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firestar5683
05e9dfd5d0
Cherry-picked Feature Request 1267242 from ab98ae54bb. Prevent sharp or ordinary navigation turn desires from being issued unless the corresponding turn signal is active, and add regression coverage for missing and opposite signals.
Co-Authored-By: Prabhaav Pillai <prabhaav@msu.edu>
578 lines
16 KiB
Python
578 lines
16 KiB
Python
from types import SimpleNamespace
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from cereal import log
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from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper, LaneChangeDirection, LaneChangeState
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def make_car_state(**overrides):
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defaults = {
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"vEgo": 20.0,
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"leftBlinker": False,
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"rightBlinker": False,
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"leftBlindspot": False,
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"rightBlindspot": False,
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"steeringPressed": False,
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"steeringTorque": 0.0,
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"standstill": False,
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"cruiseState": SimpleNamespace(enabled=True),
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}
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defaults.update(overrides)
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return SimpleNamespace(**defaults)
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def make_toggles(**overrides):
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defaults = {
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"lane_changes": True,
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"lane_change_delay": 0.0,
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"lane_detection_width": 3.0,
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"minimum_lane_change_speed": 10.0,
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"nudgeless": True,
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"nudgeless_lane_change_only_when_engaged": False,
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"one_lane_change": False,
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"use_turn_desires": False,
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"lane_changes_require_cruise": False,
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"nav_desires_allowed": True,
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"nav_lane_positioning_allowed": True,
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}
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defaults.update(overrides)
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return SimpleNamespace(**defaults)
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def make_plan(**overrides):
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defaults = {
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"laneWidthLeft": 4.0,
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"laneWidthRight": 4.0,
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}
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defaults.update(overrides)
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return SimpleNamespace(**defaults)
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def test_nav_desires_keep_left_when_route_requests_it():
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helper = DesireHelper()
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helper.nav_desires_allowed = True
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helper._update_nav_params = lambda: None
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helper._nav_instruction_state = {"valid": True, "maneuverModifier": "slightLeft"}
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helper.update(
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make_car_state(vEgo=20.0, steeringPressed=True, steeringTorque=1.0),
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True,
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0.0,
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make_plan(laneWidthLeft=4.2),
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make_toggles(nudgeless=True),
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)
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assert helper.desire == log.Desire.keepLeft
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def test_nav_desires_turn_right_below_lane_change_speed():
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helper = DesireHelper()
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helper.nav_desires_allowed = True
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helper._update_nav_params = lambda: None
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helper._nav_instruction_state = {"valid": True, "maneuverModifier": "right", "maneuverDistance": 10.0}
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helper.update(
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make_car_state(vEgo=5.0, rightBlinker=True),
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True,
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0.0,
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make_plan(),
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make_toggles(minimum_lane_change_speed=10.0, nav_lane_positioning_allowed=False),
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)
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assert helper.desire == log.Desire.turnRight
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def test_nav_desires_turn_requires_matching_blinker():
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for modifier, opposite_blinker in (("left", "rightBlinker"), ("right", "leftBlinker")):
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helper = DesireHelper()
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helper.nav_desires_allowed = True
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helper._update_nav_params = lambda: None
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helper._nav_instruction_state = {"valid": True, "maneuverModifier": modifier, "maneuverDistance": 10.0}
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helper.update(
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make_car_state(vEgo=5.0, **{opposite_blinker: True}),
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True,
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0.0,
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make_plan(),
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make_toggles(minimum_lane_change_speed=10.0, nav_lane_positioning_allowed=False),
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)
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assert helper.desire == log.Desire.none
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def test_nav_desires_turn_right_waits_until_turn_is_close():
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helper = DesireHelper()
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helper.nav_desires_allowed = True
