Describe scenarios in detail - Githubissues

sqe-simulation-modelling / emergency-brake

Model of an emergency brake of a rover based on the environment

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Describe scenarios in detail #4

Closed landgenoot closed 5 years ago

landgenoot commented 5 years ago

In mathematical form

landgenoot commented 5 years ago

Variabeles

EmergencyBrake

Velocity - in m/s
Steering - Degrees -45 till +45, 0 is straight
Wheelbasis - Distance between front and rear wheels

Environment

SensorA - Front distance
SensorB - Parking sensors
SensorC - Surface level

Decision rules

Scenario X

Prevent hitting a wall
- If we drive straight towards the wall, we should stop if we will hit the wall within 3 seconds
- SensorA / Velocity < 3
- Unless we are steering away from the wall, so the radius of the steering circle is < SensorA
- R = Wheelbasis / sin(abs(Steering))

Stopcondition: (SensorA / Velocity < 3) && Wheelbasis / sin(abs(Steering)) > SensorA

Scenario Y

Prevent hitting something during parking
- If any distance around the car becomes smaller that 0.5 meter, stop.

Stopcondition: SensorB < 0.5

Scenario Z

Prevent to get stuck in a hole
- Detect quick level decrease of more than 0.5 m/s

Stopcondition: SensorC - PreviousSensorC > 0.5