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 RssSituationCheckingTestsOppositeDirection : public testing::Test
17 : : {
18 : : protected:
19 : 10 : virtual void SetUp()
20 : : {
21 : 10 : situation.situationType = SituationType::OppositeDirection;
22 : 10 : }
23 : :
24 : 10 : virtual void TearDown()
25 : : {
26 : 10 : }
27 : : VehicleState correctVehicle;
28 : : VehicleState oppositeVehicle;
29 : : Situation situation;
30 : : state::RssState rssState;
31 : : world::TimeIndex timeIndex{1u};
32 : : };
33 : :
34 : 2 : TEST_F(RssSituationCheckingTestsOppositeDirection, 50kmh_brake_min_correct)
35 : : {
36 : 1 : RssStructuredSceneNonIntersectionChecker checker;
37 [ + - ]: 1 : correctVehicle = createVehicleStateForLongitudinalMotion(50);
38 [ + - ]: 1 : oppositeVehicle = createVehicleStateForLongitudinalMotion(50);
39 : 1 : oppositeVehicle.isInCorrectLane = false;
40 : :
41 : 1 : situation.egoVehicleState = correctVehicle;
42 : 1 : situation.otherVehicleState = oppositeVehicle;
43 [ + - ]: 1 : situation.relativePosition = createRelativeLongitudinalPosition(LongitudinalRelativePosition::AtBack, Distance(178.));
44 : :
45 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
46 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState,
- + - - -
- - - ]
47 : : TestSupport::stateWithInformation(cTestSupport.cLongitudinalBrakeMinCorrect, situation));
48 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateLeft, TestSupport::stateWithInformation(cTestSupport.cLateralBrakeMin, situation));
- + - - -
- - - ]
49 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateRight, TestSupport::stateWithInformation(cTestSupport.cLateralBrakeMin, situation));
- + - - -
- - - ]
50 : : }
51 : :
52 : 2 : TEST_F(RssSituationCheckingTestsOppositeDirection, 50kmh_shorter_ego_reaction_time)
53 : : {
54 : 1 : RssStructuredSceneNonIntersectionChecker checker;
55 [ + - ]: 1 : correctVehicle = createVehicleStateForLongitudinalMotion(50);
56 : 1 : correctVehicle.dynamics.responseTime = Duration(1.);
57 [ + - ]: 1 : oppositeVehicle = createVehicleStateForLongitudinalMotion(50);
58 : 1 : oppositeVehicle.isInCorrectLane = false;
59 : :
60 : 1 : situation.egoVehicleState = correctVehicle;
61 : 1 : situation.otherVehicleState = oppositeVehicle;
62 : :
63 [ + - ]: 1 : situation.relativePosition = createRelativeLongitudinalPosition(LongitudinalRelativePosition::AtBack, Distance(178.));
64 : :
65 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
66 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState, TestSupport::stateWithInformation(cTestSupport.cLongitudinalSafe, situation));
- + - - -
- - - ]
67 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateLeft, TestSupport::stateWithInformation(cTestSupport.cLateralNone, situation));
- + - - -
- - - ]
68 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateRight, TestSupport::stateWithInformation(cTestSupport.cLateralNone, situation));
- + - - -
- - - ]
69 : :
70 [ + - ]: 1 : situation.relativePosition = createRelativeLongitudinalPosition(LongitudinalRelativePosition::AtBack, Distance(150.));
71 : :
72 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
73 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState,
- + - - -
- - - ]
74 : : TestSupport::stateWithInformation(cTestSupport.cLongitudinalBrakeMinCorrect, situation));
75 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateLeft, TestSupport::stateWithInformation(cTestSupport.cLateralNone, situation));
- + - - -
- - - ]
76 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateRight, TestSupport::stateWithInformation(cTestSupport.cLateralNone, situation));
- + - - -
- - - ]
77 : : }
78 : :
79 : 2 : TEST_F(RssSituationCheckingTestsOppositeDirection, 50kmh_safe)
80 : : {
81 : 1 : RssStructuredSceneNonIntersectionChecker checker;
82 [ + - ]: 1 : correctVehicle = createVehicleStateForLongitudinalMotion(50);
83 [ + - ]: 1 : oppositeVehicle = createVehicleStateForLongitudinalMotion(50);
84 : 1 : oppositeVehicle.isInCorrectLane = false;
85 : :
86 : 1 : situation.egoVehicleState = correctVehicle;
87 : 1 : situation.otherVehicleState = oppositeVehicle;
88 [ + - ]: 1 : situation.relativePosition = createRelativeLongitudinalPosition(LongitudinalRelativePosition::AtBack, Distance(197.));
89 : :
