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90 lines
2.4 KiB
90 lines
2.4 KiB
import unittest
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import numpy as np
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from cereal import log
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import cereal.messaging as messaging
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from selfdrive.config import Conversions as CV
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from selfdrive.controls.lib.planner import calc_cruise_accel_limits
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from selfdrive.controls.lib.speed_smoother import speed_smoother
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from selfdrive.controls.lib.long_mpc import LongitudinalMpc
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def RW(v_ego, v_l):
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TR = 1.8
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G = 9.81
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return (v_ego * TR - (v_l - v_ego) * TR + v_ego * v_ego / (2 * G) - v_l * v_l / (2 * G))
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class FakePubMaster():
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def send(self, s, data):
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assert data
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def run_following_distance_simulation(v_lead, t_end=200.0):
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dt = 0.2
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t = 0.
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x_lead = 200.0
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x_ego = 0.0
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v_ego = v_lead
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a_ego = 0.0
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v_cruise_setpoint = v_lead + 10.
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pm = FakePubMaster()
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mpc = LongitudinalMpc(1)
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first = True
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while t < t_end:
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# Run cruise control
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accel_limits = [float(x) for x in calc_cruise_accel_limits(v_ego, False)]
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jerk_limits = [min(-0.1, accel_limits[0]), max(0.1, accel_limits[1])]
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v_cruise, a_cruise = speed_smoother(v_ego, a_ego, v_cruise_setpoint,
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accel_limits[1], accel_limits[0],
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jerk_limits[1], jerk_limits[0],
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dt)
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# Setup CarState
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CS = messaging.new_message('carState')
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CS.carState.vEgo = v_ego
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CS.carState.aEgo = a_ego
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# Setup lead packet
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lead = log.RadarState.LeadData.new_message()
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lead.status = True
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lead.dRel = x_lead - x_ego
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lead.vLead = v_lead
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lead.aLeadK = 0.0
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# Run MPC
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mpc.set_cur_state(v_ego, a_ego)
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if first: # Make sure MPC is converged on first timestep
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for _ in range(20):
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mpc.update(pm, CS.carState, lead, v_cruise_setpoint)
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mpc.update(pm, CS.carState, lead, v_cruise_setpoint)
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# Choose slowest of two solutions
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if v_cruise < mpc.v_mpc:
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v_ego, a_ego = v_cruise, a_cruise
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else:
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v_ego, a_ego = mpc.v_mpc, mpc.a_mpc
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# Update state
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x_lead += v_lead * dt
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x_ego += v_ego * dt
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t += dt
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first = False
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return x_lead - x_ego
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class TestFollowingDistance(unittest.TestCase):
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def test_following_distanc(self):
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for speed_mph in np.linspace(10, 100, num=10):
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v_lead = float(speed_mph * CV.MPH_TO_MS)
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simulation_steady_state = run_following_distance_simulation(v_lead)
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correct_steady_state = RW(v_lead, v_lead) + 4.0
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self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=0.1)
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