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41 lines
1.2 KiB
41 lines
1.2 KiB
#!/usr/bin/env python3
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import unittest
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import numpy as np
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from common.params import Params
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from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance
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from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
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def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False):
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man = Maneuver(
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'',
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duration=t_end,
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initial_speed=float(v_lead),
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lead_relevancy=True,
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initial_distance_lead=100,
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speed_lead_values=[v_lead],
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breakpoints=[0.],
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e2e=e2e
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)
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valid, output = man.evaluate()
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assert valid
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return output[-1,2] - output[-1,1]
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class TestFollowingDistance(unittest.TestCase):
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def test_following_distance(self):
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params = Params()
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for e2e in [False, True]:
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params.put_bool("ExperimentalMode", e2e)
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for speed in np.arange(0, 40, 5):
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print(f'Testing {speed} m/s')
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v_lead = float(speed)
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simulation_steady_state = run_following_distance_simulation(v_lead)
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correct_steady_state = desired_follow_distance(v_lead, v_lead)
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err_ratio = 0.2 if e2e else 0.1
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self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5))
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if __name__ == "__main__":
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unittest.main()
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