90 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
91 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState, TestSupport::stateWithInformation(cTestSupport.cLongitudinalSafe, situation));
- + - - -
- - - ]
92 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateLeft, TestSupport::stateWithInformation(cTestSupport.cLateralNone, situation));
- + - - -
- - - ]
93 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateRight, TestSupport::stateWithInformation(cTestSupport.cLateralNone, situation));
- + - - -
- - - ]
94 : : }
95 : :
96 : 2 : TEST_F(RssSituationCheckingTestsOppositeDirection, 50kmh_BrakeMinCorrect)
97 : : {
98 : 1 : RssStructuredSceneNonIntersectionChecker checker;
99 [ + - ]: 1 : correctVehicle = createVehicleStateForLongitudinalMotion(50);
100 [ + - ]: 1 : oppositeVehicle = createVehicleStateForLongitudinalMotion(50);
101 : 1 : oppositeVehicle.isInCorrectLane = false;
102 : :
103 : 1 : situation.egoVehicleState = correctVehicle;
104 : 1 : situation.otherVehicleState = oppositeVehicle;
105 [ + - ]: 1 : situation.relativePosition = createRelativeLongitudinalPosition(LongitudinalRelativePosition::AtBack, Distance(196.));
106 : :
107 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
108 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState,
- + - - -
- - - ]
109 : : TestSupport::stateWithInformation(cTestSupport.cLongitudinalBrakeMinCorrect, situation));
110 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateLeft, TestSupport::stateWithInformation(cTestSupport.cLateralBrakeMin, situation));
- + - - -
- - - ]
111 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateRight, TestSupport::stateWithInformation(cTestSupport.cLateralBrakeMin, situation));
- + - - -
- - - ]
112 : : }
113 : :
114 : 2 : TEST_F(RssSituationCheckingTestsOppositeDirection, 50kmh_response_1s_safe)
115 : : {
116 : 1 : RssStructuredSceneNonIntersectionChecker checker;
117 [ + - ]: 1 : correctVehicle = createVehicleStateForLongitudinalMotion(50);
118 : 1 : correctVehicle.dynamics.responseTime = Duration(1.);
119 [ + - ]: 1 : oppositeVehicle = createVehicleStateForLongitudinalMotion(50);
120 : 1 : oppositeVehicle.isInCorrectLane = false;
121 : :
122 : 1 : situation.egoVehicleState = correctVehicle;
123 : 1 : situation.otherVehicleState = oppositeVehicle;
124 [ + - ]: 1 : situation.relativePosition = createRelativeLongitudinalPosition(LongitudinalRelativePosition::AtBack, Distance(196.));
125 : :
126 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
127 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState, TestSupport::stateWithInformation(cTestSupport.cLongitudinalSafe, situation));
- + - - -
- - - ]
128 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateLeft, TestSupport::stateWithInformation(cTestSupport.cLateralNone, situation));
- + - - -
- - - ]
129 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateRight, TestSupport::stateWithInformation(cTestSupport.cLateralNone, situation));
- + - - -
- - - ]
130 : : }
131 : :
132 : 2 : TEST_F(RssSituationCheckingTestsOppositeDirection, 50kmh_brake_min_correct_ego_vehicle_in_front)
133 : : {
134 : 1 : RssStructuredSceneNonIntersectionChecker checker;
135 [ + - ]: 1 : correctVehicle = createVehicleStateForLongitudinalMotion(50);
136 [ + - ]: 1 : oppositeVehicle = createVehicleStateForLongitudinalMotion(50);
137 : 1 : oppositeVehicle.isInCorrectLane = false;
138 : :
139 : 1 : situation.egoVehicleState = correctVehicle;
140 : 1 : situation.otherVehicleState = oppositeVehicle;
141 : : situation.relativePosition
142 [ + - ]: 1 : = createRelativeLongitudinalPosition(LongitudinalRelativePosition::InFront, Distance(178.7));
143 : :
144 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
145 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState,
- + - - -
- - - ]
146 : : TestSupport::stateWithInformation(cTestSupport.cLongitudinalBrakeMinCorrect, situation));
147 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateLeft, TestSupport::stateWithInformation(cTestSupport.cLateralBrakeMin, situation));
- + - - -
- - - ]
148 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateRight, TestSupport::stateWithInformation(cTestSupport.cLateralBrakeMin, situation));
- + - - -
- - - ]
149 : : }
150 : :
