppIdx; int m_myOppIdx;
Opponent *m_opp; // info about other cars. Opponent *m_opp; // info about other cars.
double m_avgAY; double m_avgAY;
bool m_raceStart; bool m_raceStart;
double m_avoidS; // where we are LR->T (0..1). double m_avoidS; // where we are LR->T (0..1).
double m_avoidSVel; double m_avoidSVel;
double m_avoidT; // where we are L->R (-1..1). double m_avoidT; // where we are L->R (-1..1).
@ -495,7 +495,7 @@ private:
int m_lastB; int m_lastB;
double m_lastBrk; double m_lastBrk;
double m_lastTargV; double m_lastTargV;
double m_maxbrkPressRatio; double m_maxbrkPressRatio;
LearnedGraph m_maxAccel; LearnedGraph m_maxAccel;
double m_angle[SPD_N][K_N]; double m_angle[SPD_N][K_N];

6
src/drivers/shadow/src/Strategy.cpp
View file

@ -55,6 +55,7 @@ SimpleStrategy::SimpleStrategy()
m_expectedfuelperlap = 0; // [Kg] Expected fuel per lap m_expectedfuelperlap = 0; // [Kg] Expected fuel per lap
TrackLength = 0; TrackLength = 0;
RaceDistance = 0; RaceDistance = 0;
m_timeOfPitExit = -30;
} }
@ -521,7 +522,4 @@ double SimpleStrategy::getRefuel2(int laps)
double refuelforrace = laps * avgFuelPerLap; double refuelforrace = laps * avgFuelPerLap;
return refuelforrace; return refuelforrace;
} }

5
src/drivers/shadow/src/Strategy.h
View file

@ -57,6 +57,7 @@ protected:
PIT_EXIT, PIT_EXIT,
PIT_GONE PIT_GONE
}; };
int m_State; // Current pitting state int m_State; // Current pitting state
bool m_GoToPit; // Pit stop needed bool m_GoToPit; // Pit stop needed
@ -65,7 +66,7 @@ protected:
public: public:
AbstractStrategy() AbstractStrategy()
:m_State(PIT_NONE), m_GoToPit(false), Car(NULL), Track(NULL), pitPath(NULL), Driver(NULL), DistToSwitch(100), StartFuel(-1){}; :m_State(PIT_NONE), m_GoToPit(false), Car(NULL), Track(NULL), pitPath(NULL), Driver(NULL), DistToSwitch(100), StartFuel(-1) {};
// Need this empty constructor... do not remove. // Need this empty constructor... do not remove.
virtual ~AbstractStrategy() {} virtual ~AbstractStrategy() {}
// Set Initial fuel at race start. // Set Initial fuel at race start.
@ -116,6 +117,7 @@ public:
int pitRepair(tCarElt* car, tSituation *s); int pitRepair(tCarElt* car, tSituation *s);
bool isPitFree(tCarElt* car); bool isPitFree(tCarElt* car);
int pitStopPenalty() { return m_stopPenalty; } int pitStopPenalty() { return m_stopPenalty; }
double TimeSincePit(double simtime) { return simtime - m_timeOfPitExit; }
protected: protected:
bool test_Pitstop; bool test_Pitstop;
@ -145,6 +147,7 @@ protected:
float calcFuel(double totalFuel); float calcFuel(double totalFuel);
double getRefuel1(int laps); // How much fuel it takes to reach the finish line. double getRefuel1(int laps); // How much fuel it takes to reach the finish line.
double getRefuel2(int laps); double getRefuel2(int laps);
double m_timeOfPitExit;
float MAX_FUEL_PER_METER; // max fuel consumtion. float MAX_FUEL_PER_METER; // max fuel consumtion.
double MAX_FUEL_TANK; // max fuel for this car(fuel tank capacity). double MAX_FUEL_TANK; // max fuel for this car(fuel tank capacity).