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.
36 lines
1.0 KiB
36 lines
1.0 KiB
#!/usr/bin/env python3
|
|
import unittest
|
|
import numpy as np
|
|
|
|
from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance
|
|
from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
|
|
|
|
def run_following_distance_simulation(v_lead, t_end=100.0):
|
|
man = Maneuver(
|
|
'',
|
|
duration=t_end,
|
|
initial_speed=float(v_lead),
|
|
lead_relevancy=True,
|
|
initial_distance_lead=100,
|
|
speed_lead_values=[v_lead],
|
|
breakpoints=[0.],
|
|
)
|
|
valid, output = man.evaluate()
|
|
assert valid
|
|
return output[-1,2] - output[-1,1]
|
|
|
|
|
|
class TestFollowingDistance(unittest.TestCase):
|
|
def test_following_distance(self):
|
|
for speed in np.arange(0, 40, 5):
|
|
print(f'Testing {speed} m/s')
|
|
v_lead = float(speed)
|
|
|
|
simulation_steady_state = run_following_distance_simulation(v_lead)
|
|
correct_steady_state = desired_follow_distance(v_lead, v_lead)
|
|
|
|
self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(correct_steady_state*.1 + .5))
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|
|
|