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plimothy

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firestar5683
2026-06-16 18:31:36 -05:00
parent 60305edeae
commit 335d6934fb
2 changed files with 32 additions and 0 deletions
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selfdrive/controls/tests/test_longitudinal_planner.py
+17
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@@ -2238,6 +2238,23 @@ def test_cruise_tracking_lead_accel_cap_skips_accelerating_away_radar_lead():
assert cap is None
def test_cruise_tracking_lead_accel_cap_skips_spacious_tracking_only_follow():
v_ego = 18.0
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
planner = LongitudinalPlanner(CP, init_v=v_ego)
lead = make_lead(status=True, d_rel=45.0, v_lead=17.4, a_lead=0.0, radar=True, model_prob=1.0, y_rel=0.1)
cap = planner.get_cruise_tracking_lead_accel_cap(
lead,
v_ego,
1.45,
current_source="cruise",
tracking_lead_active=True,
)
assert cap is None
def test_route_8bc6_post_departure_cruise_cap_skips_accelerating_away_radar_lead():
v_ego = 19.03
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)