11.8

selfdrive/controls/tests/test_latcontrol.py

@@ -8,6 +8,7 @@ import openpilot.selfdrive.controls.lib.latcontrol_pid as latcontrol_pid
 import openpilot.selfdrive.controls.lib.latcontrol_vehicle_tunes as latcontrol_vehicle_tunes
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.interfaces import CarInterfaceBase
+from opendbc.car.chrysler.values import CAR as CHRYSLER
 from opendbc.car.honda.values import CAR as HONDA, HondaFlags
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.nissan.values import CAR as NISSAN
@@ -26,6 +27,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_vehicle_tunes import (
   clear_flm_runtime_overrides,
   get_flm_runtime_overrides,
   get_hkg_canfd_base_friction_threshold,
+  get_ram_1500_transition_output_scale,
   get_subaru_impreza_pid_output_scale,
   normalize_flm_overrides,
   set_flm_runtime_overrides,
@@ -626,6 +628,33 @@ class TestLatControl:
     assert lac_log.active
     assert tapered_output == pytest.approx(base_output * 0.5)
 
+  def test_ram_1500_transition_taper_curve(self):
+    assert get_ram_1500_transition_output_scale(0.4, 0.2, 17.0) == pytest.approx(1.0)
+    assert get_ram_1500_transition_output_scale(0.4, 1.1, 8.0) == pytest.approx(1.0)
+
+    center_transition = get_ram_1500_transition_output_scale(0.4, 1.1, 17.0)
+    medium_transition = get_ram_1500_transition_output_scale(1.2, -1.1, 17.0)
+    assert 0.6 < center_transition < medium_transition < 1.0
+    assert get_ram_1500_transition_output_scale(1.85, 2.5, 17.0) == pytest.approx(1.0)
+
+  def test_ram_1500_transition_taper_update_path(self, monkeypatch):
+    controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(CHRYSLER.RAM_1500_5TH_GEN)
+    base_output, _, lac_log = controller.update(
+      True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles,
+    )
+
+    monkeypatch.setattr(latcontrol_torque, "get_ram_1500_transition_output_scale", lambda *_args: 0.5)
+    tapered_controller, tapered_VM, tapered_CS, tapered_params, tapered_toggles = self._build_torque_controller(
+      CHRYSLER.RAM_1500_5TH_GEN,
+    )
+    tapered_output, _, _ = tapered_controller.update(
+      True, tapered_CS, tapered_VM, tapered_params, False, 0.0025, False, 0.2, None, None, tapered_toggles,
+    )
+
+    assert controller.is_ram_1500
+    assert lac_log.active
+    assert tapered_output == pytest.approx(base_output * 0.5)
+
   def test_ioniq_5_center_taper_curve(self):
     assert get_ioniq_5_center_taper_scale(0.0, 25.0) < get_ioniq_5_center_taper_scale(0.0, 10.0)
     assert get_ioniq_5_center_taper_scale(0.0, 25.0) < get_ioniq_5_center_taper_scale(0.20, 25.0) <= 1.0

selfdrive/controls/tests/test_longitudinal_planner.py

@@ -639,6 +639,21 @@ def test_vision_untracked_slow_lead_cap_relaxes_confidence_for_near_stopped_high
   assert route_cap < -0.55
 
 
+def test_hrv_untracked_slow_lead_cap_prepares_more_for_high_speed_stop():
+  v_ego = 21.8
+  lead = make_lead(status=True, d_rel=86.5, v_lead=8.3, a_lead=0.0, radar=False, model_prob=0.93, y_rel=-0.14)
+
+  civic_planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.HONDA_CIVIC), init_v=v_ego)
+  hrv_planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.HONDA_HRV_3G), init_v=v_ego)
+  civic_cap = civic_planner.get_vision_untracked_slow_lead_cap(lead, v_ego, -3.5)
+  hrv_cap = hrv_planner.get_vision_untracked_slow_lead_cap(lead, v_ego, -3.5)
+
+  assert civic_cap is not None
+  assert hrv_cap is not None
+  assert hrv_cap < civic_cap - 0.15
+  assert -1.2 < hrv_cap < -0.8
+
+
 def test_vision_untracked_slow_lead_cap_keeps_low_confidence_floor_for_less_threatening_lead():
   v_ego = 20.35