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firestar5683
29 lines
1.2 KiB
Python
29 lines
1.2 KiB
Python
import unittest
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from openpilot.cereal import log
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from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import should_trigger_planner_fcw
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class TestSubaruPlannerFcw(unittest.TestCase):
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def test_recorded_distant_follow_and_collision_boundaries(self):
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for present, probability, distance, lead_speed, ego_speed, expected in (
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(True, .99, 97.49, 25.63, 26.70, False),
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(True, .99, 15., 10., 20., True),
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(True, .99, 5., 20., 20., False),
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(True, .99, 5., 21., 20., False),
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(False, .99, 2., 0., 20., False),
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(True, .9, 5., 0., 20., False),
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(True, .99, 40., 10., 20., False),
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(True, .99, 39.99, 10., 20., True),
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(True, .99, 1., 19.51, 20., False),
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(True, .99, 1., 19.5, 20., True),
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):
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with self.subTest(distance=distance, lead_speed=lead_speed, probability=probability):
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radar = log.RadarState.new_message()
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radar.leadOne.present = present
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radar.leadOne.modelProb = probability
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radar.leadOne.dRel = distance
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radar.leadOne.vLead = lead_speed
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self.assertEqual(should_trigger_planner_fcw(radar.leadOne, ego_speed), expected)
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self.assertFalse(should_trigger_planner_fcw(None, 20.))
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