sunnyvale: add sunnyvale loop change lane failback integration test case. (#1491)

modules/planning/integration_tests/sunnyvale_loop_test.cc

@@ -227,6 +227,24 @@ TEST_F(SunnyvaleLoopTest, qp_path_failure) {
   RUN_GOLDEN_TEST;
 }
 
+/*
+ * test change lane faillback
+ * ADC position passed the change lane zone, failed to change to the new lane
+ * and reroute is triggered but new rerouting result is not received yet.
+ * Expect to keep going on the current lane.
+ */
+TEST_F(SunnyvaleLoopTest, change_lane_failback) {
+  std::string seq_num = "13";
+  FLAGS_reckless_change_lane = true;
+  FLAGS_enable_prediction = true;
+  FLAGS_test_chassis_file = seq_num + "_chassis.pb.txt";
+  FLAGS_test_localization_file = seq_num + "_localization.pb.txt";
+  FLAGS_test_routing_response_file = seq_num + "_routing.pb.txt";
+  FLAGS_test_prediction_file = seq_num + "_prediction.pb.txt";
+  PlanningTestBase::SetUp();
+  RUN_GOLDEN_TEST;
+}
+
 }  // namespace planning
 }  // namespace apollo
 

modules/planning/testdata/sunnyvale_loop_test/13_chassis.pb.txt

+engine_started: true
+engine_rpm: 0
+speed_mps: 15.091666
+odometer_m: 0
+fuel_range_m: 0
+throttle_percentage: 22.04776
+brake_percentage: 14.166476
+steering_percentage: -1.6595745
+steering_torque_nm: 1.375
+parking_brake: false
+driving_mode: COMPLETE_AUTO_DRIVE
+error_code: NO_ERROR
+gear_location: GEAR_DRIVE
+header {
+  timestamp_sec: 1511824052.2331398
+  module_name: "chassis"
+  sequence_num: 108886
+}
+signal {
+  turn_signal: TURN_NONE
+  horn: false
+}
+chassis_gps {
+  latitude: 37.41185866666666
+  longitude: -122.01947733333333
+  gps_valid: true
+  year: 17
+  month: 11
+  day: 27
+  hours: 23
+  minutes: 7
+  seconds: 30
+  compass_direction: 90
+  pdop: 1
+  is_gps_fault: false
+  is_inferred: false
+  altitude: -42.5
+  heading: 104.53
+  hdop: 0.60000000000000009
+  vdop: 0.8
+  quality: FIX_3D
+  num_satellites: 18
+  gps_speed: 15.6464
+}

modules/planning/testdata/sunnyvale_loop_test/13_localization.pb.txt

+header {
+  timestamp_sec: 1511824052.2297692
+  module_name: "localization"
+  sequence_num: 108445
+}
+pose {
+  position {
+    x: 586777.83913520887
+    y: 4141012.5800646683
+    z: -29.975198363885283
+  }
+  orientation {
+    qx: -0.01076242585229341
+    qy: 0.014519463393253225
+    qz: -0.78947058927768621
+    qw: 0.61352224412655887
+  }
+  linear_velocity {
+    x: 14.824843923093471
+    y: -3.8512559075766668
+    z: -0.043634330186902437
+  }
+  linear_acceleration {
+    x: -0.29902511910330554
+    y: -0.0968530946874603
+    z: -0.56339033775023017
+  }
+  angular_velocity {
+    x: -0.030162891397307292
+    y: 0.013027939611848642
+    z: -0.035700646474565091
+  }
+  heading: -0.2495010701680882
+  linear_acceleration_vrf {
+    x: 0.16816094850067095
+    y: -0.245321368337687
+    z: -0.57248977118537425
+  }
+  angular_velocity_vrf {
+    x: -0.0051463614877444667
+    y: -0.031134687030030393
+    z: -0.036853895501793611
+  }
+  euler_angles {
+    x: 0.00082332785507571336
+    y: 0.036139220014635716
+    z: -0.2495010701680882
+  }
+}

modules/planning/testdata/sunnyvale_loop_test/13_prediction.pb.txt

+header {
+  timestamp_sec: 1511824052.1502516
+  module_name: "prediction"
+  sequence_num: 10630
+}
+perception_error_code: OK
+start_timestamp: 1511824052.1502366
+end_timestamp: 1511824052.1502514

