Branch data Line data Source code
1 : : // ----------------- BEGIN LICENSE BLOCK ---------------------------------
2 : : //
3 : : // Copyright (C) 2018-2021 Intel Corporation
4 : : //
5 : : // SPDX-License-Identifier: LGPL-2.1-only
6 : : //
7 : : // ----------------- END LICENSE BLOCK -----------------------------------
8 : :
9 : : #include "TestSupport.hpp"
10 : : #include "situation/RssStructuredSceneIntersectionChecker.hpp"
11 : :
12 : : namespace ad {
13 : : namespace rss {
14 : : namespace situation {
15 : :
16 : : class RssSituationCheckingTestsIntersectionPriority : public testing::Test
17 : : {
18 : : protected:
19 : 3 : virtual void SetUp()
20 : : {
21 : 3 : situation.situationType = SituationType::IntersectionEgoHasPriority;
22 : 3 : }
23 : :
24 : 3 : virtual void TearDown()
25 : : {
26 : 3 : }
27 : : VehicleState leadingVehicle;
28 : : VehicleState followingVehicle;
29 : : Situation situation;
30 : : state::RssState rssState;
31 : : world::TimeIndex timeIndex{1u};
32 : : };
33 : :
34 : 2 : TEST_F(RssSituationCheckingTestsIntersectionPriority, 50kmh_safe_distance_ego_leading)
35 : : {
36 : 1 : RssStructuredSceneIntersectionChecker checker;
37 [ + - ]: 1 : leadingVehicle = createVehicleStateForLongitudinalMotion(120);
38 : 1 : leadingVehicle.distanceToEnterIntersection = Distance(2.);
39 : 1 : leadingVehicle.distanceToLeaveIntersection = Distance(2.);
40 : 1 : leadingVehicle.dynamics.alphaLon.accelMax = Acceleration(2.);
41 : 1 : leadingVehicle.dynamics.alphaLon.brakeMin = Acceleration(-4.);
42 : 1 : leadingVehicle.hasPriority = true;
43 : :
44 [ + - ]: 1 : followingVehicle = createVehicleStateForLongitudinalMotion(30);
45 : 1 : followingVehicle.dynamics.alphaLon.accelMax = Acceleration(2.);
46 : 1 : followingVehicle.dynamics.alphaLon.brakeMin = Acceleration(-4.);
47 : 1 : followingVehicle.distanceToEnterIntersection = Distance(12.);
48 : 1 : followingVehicle.distanceToLeaveIntersection = Distance(12.);
49 : :
50 : 1 : situation.otherVehicleState = followingVehicle;
51 : 1 : situation.egoVehicleState = leadingVehicle;
52 [ + - ]: 1 : situation.relativePosition = createRelativeLongitudinalPosition(LongitudinalRelativePosition::InFront, Distance(10.));
53 : :
54 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
55 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState, TestSupport::stateWithInformation(cTestSupport.cLongitudinalSafe, situation));
- + - - -
- - - ]
56 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateLeft, TestSupport::stateWithInformation(cTestSupport.cLateralNone, situation));
- + - - -
- - - ]
57 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateRight, TestSupport::stateWithInformation(cTestSupport.cLateralNone, situation));
- + - - -
- - - ]
58 : : }
59 : :
60 : 2 : TEST_F(RssSituationCheckingTestsIntersectionPriority, 50kmh_safe_distance_ego_following)
61 : : {
62 : 1 : RssStructuredSceneIntersectionChecker checker;
63 [ + - ]: 1 : leadingVehicle = createVehicleStateForLongitudinalMotion(50);
64 : 1 : leadingVehicle.distanceToEnterIntersection = Distance(10.);
65 : 1 : leadingVehicle.distanceToLeaveIntersection = Distance(10.);
66 [ + - ]: 1 : followingVehicle = createVehicleStateForLongitudinalMotion(50);
67 : 1 : followingVehicle.dynamics.alphaLon.accelMax = Acceleration(2.);
68 : 1 : followingVehicle.dynamics.alphaLon.brakeMin = Acceleration(-4.);
69 : 1 : followingVehicle.distanceToEnterIntersection = Distance(70.);
70 : 1 : followingVehicle.distanceToLeaveIntersection = Distance(70.);
71 : :
72 : 1 : situation.otherVehicleState = leadingVehicle;
73 : 1 : situation.egoVehicleState = followingVehicle;
74 : 1 : situation.egoVehicleState.hasPriority = true;
75 [ + - ]: 1 : situation.relativePosition = createRelativeLongitudinalPosition(LongitudinalRelativePosition::AtBack, Distance(60.));
