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test

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This commit is contained in:
rav4kumar
2026-08-27 10:46:16 -07:00
parent 5cb315fcdf
commit e5286a871c
2 changed files with 17 additions and 5 deletions
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openpilot/sunnypilot/selfdrive/controls/lib/accel_controller/accel_controller.py
+12 -4
View File
@@ -21,9 +21,14 @@ MAX_ACCEL_PROFILES = {
AccelProfile.sport: [2.00, 2.00, 1.86, 1.30, 1.02, 0.86, 0.72],
}
CRUISE_DECEL_RESPONSE_TIME = { # seconds
AccelProfile.eco: 3.0,
AccelProfile.normal: 2.5,
AccelProfile.sport: 2.0,
AccelProfile.eco: 4.0,
AccelProfile.normal: 3.5,
AccelProfile.sport: 3.0,
}
CRUISE_DECEL_ACCEL = { # m/s^2; comfort-first cruise deceleration target
AccelProfile.eco: -0.35,
AccelProfile.normal: -0.50,
AccelProfile.sport: -0.65,
}
@@ -54,4 +59,7 @@ class AccelController:
if not np.isfinite(v_target) or v_target <= 0.0 or v_target >= v_ego:
return v_target
return float(v_ego + (v_target - v_ego) / CRUISE_DECEL_RESPONSE_TIME[self._profile])
response_time = CRUISE_DECEL_RESPONSE_TIME[self._profile]
target_delta = v_target - v_ego
target_delta = max(target_delta / response_time, CRUISE_DECEL_ACCEL[self._profile] * response_time)
return float(v_ego + target_delta)
openpilot/sunnypilot/selfdrive/controls/lib/accel_controller/tests/test_accel_controller.py
+5 -1
View File
@@ -15,7 +15,7 @@ from openpilot.selfdrive.controls.lib.longitudinal_planner import (
A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS, A_CRUISE_MIN, J_CRUISE_VALS, get_cruise_accel,
)
from openpilot.sunnypilot.selfdrive.controls.lib.accel_controller.accel_controller import (
AccelController, AccelProfile, CRUISE_DECEL_RESPONSE_TIME, MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES,
AccelController, AccelProfile, CRUISE_DECEL_ACCEL, CRUISE_DECEL_RESPONSE_TIME, MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES,
)
@@ -121,6 +121,8 @@ class TestAccelController(OpenpilotTestCase):
assert np.isclose(targets[profile] - v_ego, (v_target - v_ego) / CRUISE_DECEL_RESPONSE_TIME[profile])
assert v_ego > targets[AccelProfile.eco] > targets[AccelProfile.normal] > targets[AccelProfile.sport] > v_target
assert all(CRUISE_DECEL_RESPONSE_TIME[profile] >= 3.0 for profile in (AccelProfile.eco, AccelProfile.normal, AccelProfile.sport))
assert all(CRUISE_DECEL_ACCEL[profile] < 0.0 for profile in (AccelProfile.eco, AccelProfile.normal, AccelProfile.sport))
def test_cruise_target_bypasses_non_decel_requests(self):
controller = self.set_profile(AccelProfile.eco)
@@ -145,6 +147,7 @@ class TestAccelController(OpenpilotTestCase):
controller.frame = int(1.0 / DT_MDL) - 1
controller.update()
assert controller.profile == AccelProfile.sport
assert controller.frame == 0
def test_enabled_param_refresh(self):
controller = self.set_profile(AccelProfile.normal)
@@ -152,6 +155,7 @@ class TestAccelController(OpenpilotTestCase):
controller.frame = int(1.0 / DT_MDL) - 1
controller.update()
assert not controller.is_enabled()
assert controller.frame == 0
class TestPlannerIntegration(OpenpilotTestCase):