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/RssStructuredSceneNonIntersectionChecker.hpp"
11 : :
12 : : namespace ad {
13 : : namespace rss {
14 : : namespace situation {
15 : :
16 : : class RssSituationCheckingTestsLateral : public testing::Test
17 : : {
18 : : protected:
19 : 8 : virtual void SetUp()
20 : : {
21 : 8 : situation.situationType = SituationType::SameDirection;
22 : 8 : situation.situationId = SituationId(111);
23 : 8 : }
24 : :
25 : 8 : virtual void TearDown()
26 : : {
27 : 8 : }
28 : : VehicleState leftVehicle;
29 : : VehicleState rightVehicle;
30 : : Situation situation;
31 : : state::RssState rssState;
32 : : world::TimeIndex timeIndex{1u};
33 : : };
34 : :
35 : 2 : TEST_F(RssSituationCheckingTestsLateral, safe_left)
36 : : {
37 : 1 : RssStructuredSceneNonIntersectionChecker checker;
38 [ + - ]: 1 : leftVehicle = createVehicleStateForLateralMotion(1);
39 [ + - ]: 1 : rightVehicle = createVehicleStateForLateralMotion(1);
40 : :
41 : 1 : situation.egoVehicleState = leftVehicle;
42 : 1 : situation.otherVehicleState = rightVehicle;
43 [ + - ]: 1 : situation.relativePosition = createRelativeLateralPosition(LateralRelativePosition::AtLeft, Distance(95.));
44 : :
45 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
46 : :
47 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateRight, TestSupport::stateWithInformation(cTestSupport.cLateralSafe, situation));
- + - - -
- - - ]
48 [ + - - + : 1 : ASSERT_EQ(rssState.lateralStateLeft, cTestSupport.cLateralSafe);
- - - - -
- ]
49 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState, TestSupport::stateWithInformation(cTestSupport.cLongitudinalNone, situation));
- + - - -
- - - ]
50 : : }
51 : :
52 : 2 : TEST_F(RssSituationCheckingTestsLateral, not_safe_overlap_left)
53 : : {
54 : 1 : RssStructuredSceneNonIntersectionChecker checker;
55 [ + - ]: 1 : leftVehicle = createVehicleStateForLateralMotion(1);
56 [ + - ]: 1 : rightVehicle = createVehicleStateForLateralMotion(1);
57 : :
58 : 1 : situation.egoVehicleState = leftVehicle;
59 : 1 : situation.otherVehicleState = rightVehicle;
60 [ + - ]: 1 : situation.relativePosition = createRelativeLateralPosition(LateralRelativePosition::OverlapLeft);
61 : :
62 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
63 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateRight, TestSupport::stateWithInformation(cTestSupport.cLateralBrakeMin, situation));
- + - - -
- - - ]
64 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateLeft, TestSupport::stateWithInformation(cTestSupport.cLateralSafe, situation));
- + - - -
- - - ]
65 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState,
- + - - -
- - - ]
66 : : TestSupport::stateWithInformation(cTestSupport.cLongitudinalBrakeMin, situation));
67 : : }
68 : :
69 : 2 : TEST_F(RssSituationCheckingTestsLateral, not_safe_overlap)
70 : : {
71 : 1 : RssStructuredSceneNonIntersectionChecker checker;
72 [ + - ]: 1 : leftVehicle = createVehicleStateForLateralMotion(1);
73 [ + - ]: 1 : rightVehicle = createVehicleStateForLateralMotion(1);
74 : :
75 : 1 : situation.egoVehicleState = leftVehicle;
76 : 1 : situation.otherVehicleState = rightVehicle;
77 [ + - ]: 1 : situation.relativePosition = createRelativeLateralPosition(LateralRelativePosition::Overlap);
78 : :
79 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
80 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateRight, TestSupport::stateWithInformation(cTestSupport.cLateralBrakeMin, situation));
- + - - -
- - - ]
81 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateLeft, TestSupport::stateWithInformation(cTestSupport.cLateralBrakeMin, situation));
- + - - -
- - - ]
82 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState,
- + - - -
- - - ]
83 : : TestSupport::stateWithInformation(cTestSupport.cLongitudinalBrakeMin, situation));
84 : : }
85 : :
86 : 2 : TEST_F(RssSituationCheckingTestsLateral, not_safe_overlap_right)
87 : : {
88 : 1 : RssStructuredSceneNonIntersectionChecker checker;
89 [ + - ]: 1 : leftVehicle = createVehicleStateForLateralMotion(1);
90 [ + - ]: 1 : rightVehicle = createVehicleStateForLateralMotion(1);
91 : :
92 : 1 : situation.egoVehicleState = leftVehicle;
93 : 1 : situation.otherVehicleState = rightVehicle;
94 [ + - ]: 1 : situation.relativePosition = createRelativeLateralPosition(LateralRelativePosition::OverlapRight);
95 : :
96 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
97 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateRight, TestSupport::stateWithInformation(cTestSupport.cLateralSafe, situation));
