mirror of
https://github.com/MoreTore/openpilot.git
synced 2026-08-03 08:41:47 +08:00
Jonathan Frey
baab5d7a7b
* acados_ocp_solver_pyx.pyx: implement get_stats for timings and ints
* long_mpc: use acados timers
* acados_ocp_solver_pyx.pyx: fix dynamics_get
* acados_ocp_solver_pyx.pyx: get statistics
* use acados_ocp_solver_pyx.pyx from commaai/cython2 branch
* acados_ocp_solver_pyx.pyx: implement store_iterate
* acados_ocp_solver_pyx.pyx: implement get_residuals
* acados_ocp_solver_pyx.pyx: fix set() for empty fields
* acados_ocp_solver_pyx.pyx: load_iterate
* cython acados: add print_statistics
* test_following_distance: fix typo
* test_longitudinal: unique names for test maneuvers
* longitudinal MPC: comments for evaluation
* longitudinal MPC: add comments to eval acados residuals
* long_mpc: use qp_solver_cond_N = 1
* long MPC: comments, simplify set_cur_state
* update acados version in build script
* longitudinal mpc: weigh a_change in 1 place only
* update ref
* Update ref
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
old-commit-hash: d09dffb7cd
37 lines
1.0 KiB
Python
37 lines
1.0 KiB
Python
#!/usr/bin/env python3
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import unittest
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import numpy as np
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from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance
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from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
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def run_following_distance_simulation(v_lead, t_end=100.0):
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man = Maneuver(
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'',
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duration=t_end,
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initial_speed=float(v_lead),
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lead_relevancy=True,
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initial_distance_lead=100,
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speed_lead_values=[v_lead],
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breakpoints=[0.],
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)
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valid, output = man.evaluate()
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assert valid
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return output[-1,2] - output[-1,1]
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class TestFollowingDistance(unittest.TestCase):
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def test_following_distance(self):
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for speed in np.arange(0, 40, 5):
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print(f'Testing {speed} m/s')
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v_lead = float(speed)
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simulation_steady_state = run_following_distance_simulation(v_lead)
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correct_steady_state = desired_follow_distance(v_lead, v_lead)
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self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(correct_steady_state*.1 + .5))
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if __name__ == "__main__":
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unittest.main()
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