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firestar5683
97 lines
3.5 KiB
Python
97 lines
3.5 KiB
Python
from openpilot.selfdrive.controls.lib.lead_behavior import (
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get_tracked_lead_catchup_bias,
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is_radarless_matched_follow_window,
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should_track_lead,
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should_disable_far_lead_throttle,
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)
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def test_tracked_lead_catchup_bias_for_hanging_gap():
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bias = get_tracked_lead_catchup_bias(31.4, 78.7, 38.0, 0.1)
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assert bias > 10.0
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def test_tracked_lead_catchup_bias_ignores_near_desired_gap():
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bias = get_tracked_lead_catchup_bias(31.4, 50.0, 38.0, 0.1)
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assert bias == 0.0
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def test_tracked_lead_catchup_bias_ignores_very_far_gap():
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bias = get_tracked_lead_catchup_bias(31.4, 110.0, 38.0, 0.1)
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assert bias == 0.0
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def test_tracked_lead_catchup_bias_applies_to_two_second_highway_gap():
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bias = get_tracked_lead_catchup_bias(30.4, 63.0, 40.0, 0.4)
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assert bias > 14.0
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def test_tracked_lead_catchup_bias_stays_off_once_at_set_speed():
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bias = get_tracked_lead_catchup_bias(31.4, 78.7, 38.0, 0.1, v_cruise=31.4)
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assert bias == 0.0
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def test_disable_far_lead_throttle_rejects_two_second_plus_gap():
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should_disable = should_disable_far_lead_throttle(31.4, 78.7, 38.0, 0.1, False)
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assert not should_disable
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def test_disable_far_lead_throttle_keeps_mild_coast_near_target_gap():
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should_disable = should_disable_far_lead_throttle(31.4, 52.0, 38.0, 0.5, False)
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assert should_disable
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def test_disable_far_lead_throttle_rejects_fast_closing():
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should_disable = should_disable_far_lead_throttle(31.4, 52.0, 38.0, 3.5, False)
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assert not should_disable
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def test_disable_far_lead_throttle_rejects_route_like_highway_stab_case():
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should_disable = should_disable_far_lead_throttle(34.69, 68.5, 63.0, 2.31, False)
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assert not should_disable
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def test_disable_far_lead_throttle_rejects_large_gap_near_pace_matched_case():
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should_disable = should_disable_far_lead_throttle(32.43, 72.4, 56.0, 1.30, False)
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assert not should_disable
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def test_should_track_lead_keeps_radar_leads_on_model_horizon():
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assert should_track_lead(True, 95.0, 100.0, 6.0, 30.0, v_lead=25.0, radar=True)
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def test_should_track_lead_rejects_far_vision_only_highway_lead():
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assert not should_track_lead(True, 82.0, 140.0, 6.0, 29.0, v_lead=25.0, radar=False)
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def test_should_track_lead_accepts_closer_vision_only_highway_lead():
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assert should_track_lead(True, 56.0, 140.0, 6.0, 29.0, v_lead=25.0, radar=False)
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def test_should_track_lead_accepts_fast_closing_vision_lead_early():
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assert should_track_lead(True, 90.0, 140.0, 6.0, 20.0, v_lead=0.0, radar=False)
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def test_radarless_matched_follow_window_accepts_pace_matched_highway_follow():
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assert is_radarless_matched_follow_window(31.0, 48.0, 30.4, 1.45, radar=False, lead_brake=0.05, lead_prob=0.95)
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def test_radarless_matched_follow_window_rejects_large_relative_speed():
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assert not is_radarless_matched_follow_window(31.0, 48.0, 27.5, 1.45, radar=False, lead_brake=0.05, lead_prob=0.95)
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def test_radarless_matched_follow_window_rejects_far_headway():
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assert not is_radarless_matched_follow_window(31.0, 82.0, 30.4, 1.45, radar=False, lead_brake=0.05, lead_prob=0.95)
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def test_radarless_matched_follow_window_rejects_low_confidence_lead():
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assert not is_radarless_matched_follow_window(31.0, 48.0, 30.4, 1.45, radar=False, lead_brake=0.05, lead_prob=0.55)
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def test_radarless_matched_follow_window_keeps_default_low_speed_guard():
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assert not is_radarless_matched_follow_window(14.4, 25.4, 16.2, 1.25, radar=False, lead_brake=0.0, lead_prob=1.0)
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def test_radarless_matched_follow_window_accepts_lower_speed_when_requested():
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assert is_radarless_matched_follow_window(14.4, 25.4, 16.2, 1.25, radar=False, lead_brake=0.0, lead_prob=1.0, min_speed=12.0)
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