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ravbob

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firestar5683
2026-09-10 22:26:20 -05:00
parent f1cb143bd7
commit be263a6fa1
2 changed files with 18 additions and 6 deletions
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selfdrive/controls/tests/test_longitudinal_planner.py
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@@ -3454,6 +3454,15 @@ def test_rav4_tss2_early_lead_cap_starts_a_mild_response():
assert -0.5 <= cap < 0.0
def test_rav4_tss2_early_lead_cap_handles_moderate_closing_before_hard_approach():
CP = ToyotaCarInterface.get_non_essential_params(TOYOTA_CAR.TOYOTA_RAV4_TSS2_2023)
lead = make_lead(status=True, d_rel=35.0, v_lead=16.4, a_lead=-0.5, model_prob=0.99)
cap = get_toyota_rav4_tss2_early_lead_cap(CP, lead, 17.4, -3.5)
assert cap == pytest.approx(-0.30, abs=0.03)
def test_rav4_tss2_early_lead_cap_does_not_change_other_paths():
rav4 = ToyotaCarInterface.get_non_essential_params(TOYOTA_CAR.TOYOTA_RAV4_TSS2_2023)
other = ToyotaCarInterface.get_non_essential_params(TOYOTA_CAR.TOYOTA_RAV4_TSS2_2022)