activities.fusion_activity/com.example.stig.activities.fusion_activity.tests/fusionActivityTests

Tests

fusionActivityTests
:
FusionActivityTests

Attribute	Value
id	com.example.stig.activities.fusion_activity.tests.fusionActivityTests
name	Fusion activity tests
description	Tests for synchronization, object association, motion estimation, and degradation reporting.
tests element	ASIL B fusionActivity Fusion activity

Direct children

8 items

ASIL B

synchronizedInputsPublishObjects

Synchronized inputs publish fused objects

ASIL B

correlatedObjectIncludesMotionEstimate

Correlated object includes a motion estimate

ASIL B

staleObservationIsExcluded

Stale observation is excluded

ASIL B

staleObservationSetsDegradedHealth

Stale observation sets degraded health

ASIL B

oneMissingSensorUsesRemainingPair

One missing sensor uses the remaining pair

ASIL B

degradedModeRejectsSingleSensorObject

Degraded mode rejects a single-sensor object

ASIL B

positionDisagreementSuppressesHighConfidence

Position disagreement suppresses high confidence

ASIL B

velocityDisagreementSuppressesHighConfidence

Velocity disagreement suppresses high confidence

TestCase

synchronizedInputsPublishObjects
:
TestCase
ASIL B

Attribute	Value
id	com.example.stig.activities.fusion_activity.tests.fusionActivityTests.synchronizedInputsPublishObjects
name	Synchronized inputs publish fused objects
description	Given current camera, lidar, and radar observations span 40 ms, When a fusion cycle runs, Then a fused-object list is published within 50 ms.
ASIL	ASIL B
elements under test	3 items ASIL B timestampAlignment Timestamp alignment ASIL B objectAssociation Object association ASIL B motionEstimation Motion estimation
interfaces under test	4 items ASIL B cameraInput Camera frame input ASIL B lidarInput Lidar point-cloud input ASIL B radarInput Radar track input ASIL B fusedObjectsOutput Fused objects output
verifies	1 item ASIL B publishSynchronizedObjects Publish synchronized objects
identityOwner	fusionActivityTests Fusion activity tests
identityReferenceName	synchronizedInputsPublishObjects

TestCase

correlatedObjectIncludesMotionEstimate
:
TestCase
ASIL B

Attribute	Value
id	com.example.stig.activities.fusion_activity.tests.fusionActivityTests.correlatedObjectIncludesMotionEstimate
name	Correlated object includes a motion estimate
description	Given camera, lidar, and radar observations describe the same forward object, When they are fused, Then the published object contains position, relative velocity, confidence, and time to collision.
ASIL	ASIL B
elements under test	2 items ASIL B objectAssociation Object association ASIL B motionEstimation Motion estimation
interfaces under test	4 items ASIL B cameraInput Camera frame input ASIL B lidarInput Lidar point-cloud input ASIL B radarInput Radar track input ASIL B fusedObjectsOutput Fused objects output
verifies	1 item ASIL B estimateCollisionTiming Estimate collision timing
identityOwner	fusionActivityTests Fusion activity tests
identityReferenceName	correlatedObjectIncludesMotionEstimate

TestCase

staleObservationIsExcluded
:
TestCase
ASIL B

Attribute	Value
id	com.example.stig.activities.fusion_activity.tests.fusionActivityTests.staleObservationIsExcluded
name	Stale observation is excluded
description	Given one sensor observation is 101 ms old, When a fusion cycle runs, Then that observation does not contribute to the fused-object list.
ASIL	ASIL B
elements under test	1 item ASIL B timestampAlignment Timestamp alignment
interfaces under test	4 items ASIL B cameraInput Camera frame input ASIL B lidarInput Lidar point-cloud input ASIL B radarInput Radar track input ASIL B fusedObjectsOutput Fused objects output
verifies	1 item ASIL B rejectStaleObservations Reject stale observations
identityOwner	fusionActivityTests Fusion activity tests
identityReferenceName	staleObservationIsExcluded

TestCase

staleObservationSetsDegradedHealth
:
TestCase
ASIL B

Attribute	Value
id	com.example.stig.activities.fusion_activity.tests.fusionActivityTests.staleObservationSetsDegradedHealth
name	Stale observation sets degraded health
description	Given one sensor observation is 101 ms old, When health monitoring runs, Then fusion health is published as degraded within 50 ms.
ASIL	ASIL B
elements under test	2 items ASIL B timestampAlignment Timestamp alignment ASIL B healthMonitoring Fusion health monitoring
interfaces under test	2 items ASIL B cameraInput Camera frame input ASIL B fusionHealthOutput Fusion health output
verifies	1 item ASIL B rejectStaleObservations Reject stale observations
identityOwner	fusionActivityTests Fusion activity tests
identityReferenceName	staleObservationSetsDegradedHealth