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helper._update_nav_params = lambda: None
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helper._nav_instruction_state = {"valid": True, "maneuverModifier": "right", "maneuverDistance": 300.0}
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helper.update(
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make_car_state(vEgo=5.0),
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True,
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0.0,
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make_plan(),
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make_toggles(minimum_lane_change_speed=10.0),
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)
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assert helper.desire == log.Desire.none
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def test_nav_desires_off_ramp_lane_guidance_becomes_keep_right():
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helper = DesireHelper()
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helper.nav_desires_allowed = True
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helper._update_nav_params = lambda: None
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helper._nav_instruction_state = {
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"valid": True,
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"maneuverType": "off ramp",
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"maneuverModifier": "right",
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"activeLaneDirection": "slightRight",
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"maneuverDistance": 120.0,
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}
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helper.update(
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make_car_state(vEgo=22.5, steeringPressed=True, steeringTorque=-1.0),
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True,
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0.0,
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make_plan(laneWidthRight=4.2),
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make_toggles(nudgeless=True),
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)
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assert helper.desire == log.Desire.keepRight
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def test_nav_desires_off_ramp_lane_guidance_waits_until_split_is_close():
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helper = DesireHelper()
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helper.nav_desires_allowed = True
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helper._update_nav_params = lambda: None
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helper._nav_instruction_state = {
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"valid": True,
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"maneuverType": "off ramp",
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"maneuverModifier": "right",
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"activeLaneDirection": "slightRight",
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"maneuverDistance": 300.0,
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}
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helper.update(
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make_car_state(vEgo=22.5),
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True,
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0.0,
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make_plan(laneWidthRight=4.2),
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make_toggles(nudgeless=True),
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)
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assert helper.desire == log.Desire.none
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def test_nav_desires_ambiguous_off_ramp_waits_longer_before_keep_right():
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helper = DesireHelper()
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helper.nav_desires_allowed = True
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helper._update_nav_params = lambda: None
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helper._nav_instruction_state = {
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"valid": True,
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"maneuverType": "off ramp",
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"maneuverModifier": "right",
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"activeLaneDirection": "slightRight",
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"sameSideLaneCount": 3,
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"maneuverDistance": 120.0,
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}
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helper.update(
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make_car_state(vEgo=22.5),
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True,
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0.0,
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make_plan(laneWidthRight=4.2),
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make_toggles(nudgeless=True),
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)
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assert helper.desire == log.Desire.none
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def test_nav_desires_edge_exit_lane_with_shared_transition_lane_does_not_keep_right():
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helper = DesireHelper()
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helper.nav_desires_allowed = True
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helper._update_nav_params = lambda: None
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helper._nav_instruction_state = {
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"valid": True,
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"maneuverType": "off ramp",
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"maneuverModifier": "right",
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"activeLaneDirection": "slightRight",
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"laneCount": 3,
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"sameSideLaneCount": 2,
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"activeLaneAtRoadEdge": True,
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"hasSharedSameSideLane": True,
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"maneuverDistance": 10.0,
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}
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helper.update(
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make_car_state(vEgo=22.5),
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True,
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0.0,
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make_plan(laneWidthRight=4.2),
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make_toggles(nudgeless=True),
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)
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assert helper.desire == log.Desire.none
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def test_nav_desires_wide_highway_edge_exit_lane_keeps_right():
