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207 lines
7.4 KiB
207 lines
7.4 KiB
#!/usr/bin/env python
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import sys
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import time, json
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from selfdrive.test.plant import plant
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from selfdrive.config import Conversions as CV, CruiseButtons as CB
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from maneuver import *
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maneuvers = [
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Maneuver(
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'while cruising at 40 mph, change cruise speed to 50mph',
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duration=30.,
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initial_speed = 40. * CV.MPH_TO_MS,
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cruise_button_presses = [(CB.DECEL_SET, 2.), (0, 2.3),
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(CB.RES_ACCEL, 10.), (0, 10.1),
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(CB.RES_ACCEL, 10.2), (0, 10.3)]
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),
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Maneuver(
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'while cruising at 60 mph, change cruise speed to 50mph',
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duration=30.,
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initial_speed=60. * CV.MPH_TO_MS,
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cruise_button_presses = [(CB.DECEL_SET, 2.), (0, 2.3),
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(CB.DECEL_SET, 10.), (0, 10.1),
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(CB.DECEL_SET, 10.2), (0, 10.3)]
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),
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Maneuver(
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'while cruising at 20mph, grade change +10%',
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duration=25.,
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initial_speed=20. * CV.MPH_TO_MS,
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cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)],
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grade_values = [0., 0., 1.0],
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grade_breakpoints = [0., 10., 11.]
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),
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Maneuver(
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'while cruising at 20mph, grade change -10%',
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duration=25.,
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initial_speed=20. * CV.MPH_TO_MS,
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cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)],
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grade_values = [0., 0., -1.0],
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grade_breakpoints = [0., 10., 11.]
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),
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Maneuver(
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'approaching a 40mph car while cruising at 60mph from 100m away',
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duration=30.,
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initial_speed = 60. * CV.MPH_TO_MS,
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lead_relevancy=True,
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initial_distance_lead=100.,
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speed_lead_values = [40.*CV.MPH_TO_MS, 40.*CV.MPH_TO_MS],
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speed_lead_breakpoints = [0., 100.],
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cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)]
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),
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Maneuver(
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'approaching a 0mph car while cruising at 40mph from 150m away',
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duration=30.,
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initial_speed = 40. * CV.MPH_TO_MS,
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lead_relevancy=True,
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initial_distance_lead=150.,
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speed_lead_values = [0.*CV.MPH_TO_MS, 0.*CV.MPH_TO_MS],
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speed_lead_breakpoints = [0., 100.],
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cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)]
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),
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Maneuver(
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'steady state following a car at 20m/s, then lead decel to 0mph at 1m/s^2',
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duration=50.,
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initial_speed = 20.,
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lead_relevancy=True,
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initial_distance_lead=35.,
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speed_lead_values = [20.*CV.MPH_TO_MS, 20.*CV.MPH_TO_MS, 0.*CV.MPH_TO_MS],
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speed_lead_breakpoints = [0., 15., 35.0],
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cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)]
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),
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Maneuver(
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'steady state following a car at 20m/s, then lead decel to 0mph at 2m/s^2',
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duration=50.,
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initial_speed = 20.,
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lead_relevancy=True,
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initial_distance_lead=35.,
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speed_lead_values = [20.*CV.MPH_TO_MS, 20.*CV.MPH_TO_MS, 0.*CV.MPH_TO_MS],
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speed_lead_breakpoints = [0., 15., 25.0],
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cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)]
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),
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Maneuver(
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'starting at 0mph, approaching a stopped car 100m away',
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duration=30.,
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initial_speed = 0.,
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lead_relevancy=True,
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initial_distance_lead=100.,
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cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
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(CB.RES_ACCEL, 1.4), (0.0, 1.5),
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(CB.RES_ACCEL, 1.6), (0.0, 1.7),
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(CB.RES_ACCEL, 1.8), (0.0, 1.9)]
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),
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Maneuver(
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"following a car at 60mph, lead accel and decel at 0.5m/s^2 every 2s",
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duration=25.,
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initial_speed=30.,
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lead_relevancy=True,
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initial_distance_lead=49.,
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speed_lead_values=[30.,30.,29.,31.,29.,31.,29.],
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speed_lead_breakpoints=[0., 6., 8., 12.,16.,20.,24.],
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cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
