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56 lines
2.1 KiB
56 lines
2.1 KiB
import numpy as np
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from selfdrive.test.longitudinal_maneuvers.plant import Plant
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class Maneuver():
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def __init__(self, title, duration, **kwargs):
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# Was tempted to make a builder class
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self.distance_lead = kwargs.get("initial_distance_lead", 200.0)
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self.speed = kwargs.get("initial_speed", 0.0)
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self.lead_relevancy = kwargs.get("lead_relevancy", 0)
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self.breakpoints = kwargs.get("breakpoints", [0.0, duration])
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self.speed_lead_values = kwargs.get("speed_lead_values", [0.0 for i in range(len(self.breakpoints))])
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self.prob_lead_values = kwargs.get("prob_lead_values", [1.0 for i in range(len(self.breakpoints))])
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self.cruise_values = kwargs.get("cruise_values", [50.0 for i in range(len(self.breakpoints))])
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self.only_lead2 = kwargs.get("only_lead2", False)
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self.only_radar = kwargs.get("only_radar", False)
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self.duration = duration
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self.title = title
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def evaluate(self):
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plant = Plant(
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lead_relevancy=self.lead_relevancy,
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speed=self.speed,
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distance_lead=self.distance_lead,
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only_lead2=self.only_lead2,
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only_radar=self.only_radar
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)
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valid = True
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logs = []
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while plant.current_time() < self.duration:
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speed_lead = np.interp(plant.current_time(), self.breakpoints, self.speed_lead_values)
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prob = np.interp(plant.current_time(), self.breakpoints, self.prob_lead_values)
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cruise = np.interp(plant.current_time(), self.breakpoints, self.cruise_values)
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log = plant.step(speed_lead, prob, cruise)
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d_rel = log['distance_lead'] - log['distance'] if self.lead_relevancy else 200.
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v_rel = speed_lead - log['speed'] if self.lead_relevancy else 0.
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log['d_rel'] = d_rel
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log['v_rel'] = v_rel
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logs.append(np.array([plant.current_time(),
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log['distance'],
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log['distance_lead'],
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log['speed'],
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speed_lead,
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log['acceleration']]))
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if d_rel < .4 and (self.only_radar or prob > 0.5):
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print("Crashed!!!!")
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valid = False
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print("maneuver end", valid)
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return valid, np.array(logs)
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