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helper = DesireHelper()
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helper.nav_desires_allowed = True
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helper._update_nav_params = lambda: None
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helper._nav_instruction_state = {
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"valid": True,
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"maneuverType": "off ramp",
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"maneuverModifier": "right",
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"activeLaneDirection": "slightRight",
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"laneCount": 7,
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"sameSideLaneCount": 2,
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"activeLaneAtRoadEdge": True,
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"hasSharedSameSideLane": True,
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"maneuverDistance": 105.0,
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}
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helper.update(
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make_car_state(vEgo=19.0, steeringPressed=True, steeringTorque=-1.0),
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True,
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0.0,
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make_plan(laneWidthRight=4.2),
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make_toggles(nudgeless=True),
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)
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assert helper.desire == log.Desire.keepRight
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def test_nav_desires_shared_transition_lane_keeps_when_active_lane_is_not_outermost():
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helper = DesireHelper()
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helper.nav_desires_allowed = True
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helper._update_nav_params = lambda: None
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helper._nav_instruction_state = {
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"valid": True,
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"maneuverType": "off ramp",
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"maneuverModifier": "right",
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"activeLaneDirection": "slightRight",
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"sameSideLaneCount": 2,
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"activeLaneAtRoadEdge": False,
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"hasSharedSameSideLane": True,
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"maneuverDistance": 10.0,
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}
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helper.update(
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make_car_state(vEgo=22.5, steeringPressed=True, steeringTorque=-1.0),
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True,
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0.0,
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make_plan(laneWidthRight=4.2),
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make_toggles(nudgeless=True),
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)
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assert helper.desire == log.Desire.keepRight
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def test_nav_desires_ambiguous_fork_slight_right_only_keeps_close_to_split():
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helper = DesireHelper()
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helper.nav_desires_allowed = True
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helper._update_nav_params = lambda: None
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helper._nav_instruction_state = {
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"valid": True,
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"maneuverType": "fork",
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"maneuverModifier": "slightRight",
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"activeLaneDirection": "slightRight",
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"sameSideLaneCount": 3,
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"maneuverDistance": 60.0,
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}
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helper.update(
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make_car_state(vEgo=22.5, steeringPressed=True, steeringTorque=-1.0),
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True,
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0.0,
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make_plan(laneWidthRight=4.2),
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make_toggles(nudgeless=True),
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)
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assert helper.desire == log.Desire.keepRight
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def test_nav_desires_ambiguous_fork_slight_right_does_not_nudge_too_early():
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helper = DesireHelper()
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helper.nav_desires_allowed = True
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helper._update_nav_params = lambda: None
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helper._nav_instruction_state = {
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"valid": True,
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"maneuverType": "fork",
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"maneuverModifier": "slightRight",
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"activeLaneDirection": "slightRight",
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"sameSideLaneCount": 3,
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"maneuverDistance": 120.0,
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}
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helper.update(
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make_car_state(vEgo=22.5),
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True,
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0.0,
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make_plan(laneWidthRight=4.2),
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make_toggles(nudgeless=True),
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)
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assert helper.desire == log.Desire.none
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def test_nav_desires_fork_with_active_straight_lane_does_not_turn_left():
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helper = DesireHelper()
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helper.nav_desires_allowed = True
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helper._update_nav_params = lambda: None
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helper._nav_instruction_state = {
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"valid": True,
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"maneuverType": "fork",