- + - - -
- - - ]
98 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateLeft, TestSupport::stateWithInformation(cTestSupport.cLateralBrakeMin, situation));
- + - - -
- - - ]
99 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState,
- + - - -
- - - ]
100 : : TestSupport::stateWithInformation(cTestSupport.cLongitudinalBrakeMin, situation));
101 : : }
102 : :
103 : 2 : TEST_F(RssSituationCheckingTestsLateral, safe_right)
104 : : {
105 : 1 : RssStructuredSceneNonIntersectionChecker checker;
106 [ + - ]: 1 : leftVehicle = createVehicleStateForLateralMotion(1);
107 [ + - ]: 1 : rightVehicle = createVehicleStateForLateralMotion(1);
108 : :
109 : 1 : situation.egoVehicleState = leftVehicle;
110 : 1 : situation.otherVehicleState = rightVehicle;
111 [ + - ]: 1 : situation.relativePosition = createRelativeLateralPosition(LateralRelativePosition::AtRight, Distance(95.));
112 : :
113 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
114 [ + - - + : 1 : ASSERT_EQ(rssState.lateralStateRight, cTestSupport.cLateralSafe);
- - - - -
- ]
115 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateLeft, TestSupport::stateWithInformation(cTestSupport.cLateralSafe, situation));
- + - - -
- - - ]
116 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState, TestSupport::stateWithInformation(cTestSupport.cLongitudinalNone, situation));
- + - - -
- - - ]
117 : : }
118 : :
119 : 2 : TEST_F(RssSituationCheckingTestsLateral, both_move_right)
120 : : {
121 : 1 : RssStructuredSceneNonIntersectionChecker checker;
122 [ + - ]: 1 : leftVehicle = createVehicleStateForLateralMotion(1);
123 [ + - ]: 1 : rightVehicle = createVehicleStateForLateralMotion(1);
124 : :
125 : 1 : situation.egoVehicleState = leftVehicle;
126 : 1 : situation.otherVehicleState = rightVehicle;
127 [ + - ]: 1 : situation.relativePosition = createRelativeLateralPosition(LateralRelativePosition::AtLeft, Distance(0.02));
128 : :
129 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
130 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateRight, TestSupport::stateWithInformation(cTestSupport.cLateralBrakeMin, situation));
- + - - -
- - - ]
131 [ + - - + : 1 : ASSERT_EQ(rssState.lateralStateLeft, cTestSupport.cLateralSafe);
- - - - -
- ]
132 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState,
- + - - -
- - - ]
133 : : TestSupport::stateWithInformation(cTestSupport.cLongitudinalBrakeMin, situation));
134 : : }
135 : :
136 : 2 : TEST_F(RssSituationCheckingTestsLateral, move_towards_each_other)
137 : : {
138 : 1 : RssStructuredSceneNonIntersectionChecker checker;
139 [ + - ]: 1 : leftVehicle = createVehicleStateForLateralMotion(1);
140 [ + - ]: 1 : rightVehicle = createVehicleStateForLateralMotion(-1);
141 : :
142 : 1 : situation.egoVehicleState = leftVehicle;
143 : 1 : situation.otherVehicleState = rightVehicle;
144 [ + - ]: 1 : situation.relativePosition = createRelativeLateralPosition(LateralRelativePosition::AtLeft, Distance(0.02));
145 : :
146 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
147 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateRight, TestSupport::stateWithInformation(cTestSupport.cLateralBrakeMin, situation));
- + - - -
- - - ]
148 [ + - - + : 1 : ASSERT_EQ(rssState.lateralStateLeft, cTestSupport.cLateralSafe);
- - - - -
- ]
149 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState,
- + - - -
- - - ]
150 : : TestSupport::stateWithInformation(cTestSupport.cLongitudinalBrakeMin, situation));
151 : : }
152 : :
153 : 2 : TEST_F(RssSituationCheckingTestsLateral, check_input_range)
154 : : {
155 : 1 : RssStructuredSceneNonIntersectionChecker checker;
156 [ + - ]: 1 : leftVehicle = createVehicleStateForLateralMotion(0);
157 [ + - ]: 1 : rightVehicle = createVehicleStateForLateralMotion(0);
158 : :
159 : : // ego vehicle "moves" towards right vehicle from left
160 : 1 : situation.egoVehicleState = leftVehicle;
161 : 1 : situation.otherVehicleState = rightVehicle;
162 [ + + ]: 10 : for (uint32_t i = 10; i > 1; i--)
163 : : {
164 [ + - ]: 9 : situation.relativePosition = createRelativeLateralPosition(LateralRelativePosition::AtLeft, Distance(i));
165 : :
166 [ + - - + : 9 : ASSERT_TRUE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
167 [ + - + - : 9 : ASSERT_EQ(rssState.lateralStateRight, TestSupport::stateWithInformation(cTestSupport.cLateralSafe, situation));
- + - - -
- - - ]
168 [ + - - + : 9 : ASSERT_EQ(rssState.lateralStateLeft, cTestSupport.cLateralSafe);
- - - - -
- ]
