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firestar5683
2026-06-18 12:20:17 -05:00
parent 96818d8efc
commit 64bb95e3cf
3 changed files with 44 additions and 7 deletions
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selfdrive/controls/tests/test_longitudinal_planner.py
+25
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@@ -2730,6 +2730,31 @@ def test_near_duplicate_lead_transition_target_damps_tracking_cruise_sign_flip()
assert smoothed == pytest.approx(-0.92, abs=1e-6)
def test_near_duplicate_lead_transition_target_damps_low_speed_duplicate_radar_handoff():
v_ego = 14.31
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
planner = LongitudinalPlanner(CP, init_v=v_ego)
lead_one = make_lead(status=True, d_rel=25.7, v_lead=14.61, a_lead=0.0, radar=True, model_prob=1.0)
lead_two = make_lead(status=True, d_rel=25.7, v_lead=14.61, a_lead=0.0, radar=True, model_prob=1.0)
lead_one.vRel = lead_one.vLead - v_ego
lead_two.vRel = lead_two.vLead - v_ego
planner.lead_one = lead_one
planner.lead_two = lead_two
smoothed = planner.get_near_duplicate_lead_transition_target(
lead_one,
v_ego,
1.45,
prev_output_a_target=0.68,
output_a_target=0.03,
current_source="lead0",
tracking_lead_active=True,
)
assert smoothed is not None
assert smoothed == pytest.approx(0.36, abs=1e-6)
def test_duplicate_slow_lead_brake_hold_prevents_zero_cross_from_duplicate_voacc_leads():
v_ego = 24.0
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)