141 lines
6.2 KiB
Python
141 lines
6.2 KiB
Python
from parameterized import parameterized
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from iqpilot.cereal import car, log
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from iqdbc.car.car_helpers import interfaces
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from iqdbc.car.honda.values import CAR as HONDA
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from iqdbc.car.toyota.values import CAR as TOYOTA
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from iqdbc.car.nissan.values import CAR as NISSAN
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from iqdbc.car.gm.values import CAR as GM
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from iqdbc.car.volkswagen.values import CAR as VOLKSWAGEN
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from iqdbc.car.vehicle_model import VehicleModel
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from iqpilot.common.realtime import DT_CTRL
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from iqpilot.selfdrive.car.helpers import convert_to_capnp
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from iqpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
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from iqpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
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from iqpilot.selfdrive.controls.lib.latcontrol_torque_pq import LatControlTorquePQ
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from iqpilot.selfdrive.controls.lib.latcontrol_torque_v0 import LatControlTorqueV0, is_vw_mqb_torque
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import iqpilot.selfdrive.controls.lib.latcontrol_torque_pq as latcontrol_torque_pq
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from iqpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
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from iqpilot.selfdrive.locationd.helpers import Pose
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from iqpilot.common.mock.generators import generate_deviceMotion
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from iqpilot.selfdrive.car import interfaces as iqpilot_interfaces
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class TestLatControl:
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@staticmethod
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def build_pq_controller():
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car_name = TOYOTA.TOYOTA_RAV4
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CarInterface = interfaces[car_name]
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CP = CarInterface.get_non_essential_params(car_name)
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CP_IQ = CarInterface.get_non_essential_params_iq(CP, car_name)
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CI = CarInterface(CP, CP_IQ)
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iqpilot_interfaces.apply_iq_car_config(CI)
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return CP, LatControlTorquePQ(CP.as_reader(), convert_to_capnp(CP_IQ).as_reader(), CI, DT_CTRL)
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@staticmethod
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def build_v0_controller():
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car_name = TOYOTA.TOYOTA_RAV4
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CarInterface = interfaces[car_name]
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CP = CarInterface.get_non_essential_params(car_name)
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CP_IQ = CarInterface.get_non_essential_params_iq(CP, car_name)
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CI = CarInterface(CP, CP_IQ)
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iqpilot_interfaces.apply_iq_car_config(CI)
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return CP, LatControlTorqueV0(CP.as_reader(), convert_to_capnp(CP_IQ).as_reader(), CI, DT_CTRL)
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@parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque), (TOYOTA.TOYOTA_RAV4, LatControlTorqueV0),
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(NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)])
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def test_saturation(self, car_name, controller):
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CarInterface = interfaces[car_name]
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CP = CarInterface.get_non_essential_params(car_name)
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CP_IQ = CarInterface.get_non_essential_params_iq(CP, car_name)
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CI = CarInterface(CP, CP_IQ)
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iqpilot_interfaces.apply_iq_car_config(CI)
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CP_IQ = convert_to_capnp(CP_IQ)
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VM = VehicleModel(CP)
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controller = controller(CP.as_reader(), CP_IQ.as_reader(), CI, DT_CTRL)
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CS = car.CarState.new_message()
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CS.vEgo = 30
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CS.steeringPressed = False
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params = log.VehicleParameters.new_message()
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lp = generate_deviceMotion()
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pose = Pose.from_live_pose(lp.deviceMotion)
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# Saturate for curvature limited and controller limited
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for _ in range(1000):
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_, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True, 0.2)
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assert lac_log.saturated
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for _ in range(1000):
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_, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False, 0.2)
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assert not lac_log.saturated
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for _ in range(1000):
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_, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False, 0.2)
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assert lac_log.saturated
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def test_pq_controller_update(self):
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CP, controller = self.build_pq_controller()
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VM = VehicleModel(CP)
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CS = car.CarState.new_message()
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CS.vEgo = 30
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params = log.VehicleParameters.new_message()
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pose = Pose.from_live_pose(generate_deviceMotion().deviceMotion)
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_, _, lac_log = controller.update(True, CS, VM, params, False, 0.001, pose, False, 0.2)
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assert lac_log.active
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def test_v0_uses_current_lateral_acceleration_setpoint(self):
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CP, controller = self.build_v0_controller()
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VM = VehicleModel(CP)
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CS = car.CarState.new_message(vEgo=30)
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params = log.VehicleParameters.new_message()
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pose = Pose.from_live_pose(generate_deviceMotion().deviceMotion)
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_, _, lac_log = controller.update(True, CS, VM, params, False, 0.001, pose, False, 0.3)
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assert lac_log.version == 0
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assert abs(lac_log.desiredLateralAccel - 0.9) < 1e-6
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def test_v0_platform_selection(self):
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mqb_interface = interfaces[VOLKSWAGEN.VOLKSWAGEN_PASSAT_MK8]
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mqb_params = mqb_interface.get_non_essential_params(VOLKSWAGEN.VOLKSWAGEN_PASSAT_MK8)
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assert is_vw_mqb_torque(mqb_params)
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for car_name in (VOLKSWAGEN.VOLKSWAGEN_PASSAT_MK7, VOLKSWAGEN.VOLKSWAGEN_GOLF_MK8,
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VOLKSWAGEN.VOLKSWAGEN_ID4_MK1, VOLKSWAGEN.AUDI_A4_MK4, TOYOTA.TOYOTA_RAV4):
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CarInterface = interfaces[car_name]
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assert not is_vw_mqb_torque(CarInterface.get_non_essential_params(car_name))
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def test_pq_controller_inactive_lookahead_and_slew_reset(self):
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CP, controller = self.build_pq_controller()
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controller.curvature_lookahead_enabled = True
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controller.lateral_acceleration_slew_limiter.enabled = True
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VM = VehicleModel(CP)
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CS = car.CarState.new_message(vEgo=30)
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params = log.VehicleParameters.new_message()
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pose = Pose.from_live_pose(generate_deviceMotion().deviceMotion)
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torque, angle, lac_log = controller.update(False, CS, VM, params, False, 0.001, pose, False, 0.2, lookahead_curvature=0.002)
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assert torque == 0.0
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assert angle == 0.0
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assert not lac_log.active
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assert controller.lateral_acceleration_slew_limiter.a_lim == 1.8
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def test_pq_live_torque_update_freeze_and_unfreeze(self, monkeypatch):
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_, controller = self.build_pq_controller()
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initial = (controller.torque_params.latAccelFactor, controller.torque_params.latAccelOffset, controller.torque_params.friction)
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controller.update_live_torque_params(3.0, 0.2, 0.4)
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assert (controller.torque_params.latAccelFactor, controller.torque_params.latAccelOffset, controller.torque_params.friction) == initial
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monkeypatch.setattr(latcontrol_torque_pq, "FREEZE_LIVE_TORQUE_PARAMS", False)
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controller.update_live_torque_params(3.0, 0.2, 0.4)
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assert controller.torque_params.latAccelFactor == 3.0
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assert abs(controller.torque_params.latAccelOffset - 0.2) < 1e-6
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assert abs(controller.torque_params.friction - 0.4) < 1e-6
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