151 : 2 : TEST_F(RssSituationCheckingTestsOppositeDirection, 50kmh_vehicles_at_same_position)
152 : : {
153 : 1 : RssStructuredSceneNonIntersectionChecker checker;
154 [ + - ]: 1 : correctVehicle = createVehicleStateForLongitudinalMotion(50);
155 [ + - ]: 1 : oppositeVehicle = createVehicleStateForLongitudinalMotion(50);
156 : 1 : oppositeVehicle.isInCorrectLane = false;
157 : :
158 : 1 : situation.egoVehicleState = correctVehicle;
159 : 1 : situation.otherVehicleState = oppositeVehicle;
160 : : situation.relativePosition
161 [ + - ]: 1 : = createRelativeLongitudinalPosition(LongitudinalRelativePosition::OverlapFront, Distance(0.));
162 : :
163 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
164 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState,
- + - - -
- - - ]
165 : : TestSupport::stateWithInformation(cTestSupport.cLongitudinalBrakeMinCorrect, situation));
166 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateLeft, TestSupport::stateWithInformation(cTestSupport.cLateralBrakeMin, situation));
- + - - -
- - - ]
167 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateRight, TestSupport::stateWithInformation(cTestSupport.cLateralBrakeMin, situation));
- + - - -
- - - ]
168 : : }
169 : :
170 : 2 : TEST_F(RssSituationCheckingTestsOppositeDirection, incorrect_vehicle_state_ego)
171 : : {
172 : 1 : RssStructuredSceneNonIntersectionChecker checker;
173 [ + - ]: 1 : correctVehicle = createVehicleStateForLongitudinalMotion(50);
174 [ + - ]: 1 : oppositeVehicle = createVehicleStateForLongitudinalMotion(50);
175 : 1 : oppositeVehicle.isInCorrectLane = false;
176 : :
177 : 1 : correctVehicle.dynamics.alphaLon.brakeMin = Acceleration(-1);
178 : :
179 : 1 : situation.egoVehicleState = correctVehicle;
180 : 1 : situation.otherVehicleState = oppositeVehicle;
181 : : situation.relativePosition
182 [ + - ]: 1 : = createRelativeLongitudinalPosition(LongitudinalRelativePosition::AtBack, Distance(178.7));
183 : :
184 [ + - - + : 1 : ASSERT_FALSE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
185 : : }
186 : :
187 : 2 : TEST_F(RssSituationCheckingTestsOppositeDirection, incorrect_vehicle_state_other)
188 : : {
189 : 1 : RssStructuredSceneNonIntersectionChecker checker;
190 [ + - ]: 1 : correctVehicle = createVehicleStateForLongitudinalMotion(50);
191 [ + - ]: 1 : oppositeVehicle = createVehicleStateForLongitudinalMotion(50);
192 : 1 : oppositeVehicle.isInCorrectLane = false;
193 : :
194 : 1 : oppositeVehicle.dynamics.alphaLon.brakeMin = Acceleration(-1.);
195 : :
196 : 1 : situation.egoVehicleState = correctVehicle;
197 : 1 : situation.otherVehicleState = oppositeVehicle;
198 : : situation.relativePosition
199 [ + - ]: 1 : = createRelativeLongitudinalPosition(LongitudinalRelativePosition::AtBack, Distance(178.7));
200 : :
201 [ + - - + : 1 : ASSERT_FALSE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
202 : : }
203 : :
204 : 2 : TEST_F(RssSituationCheckingTestsOppositeDirection, 50kmh_brake_min_ego_opposite)
205 : : {
206 : 1 : RssStructuredSceneNonIntersectionChecker checker;
207 [ + - ]: 1 : correctVehicle = createVehicleStateForLongitudinalMotion(50);
208 [ + - ]: 1 : oppositeVehicle = createVehicleStateForLongitudinalMotion(50);
209 : 1 : oppositeVehicle.isInCorrectLane = false;
210 : :
211 : 1 : situation.egoVehicleState = oppositeVehicle;
212 : 1 : situation.otherVehicleState = correctVehicle;
213 : : situation.relativePosition
214 [ + - ]: 1 : = createRelativeLongitudinalPosition(LongitudinalRelativePosition::InFront, Distance(178.7));
215 : :
216 [ + - - + : 1 : ASSERT_TRUE(checker.calculateRssStateNonIntersection(timeIndex++, situation, rssState));
- - - - -
- - - ]
217 [ + - + - : 1 : ASSERT_EQ(rssState.longitudinalState,
- + - - -
- - - ]
218 : : TestSupport::stateWithInformation(cTestSupport.cLongitudinalBrakeMin, situation));
219 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateLeft, TestSupport::stateWithInformation(cTestSupport.cLateralBrakeMin, situation));
- + - - -
- - - ]
220 [ + - + - : 1 : ASSERT_EQ(rssState.lateralStateRight, TestSupport::stateWithInformation(cTestSupport.cLateralBrakeMin, situation));
- + - - -
- - - ]
221 : : }
222 : :
223 : : } // namespace situation
224 : : } // namespace rss
225 : : } // namespace ad
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