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firestar5683
2026-07-24 00:24:13 -05:00
parent f5f846f5b6
commit 779b42d8ea
8 changed files with 110 additions and 7 deletions
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selfdrive/controls/tests/test_longitudinal_planner.py
+15
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@@ -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