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提交 1c98f940 编写于 作者: Z Zhang Liangliang 提交者： Dong Li
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Planning: added a yeild test case in huanbaoyuan_bzone.

上级 c47e0700
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Showing with 1700 addition and 1121 deletion
modules/planning/integration_tests/huanbaoyuan_bzone_test.cc
浏览文件 @ 1c98f940
......@@ -53,5 +53,19 @@ TEST_F(HuangbaoyuanBzoneTest, follow_01) {
RUN_GOLDEN_TEST;
}
/*
* test yield a vehicle with short distance
* A follow test case
*/
TEST_F(HuangbaoyuanBzoneTest, yield_01) {
std::string seq_num = "2";
FLAGS_test_routing_response_file = seq_num + "_routing.pb.txt";
FLAGS_test_prediction_file = seq_num + "_prediction.pb.txt";
FLAGS_test_localization_file = seq_num + "_localization.pb.txt";
FLAGS_test_chassis_file = seq_num + "_chassis.pb.txt";
PlanningTestBase::SetUp();
RUN_GOLDEN_TEST;
}
} // namespace planning
} // namespace apollo
modules/planning/testdata/huanbaoyuan_bzone_test/2_chassis.pb.txt 0 → 100644
浏览文件 @ 1c98f940
engine_started: true
engine_rpm: 1754.25
speed_mps: 7.897222
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 15.666438
brake_percentage: 16.562141
steering_percentage: -0.063829787
steering_torque_nm: -0.125
parking_brake: false
driving_mode: COMPLETE_AUTO_DRIVE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1505101393.3468192
module_name: "chassis"
sequence_num: 282201
}
signal {
turn_signal: TURN_NONE
horn: false
}
modules/planning/testdata/huanbaoyuan_bzone_test/2_localization.pb.txt 0 → 100644
浏览文件 @ 1c98f940
header {
timestamp_sec: 1505101393.3447967
module_name: "localization"
sequence_num: 339279
}
pose {
position {
x: 431290.62080435769
y: 4434163.4986545779
z: 37.649068114347756
}
orientation {
qx: 0.013311572863710507
qy: -0.015911126320045706
qz: -0.98399622400351683
qw: 0.17697759528805437
}
linear_velocity {
x: 2.5814399587564454
y: -7.628428665599718
z: 0.037299487377163931
}
linear_acceleration {
x: -0.18383662202527579
y: -0.50694497810611439
z: -0.017856213299102652
}
angular_velocity {
x: -0.0073818565566837252
y: -0.020557571246561164
z: 0.0074780197974178928
}
heading: -1.2152603056341071
linear_acceleration_vrf {
x: 0.34940166934072847
y: 0.41033822782005736
z: -0.025474909802842449
}
angular_velocity_vrf {
x: 0.013931754337978606
y: 0.0169608813469603
z: 0.0071596820370750493
}
euler_angles {
x: 0.02058005938950478
y: -0.036032473302519442
z: -1.2152603056341069
}
}
modules/planning/testdata/huanbaoyuan_bzone_test/2_prediction.pb.txt 0 → 100644
浏览文件 @ 1c98f940
header {
timestamp_sec: 1505101393.3019331
module_name: "prediction"
sequence_num: 28068
}
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tracking_time: 57.699061155319214
type: UNKNOWN
timestamp: 0
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timestamp: 1505101393.3015127
predicted_period: 3
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perception_error_code: OK
modules/planning/testdata/huanbaoyuan_bzone_test/2_routing.pb.txt 0 → 100644
浏览文件 @ 1c98f940
header {
timestamp_sec: 1505101372.3203726
module_name: "routing"
sequence_num: 29
}
route {
road_info {
id: "131-72-64"
in_lane {
id: "64_1_-1"
s: 63.683761497934711
}
out_lane {
id: "72_1_-1"
s: 42.389566612060662
}
passage_region {
segment {
id: "64_1_-1"
start_s: 63.683761497934711
end_s: 144.45
}
segment {
id: "131_1_-1"
start_s: 0
end_s: 36.9394
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segment {
id: "72_1_-1"
start_s: 0
end_s: 42.389566612060662
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}
}
}
measurement {
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}
routing_request {
header {
timestamp_sec: 1505101372.320029
module_name: "dreamview"
sequence_num: 35
}
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}
map_version: "1.400000"
error_code {
error_id: SUCCESS
error_string: "Success!"
}
modules/planning/testdata/huanbaoyuan_bzone_test/result_follow_01_0.pb.txt
浏览文件 @ 1c98f940
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......
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