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mpc_longitudinal_tuning_report: use enum for axis (#37231)

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felsager
2026-02-17 11:49:26 -08:00
committed by GitHub
parent 037e6e749a
commit 43d162e8fb
2 changed files with 47 additions and 46 deletions
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tools/longitudinal_maneuvers/maneuver_helpers.py
+18
View File
@@ -0,0 +1,18 @@
from enum import IntEnum
class Axis(IntEnum):
TIME = 0
EGO_POSITION = 1
LEAD_DISTANCE= 2
EGO_V = 3
LEAD_V = 4
EGO_A = 5
D_REL = 6
axis_labels = {Axis.TIME: 'Time (s)',
Axis.EGO_POSITION: 'Ego position (m)',
Axis.LEAD_DISTANCE: 'Lead absolute position (m)',
Axis.EGO_V: 'Ego Velocity (m/s)',
Axis.LEAD_V: 'Lead Velocity (m/s)',
Axis.EGO_A: 'Ego acceleration (m/s^2)',
Axis.D_REL: 'Lead distance (m)'}
tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
+29 -46
View File
@@ -5,29 +5,16 @@ import numpy as np
import matplotlib.pyplot as plt
from openpilot.common.realtime import DT_MDL
from openpilot.selfdrive.controls.tests.test_following_distance import desired_follow_distance
from openpilot.tools.longitudinal_maneuvers.maneuver_helpers import Axis, axis_labels
from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
TIME = 0
LEAD_DISTANCE= 2
EGO_V = 3
EGO_A = 5
D_REL = 6
axis_labels = ['Time (s)',
'Ego position (m)',
'Lead absolute position (m)',
'Ego Velocity (m/s)',
'Lead Velocity (m/s)',
'Ego acceleration (m/s^2)',
'Lead distance (m)'
]
def get_html_from_results(results, labels, AXIS):
fig, ax = plt.subplots(figsize=(16, 8))
for idx, speed in enumerate(list(results.keys())):
ax.plot(results[speed][:, TIME], results[speed][:, AXIS], label=labels[idx])
for idx, key in enumerate(results.keys()):
ax.plot(results[key][:, Axis.TIME], results[key][:, AXIS], label=labels[idx])
ax.set_xlabel('Time (s)')
ax.set_xlabel(axis_labels[Axis.TIME])
ax.set_ylabel(axis_labels[AXIS])
ax.legend(bbox_to_anchor=(1.02, 1), loc='upper left', borderaxespad=0)
ax.grid(True, linestyle='--', alpha=0.7)
@@ -60,8 +47,8 @@ def generate_mpc_tuning_report():
labels.append(f'{lead_accel} m/s^2 lead acceleration')
htmls.append(markdown.markdown('# ' + name))
htmls.append(get_html_from_results(results, labels, EGO_V))
htmls.append(get_html_from_results(results, labels, EGO_A))
htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
results = {}
@@ -78,12 +65,11 @@ def generate_mpc_tuning_report():
breakpoints=[0., 30.],
)
valid, results[speed] = man.evaluate()
results[speed][:,2] = results[speed][:,2] - results[speed][:,1]
labels.append(f'{speed} m/s approach speed')
htmls.append(markdown.markdown('# ' + name))
htmls.append(get_html_from_results(results, labels, EGO_A))
htmls.append(get_html_from_results(results, labels, D_REL))
htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
htmls.append(get_html_from_results(results, labels, Axis.D_REL))
results = {}
@@ -104,9 +90,9 @@ def generate_mpc_tuning_report():
labels.append(f'{oscil} m/s oscillation 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))
htmls.append(get_html_from_results(results, labels, Axis.D_REL))
htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
results = {}
@@ -128,12 +114,12 @@ def generate_mpc_tuning_report():
breakpoints=bps,
)
valid, results[oscil] = man.evaluate()
labels.append(f'{oscil} m/s oscilliation size')
labels.append(f'{oscil} m/s oscillation 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))
htmls.append(get_html_from_results(results, labels, Axis.D_REL))
htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
results = {}
@@ -150,12 +136,11 @@ def generate_mpc_tuning_report():
breakpoints=[0.],
)
valid, results[distance] = man.evaluate()
results[distance][:,2] = results[distance][:,2] - results[distance][:,1]
labels.append(f'{distance} m initial distance')
htmls.append(markdown.markdown('# ' + name))
htmls.append(get_html_from_results(results, labels, EGO_V))
htmls.append(get_html_from_results(results, labels, D_REL))
htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
htmls.append(get_html_from_results(results, labels, Axis.D_REL))
results = {}
@@ -172,12 +157,11 @@ def generate_mpc_tuning_report():
breakpoints=[0.],
)
valid, results[distance] = man.evaluate()
results[distance][:,2] = results[distance][:,2] - results[distance][:,1]
labels.append(f'{distance} m initial distance')
htmls.append(markdown.markdown('# ' + name))
htmls.append(get_html_from_results(results, labels, EGO_V))
htmls.append(get_html_from_results(results, labels, D_REL))
htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
htmls.append(get_html_from_results(results, labels, Axis.D_REL))
results = {}
@@ -195,12 +179,11 @@ def generate_mpc_tuning_report():
breakpoints=[0., 5., 5 + stop_time],
)
valid, results[stop_time] = man.evaluate()
results[stop_time][:,2] = results[stop_time][:,2] - results[stop_time][:,1]
labels.append(f'{stop_time} seconds stop time')
htmls.append(markdown.markdown('# ' + name))
htmls.append(get_html_from_results(results, labels, EGO_A))
htmls.append(get_html_from_results(results, labels, D_REL))
htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
htmls.append(get_html_from_results(results, labels, Axis.D_REL))
results = {}
@@ -222,8 +205,8 @@ def generate_mpc_tuning_report():
labels.append(f'{speed} m/s speed')
htmls.append(markdown.markdown('# ' + name))
htmls.append(get_html_from_results(results, labels, EGO_A))
htmls.append(get_html_from_results(results, labels, D_REL))
htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
htmls.append(get_html_from_results(results, labels, Axis.D_REL))
results = {}
@@ -244,8 +227,8 @@ def generate_mpc_tuning_report():
labels.append(f'{speed} m/s speed')
htmls.append(markdown.markdown('# ' + name))
htmls.append(get_html_from_results(results, labels, EGO_V))
htmls.append(get_html_from_results(results, labels, EGO_A))
htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
results = {}
@@ -267,8 +250,8 @@ def generate_mpc_tuning_report():
labels.append(f'{speed} m/s speed')
htmls.append(markdown.markdown('# ' + name))
htmls.append(get_html_from_results(results, labels, EGO_V))
htmls.append(get_html_from_results(results, labels, EGO_A))
htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
results = {}
@@ -290,8 +273,8 @@ def generate_mpc_tuning_report():
labels.append(f'{speed} m/s speed')
htmls.append(markdown.markdown('# ' + name))
htmls.append(get_html_from_results(results, labels, EGO_V))
htmls.append(get_html_from_results(results, labels, EGO_A))
htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
return htmls