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]
def run_cruise_simulation(cruise, t_end=100.):
man = Maneuver(
'',
duration=t_end,
initial_speed=float(0.),
lead_relevancy=True,
initial_distance_lead=100,
cruise_values=[cruise],
prob_lead_values=[0.0],
breakpoints=[0.],
)
valid, output = man.evaluate()
assert valid
return output[-1,3]
def check_fcw(log):
return any(log['fcw'])
def check_engaged(log):
return log['controls_state_msgs'][-1][-1].active
maneuvers = [
Maneuver(
'while cruising at 40 mph, change cruise speed to 50mph',
duration=30.,
initial_speed=40. * CV.MPH_TO_MS,
cruise_button_presses=[(CB.DECEL_SET, 2.), (0, 2.3),
(CB.RES_ACCEL, 10.), (0, 10.1),
(CB.RES_ACCEL, 10.2), (0, 10.3)],
checks=[check_engaged],
),
Maneuver(
'while cruising at 60 mph, change cruise speed to 50mph',
duration=30.,
initial_speed=60. * CV.MPH_TO_MS,
cruise_button_presses=[(CB.DECEL_SET, 2.), (0, 2.3),
(CB.DECEL_SET, 10.), (0, 10.1),
(CB.DECEL_SET, 10.2), (0, 10.3)],
checks=[check_engaged],
),
Maneuver(
'while cruising at 20mph, grade change +10%',
#!/usr/bin/env python3
import os
import unittest
from common.params import Params
from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
# TODO: make new FCW tests
maneuvers = [
Maneuver(
'approach stopped car at 20m/s',
duration=20.,
initial_speed=25.,
lead_relevancy=True,
initial_distance_lead=120.,
speed_lead_values=[30., 0.],
breakpoints=[0., 1.],
),
Maneuver(
'approach stopped car at 20m/s',
duration=20.,
initial_speed=20.,
lead_relevancy=True,
initial_distance_lead=90.,
speed_lead_values=[20., 0.],
breakpoints=[0., 1.],
),
Maneuver(
'steady state following a car at 20m/s, then lead decel to 0mph at 1m/s^2',
duration=50.,
initial_speed=20.,
#!/usr/bin/env python3
import os
import unittest
from common.params import Params
from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
# TODO: make new FCW tests
maneuvers = [
Maneuver(
'approach stopped car at 30m/s',
duration=20.,
initial_speed=30.,
lead_relevancy=True,
initial_distance_lead=120.,
speed_lead_values=[30., 0.],
speed_lead_breakpoints=[0., 1.],
),
Maneuver(
'approach stopped car at 20m/s',
duration=20.,
initial_speed=20.,
lead_relevancy=True,
initial_distance_lead=60.,
speed_lead_values=[20., 0.],
speed_lead_breakpoints=[0., 1.],
),
Maneuver(
'steady state following a car at 20m/s, then lead decel to 0mph at 1m/s^2',
duration=50.,
def put_default_car_params():
from selfdrive.car.honda.values import CAR
from selfdrive.car.honda.interface import CarInterface
cp = CarInterface.get_params(CAR.CIVIC)
Params().put("CarParams", cp.to_bytes())
# TODO: make new FCW tests
maneuvers = [
Maneuver(
'steady state following a car at 20m/s, then lead decel to 0mph at 1m/s^2',
duration=50.,
initial_speed=20.,
lead_relevancy=True,
initial_distance_lead=35.,
speed_lead_values=[20., 20., 0.],
speed_lead_breakpoints=[0., 15., 35.0],
),
Maneuver(
'steady state following a car at 20m/s, then lead decel to 0mph at 2m/s^2',
duration=50.,
initial_speed=20.,
lead_relevancy=True,
initial_distance_lead=35.,
speed_lead_values=[20., 20., 0.],
speed_lead_breakpoints=[0., 15., 25.0],
),
Maneuver(
'steady state following a car at 20m/s, then lead decel to 0mph at 3m/s^2',
#!/usr/bin/env python3
import os
import unittest
from common.params import Params
from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE
from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
# TODO: make new FCW tests
maneuvers = [
Maneuver(
'approach stopped car at 20m/s, initial distance: 120m',
duration=20.,
initial_speed=25.,
lead_relevancy=True,
initial_distance_lead=120.,
speed_lead_values=[30., 0.],
breakpoints=[0., 1.],
),
Maneuver(
'approach stopped car at 20m/s, initial distance 90m',
duration=20.,
initial_speed=20.,
lead_relevancy=True,
initial_distance_lead=90.,
speed_lead_values=[20., 0.],
breakpoints=[0., 1.],
),
Maneuver(
'steady state following a car at 20m/s, then lead decel to 0mph at 1m/s^2',
duration=50.,
