github-actions[bot]
f8e13417f2
date: 2026-08-15T14:20:10 master commit: d48cfa730bf21593b684efeaf3fd8940695e1dea
71 lines
2.5 KiB
Python
Executable File
71 lines
2.5 KiB
Python
Executable File
#!/usr/bin/env python3
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import unittest
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import importlib
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from opendbc.testing import parameterized_class
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from opendbc.car import DT_CTRL
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from opendbc.car.car_helpers import interfaces
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from opendbc.car.interfaces import get_torque_params
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from opendbc.car.lateral import ISO_LATERAL_ACCEL
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from opendbc.car.values import PLATFORMS
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# ISO 11270 - allowed up jerk is strictly lower than recommended limits
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MAX_LAT_JERK_UP = 2.5 # m/s^3
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MAX_LAT_JERK_DOWN = 5.0 # m/s^3
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MAX_LAT_JERK_UP_TOLERANCE = 0.5 # m/s^3
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# jerk is measured over half a second
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JERK_MEAS_T = 0.5
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@parameterized_class('car_model', [(c,) for c in sorted(PLATFORMS)])
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class TestLateralLimits(unittest.TestCase):
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car_model: str
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@classmethod
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def setUpClass(cls):
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if 'car_model' not in cls.__dict__:
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raise unittest.SkipTest('Base class')
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CarInterface = interfaces[cls.car_model]
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CP = CarInterface.get_non_essential_params(cls.car_model)
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_ = CarInterface.get_non_essential_params_sp(CP, cls.car_model)
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if cls.car_model == 'MOCK':
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raise unittest.SkipTest('Mock car')
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# TODO: test all platforms
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if CP.steerControlType != 'torque':
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raise unittest.SkipTest
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if CP.notCar:
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raise unittest.SkipTest
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CarControllerParams = importlib.import_module(f'opendbc.car.{CP.brand}.values').CarControllerParams
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cls.control_params = CarControllerParams(CP)
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cls.torque_params = get_torque_params()[cls.car_model]
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@staticmethod
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def calculate_0_5s_jerk(control_params, torque_params):
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steer_step = control_params.STEER_STEP
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max_lat_accel = torque_params['MAX_LAT_ACCEL_MEASURED']
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# Steer up/down delta per 10ms frame, in percentage of max torque
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steer_up_per_frame = control_params.STEER_DELTA_UP / control_params.STEER_MAX / steer_step
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steer_down_per_frame = control_params.STEER_DELTA_DOWN / control_params.STEER_MAX / steer_step
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# Lateral acceleration reached in 0.5 seconds, clipping to max torque
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accel_up_0_5_sec = min(steer_up_per_frame * JERK_MEAS_T / DT_CTRL, 1.0) * max_lat_accel
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accel_down_0_5_sec = min(steer_down_per_frame * JERK_MEAS_T / DT_CTRL, 1.0) * max_lat_accel
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# Convert to m/s^3
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return accel_up_0_5_sec / JERK_MEAS_T, accel_down_0_5_sec / JERK_MEAS_T
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def test_jerk_limits(self):
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up_jerk, down_jerk = self.calculate_0_5s_jerk(self.control_params, self.torque_params)
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assert up_jerk <= MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE
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assert down_jerk <= MAX_LAT_JERK_DOWN
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def test_max_lateral_accel(self):
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assert self.torque_params["MAX_LAT_ACCEL_MEASURED"] <= ISO_LATERAL_ACCEL
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