mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-02-23 01:53:52 +08:00
041458f632
* simplified change to mpc dynamics * add jerk pts * increase jerk cost * increase jerk pts multipler to master value * Add final commit * 1456d261-d232-4654-8885-4d9fde883894/440 ac1a6744-85b0-4ec6-8ba7-608d0717b8f1/750 * some copies are useful * update model replay ref * less frames in model replay onnx cpu * 1456d261-d232-4654-8885-4d9fde883894/440 264b67f5-3f52-4b58-b11f-58dd8aaf08bf/950 * 1456d261-d232-4654-8885-4d9fde883894/440 236fc556-fba3-4255-8ccf-684b22637160/950 * c9d10c64-bea4-41ec-8ca3-d8c886fda172/440 26d73dd2-862a-44ae-bbdd-32cc4f397ad7/900 * Fix couple tests * Update ref * Unused for now * Add lateral factor comment * Unused variable Co-authored-by: nuwandavek <vivekaithal44@gmail.com> Co-authored-by: Bruce Wayne <yassine@comma.ai> Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu> Co-authored-by: Bruce Wayne <batman@gpu06.internal>
88 lines
2.7 KiB
Python
88 lines
2.7 KiB
Python
import unittest
|
|
import numpy as np
|
|
from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
|
|
from selfdrive.controls.lib.drive_helpers import LAT_MPC_N, CAR_ROTATION_RADIUS
|
|
|
|
|
|
def run_mpc(lat_mpc=None, v_ref=30., x_init=0., y_init=0., psi_init=0., curvature_init=0.,
|
|
lane_width=3.6, poly_shift=0.):
|
|
|
|
if lat_mpc is None:
|
|
lat_mpc = LateralMpc()
|
|
lat_mpc.set_weights(1., 1., 1.)
|
|
|
|
y_pts = poly_shift * np.ones(LAT_MPC_N + 1)
|
|
heading_pts = np.zeros(LAT_MPC_N + 1)
|
|
curv_rate_pts = np.zeros(LAT_MPC_N + 1)
|
|
|
|
x0 = np.array([x_init, y_init, psi_init, curvature_init])
|
|
p = np.array([v_ref, CAR_ROTATION_RADIUS])
|
|
|
|
# converge in no more than 10 iterations
|
|
for _ in range(10):
|
|
lat_mpc.run(x0, p,
|
|
y_pts, heading_pts, curv_rate_pts)
|
|
return lat_mpc.x_sol
|
|
|
|
|
|
class TestLateralMpc(unittest.TestCase):
|
|
|
|
def _assert_null(self, sol, curvature=1e-6):
|
|
for i in range(len(sol)):
|
|
self.assertAlmostEqual(sol[0,i,1], 0., delta=curvature)
|
|
self.assertAlmostEqual(sol[0,i,2], 0., delta=curvature)
|
|
self.assertAlmostEqual(sol[0,i,3], 0., delta=curvature)
|
|
|
|
def _assert_simmetry(self, sol, curvature=1e-6):
|
|
for i in range(len(sol)):
|
|
self.assertAlmostEqual(sol[0,i,1], -sol[1,i,1], delta=curvature)
|
|
self.assertAlmostEqual(sol[0,i,2], -sol[1,i,2], delta=curvature)
|
|
self.assertAlmostEqual(sol[0,i,3], -sol[1,i,3], delta=curvature)
|
|
self.assertAlmostEqual(sol[0,i,0], sol[1,i,0], delta=curvature)
|
|
|
|
def test_straight(self):
|
|
sol = run_mpc()
|
|
self._assert_null(np.array([sol]))
|
|
|
|
def test_y_symmetry(self):
|
|
sol = []
|
|
for y_init in [-0.5, 0.5]:
|
|
sol.append(run_mpc(y_init=y_init))
|
|
self._assert_simmetry(np.array(sol))
|
|
|
|
def test_poly_symmetry(self):
|
|
sol = []
|
|
for poly_shift in [-1., 1.]:
|
|
sol.append(run_mpc(poly_shift=poly_shift))
|
|
self._assert_simmetry(np.array(sol))
|
|
|
|
def test_curvature_symmetry(self):
|
|
sol = []
|
|
for curvature_init in [-0.1, 0.1]:
|
|
sol.append(run_mpc(curvature_init=curvature_init))
|
|
self._assert_simmetry(np.array(sol))
|
|
|
|
def test_psi_symmetry(self):
|
|
sol = []
|
|
for psi_init in [-0.1, 0.1]:
|
|
sol.append(run_mpc(psi_init=psi_init))
|
|
self._assert_simmetry(np.array(sol))
|
|
|
|
def test_no_overshoot(self):
|
|
y_init = 1.
|
|
sol = run_mpc(y_init=y_init)
|
|
for y in list(sol[:,1]):
|
|
self.assertGreaterEqual(y_init, abs(y))
|
|
|
|
def test_switch_convergence(self):
|
|
lat_mpc = LateralMpc()
|
|
sol = run_mpc(lat_mpc=lat_mpc, poly_shift=30.0, v_ref=7.0)
|
|
right_psi_deg = np.degrees(sol[:,2])
|
|
sol = run_mpc(lat_mpc=lat_mpc, poly_shift=-30.0, v_ref=7.0)
|
|
left_psi_deg = np.degrees(sol[:,2])
|
|
np.testing.assert_almost_equal(right_psi_deg, -left_psi_deg, decimal=3)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|