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(CB.RES_ACCEL, 1.4), (0.0, 1.5),
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(CB.RES_ACCEL, 1.6), (0.0, 1.7)]
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),
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Maneuver(
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"following a car at 10mph, stop and go at 1m/s2 lead dece1 and accel",
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duration=70.,
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initial_speed=10.,
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lead_relevancy=True,
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initial_distance_lead=20.,
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speed_lead_values=[10., 0., 0., 10., 0.,10.],
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speed_lead_breakpoints=[10., 20., 30., 40., 50., 60.],
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cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
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(CB.RES_ACCEL, 1.4), (0.0, 1.5),
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(CB.RES_ACCEL, 1.6), (0.0, 1.7)]
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),
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Maneuver(
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"green light: stopped behind lead car, lead car accelerates at 1.5 m/s",
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duration=30.,
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initial_speed=0.,
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lead_relevancy=True,
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initial_distance_lead=4.,
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speed_lead_values=[0, 0 , 45],
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speed_lead_breakpoints=[0, 10., 40.],
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cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
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(CB.RES_ACCEL, 1.4), (0.0, 1.5),
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(CB.RES_ACCEL, 1.6), (0.0, 1.7),
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(CB.RES_ACCEL, 1.8), (0.0, 1.9),
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(CB.RES_ACCEL, 2.0), (0.0, 2.1),
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(CB.RES_ACCEL, 2.2), (0.0, 2.3)]
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),
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Maneuver(
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"stop and go with 1m/s2 lead decel and accel, with full stops",
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duration=70.,
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initial_speed=0.,
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lead_relevancy=True,
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initial_distance_lead=20.,
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speed_lead_values=[10., 0., 0., 10., 0., 0.] ,
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speed_lead_breakpoints=[10., 20., 30., 40., 50., 60.],
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cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
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(CB.RES_ACCEL, 1.4), (0.0, 1.5),
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(CB.RES_ACCEL, 1.6), (0.0, 1.7)]
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),
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Maneuver(
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"accelerate from 20 while lead vehicle decelerates from 40 to 20 at 1m/s2",
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duration=30.,
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initial_speed=10.,
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lead_relevancy=True,
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initial_distance_lead=10.,
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speed_lead_values=[20., 10.],
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speed_lead_breakpoints=[1., 11.],
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cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
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(CB.RES_ACCEL, 1.4), (0.0, 1.5),
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(CB.RES_ACCEL, 1.6), (0.0, 1.7),
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(CB.RES_ACCEL, 1.8), (0.0, 1.9),
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(CB.RES_ACCEL, 2.0), (0.0, 2.1),
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(CB.RES_ACCEL, 2.2), (0.0, 2.3)]
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),
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Maneuver(
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"accelerate from 20 while lead vehicle decelerates from 40 to 0 at 2m/s2",
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duration=30.,
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initial_speed=10.,
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lead_relevancy=True,
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initial_distance_lead=10.,
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speed_lead_values=[20., 0.],
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speed_lead_breakpoints=[1., 11.],
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cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
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(CB.RES_ACCEL, 1.4), (0.0, 1.5),
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(CB.RES_ACCEL, 1.6), (0.0, 1.7),
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(CB.RES_ACCEL, 1.8), (0.0, 1.9),
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(CB.RES_ACCEL, 2.0), (0.0, 2.1),
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(CB.RES_ACCEL, 2.2), (0.0, 2.3)]
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)
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]
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css_style = """
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.maneuver_title {
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font-size: 24px;
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text-align: center;
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}
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.maneuver_graph {
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width: 100%;
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}
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"""
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def main(output_dir):
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view_html = "<html><head><style>%s</style></head><body><table>" % (css_style,)
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for i, man in enumerate(maneuvers):
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view_html += "<tr><td class='maneuver_title' colspan=5><div>%s</div></td></tr><tr>" % (man.title,)
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for c in ['distance.svg', 'speeds.svg', 'acceleration.svg', 'pedals.svg', 'pid.svg']:
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view_html += "<td><img class='maneuver_graph' src='%s'/></td>" % (os.path.join("maneuver" + str(i+1).zfill(2), c), )
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view_html += "</tr>"
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with open(os.path.join(output_dir, "index.html"), "w") as f:
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f.write(view_html)
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for i, man in enumerate(maneuvers):
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score, plot = man.evaluate()
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plot.write_plot(output_dir, "maneuver" + str(i+1).zfill(2))
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if __name__ == "__main__":
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if len(sys.argv) <= 1:
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print "Usage:", sys.argv[0], "<output_dir>"
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exit(1)
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main(sys.argv[1])
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