mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-03 22:53:44 +08:00
firestar5683
46 lines
1.3 KiB
Python
46 lines
1.3 KiB
Python
import pytest
|
|
|
|
from openpilot.selfdrive.modeld.modeld import get_car_lateral_smooth_seconds, get_lateral_smooth_seconds
|
|
|
|
|
|
@pytest.mark.parametrize(("v_ego", "expected"), [
|
|
(0.0, 0.4),
|
|
(2.0, 0.4),
|
|
(5.0, 0.2),
|
|
(8.0, 0.0),
|
|
(30.0, 0.0),
|
|
])
|
|
def test_lateral_smoothing_tapers_with_speed(v_ego, expected):
|
|
assert get_lateral_smooth_seconds(v_ego, 0.4) == pytest.approx(expected)
|
|
|
|
|
|
@pytest.mark.parametrize("v_ego", [0.0, 5.0, 30.0])
|
|
def test_default_lateral_smoothing_is_disabled(v_ego):
|
|
assert get_lateral_smooth_seconds(v_ego) == 0.0
|
|
|
|
|
|
@pytest.mark.parametrize("v_ego", [0.0, 5.0, 30.0])
|
|
def test_non_rivian_cars_keep_configured_starpilot_smoothing(v_ego):
|
|
assert get_car_lateral_smooth_seconds("toyota", v_ego, 0.4) == 0.4
|
|
|
|
|
|
@pytest.mark.parametrize(("v_ego", "expected"), [
|
|
(0.0, 0.4),
|
|
(2.0, 0.4),
|
|
(5.0, 0.2),
|
|
(8.0, 0.0),
|
|
(30.0, 0.0),
|
|
])
|
|
def test_subaru_uses_low_speed_configured_smoothing(v_ego, expected):
|
|
assert get_car_lateral_smooth_seconds("subaru", v_ego, 0.4) == pytest.approx(expected)
|
|
|
|
|
|
@pytest.mark.parametrize(("v_ego", "maximum", "expected"), [
|
|
(0.0, 0.4, 0.4),
|
|
(5.0, 0.4, 0.2),
|
|
(30.0, 0.4, 0.0),
|
|
(0.0, 0.0, 0.0),
|
|
])
|
|
def test_rivian_uses_configured_smoothing(v_ego, maximum, expected):
|
|
assert get_car_lateral_smooth_seconds("rivian", v_ego, maximum) == pytest.approx(expected)
|