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IQ.Pilot Release Commit @ ad2936b

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IQ.Lvbs CI [bot]
2026-07-23 11:30:23 -05:00
parent e8f92111ed
commit dd731279e6
23 changed files with 87 additions and 43 deletions
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25
selfdrive/controls/tests/test_longitudinal_planner.py
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@@ -2,7 +2,8 @@ import numpy as np
import pytest
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS
from openpilot.selfdrive.controls.lib.longitudinal_planner import get_e2e_accel
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalPlanSource
from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_candidates, get_e2e_accel
def model_velocity(v_ego, v_future):
@@ -29,3 +30,25 @@ class TestE2eCruiseConvergence:
])
def test_never_overrides_cruise_or_stop(self, v_ego, v_cruise, should_stop):
assert get_e2e_accel(v_ego, v_cruise, model_velocity(v_ego, v_ego + 5.0), -0.2, should_stop) == pytest.approx(-0.2)
class TestAccelCandidates:
MPC = (-0.2, LongitudinalPlanSource.lead0, True)
CRUISE = (0.5, LongitudinalPlanSource.cruise, False)
E2E = (0.1, LongitudinalPlanSource.e2e, False)
def test_e2e_without_lead_frees_model_from_mpc(self):
candidates = get_accel_candidates(True, False, self.MPC, self.CRUISE, self.E2E)
assert candidates == [self.CRUISE, self.E2E]
assert min(candidates, key=lambda c: c[0])[1] == LongitudinalPlanSource.e2e
assert not any(should_stop for _, _, should_stop in candidates)
def test_e2e_with_lead_keeps_mpc_safety_constraint(self):
candidates = get_accel_candidates(True, True, self.MPC, self.CRUISE, self.E2E)
assert candidates == [self.MPC, self.CRUISE, self.E2E]
assert min(candidates, key=lambda c: c[0])[1] == LongitudinalPlanSource.lead0
assert any(should_stop for _, _, should_stop in candidates)
def test_acc_without_lead_keeps_mpc_policy(self):
candidates = get_accel_candidates(False, False, self.MPC, self.CRUISE, self.E2E)
assert candidates == [self.MPC, self.CRUISE]