def _calibrate_gsm(
velocity_speed_ratios, on_engine, anomalies, gear, velocities,
stop_velocity, idle_engine_speed):
# noinspection PyProtectedMember
from .at_gear.cmv import CMV, _filter_gear_shifting_velocity as filter_gs
idle = idle_engine_speed[0] - idle_engine_speed[1]
_vsr = sh.combine_dicts(velocity_speed_ratios, base={0: 0})
limits = {
0: {False: [0]},
1: {True: [stop_velocity]},
max(_vsr): {True: [dfl.INF]}
}
shifts = np.unique(sum(map(_shift, (on_engine, anomalies)), []))
for i, j in sh.pairwise(shifts):
if on_engine[i:j].all() and not anomalies[i:j].any():
for v in np.array(list(sh.pairwise(_shift(gear[i:j])))) + i:
if j != v[1]:
v, (g, ng) = velocities[slice(*v)], gear[[v[1] - 1, v[1]]]
up = g < ng
sh.get_nested_dicts(limits, g, up, default=list).append(
v.max() if up else v.min()
)
for k, v in list(limits.items()):
limits[k] = v.get(False, [_vsr[k] * idle] * 2), v.get(True, [])
d = {j: i for i, j in enumerate(sorted(limits))}
gsm = CMV(filter_gs(sh.map_dict(d, limits), stop_velocity))
gsm.velocity_speed_ratios = sh.selector(gsm, sh.map_dict(d, _vsr))
gsm.convert(_vsr)
return gsm
def fit(self, gears, velocities, motive_powers, velocity_speed_ratios,
stop_velocity):
self.clear()
self.velocity_speed_ratios = velocity_speed_ratios
it = zip(velocities, motive_powers, sh.pairwise(gears))
for v, p, (g0, g1) in it:
if v > stop_velocity and g0 != g1:
x = self.get(g0, [[], [[], []]])
if g0 < g1 and p >= 0:
x[1][0].append(p)
x[1][1].append(v)
elif g0 > g1 and p <= 0:
x[0].append(v)
else:
continue
self[g0] = x
self[0] = [[0.0], [[0.0], [stop_velocity]]]
self[max(self)][1] = [[0, 1], [dfl.INF] * 2]
self.cloud = {k: copy.deepcopy(v) for k, v in self.items()}
self._fit_cloud()
return self
def _identify_gear_shifting_velocity_limits(gears, velocities, stop_velocity):
"""
Identifies gear shifting velocity matrix.
:param gears:
Gear vector [-].
:type gears: numpy.array
:param velocities:
Vehicle velocity [km/h].
:type velocities: numpy.array
:param stop_velocity:
Maximum velocity to consider the vehicle stopped [km/h].
:type stop_velocity: float
:return:
Gear shifting velocity matrix.
:rtype: dict
"""
limits = {}
for v, (g0, g1) in zip(velocities, sh.pairwise(gears)):
if v >= stop_velocity and g0 != g1:
limits[g0] = limits.get(g0, [[], []])
limits[g0][int(g0 < g1)].append(v)
return _filter_gear_shifting_velocity(limits, stop_velocity)
def get_start_stop(vehicle_max_speed, speed_per_gear, poly_spline):
"""
Calculate Speed boundaries for each gear.
:param vehicle_max_speed:
Vehicle maximum speed.
:type vehicle_max_speed: int
:param speed_per_gear:
Speed per gear.
:type speed_per_gear: numpy.array
:param poly_spline:
Poly spline.
:type poly_spline: list
:return:
Start and Stop for each gear.
:rtype: numpy.array, numpy.array
"""
v = np.asarray(speed_per_gear)
# Ensure that a higher gear starts from higher speed.
assert (v[:-1, 0] < v[1:,
0]).all(), "Incoherent shifting point (vi < vi1)!"
start, stop = v[:, 0].copy(), np.minimum(v[:, -1], vehicle_max_speed)
start[0], index = 0, np.maximum(0, np.arange(v.shape[1]) - 1)
# Find where the curve of each gear cuts the next one.
b, _min = v[:-1] > v[1:, 0, None], lambda *a: np.min(a)
for i, (_v, (ps0, ps1)) in enumerate(zip(v[:-1],
sh.pairwise(poly_spline))):
stop[i] = _min(stop[i], *_v[index[b[i] & (ps1(_v) > ps0(_v))]])
return start, stop
def select_phases_integration_times(cycle_type):
"""
Selects the cycle phases integration times [s].
