mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-10-01 03:43:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Sip-smiling away

Browse Source
This commit is contained in:
firestar5683
2026-07-23 14:37:54 -05:00
parent bd6dced538
commit b72042042f
7 changed files with 53 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/tests/test_latcontrol.py
+12
View File
@@ -90,6 +90,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import (
get_kia_ev6_ff_scale,
get_kia_ev6_friction_scale,
get_kia_ev6_friction_threshold,
get_kia_ev6_jwarm_phase_confidence,
get_sonata_center_taper_scale,
get_sonata_ff_scale,
get_sonata_hybrid_center_taper_scale,
@@ -1203,6 +1204,17 @@ class TestLatControl:
assert get_kia_ev6_ff_scale(0.45, -0.7, 10.0) < normal_unwind_left - 0.07
assert get_kia_ev6_ff_scale(-0.45, 0.7, 10.0) < normal_unwind_right - 0.08
def test_kia_ev6_jwarm_abrupt_low_speed_phase_correction_is_bounded(self):
calm_low_speed = get_kia_ev6_jwarm_phase_confidence(6.0, 0.25)
abrupt_low_speed = get_kia_ev6_jwarm_phase_confidence(6.0, 1.40)
abrupt_high_speed = get_kia_ev6_jwarm_phase_confidence(18.0, 1.40)
assert abrupt_low_speed < calm_low_speed
assert abrupt_low_speed < abrupt_high_speed
assert 0.45 <= abrupt_low_speed < 0.60
assert calm_low_speed > 0.90
assert abrupt_high_speed > 0.98
def test_kia_ev6_center_taper_curve(self):
assert get_kia_ev6_center_taper_scale(0.0, 25.0) < get_kia_ev6_center_taper_scale(0.0, 10.0)
assert get_kia_ev6_center_taper_scale(0.0, 25.0) < get_kia_ev6_center_taper_scale(0.20, 25.0) <= 1.0