From df4c7d88b02e66c706165b4f04879805987ef36c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 12 Sep 2022 18:45:36 -0700 Subject: [PATCH] add tolerance --- selfdrive/car/hyundai/values.py | 2 +- selfdrive/car/tests/test_lateral_limits.py | 14 +++++++++----- 2 files changed, 10 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index b5f349cf9b..6e22ab7b46 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -18,7 +18,7 @@ class CarControllerParams: def __init__(self, CP): self.STEER_DELTA_UP = 3 - self.STEER_DELTA_DOWN = 4 + self.STEER_DELTA_DOWN = 7 self.STEER_DRIVER_ALLOWANCE = 50 self.STEER_DRIVER_MULTIPLIER = 2 self.STEER_DRIVER_FACTOR = 1 diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py index 543a7415d8..b987d0bd3d 100755 --- a/selfdrive/car/tests/test_lateral_limits.py +++ b/selfdrive/car/tests/test_lateral_limits.py @@ -10,8 +10,9 @@ from selfdrive.car.fingerprints import all_known_cars from selfdrive.car.interfaces import get_torque_params -MAX_LAT_UP_JERK = 2.5 # m/s^2 -MIN_LAT_DOWN_JERK = 2.0 # m/s^2 +MAX_LAT_UP_JERK = 2.5 # m/s^3 +MAX_LAT_UP_JERK_TOLERANCE = 0.1 # m/s^3 +MIN_LAT_DOWN_JERK = 2.0 # m/s^3 jerks = defaultdict(dict) @@ -30,8 +31,11 @@ class TestLateralLimits(unittest.TestCase): if CP.steerControlType == car.CarParams.SteerControlType.angle: raise unittest.SkipTest - # TODO: test these - if CP.carName in ("honda", "body"): + if CP.notCar: + raise unittest.SkipTest + + # TODO: test Honda + if CP.carName in ("honda",): raise unittest.SkipTest("No steering safety") CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams @@ -57,7 +61,7 @@ class TestLateralLimits(unittest.TestCase): def test_jerk_limits(self): up_jerk, down_jerk = self._calc_jerk() jerks[self.car_model] = {"up_jerk": up_jerk, "down_jerk": down_jerk} - self.assertLess(up_jerk, MAX_LAT_UP_JERK) + self.assertLess(up_jerk, MAX_LAT_UP_JERK + MAX_LAT_UP_JERK_TOLERANCE) # self.assertGreater(down_jerk, MIN_LAT_DOWN_JERK)