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104 lines
3.3 KiB
104 lines
3.3 KiB
import unittest
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import numpy as np
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from selfdrive.controls.lib.lateral_mpc import libmpc_py
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from selfdrive.controls.lib.drive_helpers import LAT_MPC_N, CAR_ROTATION_RADIUS
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def run_mpc(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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libmpc = libmpc_py.libmpc
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libmpc.init()
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libmpc.set_weights(1., 1., 1.)
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mpc_solution = libmpc_py.ffi.new("log_t *")
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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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cur_state = libmpc_py.ffi.new("state_t *")
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cur_state.x = x_init
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cur_state.y = y_init
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cur_state.psi = psi_init
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cur_state.curvature = curvature_init
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# converge in no more than 20 iterations
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for _ in range(20):
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libmpc.run_mpc(cur_state, mpc_solution, v_ref,
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CAR_ROTATION_RADIUS,
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list(y_pts), list(heading_pts))
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return mpc_solution
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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[0].y)):
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self.assertAlmostEqual(sol[0].y[i], 0., delta=curvature)
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self.assertAlmostEqual(sol[0].psi[i], 0., delta=curvature)
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self.assertAlmostEqual(sol[0].curvature[i], 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[0][0].y)):
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self.assertAlmostEqual(sol[0][0].y[i], -sol[1][0].y[i], delta=curvature)
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self.assertAlmostEqual(sol[0][0].psi[i], -sol[1][0].psi[i], delta=curvature)
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self.assertAlmostEqual(sol[0][0].curvature[i], -sol[1][0].curvature[i], delta=curvature)
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self.assertAlmostEqual(sol[0][0].x[i], sol[1][0].x[i], delta=curvature)
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def _assert_identity(self, sol, ignore_y=False, curvature=1e-6):
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for i in range(len(sol[0][0].y)):
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self.assertAlmostEqual(sol[0][0].psi[i], sol[1][0].psi[i], delta=curvature)
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self.assertAlmostEqual(sol[0][0].curvature[i], sol[1][0].curvature[i], delta=curvature)
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self.assertAlmostEqual(sol[0][0].x[i], sol[1][0].x[i], delta=curvature)
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if not ignore_y:
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self.assertAlmostEqual(sol[0][0].y[i], sol[1][0].y[i], delta=curvature)
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def test_straight(self):
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sol = run_mpc()
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self._assert_null(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(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(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(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(sol)
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def test_y_shift_vs_poly_shift(self):
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shift = 1.
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sol = []
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sol.append(run_mpc(y_init=shift))
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sol.append(run_mpc(poly_shift=-shift))
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# need larger curvature than standard, otherwise it false triggers.
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# this is acceptable because the 2 cases are very different from the optimizer standpoint
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self._assert_identity(sol, ignore_y=True, curvature=1e-5)
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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[0].y):
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self.assertGreaterEqual(y_init, abs(y))
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if __name__ == "__main__":
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unittest.main()
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