IQ.Lvbs/IQ.Pilot
8
7
Fork 2
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

IQ.Pilot Release Commit @ 1399ceb

Browse Source
This commit is contained in:
IQ.Lvbs CI [bot]
2026-08-26 00:54:03 -05:00
parent 31a37f5a3c
commit 0d844a5ca2
31 changed files with 227 additions and 56 deletions
Download Patch File Download Diff File Expand all files Collapse all files

36
iqpilot/selfdrive/controls/tests/test_latcontrol.py
View File

@@ -6,12 +6,14 @@ from iqdbc.car.honda.values import CAR as HONDA
from iqdbc.car.toyota.values import CAR as TOYOTA
from iqdbc.car.nissan.values import CAR as NISSAN
from iqdbc.car.gm.values import CAR as GM
from iqdbc.car.volkswagen.values import CAR as VOLKSWAGEN
from iqdbc.car.vehicle_model import VehicleModel
from iqpilot.common.realtime import DT_CTRL
from iqpilot.selfdrive.car.helpers import convert_to_capnp
from iqpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
from iqpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
from iqpilot.selfdrive.controls.lib.latcontrol_torque_pq import LatControlTorquePQ
from iqpilot.selfdrive.controls.lib.latcontrol_torque_v0 import LatControlTorqueV0, is_vw_mqb_torque
import iqpilot.selfdrive.controls.lib.latcontrol_torque_pq as latcontrol_torque_pq
from iqpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
from iqpilot.selfdrive.locationd.helpers import Pose
@@ -31,7 +33,17 @@ class TestLatControl:
iqpilot_interfaces.apply_iq_car_config(CI)
return CP, LatControlTorquePQ(CP.as_reader(), convert_to_capnp(CP_IQ).as_reader(), CI, DT_CTRL)
@parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
@staticmethod
def build_v0_controller():
car_name = TOYOTA.TOYOTA_RAV4
CarInterface = interfaces[car_name]
CP = CarInterface.get_non_essential_params(car_name)
CP_IQ = CarInterface.get_non_essential_params_iq(CP, car_name)
CI = CarInterface(CP, CP_IQ)
iqpilot_interfaces.apply_iq_car_config(CI)
return CP, LatControlTorqueV0(CP.as_reader(), convert_to_capnp(CP_IQ).as_reader(), CI, DT_CTRL)
@parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque), (TOYOTA.TOYOTA_RAV4, LatControlTorqueV0),
(NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)])
def test_saturation(self, car_name, controller):
CarInterface = interfaces[car_name]
@@ -78,6 +90,28 @@ class TestLatControl:
_, _, lac_log = controller.update(True, CS, VM, params, False, 0.001, pose, False, 0.2)
assert lac_log.active
def test_v0_uses_current_lateral_acceleration_setpoint(self):
CP, controller = self.build_v0_controller()
VM = VehicleModel(CP)
CS = car.CarState.new_message(vEgo=30)
params = log.VehicleParameters.new_message()
pose = Pose.from_live_pose(generate_deviceMotion().deviceMotion)
_, _, lac_log = controller.update(True, CS, VM, params, False, 0.001, pose, False, 0.3)
assert lac_log.version == 0
assert abs(lac_log.desiredLateralAccel - 0.9) < 1e-6
def test_v0_platform_selection(self):
mqb_interface = interfaces[VOLKSWAGEN.VOLKSWAGEN_PASSAT_MK8]
mqb_params = mqb_interface.get_non_essential_params(VOLKSWAGEN.VOLKSWAGEN_PASSAT_MK8)
assert is_vw_mqb_torque(mqb_params)
for car_name in (VOLKSWAGEN.VOLKSWAGEN_PASSAT_MK7, VOLKSWAGEN.VOLKSWAGEN_GOLF_MK8,
VOLKSWAGEN.VOLKSWAGEN_ID4_MK1, VOLKSWAGEN.AUDI_A4_MK4, TOYOTA.TOYOTA_RAV4):
CarInterface = interfaces[car_name]
assert not is_vw_mqb_torque(CarInterface.get_non_essential_params(car_name))
def test_pq_controller_inactive_lookahead_and_slew_reset(self):
CP, controller = self.build_pq_controller()
controller.curvature_lookahead_enabled = True