From 2c04176b5fd469ac7ed00b69859f4caad89a22b5 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Thu, 16 Sep 2021 20:05:09 -0700 Subject: [PATCH] Add stopping for stopped car tests (#22250) * add stopping for stopped car tests * too extreme --- .../test_longitudinal.py | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py index e9df74ed45..c7241aab0e 100755 --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -16,6 +16,24 @@ def put_default_car_params(): # TODO: make new FCW tests maneuvers = [ + Maneuver( + 'approach stopped car at 30m/s', + duration=20., + initial_speed=30., + lead_relevancy=True, + initial_distance_lead=120., + speed_lead_values=[30., 0.], + speed_lead_breakpoints=[0., 1.], + ), + Maneuver( + 'approach stopped car at 20m/s', + duration=20., + initial_speed=20., + lead_relevancy=True, + initial_distance_lead=60., + speed_lead_values=[20., 0.], + speed_lead_breakpoints=[0., 1.], + ), Maneuver( 'steady state following a car at 20m/s, then lead decel to 0mph at 1m/s^2', duration=50.,