169 [ + - + - : 9 : ASSERT_EQ(rssState.longitudinalState, TestSupport::stateWithInformation(cTestSupport.cLongitudinalNone, situation));
- + - - -
- - - ]
170 : : }
171 : :
172 : : // near enough: trigger brake
173 [ + - ]: 1 : situation.relativePosition = createRelativeLateralPosition(LateralRelativePosition::AtLeft, Distance(1));
174 : :
175 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
176 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateRight, TestSupport::stateWithInformation(cTestSupport.cLateralBrakeMin, situation));
- + - - -
- - - ]
177 [ + - - + : 1 : ASSERT_EQ(rssState.lateralStateLeft, cTestSupport.cLateralSafe);
- - - - -
- ]
178 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState, TestSupport::stateWithInformation(cTestSupport.cLongitudinalNone, situation));
- + - - -
- - - ]
179 : :
180 : : // ego vehicle overlaps on left side
181 [ + - ]: 1 : situation.relativePosition = createRelativeLateralPosition(LateralRelativePosition::OverlapLeft);
182 : :
183 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
184 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateRight, TestSupport::stateWithInformation(cTestSupport.cLateralBrakeMin, situation));
- + - - -
- - - ]
185 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateLeft, TestSupport::stateWithInformation(cTestSupport.cLateralSafe, situation));
- + - - -
- - - ]
186 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState, TestSupport::stateWithInformation(cTestSupport.cLongitudinalNone, situation));
- + - - -
- - - ]
187 : :
188 : : // ego vehicle totally overlaps with other vehicle
189 [ + - ]: 1 : situation.relativePosition = createRelativeLateralPosition(LateralRelativePosition::Overlap);
190 : :
191 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
192 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateRight, TestSupport::stateWithInformation(cTestSupport.cLateralBrakeMin, situation));
- + - - -
- - - ]
193 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateLeft, TestSupport::stateWithInformation(cTestSupport.cLateralBrakeMin, situation));
- + - - -
- - - ]
194 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState, TestSupport::stateWithInformation(cTestSupport.cLongitudinalNone, situation));
- + - - -
- - - ]
195 : :
196 : : // ego vehicle overlaps on right side
197 [ + - ]: 1 : situation.relativePosition = createRelativeLateralPosition(LateralRelativePosition::OverlapRight);
198 : :
199 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
200 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateRight, TestSupport::stateWithInformation(cTestSupport.cLateralSafe, situation));
- + - - -
- - - ]
201 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateLeft, TestSupport::stateWithInformation(cTestSupport.cLateralBrakeMin, situation));
- + - - -
- - - ]
202 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState, TestSupport::stateWithInformation(cTestSupport.cLongitudinalNone, situation));
- + - - -
- - - ]
203 : :
204 : : // ego vehicle still too near, but on right side
205 [ + - ]: 1 : situation.relativePosition = createRelativeLateralPosition(LateralRelativePosition::AtRight, Distance(1));
206 : :
207 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
208 [ + - - + : 1 : ASSERT_EQ(rssState.lateralStateRight, cTestSupport.cLateralSafe);
- - - - -
- ]
209 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateLeft, TestSupport::stateWithInformation(cTestSupport.cLateralBrakeMin, situation));
- + - - -
- - - ]
210 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState, TestSupport::stateWithInformation(cTestSupport.cLongitudinalNone, situation));
- + - - -
- - - ]
211 : :
212 : : // ego vehicle far enough on right side
213 [ + + ]: 9 : for (uint32_t i = 2; i < 10; i++)
214 : : {
215 [ + - ]: 8 : situation.relativePosition = createRelativeLateralPosition(LateralRelativePosition::AtRight, Distance(i));
216 [ + - - + : 8 : ASSERT_TRUE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
217 [ + - - + : 8 : ASSERT_EQ(rssState.lateralStateRight, cTestSupport.cLateralSafe);
- - - - -
- ]
218 [ + - + - : 8 : ASSERT_EQ(rssState.lateralStateLeft, TestSupport::stateWithInformation(cTestSupport.cLateralSafe, situation));
- + - - -
- - - ]
219 [ + - + - : 8 : ASSERT_EQ(rssState.longitudinalState, TestSupport::stateWithInformation(cTestSupport.cLongitudinalNone, situation));
- + - - -
- - - ]
220 : : }
221 : : }
222 : :
223 : : } // namespace situation
224 : : } // namespace rss
225 : : } // namespace ad
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