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"maneuverModifier": "left",
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"activeLaneDirection": "straight",
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"maneuverDistance": 15.0,
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}
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helper.update(
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make_car_state(vEgo=5.0),
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True,
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0.0,
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make_plan(laneWidthLeft=4.2),
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make_toggles(nudgeless=True, minimum_lane_change_speed=10.0),
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)
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assert helper.desire == log.Desire.none
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def test_nav_desires_do_not_override_lane_change_state_machine():
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helper = DesireHelper()
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helper.nav_desires_allowed = True
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helper._update_nav_params = lambda: None
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helper._nav_instruction_state = {"valid": True, "maneuverModifier": "slightRight"}
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helper.lane_change_state = LaneChangeState.laneChangeStarting
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helper.lane_change_direction = LaneChangeDirection.left
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helper.lane_change_ll_prob = 0.5
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helper.update(
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make_car_state(vEgo=25.0, leftBlinker=True),
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True,
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0.5,
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make_plan(),
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make_toggles(),
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)
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assert helper.desire == log.Desire.laneChangeLeft
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def test_lane_changes_require_cruise_blocks_blinker_lane_change_without_cruise():
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helper = DesireHelper()
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helper.update(
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make_car_state(leftBlinker=True, cruiseState=SimpleNamespace(enabled=False)),
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True,
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0.0,
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make_plan(),
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make_toggles(lane_changes_require_cruise=True),
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)
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assert helper.lane_change_state == LaneChangeState.off
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assert helper.lane_change_direction == LaneChangeDirection.none
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assert helper.desire == log.Desire.none
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def test_lane_changes_require_cruise_allows_blinker_lane_change_with_cruise():
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helper = DesireHelper()
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helper.update(
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make_car_state(leftBlinker=True, cruiseState=SimpleNamespace(enabled=True)),
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True,
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0.0,
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make_plan(),
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make_toggles(lane_changes_require_cruise=True),
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)
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assert helper.lane_change_state == LaneChangeState.preLaneChange
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assert helper.lane_change_direction == LaneChangeDirection.left
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def test_lane_changes_without_cruise_requirement_keep_existing_behavior():
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helper = DesireHelper()
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helper.update(
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make_car_state(leftBlinker=True, cruiseState=SimpleNamespace(enabled=False)),
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True,
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0.0,
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make_plan(),
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make_toggles(lane_changes_require_cruise=False),
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)
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assert helper.lane_change_state == LaneChangeState.preLaneChange
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assert helper.lane_change_direction == LaneChangeDirection.left
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def test_nudgeless_only_when_engaged_allows_automatic_lane_change_when_engaged():
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helper = DesireHelper()
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for _ in range(2):
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helper.update(
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make_car_state(leftBlinker=True),
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True,
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0.0,
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make_plan(),
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make_toggles(nudgeless_lane_change_only_when_engaged=True),
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controls_enabled=True,
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)
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assert helper.lane_change_state == LaneChangeState.laneChangeStarting
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assert helper.lane_change_direction == LaneChangeDirection.left
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def test_nudgeless_only_when_engaged_requires_nudge_when_aol_only():
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helper = DesireHelper()
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toggles = make_toggles(nudgeless_lane_change_only_when_engaged=True)
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for _ in range(2):
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helper.update(
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make_car_state(leftBlinker=True),
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True,
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0.0,
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make_plan(),
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toggles,
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controls_enabled=False,
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)
