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Tests: parameterize following distance test (#29734)

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* split

* parameterize it
old-commit-hash: 4aff2621d340dbb188c845746cb1ffd1381b5306
This commit is contained in:
Justin Newberry
2023-08-31 13:41:02 -07:00
committed by GitHub
parent 3eb6774ce3
commit 42966979db
1 changed files with 15 additions and 13 deletions
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28
selfdrive/controls/tests/test_following_distance.py
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@@ -1,5 +1,8 @@
#!/usr/bin/env python3
import unittest
import itertools
from parameterized import parameterized_class
from openpilot.common.params import Params
from cereal import log
@@ -23,22 +26,21 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False):
return output[-1,2] - output[-1,1]
@parameterized_class(("e2e", "personality", "speed"), itertools.product(
[True, False], # e2e
[log.LongitudinalPersonality.relaxed, # personality
log.LongitudinalPersonality.standard,
log.LongitudinalPersonality.aggressive],
[0,10,35])) # speed
class TestFollowingDistance(unittest.TestCase):
def test_following_distance(self):
params = Params()
personalities = [log.LongitudinalPersonality.relaxed,
log.LongitudinalPersonality.standard,
log.LongitudinalPersonality.aggressive]
for personality in personalities:
params.put("LongitudinalPersonality", str(personality))
for e2e in [False, True]:
for speed in [0,10,35]:
print(f'Testing {speed} m/s')
v_lead = float(speed)
simulation_steady_state = run_following_distance_simulation(v_lead, e2e=e2e)
correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(personality))
err_ratio = 0.2 if e2e else 0.1
self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5))
params.put("LongitudinalPersonality", str(self.personality))
v_lead = float(self.speed)
simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e)
correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality))
err_ratio = 0.2 if self.e2e else 0.1
self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5))
if __name__ == "__main__":