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.
40 lines
1.5 KiB
40 lines
1.5 KiB
import pytest
|
|
import itertools
|
|
from parameterized import parameterized_class
|
|
|
|
from cereal import log
|
|
|
|
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance, get_T_FOLLOW
|
|
from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
|
|
|
|
|
|
def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personality=0):
|
|
man = Maneuver(
|
|
'',
|
|
duration=t_end,
|
|
initial_speed=float(v_lead),
|
|
lead_relevancy=True,
|
|
initial_distance_lead=100,
|
|
speed_lead_values=[v_lead],
|
|
breakpoints=[0.],
|
|
e2e=e2e,
|
|
personality=personality,
|
|
)
|
|
valid, output = man.evaluate()
|
|
assert valid
|
|
return output[-1,2] - output[-1,1]
|
|
|
|
|
|
@parameterized_class(("e2e", "personality", "speed"), itertools.product(
|
|
[True, False], # e2e
|
|
[log.LongitudinalPersonality.relaxed, # personality
|
|
log.LongitudinalPersonality.standard,
|
|
log.LongitudinalPersonality.aggressive],
|
|
[0,10,35])) # speed
|
|
class TestFollowingDistance:
|
|
def test_following_distance(self):
|
|
v_lead = float(self.speed)
|
|
simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e, personality=self.personality)
|
|
correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality))
|
|
err_ratio = 0.2 if self.e2e else 0.1
|
|
assert simulation_steady_state == pytest.approx(correct_steady_state, abs=err_ratio * correct_steady_state + .5)
|
|
|