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Longfixes

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This commit is contained in:
firestar5683
2026-05-13 13:51:25 -05:00
parent 3ecb73dc8a
commit 01bcb40c50
7 changed files with 163 additions and 8 deletions
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selfdrive/controls/tests/test_longitudinal_planner.py
+23
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@@ -758,6 +758,29 @@ def test_acc_mode_low_speed_vision_stop_buffer_sets_should_stop_before_tiny_gap(
assert planner.output_a_target < -1.0
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
def test_acc_mode_low_speed_vision_stop_buffer_brakes_harder_for_close_slow_vision_lead(model_version):
v_ego = 6.2
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
planner = LongitudinalPlanner(CP, init_v=v_ego)
sm = make_sm(
v_ego,
desired_accel=0.1,
min_accel=-0.5,
experimental_mode=False,
tracking_lead=True,
lead_one=make_lead(status=True, d_rel=9.35, v_lead=2.8, a_lead=-0.2, radar=False, model_prob=0.99),
)
sm["starpilotPlan"].vCruise = v_ego + 4.0
planner.update(sm, make_toggles(model_version))
assert planner.mode == "acc"
assert planner.output_should_stop
assert planner.output_a_target <= -2.7
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
def test_standstill_moving_lead_does_not_force_resume_while_should_stop(model_version):
v_ego = 0.0