TestCase

oneMissingSensorUsesRemainingPair
:
TestCase
ASIL B

Attribute	Value
id	com.example.stig.activities.fusion_activity.tests.fusionActivityTests.oneMissingSensorUsesRemainingPair
name	One missing sensor uses the remaining pair
description	Given the camera is unavailable and current lidar and radar observations agree, When a fusion cycle runs, Then fusion health is degraded and the supported object is published within 50 ms.
ASIL	ASIL B
elements under test	2 items ASIL B objectAssociation Object association ASIL B healthMonitoring Fusion health monitoring
interfaces under test	5 items ASIL B cameraInput Camera frame input ASIL B lidarInput Lidar point-cloud input ASIL B radarInput Radar track input ASIL B fusedObjectsOutput Fused objects output ASIL B fusionHealthOutput Fusion health output
verifies	1 item ASIL B continueWithTwoSensors Continue with two sensors
identityOwner	fusionActivityTests Fusion activity tests
identityReferenceName	oneMissingSensorUsesRemainingPair

TestCase

degradedModeRejectsSingleSensorObject
:
TestCase
ASIL B

Attribute	Value
id	com.example.stig.activities.fusion_activity.tests.fusionActivityTests.degradedModeRejectsSingleSensorObject
name	Degraded mode rejects a single-sensor object
description	Given one sensor is unavailable and only one remaining sensor observes an object, When a fusion cycle runs, Then that object is absent from the fused-object list.
ASIL	ASIL B
elements under test	2 items ASIL B objectAssociation Object association ASIL B healthMonitoring Fusion health monitoring
interfaces under test	4 items ASIL B lidarInput Lidar point-cloud input ASIL B radarInput Radar track input ASIL B fusedObjectsOutput Fused objects output ASIL B fusionHealthOutput Fusion health output
verifies	1 item ASIL B continueWithTwoSensors Continue with two sensors
identityOwner	fusionActivityTests Fusion activity tests
identityReferenceName	degradedModeRejectsSingleSensorObject

TestCase

positionDisagreementSuppressesHighConfidence
:
TestCase
ASIL B

Attribute	Value
id	com.example.stig.activities.fusion_activity.tests.fusionActivityTests.positionDisagreementSuppressesHighConfidence
name	Position disagreement suppresses high confidence
description	Given two observations differ in position by 1.6 m, When object association runs, Then no object based on that pair is published with confidence of 90 percent or greater.
ASIL	ASIL B
elements under test	2 items ASIL B objectAssociation Object association ASIL B motionEstimation Motion estimation
interfaces under test	3 items ASIL B lidarInput Lidar point-cloud input ASIL B radarInput Radar track input ASIL B fusedObjectsOutput Fused objects output
verifies	1 item ASIL B suppressUnsupportedObjects Suppress unsupported objects
identityOwner	fusionActivityTests Fusion activity tests
identityReferenceName	positionDisagreementSuppressesHighConfidence

TestCase

velocityDisagreementSuppressesHighConfidence
:
TestCase
ASIL B

Attribute	Value
id	com.example.stig.activities.fusion_activity.tests.fusionActivityTests.velocityDisagreementSuppressesHighConfidence
name	Velocity disagreement suppresses high confidence
description	Given two observations differ in relative velocity by 2.1 m/s, When object association runs, Then no object based on that pair is published with confidence of 90 percent or greater.
ASIL	ASIL B
elements under test	2 items ASIL B objectAssociation Object association ASIL B motionEstimation Motion estimation
interfaces under test	3 items ASIL B lidarInput Lidar point-cloud input ASIL B radarInput Radar track input ASIL B fusedObjectsOutput Fused objects output
verifies	1 item ASIL B suppressUnsupportedObjects Suppress unsupported objects
identityOwner	fusionActivityTests Fusion activity tests
identityReferenceName	velocityDisagreementSuppressesHighConfidence

Tests fusionActivityTests : FusionActivityTests

TestCase synchronizedInputsPublishObjects : TestCase ASIL B

TestCase correlatedObjectIncludesMotionEstimate : TestCase ASIL B

TestCase staleObservationIsExcluded : TestCase ASIL B

TestCase staleObservationSetsDegradedHealth : TestCase ASIL B

TestCase oneMissingSensorUsesRemainingPair : TestCase ASIL B

TestCase degradedModeRejectsSingleSensorObject : TestCase ASIL B

TestCase positionDisagreementSuppressesHighConfidence : TestCase ASIL B

TestCase velocityDisagreementSuppressesHighConfidence : TestCase ASIL B

Tests

fusionActivityTests
:
FusionActivityTests

TestCase

synchronizedInputsPublishObjects
:
TestCase
ASIL B

TestCase

correlatedObjectIncludesMotionEstimate
:
TestCase
ASIL B

TestCase

staleObservationIsExcluded
:
TestCase
ASIL B

TestCase

staleObservationSetsDegradedHealth
:
TestCase
ASIL B

TestCase

oneMissingSensorUsesRemainingPair
:
TestCase
ASIL B

TestCase

degradedModeRejectsSingleSensorObject
:
TestCase
ASIL B

TestCase

positionDisagreementSuppressesHighConfidence
:
TestCase
ASIL B

TestCase

velocityDisagreementSuppressesHighConfidence
:
TestCase
ASIL B