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firestar5683
2026-08-10 22:53:46 -05:00
parent d938c9daa6
commit 6bd48c28e8
582 changed files with 64651 additions and 17100 deletions
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selfdrive/controls/tests/test_longcontrol.py
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@@ -1152,6 +1152,20 @@ def test_toyota_sienna_target_filter_smooths_mild_high_speed_handoffs():
assert -0.20 < filtered < 0.30
def test_toyota_sienna_target_filter_ramps_low_speed_acceleration():
CP = make_longcontrol_cp(brand="toyota", carFingerprint=TOYOTA_CAR.TOYOTA_SIENNA_4TH_GEN)
tuning = vehicle_tunes.LongControlVehicleTuning(CP)
first = tuning.shape_toyota_sienna_accel_target(1.5, 2.0, False)
assert 0.0 < first < 1.5
for _ in range(100):
filtered = tuning.shape_toyota_sienna_accel_target(1.5, 3.0, False)
assert filtered < 1.5
assert tuning.shape_toyota_sienna_accel_target(-1.5, 3.0, False) == pytest.approx(-1.5)
def test_toyota_sienna_target_filter_bypasses_stop_and_urgent_braking():
CP = make_longcontrol_cp(brand="toyota", carFingerprint=TOYOTA_CAR.TOYOTA_SIENNA_4TH_GEN)
tuning = vehicle_tunes.LongControlVehicleTuning(CP)