planning: add a test for stop for pedestrian on crosswalk

maverick-long · Jan 31, 2018 · 723e429 · 723e429
1 parent 531d425
commit 723e429
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diff --git a/modules/planning/integration_tests/sunnyvale_big_loop_test.cc b/modules/planning/integration_tests/sunnyvale_big_loop_test.cc
@@ -259,6 +259,23 @@ TEST_F(SunnyvaleBigLoopTest, stop_sign_06) {
   RUN_GOLDEN_TEST(2);
 }
 
+/*
+ * crosswalk: pedestrian on crosswalk
+ * bag: 2018-01-29-17-22-46/2018-01-29-17-31-47_9.bag
+ * decision: STOP
+ */
+TEST_F(SunnyvaleBigLoopTest, crosswalk_01) {
+  FLAGS_enable_crosswalk = true;
+
+  std::string seq_num = "8";
+  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(0);
+}
+
 }  // namespace planning
 }  // namespace apollo
 

diff --git a/modules/planning/testdata/sunnyvale_big_loop_test/8_chassis.pb.txt b/modules/planning/testdata/sunnyvale_big_loop_test/8_chassis.pb.txt
@@ -0,0 +1,47 @@
+engine_started: true
+engine_rpm: 0
+speed_mps: 0
+odometer_m: 0
+fuel_range_m: 0
+throttle_percentage: 15.239185
+brake_percentage: 22.894636
+steering_percentage: 0.021276595
+steering_torque_nm: 0
+parking_brake: false
+driving_mode: COMPLETE_AUTO_DRIVE
+error_code: NO_ERROR
+gear_location: GEAR_DRIVE
+header {
+  timestamp_sec: 1517275961.8623116
+  module_name: "chassis"
+  sequence_num: 201283
+}
+signal {
+  turn_signal: TURN_LEFT
+  horn: false
+}
+chassis_gps {
+  latitude: 37.41456
+  longitude: -122.02524799999999
+  gps_valid: true
+  year: 18
+  month: 1
+  day: 30
+  hours: 1
+  minutes: 32
+  seconds: 40
+  compass_direction: 180
+  pdop: 1.2000000000000002
+  is_gps_fault: false
+  is_inferred: false
+  altitude: 6
+  heading: 195.86
+  hdop: 0.60000000000000009
+  vdop: 1
+  quality: FIX_3D
+  num_satellites: 17
+  gps_speed: 0
+}
+engage_advice {
+  advice: READY_TO_ENGAGE
+}
diff --git a/modules/planning/testdata/sunnyvale_big_loop_test/8_localization.pb.txt b/modules/planning/testdata/sunnyvale_big_loop_test/8_localization.pb.txt
@@ -0,0 +1,65 @@
+header {
+  timestamp_sec: 1517275961.8598664
+}
+pose {
+  position {
+    x: 586262.64251440507
+    y: 4141308.3741691732
+    z: -29.81352601316631
+  }
+  orientation {
+    qx: 0.001167005435356113
+    qy: -0.015782307215408249
+    qz: 0.99177163160950887
+    qw: 0.12703774089570782
+  }
+  linear_velocity {
+    x: 0.018828198896773753
+    y: -0.0052751341978899682
+    z: 0.000489686582221475
+  }
+  linear_acceleration {
+    x: 0.044109589680881842
+    y: -0.032056572832605268
+    z: -0.0010498157610978609
+  }
+  angular_velocity {
+    x: -0.0005796063407488421
+    y: -0.0036692061628199354
+    z: -6.6643523946851378e-05
+  }
+  heading: -1.8256904359791966
+  linear_acceleration_vrf {
+    x: 0.011213123798370361
+    y: -0.2839602530002594
+    z: 9.79498028755188
+  }
+  angular_velocity_vrf {
+    x: -0.00036397401812166935
+    y: 0.0036970865699239661
+    z: 5.0324381926790291e-05
+  }
+  euler_angles {
+    x: -0.031013353033370043
+    y: -0.0063277881653632509
+    z: 2.8866985444054931
+  }
+}
+uncertainty {
+  position_std_dev {
+    x: 0.019469710646505416
+    y: 0.0074467842043342142
+    z: 0.012406912961059197
+  }
+  orientation_std_dev {
+    x: 0.069480386348483428
+    y: 0.092862468117193023
+    z: 0.051019288638959853
+  }
+  linear_velocity_std_dev {
+    x: 0.017741872599146422
+    y: 0.0097386079725148515
+    z: 0.0060955203235113845
+  }
+}
+measurement_time: 1517275961.832608