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Closer Follow

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firestar5683
2026-08-25 19:08:46 -05:00
parent 903631ee53
commit b381cc0c4a
8 changed files with 229 additions and 177 deletions
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selfdrive/controls/tests/test_longitudinal_planner.py
+4 -2
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@@ -668,12 +668,14 @@ def test_gm_silverado_early_follow_requires_a_credible_centered_vision_lead(kwar
assert not is_gm_silverado_early_follow_lead(CP, lead, 30.0)
def test_silverado_prebrake_floor_is_vehicle_specific():
def test_prebrake_floor_is_vehicle_specific():
silverado = SimpleNamespace(brand="gm", carFingerprint=GM_CAR.CHEVROLET_SILVERADO)
lightning = SimpleNamespace(brand="ford", carFingerprint="FORD_F_150_LIGHTNING_MK1")
honda = SimpleNamespace(brand="honda", carFingerprint=CAR.HONDA_CIVIC)
assert get_follow_prebrake_min_headway(silverado, 1.0) == pytest.approx(1.25)
assert get_follow_prebrake_min_headway(honda, 1.0) == pytest.approx(1.6)
assert get_follow_prebrake_min_headway(lightning, 0.75) == pytest.approx(1.0)
assert get_follow_prebrake_min_headway(honda, 1.0) == pytest.approx(1.25)
def test_silverado_vision_follow_hold_survives_nonurgent_far_lead_crossover():