:param cycle_type:
Cycle type (WLTP or NEDC).
:type cycle_type: str
:return:
Cycle phases integration times [s].
:rtype: tuple
"""
from co2mpas.defaults import dfl
v = dfl.functions.select_phases_integration_times.INTEGRATION_TIMES
return tuple(sh.pairwise(v[cycle_type.upper()]))
def _correct_gsv(gsv, stop_velocity):
"""
Corrects gear shifting velocity matrix from unreliable limits.
:param gsv:
Gear shifting velocity matrix.
:type gsv: dict
:param stop_velocity:
Maximum velocity to consider the vehicle stopped [km/h].
:type stop_velocity: float
:return:
Gear shifting velocity matrix corrected from unreliable limits.
:rtype: dict
"""
gsv[0] = [0, (stop_velocity, (dfl.INF, 0))]
# noinspection PyMissingOrEmptyDocstring
def func(x):
return not x and float('inf') or 1 / x
for v0, v1 in sh.pairwise(gsv.values()):
up0, s0, down1, s1 = v0[1][0], v0[1][1][1], v1[0][0], v1[0][1][1]
if down1 + s1 <= v0[0]:
v0[1], v1[0] = up0 + s0, up0 - s0
elif up0 >= down1:
v0[1], v1[0] = up0 + s0, down1 - s1
continue
elif (v0[1][1][0], func(s0)) >= (v1[0][1][0], func(s1)):
v0[1], v1[0] = up0 + s0, up0 - s0
else:
v0[1], v1[0] = down1 + s1, down1 - s1
v0[1] += stop_velocity
gsv[max(gsv)][1] = dfl.INF
return gsv
def identify_on_idle(
times, velocities, engine_speeds_out_hot, gear_box_speeds_in, gears,
stop_velocity, min_engine_on_speed, on_engine, idle_engine_speed):
"""
Identifies when the engine is on idle [-].
:param times:
Time vector [s].
:type times: numpy.array
:param velocities:
Velocity vector [km/h].
:type velocities: numpy.array
:param engine_speeds_out_hot:
Engine speed at hot condition [RPM].
:type engine_speeds_out_hot: numpy.array
:param gear_box_speeds_in:
Gear box speed [RPM].
:type gear_box_speeds_in: numpy.array
:param gears:
Gear vector [-].
:type gears: numpy.array
:param stop_velocity:
Maximum velocity to consider the vehicle stopped [km/h].
:type stop_velocity: float
:param min_engine_on_speed:
Minimum engine speed to consider the engine to be on [RPM].
:type min_engine_on_speed: float
:param on_engine:
If the engine is on [-].
:type on_engine: numpy.array
:param idle_engine_speed:
Engine speed idle median and std [RPM].
:type idle_engine_speed: (float, float)
:return:
If the engine is on idle [-].
:rtype: numpy.array
"""
# noinspection PyProtectedMember
from .gear_box.mechanical import _shift
b = engine_speeds_out_hot > min_engine_on_speed
b &= (gears == 0) | (velocities <= stop_velocity)
on_idle = np.zeros_like(times, int)
i = np.where(on_engine)[0]
ds = np.abs(gear_box_speeds_in[i] - engine_speeds_out_hot[i])
on_idle[i[ds > idle_engine_speed[1]]] = 1
on_idle = co2_utl.median_filter(times, on_idle, 4)
on_idle[b] = 1
for i, j in sh.pairwise(_shift(on_idle)):
if not on_idle[i] and times[j - 1] - times[i] <= 2:
on_idle[i:j] = 1
return co2_utl.clear_fluctuations(times, on_idle, 4).astype(bool)
def identify_gears_v1(
times, velocities, accelerations, motive_powers, on_engine,
engine_speeds_out, velocity_speed_ratios, stop_velocity,
plateau_acceleration, change_gear_window_width, idle_engine_speed,
correct_gear):
"""
Identifies gear time series [-].
:param times:
Time vector [s].
:type times: numpy.array
:param velocities:
Velocity vector [km/h].
:type velocities: numpy.array
:param accelerations:
Acceleration vector [m/s2].
