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Sleppy time

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firestar5683
2026-09-07 21:57:32 -05:00
parent 249b03a3f5
commit bcf152e6f7
39 changed files with 662 additions and 146 deletions
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selfdrive/controls/tests/test_longitudinal_planner.py
+25 -1
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@@ -18,7 +18,13 @@ from opendbc.car.toyota.values import CAR as TOYOTA_CAR
import openpilot.selfdrive.controls.lib.longitudinal_planner as longitudinal_planner_module
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner, get_coast_accel, get_vehicle_min_accel, should_publish_planner_fcw
from openpilot.selfdrive.controls.lib.longitudinal_planner import (
LongitudinalPlanner,
get_coast_accel,
get_far_lead_coast_cap,
get_vehicle_min_accel,
should_publish_planner_fcw,
)
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import (
LongitudinalMpc,
build_model_lead_trajectory,
@@ -310,6 +316,24 @@ def test_mpc_panic_bypass_immediately_removes_duplicate_vision_filter():
assert mpc.lead_v_filter.x == pytest.approx(10.0)
def test_far_lead_coast_cap_delays_nonurgent_deceleration():
lead = make_lead(status=True, d_rel=128.0, v_lead=16.7, a_lead=0.2, radar=True)
assert get_far_lead_coast_cap(lead, 26.6, 115.0, -0.43) == pytest.approx(-0.20)
assert get_far_lead_coast_cap(lead, 26.6, 115.0, 0.10) == pytest.approx(0.10)
@pytest.mark.parametrize("d_rel,v_lead,a_lead,desired_gap", [
(50.0, 20.0, 0.2, 45.0), # only a small gap remains
(128.0, 8.0, 0.2, 115.0), # urgent closing time
(128.0, 16.7, -0.5, 115.0), # the lead is braking materially
])
def test_far_lead_coast_cap_preserves_urgent_or_close_deceleration(d_rel, v_lead, a_lead, desired_gap):
lead = make_lead(status=True, d_rel=d_rel, v_lead=v_lead, a_lead=a_lead, radar=True)
assert get_far_lead_coast_cap(lead, 26.6, desired_gap, -0.43) == pytest.approx(-0.43)
def test_hrv_far_follow_output_slew_damps_only_continuous_safe_follow():
v_ego = 24.0
CP = CarInterface.get_non_essential_params(CAR.HONDA_HRV_3G)