diff --git a/modules/control/controller/mpc_controller_test.cc b/modules/control/controller/mpc_controller_test.cc index 0e20c83b36c9c37b3ea937fa7405ca51ae473821..31d76d4b0e779d64908ab30669cc59446fe5fcb0 100644 --- a/modules/control/controller/mpc_controller_test.cc +++ b/modules/control/controller/mpc_controller_test.cc @@ -42,12 +42,13 @@ using apollo::common::VehicleStateProvider; class MPCControllerTest : public ::testing::Test, MPCController { public: - virtual void SetUp() { + virtual void SetupTestCase() { FLAGS_v = 4; - std::string control_conf_file = - "modules/control/testdata/conf/lincoln.pb.txt"; + FLAGS_use_mpc = true; + FLAGS_control_conf_file = + "modules/control/testdata/mpc_controller_test/lincoln.pb.txt "; ControlConf control_conf; - CHECK(apollo::common::util::GetProtoFromFile(control_conf_file, + CHECK(apollo::common::util::GetProtoFromFile(FLAGS_control_conf_file, &control_conf)); mpc_conf_ = control_conf.mpc_controller_conf(); @@ -116,7 +117,19 @@ TEST_F(MPCControllerTest, ComputeLateralErrors) { vehicle_state->linear_velocity(), vehicle_state->angular_velocity(), trajectory_analyzer, debug); - // TODO(QiL) : finalize test data once parameter tuning done. + double theta_error_expected = -0.03549; + double theta_error_dot_expected = 0.0044552856731; + double d_error_expected = 1.30917375441; + double d_error_dot_expected = 0.0; + double matched_theta_expected = -1.81266; + double matched_kappa_expected = -0.00237307; + + EXPECT_NEAR(debug->heading_error(), theta_error_expected, 0.001); + EXPECT_NEAR(debug->heading_error_rate(), theta_error_dot_expected, 0.001); + EXPECT_NEAR(debug->lateral_error(), d_error_expected, 0.001); + EXPECT_NEAR(debug->lateral_error_rate(), d_error_dot_expected, 0.001); + EXPECT_NEAR(debug->ref_heading(), matched_theta_expected, 0.001); + EXPECT_NEAR(debug->curvature(), matched_kappa_expected, 0.001); } } // namespace control diff --git a/modules/control/testdata/mpc_controller_test/lincoln.pb.txt b/modules/control/testdata/mpc_controller_test/lincoln.pb.txt new file mode 100644 index 0000000000000000000000000000000000000000..93ea5d30faa873530b1091a754dbea97dbcdf948 --- /dev/null +++ b/modules/control/testdata/mpc_controller_test/lincoln.pb.txt @@ -0,0 +1,13196 @@ +control_period: 0.01 +trajectory_period: 0.1 +chassis_period: 0.01 +localization_period: 0.01 +max_status_interval_sec: 0.1 +max_planning_interval_sec: 0.2 +max_planning_delay_threshold: 4.0 +action: STOP +soft_estop_brake: 50.0 +active_controllers: MPC_CONTROLLER +max_steering_percentage_allowed: 100 +minimum_speed_resolution: 0.2 +lat_controller_conf { + ts: 0.01 + preview_window: 0 + cf: 155494.663 + cr: 155494.663 + mass_fl: 520 + mass_fr: 520 + mass_rl: 520 + mass_rr: 520 + eps: 0.01 + matrix_q: 0.05 + matrix_q: 0.0 + matrix_q: 1.0 + matrix_q: 0.0 + cutoff_freq: 10 + mean_filter_window_size: 10 + max_iteration: 150 + max_lateral_acceleration: 5.0 + lat_err_gain_scheduler { + scheduler { + speed: 4.0 + ratio: 1.0 + } + scheduler { + speed: 8.0 + ratio: 0.6 + } + scheduler { + speed: 12.0 + ratio: 0.2 + } + scheduler { + speed: 20.0 + ratio: 0.1 + } + scheduler { + speed: 25.0 + ratio: 0.05 + } + } + heading_err_gain_scheduler { + scheduler { + speed: 4.0 + ratio: 1.0 + } + scheduler { + speed: 8.0 + ratio: 0.6 + } + scheduler { + speed: 12.0 + ratio: 0.4 + } + scheduler { + speed: 20.0 + ratio: 0.2 + } + scheduler { + speed: 25.0 + ratio: 0.1 + } + } +} +lon_controller_conf { + ts: 0.01 + brake_deadzone: 15.5 + throttle_deadzone: 18.0 + speed_controller_input_limit: 2.0 + station_error_limit: 2.0 + preview_window: 20.0 + standstill_acceleration: -3.0 + station_pid_conf { + integrator_enable: false + integrator_saturation_level: 0.3 + kp: 0.2 + ki: 0.0 + kd: 0.0 + } + low_speed_pid_conf { + integrator_enable: true + integrator_saturation_level: 0.3 + kp: 0.5 + ki: 0.3 + kd: 0.0 + } + high_speed_pid_conf { + integrator_enable: true + integrator_saturation_level: 0.3 + kp: 1.0 + ki: 0.3 + kd: 0.0 + } + switch_speed: 2.0 + pitch_angle_filter_conf { + cutoff_freq: 5 + } + calibration_table { + calibration { + speed: 0.0 + acceleration: -1.43 + command: -35.0 + } + calibration { + speed: 0.0 + acceleration: -1.28 + command: -27.0 + } + calibration { + speed: 0.0 + acceleration: -1.17 + command: -25.0 + } + calibration { + speed: 0.0 + acceleration: -1.02 + command: -30.0 + } + calibration { + speed: 0.0 + acceleration: -0.48 + command: -27.5 + } + calibration { + speed: 0.0 + acceleration: 0.09 + command: -20.0 + } + calibration { + speed: 0.0 + acceleration: 0.32 + command: -15.0 + } + calibration { + speed: 0.0 + acceleration: 0.35 + command: -17.0 + } + calibration { + speed: 0.0 + acceleration: 0.37 + command: 17.0 + } + calibration { + speed: 0.0 + acceleration: 0.39 + command: 15.0 + } + calibration { + speed: 0.0 + acceleration: 0.41 + command: -13.0 + } + calibration { + speed: 0.0 + acceleration: 0.72 + command: 20.0 + } + calibration { + speed: 0.0 + acceleration: 0.97 + 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