You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
39 lines
1020 B
39 lines
1020 B
#!/usr/bin/env python3
|
|
import unittest
|
|
import numpy as np
|
|
from common.params import Params
|
|
|
|
|
|
from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
|
|
|
|
def run_cruise_simulation(cruise, t_end=20.):
|
|
man = Maneuver(
|
|
'',
|
|
duration=t_end,
|
|
initial_speed=max(cruise - 1., 0.0),
|
|
lead_relevancy=True,
|
|
initial_distance_lead=100,
|
|
cruise_values=[cruise],
|
|
prob_lead_values=[0.0],
|
|
breakpoints=[0.],
|
|
)
|
|
valid, output = man.evaluate()
|
|
assert valid
|
|
return output[-1,3]
|
|
|
|
|
|
class TestCruiseSpeed(unittest.TestCase):
|
|
def test_cruise_speed(self):
|
|
params = Params()
|
|
for e2e in [False, True]:
|
|
params.put_bool("EndToEndLong", e2e)
|
|
for speed in np.arange(5, 40, 5):
|
|
print(f'Testing {speed} m/s')
|
|
cruise_speed = float(speed)
|
|
|
|
simulation_steady_state = run_cruise_simulation(cruise_speed)
|
|
self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {speed} m/s')
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|
|
|