def lim_accel(self, ls, state): #zeigt, was das Fzg kann
k = ls.trackmap.curvature[ls.counter]
cp = ls.counter in ls.critical_points
ay = np.abs(state.speed**2*k)
ay_max = self.lim_ay(state.speed)
if (ay <= ay_max) | cp:
if cp:
ay_norm = np.array([[1.0]])
else:
ay_norm = ay/ay_max
if ls.dir == 1:
ax = self.lim_f(np.concatenate([state.speed, ay_norm],axis=1)) #forward
else:
ax = self.lim_r(np.concatenate([state.speed, ay_norm],axis=1)) #backward
ls.run = True
else: #no CPs
ax = 0
ls.run = False
state.speed = np.sqrt(state.speed**2 + 2 * ax * ls.trackmap.ds * ls.dir)
state.AccelX = ax
#Initialize motor
Motor = motor_TDL(self.gearRatio, self.tireRadius, self.CoG_X, self.m, self.CoP_X, self.C_la, self.rho, self.fr, self.Lift2Drag, self.DriveType)
self.DrivingRes = Motor.Driving_Resistances(state.speed) #calculate driving resistances
return state
def AccelTime(self):
VehicleSpeed = np.array([np.linspace(0.0001, 60, 200), np.zeros(200)])
VehicleSpeed = np.transpose(
VehicleSpeed).tolist() #calculate vehicle speed
#initialize vehicle motor
Motor = motor_TDL(self.Vehicle.gearRatio, self.Vehicle.tireRadius,
self.Vehicle.CoG_X, self.Vehicle.m,
self.Vehicle.CoP_X, self.Vehicle.C_la,
self.Vehicle.rho, self.Vehicle.fr,
self.Vehicle.Lift2Drag, self.Vehicle.DriveType)
ax_Motor = Motor.ax_motor(VehicleSpeed) #calculate acceleration in x
speed = np.linspace(0.0001, 60, 200)
a = interpolate.interp1d(speed,
ax_Motor,
bounds_error=False,
fill_value=0)
#set start lists
v = [0.0001]
s = [0]
t = [0]
delta_t = 0.005
t_end = 6
while t[-1] <= t_end: #calculate acceleration, speed and distance
a_v = a(v[-1])
v_t = a_v * delta_t + v[-1]
s_t = 0.5 * a_v * delta_t**2 + v[-1] * delta_t + s[-1]
v.append(v_t)
s.append(s_t)
t.append(t[-1] + delta_t)
index2 = np.nonzero(np.asarray(s) <= 75)
index_75m = np.max(index2) #get last value from distance array
return t[index_75m] #get time value for last distance value
def lim_accel(self, ls, state):
k = ls.trackmap.curvature[[ls.counter]]
cp = ls.counter in ls.critical_points
ay = np.abs(state.speed**2 * k)
if (ay <= self.ay_max) | cp:
if cp:
ay = self.ay_max
if ls.dir == 1:
ax = ((1 - (ay**2 / self.ay_max**2)) * self.ax_max**2)**0.5
else:
if self.DriveType == '2WD':
ax = (-2) * (
(1 - (ay**2 / self.ay_max**2)) * self.ax_max**2)**0.5
if self.DriveType == '4WD':
ax = (-1) * (
(1 - (ay**2 / self.ay_max**2)) * self.ax_max**2)**0.5
ls.run = True
else:
ax = 0
ls.run = False
state.speed = np.sqrt(state.speed**2 +
2 * ax * ls.trackmap.ds * ls.dir)
state.AccelX = ax
#Initialize motor
Motor = motor_TDL(self.gearRatio, self.tireRadius, self.CoG_X, self.m,
self.CoP_X, self.C_la, self.rho, self.fr,
self.Lift2Drag, self.DriveType)
self.DrivingRes = Motor.Driving_Resistances(
state.speed) #calculate driving resistances
return state