76 : :
77 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
78 [ - + - - : 1 : ASSERT_TRUE(rssState.longitudinalState.isSafe);
- - - - -
- ]
79 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState, TestSupport::stateWithInformation(cTestSupport.cLongitudinalSafe, situation));
- + - - -
- - - ]
80 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateLeft, TestSupport::stateWithInformation(cTestSupport.cLateralNone, situation));
- + - - -
- - - ]
81 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateRight, TestSupport::stateWithInformation(cTestSupport.cLateralNone, situation));
- + - - -
- - - ]
82 : : }
83 : :
84 : 2 : TEST_F(RssSituationCheckingTestsIntersectionPriority, 50km_h_stop_before_intersection)
85 : : {
86 : 1 : RssStructuredSceneIntersectionChecker checker;
87 [ + - ]: 1 : leadingVehicle = createVehicleStateForLongitudinalMotion(50);
88 : 1 : leadingVehicle.distanceToEnterIntersection = Distance(80.);
89 : 1 : leadingVehicle.distanceToLeaveIntersection = Distance(80.);
90 : 1 : leadingVehicle.dynamics.alphaLon.accelMax = Acceleration(2.);
91 : 1 : leadingVehicle.dynamics.alphaLon.brakeMin = Acceleration(-4.);
92 [ + - ]: 1 : followingVehicle = createVehicleStateForLongitudinalMotion(50);
93 : 1 : followingVehicle.dynamics.alphaLon.accelMax = Acceleration(2.);
94 : 1 : followingVehicle.dynamics.alphaLon.brakeMin = Acceleration(-4.);
95 : 1 : followingVehicle.distanceToEnterIntersection = Distance(110.);
96 : 1 : followingVehicle.distanceToLeaveIntersection = Distance(110.);
97 : :
98 : 1 : situation.otherVehicleState = leadingVehicle;
99 : 1 : situation.egoVehicleState = followingVehicle;
100 : 1 : situation.egoVehicleState.hasPriority = true;
101 [ + - ]: 1 : situation.relativePosition = createRelativeLongitudinalPosition(LongitudinalRelativePosition::AtBack, Distance(30.));
102 : :
103 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
104 [ - + - - : 1 : ASSERT_TRUE(rssState.longitudinalState.isSafe);
- - - - -
- ]
105 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState, TestSupport::stateWithInformation(cTestSupport.cLongitudinalSafe, situation));
- + - - -
- - - ]
106 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateLeft, TestSupport::stateWithInformation(cTestSupport.cLateralNone, situation));
- + - - -
- - - ]
107 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateRight, TestSupport::stateWithInformation(cTestSupport.cLateralNone, situation));
- + - - -
- - - ]
108 : :
109 : 1 : situation.otherVehicleState.distanceToEnterIntersection = Distance(70.);
110 : 1 : situation.otherVehicleState.distanceToLeaveIntersection = Distance(70.);
111 : 1 : situation.egoVehicleState.distanceToEnterIntersection = Distance(100.);
112 : 1 : situation.egoVehicleState.distanceToLeaveIntersection = Distance(100.);
113 [ + - ]: 1 : situation.relativePosition = createRelativeLongitudinalPosition(LongitudinalRelativePosition::Overlap, Distance(0.));
114 : :
115 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
116 [ - + - - : 1 : ASSERT_FALSE(rssState.longitudinalState.isSafe);
- - - - -
- ]
117 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState, TestSupport::stateWithInformation(cTestSupport.cLongitudinalNone, situation));
- + - - -
- - - ]
118 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateLeft, TestSupport::stateWithInformation(cTestSupport.cLateralNone, situation));
- + - - -
- - - ]
119 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateRight, TestSupport::stateWithInformation(cTestSupport.cLateralNone, situation));
- + - - -
- - - ]
120 : : }
121 : :
122 : : } // namespace situation
123 : : } // namespace rss
124 : : } // namespace ad
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