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Maneuver: log drel and use it in tuning report (#37033)

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felsager
2026-01-27 17:15:39 -08:00
committed by GitHub
parent bf8cae5e7c
commit 2fc10e8299
2 changed files with 12 additions and 8 deletions
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selfdrive/test/longitudinal_maneuvers/maneuver.py
+2 -1
View File
@@ -60,7 +60,8 @@ class Maneuver:
log['distance_lead'],
log['speed'],
speed_lead,
log['acceleration']]))
log['acceleration'],
log['d_rel']]))
if d_rel < .4 and (self.only_radar or prob_lead > 0.5):
print("Crashed!!!!")
tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
+10 -7
View File
@@ -7,16 +7,18 @@ from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
from openpilot.selfdrive.controls.tests.test_following_distance import desired_follow_distance
TIME = 0
LEAD_DISTANCE= 2
EGO_V = 3
EGO_A = 5
LEAD_DISTANCE= 2
D_REL = 6
axis_labels = ['Time (s)',
'Ego position (m)',
'Lead distance (m)',
'Lead absolute position (m)',
'Ego Velocity (m/s)',
'Lead Velocity (m/s)',
'Ego acceleration (m/s^2)',
'Lead distance (m)'
]
@@ -81,7 +83,7 @@ for speed in np.arange(0,45,5):
htmls.append(markdown.markdown('# ' + name))
htmls.append(get_html_from_results(results, labels, EGO_A))
htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE))
htmls.append(get_html_from_results(results, labels, D_REL))
results = {}
@@ -102,6 +104,7 @@ for oscil in np.arange(0, 10, 1):
labels.append(f'{oscil} m/s oscilliation size')
htmls.append(markdown.markdown('# ' + name))
htmls.append(get_html_from_results(results, labels, D_REL))
htmls.append(get_html_from_results(results, labels, EGO_V))
htmls.append(get_html_from_results(results, labels, EGO_A))
@@ -126,7 +129,7 @@ for distance in np.arange(20, 140, 10):
htmls.append(markdown.markdown('# ' + name))
htmls.append(get_html_from_results(results, labels, EGO_V))
htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE))
htmls.append(get_html_from_results(results, labels, D_REL))
results = {}
@@ -148,7 +151,7 @@ for distance in np.arange(20, 140, 10):
htmls.append(markdown.markdown('# ' + name))
htmls.append(get_html_from_results(results, labels, EGO_V))
htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE))
htmls.append(get_html_from_results(results, labels, D_REL))
results = {}
@@ -170,7 +173,7 @@ for stop_time in np.arange(4, 14, 1):
htmls.append(markdown.markdown('# ' + name))
htmls.append(get_html_from_results(results, labels, EGO_A))
htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE))
htmls.append(get_html_from_results(results, labels, D_REL))
results = {}
@@ -193,7 +196,7 @@ for speed in np.arange(0, 40, 5):
htmls.append(markdown.markdown('# ' + name))
htmls.append(get_html_from_results(results, labels, EGO_A))
htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE))
htmls.append(get_html_from_results(results, labels, D_REL))
results = {}