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.
97 lines
3.4 KiB
97 lines
3.4 KiB
#!/usr/bin/env python3
|
|
from collections import defaultdict
|
|
import importlib
|
|
from parameterized import parameterized_class
|
|
import sys
|
|
from typing import DefaultDict, Dict
|
|
import unittest
|
|
|
|
from common.realtime import DT_CTRL
|
|
from selfdrive.car.car_helpers import interfaces
|
|
from selfdrive.car.fingerprints import all_known_cars
|
|
from selfdrive.car.interfaces import get_torque_params
|
|
from selfdrive.car.hyundai.values import CAR as HYUNDAI
|
|
|
|
CAR_MODELS = all_known_cars()
|
|
|
|
# ISO 11270
|
|
MAX_LAT_JERK = 2.5 # m/s^3
|
|
MAX_LAT_JERK_TOLERANCE = 0.75 # m/s^3
|
|
MAX_LAT_ACCEL = 3.0 # m/s^2
|
|
|
|
# jerk is measured over half a second
|
|
JERK_MEAS_FRAMES = 0.5 / DT_CTRL
|
|
|
|
# TODO: update the max measured lateral accel for these cars
|
|
ABOVE_LIMITS_CARS = [
|
|
HYUNDAI.KONA_EV,
|
|
HYUNDAI.KONA_HEV,
|
|
HYUNDAI.KONA,
|
|
HYUNDAI.KONA_EV_2022,
|
|
]
|
|
|
|
car_model_jerks: DefaultDict[str, Dict[str, float]] = defaultdict(dict)
|
|
|
|
|
|
@parameterized_class('car_model', [(c,) for c in CAR_MODELS])
|
|
class TestLateralLimits(unittest.TestCase):
|
|
car_model: str
|
|
|
|
@classmethod
|
|
def setUpClass(cls):
|
|
CarInterface, _, _ = interfaces[cls.car_model]
|
|
CP = CarInterface.get_params(cls.car_model)
|
|
|
|
if CP.dashcamOnly:
|
|
raise unittest.SkipTest("Platform is behind dashcamOnly")
|
|
|
|
# TODO: test all platforms
|
|
if CP.lateralTuning.which() != 'torque':
|
|
raise unittest.SkipTest
|
|
|
|
if CP.notCar:
|
|
raise unittest.SkipTest
|
|
|
|
if CP.carFingerprint in ABOVE_LIMITS_CARS:
|
|
raise unittest.SkipTest
|
|
|
|
CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams
|
|
cls.control_params = CarControllerParams(CP)
|
|
cls.torque_params = get_torque_params(cls.car_model)
|
|
|
|
@staticmethod
|
|
def calculate_0_5s_jerk(control_params, torque_params):
|
|
steer_step = control_params.STEER_STEP
|
|
steer_up_per_frame = (control_params.STEER_DELTA_UP / control_params.STEER_MAX) / steer_step
|
|
steer_down_per_frame = (control_params.STEER_DELTA_DOWN / control_params.STEER_MAX) / steer_step
|
|
|
|
steer_up_0_5_sec = min(steer_up_per_frame * JERK_MEAS_FRAMES, 1.0)
|
|
steer_down_0_5_sec = min(steer_down_per_frame * JERK_MEAS_FRAMES, 1.0)
|
|
|
|
max_lat_accel = torque_params['MAX_LAT_ACCEL_MEASURED']
|
|
return steer_up_0_5_sec * max_lat_accel, steer_down_0_5_sec * max_lat_accel
|
|
|
|
def test_jerk_limits(self):
|
|
up_jerk, down_jerk = self.calculate_0_5s_jerk(self.control_params, self.torque_params)
|
|
car_model_jerks[self.car_model] = {"up_jerk": up_jerk, "down_jerk": down_jerk}
|
|
self.assertLessEqual(up_jerk, MAX_LAT_JERK + MAX_LAT_JERK_TOLERANCE)
|
|
self.assertLessEqual(down_jerk, MAX_LAT_JERK + MAX_LAT_JERK_TOLERANCE)
|
|
|
|
def test_max_lateral_accel(self):
|
|
self.assertLessEqual(self.torque_params["MAX_LAT_ACCEL_MEASURED"], MAX_LAT_ACCEL)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
result = unittest.main(exit=False)
|
|
|
|
print(f"\n\n---- Lateral limit report ({len(CAR_MODELS)} cars) ----\n")
|
|
|
|
max_car_model_len = max([len(car_model) for car_model in car_model_jerks])
|
|
for car_model, _jerks in sorted(car_model_jerks.items(), key=lambda i: i[1]['up_jerk'], reverse=True):
|
|
violation = any([_jerk >= MAX_LAT_JERK + MAX_LAT_JERK_TOLERANCE for _jerk in _jerks.values()])
|
|
violation_str = " - VIOLATION" if violation else ""
|
|
|
|
print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}")
|
|
|
|
# exit with test result
|
|
sys.exit(not result.result.wasSuccessful())
|
|
|