def test_realistic_road(self):
# Test Case 2 (more realistic road)
road = build_road(14, [80, 60, 40, 20])
lane_change_cost = 1.0 / 100.0
init = [len(road) - 1, 0]
goal = [len(road) - 1, len(road[0]) - 1]
cost = 0.293333333333
self.assertAlmostEqual(cost, plan(road=road,
lane_change_cost=lane_change_cost,
goal=goal,
init=init), 10)
def test_fast_left_lane(self):
# Test Case 1 (FAST left lane)
road = build_road(8, [100, 10, 1])
lane_change_cost = 1.0 / 1000.0
init = [len(road) - 1, 0]
goal = [len(road) - 1, len(road[0]) - 1]
cost = 1.244
self.assertAlmostEqual(cost, plan(road=road,
lane_change_cost=lane_change_cost,
goal=goal,
init=init), 3)
def test_realistic_road(self):
# Test Case 2 (more realistic road)
road = build_road(14, [80, 60, 40, 20])
lane_change_cost = 1.0 / 100.0
init = [len(road) - 1, 0]
goal = [len(road) - 1, len(road[0]) - 1]
cost = 0.293333333333
self.assertAlmostEqual(
cost,
plan(road=road,
lane_change_cost=lane_change_cost,
goal=goal,
init=init), 10)
def test_fast_left_lane(self):
# Test Case 1 (FAST left lane)
road = build_road(8, [100, 10, 1])
lane_change_cost = 1.0 / 1000.0
init = [len(road) - 1, 0]
goal = [len(road) - 1, len(road[0]) - 1]
cost = 1.244
self.assertAlmostEqual(
cost,
plan(road=road,
lane_change_cost=lane_change_cost,
goal=goal,
init=init), 3)
def test_slalom(self):
# Test Case 4 (Slalom)
road = [[50, 50, 50, 50, 50, 40, 0, 40, 50, 50, 0, 50, 50, 50, 50], # left lane: 50 km/h
[40, 40, 40, 40, 0, 30, 20, 30, 0, 40, 40, 40, 40, 40, 40],
[30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30]] # right lane: 30 km/h
lane_change_cost = 1.0 / 65.0
init = [len(road) - 1, 0]
goal = [len(road) - 1, len(road[0]) - 1]
cost = 0.450641025641
self.assertAlmostEqual(cost, plan(road=road,
lane_change_cost=lane_change_cost,
goal=goal,
init=init), 10)
def test_obstacles_included(self):
# Test Case 3 (Obstacles included)
road = [[50, 50, 50, 50, 50, 40, 0, 40, 50, 50, 50, 50, 50, 50, 50], # left lane: 50 km/h
[40, 40, 40, 40, 40, 30, 20, 30, 40, 40, 40, 40, 40, 40, 40],
[30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30]] # right lane: 30 km/h
lane_change_cost = 1.0 / 500.0
init = [len(road) - 1, 0]
goal = [len(road) - 1, len(road[0]) - 1]
cost = 0.355333333333
self.assertAlmostEqual(cost, plan(road=road,
lane_change_cost=lane_change_cost,
goal=goal,
init=init), 10)
def test_slalom(self):
# Test Case 4 (Slalom)
road = [
[50, 50, 50, 50, 50, 40, 0, 40, 50, 50, 0, 50, 50, 50,
50], # left lane: 50 km/h
[40, 40, 40, 40, 0, 30, 20, 30, 0, 40, 40, 40, 40, 40, 40],
[30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30]
] # right lane: 30 km/h
lane_change_cost = 1.0 / 65.0
init = [len(road) - 1, 0]
goal = [len(road) - 1, len(road[0]) - 1]
cost = 0.450641025641
self.assertAlmostEqual(
cost,
plan(road=road,
lane_change_cost=lane_change_cost,
goal=goal,
init=init), 10)
def test_obstacles_included(self):
# Test Case 3 (Obstacles included)
road = [
[50, 50, 50, 50, 50, 40, 0, 40, 50, 50, 50, 50, 50, 50,
50], # left lane: 50 km/h
[40, 40, 40, 40, 40, 30, 20, 30, 40, 40, 40, 40, 40, 40, 40],
[30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30]
] # right lane: 30 km/h
lane_change_cost = 1.0 / 500.0
init = [len(road) - 1, 0]
goal = [len(road) - 1, len(road[0]) - 1]
cost = 0.355333333333
self.assertAlmostEqual(
cost,
plan(road=road,
lane_change_cost=lane_change_cost,
goal=goal,
init=init), 10)