modules/planning/testdata/sunnyvale_loop_test/13_routing.pb.txt

+header {
+  timestamp_sec: 1511824051.8381293
+  module_name: "routing"
+  sequence_num: 3
+}
+road {
+  id: "1415-1799-1807-1416-1804-1806-1805-1808-1809-1811-28-53a-1993-1800-2455-18-1992-745-732-1771-136-1990-27-14-1981-1991-10-16-139-1422-24-2021-729-2020-1982-2-1953-39a-17a-145-117"
+  passage {
+    segment {
+      id: "2020_1_-2"
+      start_s: 2.4187114701863321
+      end_s: 16.5848
+    }
+    segment {
+      id: "2021_1_-2"
+      start_s: 0
+      end_s: 2.02678
+    }
+    segment {
+      id: "16_1_-2"
+      start_s: 0
+      end_s: 35.2516
+    }
+    segment {
+      id: "14_1_-3"
+      start_s: 0
+      end_s: 55.3461
+    }
+    segment {
+      id: "136_1_-2"
+      start_s: 0
+      end_s: 45.3891
+    }
+    segment {
+      id: "10_1_-2"
+      start_s: 0
+      end_s: 10.7483
+    }
+    segment {
+      id: "2455_1_-2"
+      start_s: 0
+      end_s: 27.793
+    }
+    segment {
+      id: "1992_1_-2"
+      start_s: 0
+      end_s: 9.69664
+    }
+    segment {
+      id: "1993_1_-2"
+      start_s: 0
+      end_s: 71.1782
+    }
+    segment {
+      id: "1990_1_-2"
+      start_s: 0
+      end_s: 35.6905
+    }
+    segment {
+      id: "1991_1_-2"
+      start_s: 0
+      end_s: 37.9158
+    }
+    change_lane_type: LEFT
+  }
+  passage {
+    segment {
+      id: "1993_1_-1"
+      start_s: 0
+      end_s: 71.1583
+    }
+    segment {
+      id: "1990_1_-1"
+      start_s: 0
+      end_s: 35.8082
+    }
+    segment {
+      id: "1991_1_-1"
+      start_s: 0
+      end_s: 37.7742
+    }
+    segment {
+      id: "1981_1_-1"
+      start_s: 0
+      end_s: 24.1691
+    }
+    segment {
+      id: "1982_1_-1"
+      start_s: 0
+      end_s: 1.79116
+    }
+    segment {
+      id: "745_1_-1"
+      start_s: 0
+      end_s: 38.5631
+    }
+    segment {
+      id: "2_1_-1"
+      start_s: 0
+      end_s: 61.8112
+    }
+    segment {
+      id: "39a_1_-1"
+      start_s: 0
+      end_s: 41.7809
+    }
+    segment {
+      id: "139_1_-1"
+      start_s: 0
+      end_s: 9.84107
+    }
+    segment {
+      id: "1953_1_-1"
+      start_s: 0
+      end_s: 204.158
+    }
+    segment {
+      id: "145_1_-1"
+      start_s: 0
+      end_s: 41.9885
+    }
+    segment {
+      id: "729_1_-1"
+      start_s: 0
+      end_s: 20.1903
+    }
+    segment {
+      id: "117_1_-1"
+      start_s: 0
+      end_s: 269.787
+    }
+    segment {
+      id: "732_1_-1"
+      start_s: 0
+      end_s: 24.9813
+    }
+    segment {
+      id: "53a_1_-1"
+      start_s: 0
+      end_s: 32.1404
+    }
+    segment {
+      id: "18_1_-1"
+      start_s: 0
+      end_s: 6.89126
+    }
+    segment {
+      id: "1811_1_-1"
+      start_s: 0
+      end_s: 27.56
+    }
+    segment {
+      id: "1809_1_-1"
+      start_s: 0
+      end_s: 12.6153
+    }
+    segment {
+      id: "1808_1_-1"
+      start_s: 0
+      end_s: 55.1465
+    }
+    segment {
+      id: "1805_1_-1"
+      start_s: 0
+      end_s: 8.20578
+    }
+    segment {
+      id: "1804_1_-1"
+      start_s: 0
+      end_s: 7.58001
+    }
+    segment {
+      id: "1806_1_-1"
+      start_s: 0
+      end_s: 5.95314
+    }
+    segment {
+      id: "1807_1_-1"
+      start_s: 0
+      end_s: 55.2747
+    }
+    segment {
+      id: "1800_1_-1"
+      start_s: 0
+      end_s: 29.7005
+    }
+    segment {
+      id: "1799_1_-1"
+      start_s: 0
+      end_s: 38.1329
+    }
+    segment {
+      id: "24_1_-1"
+      start_s: 0
+      end_s: 14.5287
+    }
+    segment {
+      id: "28_1_-1"
+      start_s: 0
+      end_s: 28.0991
+    }
+    segment {
+      id: "27_1_-1"
+      start_s: 0
+      end_s: 14.2573
+    }
+    segment {
+      id: "17a_1_-1"
+      start_s: 0
+      end_s: 21.6154
+    }
+    segment {
+      id: "1771_1_-3"
+      start_s: 0
+      end_s: 45.6789
+    }
+    segment {
+      id: "1415_1_-3"
+      start_s: 0
+      end_s: 12.6094
+    }
+    segment {
+      id: "1416_1_-3"
+      start_s: 0
+      end_s: 37.297
+    }
+    segment {
+      id: "1422_1_-3"
+      start_s: 0
+      end_s: 4.999999716535763
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+measurement {
+  distance: 1542.550028246349
+}
+routing_request {
+  header {
+    timestamp_sec: 1511824051.8375659
+    module_name: "planning"
+    sequence_num: 1
+  }
+  waypoint {
+    id: "2020_1_-2"
+    s: 2.4187114701863321
+    pose {
+      x: 586771.87833860237
+      y: 4141014.0198460147
+      z: -29.969215057790279
+    }
+  }
+  waypoint {
+    id: "1422_1_-3"
+    s: 4.999999716535763
+    pose {
+      x: 587169.10245
+      y: 4141539.780228
+    }
+  }
+}
+map_version: "1.400000"
+status {
+  error_code: OK
+  msg: "Success!"
+}