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test LatControlSteerModel

steering_model
Jonathan Frey 2022-01-31 15:30:22 +01:00
parent 0ab4f0618e
commit 7b9668db9f
1 changed files with 3 additions and 1 deletions
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4
selfdrive/controls/lib/tests/test_latcontrol.py
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@ -12,12 +12,14 @@ from selfdrive.controls.lib.latcontrol_pid import LatControlPID
from selfdrive.controls.lib.latcontrol_lqr import LatControlLQR
from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
from selfdrive.controls.lib.latcontrol_angle import LatControlAngle
from selfdrive.controls.lib.latcontrol_steer_model import LatControlSteerModel
from selfdrive.controls.lib.vehicle_model import VehicleModel
class TestLatControl(unittest.TestCase):
@parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlLQR), (TOYOTA.PRIUS, LatControlINDI), (NISSAN.LEAF, LatControlAngle)])
@parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlLQR), (TOYOTA.PRIUS, LatControlINDI),
(NISSAN.LEAF, LatControlAngle), (TOYOTA.COROLLA_TSS2, LatControlSteerModel)])
def test_saturation(self, car_name, controller):
CarInterface, CarController, CarState = interfaces[car_name]
CP = CarInterface.get_params(car_name)