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102 lines
3.8 KiB
102 lines
3.8 KiB
#!/usr/bin/env python3
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from collections import defaultdict
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import importlib
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from parameterized import parameterized_class
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import sys
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from typing import DefaultDict, Dict
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import unittest
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from openpilot.common.realtime import DT_CTRL
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from openpilot.selfdrive.car.car_helpers import interfaces
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from openpilot.selfdrive.car.fingerprints import all_known_cars
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from openpilot.selfdrive.car.interfaces import get_torque_params
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from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
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CAR_MODELS = all_known_cars()
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# ISO 11270 - allowed up jerk is strictly lower than recommended limits
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MAX_LAT_ACCEL = 3.0 # m/s^2
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MAX_LAT_JERK_UP = 2.5 # m/s^3
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MAX_LAT_JERK_DOWN = 5.0 # m/s^3
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MAX_LAT_JERK_UP_TOLERANCE = 0.5 # m/s^3
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# jerk is measured over half a second
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JERK_MEAS_T = 0.5
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# TODO: put these cars within limits
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ABOVE_LIMITS_CARS = [
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SUBARU.LEGACY,
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SUBARU.OUTBACK,
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]
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car_model_jerks: DefaultDict[str, Dict[str, float]] = defaultdict(dict)
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@parameterized_class('car_model', [(c,) for c in sorted(CAR_MODELS)])
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class TestLateralLimits(unittest.TestCase):
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car_model: str
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@classmethod
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def setUpClass(cls):
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CarInterface, _, _ = interfaces[cls.car_model]
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CP = CarInterface.get_non_essential_params(cls.car_model)
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if CP.dashcamOnly:
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raise unittest.SkipTest("Platform is behind dashcamOnly")
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# TODO: test all platforms
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if CP.lateralTuning.which() != 'torque':
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raise unittest.SkipTest
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if CP.notCar:
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raise unittest.SkipTest
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if CP.carFingerprint in ABOVE_LIMITS_CARS:
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raise unittest.SkipTest
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CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams
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cls.control_params = CarControllerParams(CP)
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cls.torque_params = get_torque_params(cls.car_model)
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@staticmethod
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def calculate_0_5s_jerk(control_params, torque_params):
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steer_step = control_params.STEER_STEP
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max_lat_accel = torque_params['MAX_LAT_ACCEL_MEASURED']
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# Steer up/down delta per 10ms frame, in percentage of max torque
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steer_up_per_frame = control_params.STEER_DELTA_UP / control_params.STEER_MAX / steer_step
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steer_down_per_frame = control_params.STEER_DELTA_DOWN / control_params.STEER_MAX / steer_step
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# Lateral acceleration reached in 0.5 seconds, clipping to max torque
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accel_up_0_5_sec = min(steer_up_per_frame * JERK_MEAS_T / DT_CTRL, 1.0) * max_lat_accel
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accel_down_0_5_sec = min(steer_down_per_frame * JERK_MEAS_T / DT_CTRL, 1.0) * max_lat_accel
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# Convert to m/s^3
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return accel_up_0_5_sec / JERK_MEAS_T, accel_down_0_5_sec / JERK_MEAS_T
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def test_jerk_limits(self):
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up_jerk, down_jerk = self.calculate_0_5s_jerk(self.control_params, self.torque_params)
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car_model_jerks[self.car_model] = {"up_jerk": up_jerk, "down_jerk": down_jerk}
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self.assertLessEqual(up_jerk, MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE)
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self.assertLessEqual(down_jerk, MAX_LAT_JERK_DOWN)
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def test_max_lateral_accel(self):
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self.assertLessEqual(self.torque_params["MAX_LAT_ACCEL_MEASURED"], MAX_LAT_ACCEL)
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if __name__ == "__main__":
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result = unittest.main(exit=False)
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print(f"\n\n---- Lateral limit report ({len(CAR_MODELS)} cars) ----\n")
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max_car_model_len = max([len(car_model) for car_model in car_model_jerks])
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for car_model, _jerks in sorted(car_model_jerks.items(), key=lambda i: i[1]['up_jerk'], reverse=True):
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violation = _jerks["up_jerk"] > MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE or \
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_jerks["down_jerk"] > MAX_LAT_JERK_DOWN
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violation_str = " - VIOLATION" if violation else ""
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print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} \
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m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}")
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# exit with test result
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sys.exit(not result.result.wasSuccessful())
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