def test_velocity_control(): road = Road(RoadNetwork.straight_road_network(1)) v = ControlledVehicle(road=road, position=road.network.get_lane( (0, 1, 0)).position(0, 0), velocity=20, heading=0) v.act('FASTER') for _ in range(int(3 * v.TAU_A * FPS)): v.act() v.step(dt=1 / FPS) assert v.velocity == pytest.approx(20 + v.DELTA_VELOCITY, abs=0.5) assert v.position[1] == pytest.approx(0) assert v.lane_index[2] == 0
def test_lane_change(): road = Road(RoadNetwork.straight_road_network(2)) v = ControlledVehicle(road=road, position=road.network.get_lane( (0, 1, 0)).position(0, 0), velocity=20, heading=0) v.act('LANE_RIGHT') for _ in range(3 * FPS): v.act() v.step(dt=1 / FPS) assert v.velocity == pytest.approx(20) assert v.position[1] == pytest.approx(StraightLane.DEFAULT_WIDTH, abs=StraightLane.DEFAULT_WIDTH / 4) assert v.lane_index[2] == 1