Python Maneuver Examples

Example #1

File: test_longitudinal_te.py Project: zeeexsixare/testeng

import selfdrive.manager as manager
from common.params import Params


def create_dir(path):
    try:
        os.makedirs(path)
    except OSError:
        pass


maneuvers = [
    Maneuver('approaching a stopped car at 5m/s',
             duration=30.,
             initial_speed=5.,
             lead_relevancy=True,
             initial_distance_lead=200.,
             speed_lead_values=[0. * CV.MPH_TO_MS, 0. * CV.MPH_TO_MS],
             speed_lead_breakpoints=[0., 100.],
             cruise_button_presses=[(CB.DECEL_SET, 1.2), (0, 1.3)]),
    Maneuver('approaching a stopped car at 10m/s',
             duration=30.,
             initial_speed=10.,
             lead_relevancy=True,
             initial_distance_lead=200.,
             speed_lead_values=[0. * CV.MPH_TO_MS, 0. * CV.MPH_TO_MS],
             speed_lead_breakpoints=[0., 100.],
             cruise_button_presses=[(CB.DECEL_SET, 1.2), (0, 1.3)]),
    Maneuver('approaching a stopped car at 20m/s',
             duration=30.,
             initial_speed=20.,
             lead_relevancy=True,

Example #2

File: test_longitudinal.py Project: Nad-Arb/openpilot3.9

from selfdrive.test.plant.maneuver import Maneuver
import selfdrive.manager as manager
from common.params import Params


def create_dir(path):
  try:
    os.makedirs(path)
  except OSError:
    pass

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)]
  ),
  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)]
  ),
  Maneuver(
    'while cruising at 20mph, grade change +10%',
    duration=25.,
    initial_speed=20. * CV.MPH_TO_MS,

Example #3

File: test_longitudinal_te_backup.py Project: zeeexsixare/testeng

from selfdrive.test.plant.maneuver import Maneuver
import selfdrive.manager as manager
from common.params import Params


def create_dir(path):
  try:
    os.makedirs(path)
  except OSError:
    pass


maneuvers = [
  Maneuver(
    'approaching a stopped car at 5m/s',
    duration=30.,
    initial_speed = 5.,
    cruise_button_presses = [(CB.DECEL_SET, 2.), (0, 2.3)]
  )
""",
  Maneuver(
    "fcw: traveling at 20 m/s following a lead that decels from 20m/s to 0 at 5m/s2",
    duration=8.,
    initial_speed=20.,
    lead_relevancy=True,
    initial_distance_lead=35.,
    speed_lead_values=[20., 0.],
    speed_lead_breakpoints=[3., 7.],
    cruise_button_presses = []
  )
"""
]