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assert helper.lane_change_state == LaneChangeState.preLaneChange
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assert helper.lane_change_direction == LaneChangeDirection.left
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helper.update(
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make_car_state(leftBlinker=True, steeringPressed=True, steeringTorque=1.0),
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True,
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0.0,
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make_plan(),
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toggles,
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controls_enabled=False,
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)
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assert helper.lane_change_state == LaneChangeState.laneChangeStarting
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assert helper.lane_change_direction == LaneChangeDirection.left
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def test_nav_desires_nudgeless_only_when_engaged_blocks_keep_when_aol_only():
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helper = DesireHelper()
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helper.nav_desires_allowed = True
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helper._update_nav_params = lambda: None
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helper._nav_instruction_state = {"valid": True, "maneuverModifier": "slightLeft"}
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helper.update(
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make_car_state(vEgo=20.0),
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True,
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0.0,
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make_plan(laneWidthLeft=4.2),
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make_toggles(nudgeless=True, nudgeless_lane_change_only_when_engaged=True),
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controls_enabled=False,
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)
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assert helper.desire == log.Desire.none
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helper.update(
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make_car_state(vEgo=20.0, steeringPressed=True, steeringTorque=-1.0),
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True,
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0.0,
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make_plan(laneWidthRight=4.2),
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make_toggles(nav_desires_allowed=True, nav_lane_positioning_allowed=False, nudgeless=True),
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)
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assert helper.desire == log.Desire.none
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def test_turn_desire_fires_below_lane_change_speed_when_no_stop():
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helper = DesireHelper()
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helper.update(
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make_car_state(vEgo=5.0, rightBlinker=True),
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True,
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0.0,
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make_plan(),
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make_toggles(use_turn_desires=True, minimum_lane_change_speed=10.0),
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)
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assert helper.desire == log.Desire.turnRight
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def test_turn_desire_held_while_stopping_for_red_light():
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helper = DesireHelper()
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helper.update(
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make_car_state(vEgo=5.0, rightBlinker=True),
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True,
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0.0,
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make_plan(redLight=True),
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make_toggles(use_turn_desires=True, minimum_lane_change_speed=10.0),
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)
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assert helper.turn_stop_hold
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assert helper.desire == log.Desire.none
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def test_turn_desire_released_after_stop_completes():
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helper = DesireHelper()
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toggles = make_toggles(use_turn_desires=True, minimum_lane_change_speed=10.0)
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|
|
helper.update(make_car_state(vEgo=5.0, rightBlinker=True), True, 0.0, make_plan(redLight=True), toggles)
|
|
assert helper.desire == log.Desire.none
|
|
|
|
helper.update(make_car_state(vEgo=0.0, rightBlinker=True, standstill=True), True, 0.0, make_plan(redLight=True), toggles)
|
|
assert not helper.turn_stop_hold
|
|
|
|
helper.update(make_car_state(vEgo=2.0, rightBlinker=True), True, 0.0, make_plan(), toggles)
|
|
assert helper.desire == log.Desire.turnRight
|
|
|
|
|
|
def test_nav_desires_disabled_leave_desire_unchanged():
|
|
helper = DesireHelper()
|
|
helper._update_nav_params = lambda: None
|
|
helper._nav_instruction_state = {"valid": True, "maneuverModifier": "left"}
|
|
|
|
helper.update(
|
|
make_car_state(vEgo=5.0),
|
|
True,
|
|
0.0,
|
|
make_plan(),
|
|
make_toggles(minimum_lane_change_speed=10.0, nav_desires_allowed=False),
|
|
)
|
|
|
|
assert helper.desire == log.Desire.none
|
|
|
|
|
|
def test_disabling_nav_desires_clears_active_route_desire_immediately():
|
|
helper = DesireHelper()
|
|
helper._update_nav_params = lambda: None
|
|
helper._nav_instruction_state = {"valid": True, "maneuverModifier": "slightRight"}
|
|
car_state = make_car_state(vEgo=20.0, steeringPressed=True, steeringTorque=-1.0)
|
|
plan = make_plan(laneWidthRight=4.2)
|
|
|
|
helper.update(car_state, True, 0.0, plan, make_toggles(nav_desires_allowed=True, nav_lane_positioning_allowed=True))
|
|
assert helper.desire == log.Desire.keepRight
|
|
|
|
helper.update(car_state, True, 0.0, plan, make_toggles(nav_desires_allowed=False, nav_lane_positioning_allowed=True))
|
|
assert helper.desire == log.Desire.none
|
|
|
|
|
|
def test_nav_lane_positioning_requires_driver_confirmation():
|
|
helper = DesireHelper()
|
|
helper._update_nav_params = lambda: None
|
|
helper._nav_instruction_state = {"valid": True, "maneuverModifier": "slightRight"}
|
|
|
|
helper.update(
|
|
make_car_state(vEgo=20.0),
|
|
True,
|
|
0.0,
|
|
make_plan(laneWidthRight=4.2),
|
|
make_toggles(nav_desires_allowed=True, nav_lane_positioning_allowed=True, nudgeless=True),
|
|
)
|
|
|
|
assert helper.desire == log.Desire.none
|
|
|
|
helper.update(
|
|
make_car_state(vEgo=20.0, steeringPressed=True, steeringTorque=-1.0),
|
|
True,
|
|
0.0,
|
|
make_plan(laneWidthRight=4.2),
|
|
make_toggles(nav_desires_allowed=True, nav_lane_positioning_allowed=False, nudgeless=True),
|
|
)
|
|
|
|
assert helper.desire == log.Desire.none
|