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86 lines
2.7 KiB
86 lines
2.7 KiB
import unittest
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import numpy as np
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from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
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from selfdrive.controls.lib.drive_helpers import LAT_MPC_N, CAR_ROTATION_RADIUS
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def run_mpc(lat_mpc=None, v_ref=30., x_init=0., y_init=0., psi_init=0., curvature_init=0.,
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lane_width=3.6, poly_shift=0.):
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if lat_mpc is None:
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lat_mpc = LateralMpc()
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lat_mpc.set_weights(1., 1., 1.)
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y_pts = poly_shift * np.ones(LAT_MPC_N + 1)
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heading_pts = np.zeros(LAT_MPC_N + 1)
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x0 = np.array([x_init, y_init, psi_init, curvature_init])
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p = np.array([v_ref, CAR_ROTATION_RADIUS])
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# converge in no more than 10 iterations
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for _ in range(10):
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lat_mpc.run(x0, p,
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y_pts, heading_pts)
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return lat_mpc.x_sol
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class TestLateralMpc(unittest.TestCase):
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def _assert_null(self, sol, curvature=1e-6):
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for i in range(len(sol)):
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self.assertAlmostEqual(sol[0,i,1], 0., delta=curvature)
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self.assertAlmostEqual(sol[0,i,2], 0., delta=curvature)
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self.assertAlmostEqual(sol[0,i,3], 0., delta=curvature)
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def _assert_simmetry(self, sol, curvature=1e-6):
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for i in range(len(sol)):
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self.assertAlmostEqual(sol[0,i,1], -sol[1,i,1], delta=curvature)
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self.assertAlmostEqual(sol[0,i,2], -sol[1,i,2], delta=curvature)
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self.assertAlmostEqual(sol[0,i,3], -sol[1,i,3], delta=curvature)
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self.assertAlmostEqual(sol[0,i,0], sol[1,i,0], delta=curvature)
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def test_straight(self):
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sol = run_mpc()
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self._assert_null(np.array([sol]))
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def test_y_symmetry(self):
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sol = []
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for y_init in [-0.5, 0.5]:
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sol.append(run_mpc(y_init=y_init))
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self._assert_simmetry(np.array(sol))
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def test_poly_symmetry(self):
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sol = []
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for poly_shift in [-1., 1.]:
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sol.append(run_mpc(poly_shift=poly_shift))
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self._assert_simmetry(np.array(sol))
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def test_curvature_symmetry(self):
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sol = []
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for curvature_init in [-0.1, 0.1]:
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sol.append(run_mpc(curvature_init=curvature_init))
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self._assert_simmetry(np.array(sol))
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def test_psi_symmetry(self):
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sol = []
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for psi_init in [-0.1, 0.1]:
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sol.append(run_mpc(psi_init=psi_init))
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self._assert_simmetry(np.array(sol))
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def test_no_overshoot(self):
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y_init = 1.
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sol = run_mpc(y_init=y_init)
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for y in list(sol[:,1]):
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self.assertGreaterEqual(y_init, abs(y))
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def test_switch_convergence(self):
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lat_mpc = LateralMpc()
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sol = run_mpc(lat_mpc=lat_mpc, poly_shift=30.0, v_ref=7.0)
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right_psi_deg = np.degrees(sol[:,2])
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sol = run_mpc(lat_mpc=lat_mpc, poly_shift=-30.0, v_ref=7.0)
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left_psi_deg = np.degrees(sol[:,2])
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np.testing.assert_almost_equal(right_psi_deg, -left_psi_deg, decimal=3)
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if __name__ == "__main__":
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unittest.main()
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