:type accelerations: numpy.array
:param motive_powers:
Motive power [kW].
:type motive_powers: numpy.array
:param on_engine:
If the engine is on [-].
:type on_engine: numpy.array
:param engine_speeds_out:
Engine speed [RPM].
:type engine_speeds_out: numpy.array
:param velocity_speed_ratios:
Constant velocity speed ratios of the gear box [km/(h*RPM)].
:type velocity_speed_ratios: dict[int | float]
:param stop_velocity:
Maximum velocity to consider the vehicle stopped [km/h].
:type stop_velocity: float
:param plateau_acceleration:
Maximum acceleration to be at constant velocity [m/s2].
:type plateau_acceleration: float
:param change_gear_window_width:
Time window used to apply gear change filters [s].
:type change_gear_window_width: float
:param idle_engine_speed:
Engine speed idle median and std [RPM].
:type idle_engine_speed: (float, float)
:param correct_gear:
A function to correct the gear predicted.
:type correct_gear: callable
:return:
Gear vector identified [-].
:rtype: numpy.array
"""
n = [k for k in velocity_speed_ratios if k != 0]
if len(n) == 1:
gears = np.ones_like(times, int) * n[0]
gears[velocities <= stop_velocity] = 0
return gears
with np.errstate(divide='ignore', invalid='ignore'):
r = velocities / engine_speeds_out
idle = (idle_engine_speed[0] - idle_engine_speed[1],
idle_engine_speed[0] + idle_engine_speed[1])
r[engine_speeds_out <= idle[0]] = 0
_vsr = sh.combine_dicts(velocity_speed_ratios, base={0: 0})
g, vsr = np.array([(k, v) for k, v in sorted(_vsr.items())]).T
dr = np.abs(vsr[:, None] - r)
i, j = np.argmin(dr, 0), np.arange(times.shape[0])
b = velocities <= vsr[i] * idle[0]
if idle[1]:
b |= np.abs(velocities / idle[1] - r) < dr[i, j]
b = (velocities <= stop_velocity) | (b & (accelerations < 0))
gears = np.where(b, 0, g[i]).astype(int)
gears = co2_utl.median_filter(times, gears, change_gear_window_width)
gears = _correct_gear_shifts(times, r, gears, velocity_speed_ratios)
gears = co2_utl.clear_fluctuations(times, gears, change_gear_window_width)
anomalies = velocities > stop_velocity
anomalies &= (accelerations > 0) | ~on_engine
anomalies |= accelerations > plateau_acceleration
anomalies &= gears == 0
from ..control.conventional import calculate_engine_speeds_out_hot
ds = calculate_engine_speeds_out_hot(calculate_gear_box_speeds_in(
gears, velocities, velocity_speed_ratios, stop_velocity
), on_engine, idle_engine_speed) - engine_speeds_out
i = np.where(on_engine & ~anomalies)[0]
med = np.nanmedian(ds[i])
std = 3 * max(50, co2_utl.mad(ds[i], med=med))
anomalies[i] |= np.abs(ds[i] - med) >= std
b = (gears == 0) & (velocities <= stop_velocity)
anomalies[b] = False
anomalies = co2_utl.clear_fluctuations(
times, anomalies.astype(int), change_gear_window_width
)
for i, j in sh.pairwise(_shift(gears)):
anomalies[i:j] = anomalies[i:j].mean() > .3
gsm = _calibrate_gsm(
velocity_speed_ratios, on_engine, anomalies, gears, velocities,
stop_velocity, idle_engine_speed
).init_gear(
gears, times, velocities, accelerations, motive_powers,
correct_gear=correct_gear
)
for i, v in enumerate(anomalies):
if v:
gears[i] = gsm(i)
gears = co2_utl.median_filter(times, gears, change_gear_window_width)
gears = co2_utl.clear_fluctuations(times, gears, change_gear_window_width)
return gears.astype(int)
def _is_sorted(iterable, key=lambda a, b: a <= b):
return all(key(a, b) for a, b in sh.pairwise(iterable))
def test_pairwise(self):
self.assertEqual(list(sh.pairwise([1, 2, 3])), [(1, 2), (2, 3)])
sh.pairwise([1, 2, 3, 4])
self.assertEqual(list(sh.pairwise([1])), [])
