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70 lines
2.3 KiB
70 lines
2.3 KiB
#!/usr/bin/env python3
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import math
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import unittest
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import numpy as np
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from control import StateSpace
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from openpilot.selfdrive.car.honda.interface import CarInterface
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from openpilot.selfdrive.car.honda.values import CAR
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from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices
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class TestVehicleModel(unittest.TestCase):
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def setUp(self):
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CP = CarInterface.get_non_essential_params(CAR.CIVIC)
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self.VM = VehicleModel(CP)
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def test_round_trip_yaw_rate(self):
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# TODO: fix VM to work at zero speed
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for u in np.linspace(1, 30, num=10):
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for roll in np.linspace(math.radians(-20), math.radians(20), num=11):
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for sa in np.linspace(math.radians(-20), math.radians(20), num=11):
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yr = self.VM.yaw_rate(sa, u, roll)
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new_sa = self.VM.get_steer_from_yaw_rate(yr, u, roll)
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self.assertAlmostEqual(sa, new_sa)
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def test_dyn_ss_sol_against_yaw_rate(self):
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"""Verify that the yaw_rate helper function matches the results
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from the state space model."""
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for roll in np.linspace(math.radians(-20), math.radians(20), num=11):
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for u in np.linspace(1, 30, num=10):
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for sa in np.linspace(math.radians(-20), math.radians(20), num=11):
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# Compute yaw rate based on state space model
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_, yr1 = dyn_ss_sol(sa, u, roll, self.VM)
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# Compute yaw rate using direct computations
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yr2 = self.VM.yaw_rate(sa, u, roll)
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self.assertAlmostEqual(float(yr1[0]), yr2)
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def test_syn_ss_sol_simulate(self):
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"""Verifies that dyn_ss_sol matches a simulation"""
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for roll in np.linspace(math.radians(-20), math.radians(20), num=11):
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for u in np.linspace(1, 30, num=10):
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A, B = create_dyn_state_matrices(u, self.VM)
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# Convert to discrete time system
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ss = StateSpace(A, B, np.eye(2), np.zeros((2, 2)))
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ss = ss.sample(0.01)
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for sa in np.linspace(math.radians(-20), math.radians(20), num=11):
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inp = np.array([[sa], [roll]])
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# Simulate for 1 second
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x1 = np.zeros((2, 1))
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for _ in range(100):
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x1 = ss.A @ x1 + ss.B @ inp
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# Compute steady state solution directly
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x2 = dyn_ss_sol(sa, u, roll, self.VM)
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np.testing.assert_almost_equal(x1, x2, decimal=3)
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if __name__ == "__main__":
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unittest.main()
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