mirror of
https://github.com/MoreTore/openpilot.git
synced 2026-08-03 08:41:47 +08:00
YassineYousfi
d18f185115
* WIP try modeld all in python
* fix plan
* add lane lines stds
* fix lane lines prob
* add lead prob
* add meta
* simplify plan parsing
* add hard brake pred
* add confidence
* fix desire state and desire pred
* check this file for now
* rm prints
* rm debug
* add todos
* add plan_t_idxs
* same as cpp
* removed cython
* add wfd width - rm cpp code
* add new files rm old files
* get metadata at compile time
* forgot this file
* now uses more CPU
* not used
* update readme
* lint
* copy this too
* simplify disengage probs
* update model replay ref commit
* update again
* confidence: remove if statemens
* use publish_state.enqueue
* Revert "use publish_state.enqueue"
This reverts commit d8807c8348338a1f773a8de00fd796abb8181404.
* confidence: better shape defs
* use ModelConstants class
* fix confidence
* Parser
* slightly more power too
* no inline ifs :(
* confidence: just use if statements
old-commit-hash: cad17b1255
79 lines
1.9 KiB
Python
79 lines
1.9 KiB
Python
import numpy as np
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def index_function(idx, max_val=192, max_idx=32):
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return (max_val) * ((idx/max_idx)**2)
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class ModelConstants:
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# time and distance indices
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IDX_N = 33
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T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)]
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X_IDXS = [index_function(idx, max_val=192.0) for idx in range(IDX_N)]
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LEAD_T_IDXS = [0., 2., 4., 6., 8., 10.]
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LEAD_T_OFFSETS = [0., 2., 4.]
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META_T_IDXS = [2., 4., 6., 8., 10.]
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# model inputs constants
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MODEL_FREQ = 20
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FEATURE_LEN = 512
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HISTORY_BUFFER_LEN = 99
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DESIRE_LEN = 8
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TRAFFIC_CONVENTION_LEN = 2
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NAV_FEATURE_LEN = 256
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NAV_INSTRUCTION_LEN = 150
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DRIVING_STYLE_LEN = 12
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# model outputs constants
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FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32)
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FCW_THRESHOLDS_3MS2 = np.array([.7, .7], dtype=np.float32)
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DISENGAGE_WIDTH = 5
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POSE_WIDTH = 6
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WIDE_FROM_DEVICE_WIDTH = 3
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SIM_POSE_WIDTH = 6
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LEAD_WIDTH = 4
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LANE_LINES_WIDTH = 2
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ROAD_EDGES_WIDTH = 2
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PLAN_WIDTH = 15
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DESIRE_PRED_WIDTH = 8
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NUM_LANE_LINES = 4
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NUM_ROAD_EDGES = 2
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LEAD_TRAJ_LEN = 6
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DESIRE_PRED_LEN = 4
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PLAN_MHP_N = 5
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LEAD_MHP_N = 2
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PLAN_MHP_SELECTION = 1
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LEAD_MHP_SELECTION = 3
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FCW_THRESHOLD_5MS2_HIGH = 0.15
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FCW_THRESHOLD_5MS2_LOW = 0.05
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FCW_THRESHOLD_3MS2 = 0.7
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CONFIDENCE_BUFFER_LEN = 5
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RYG_GREEN = 0.01165
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RYG_YELLOW = 0.06157
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# model outputs slices
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class Plan:
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POSITION = slice(0, 3)
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VELOCITY = slice(3, 6)
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ACCELERATION = slice(6, 9)
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T_FROM_CURRENT_EULER = slice(9, 12)
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ORIENTATION_RATE = slice(12, 15)
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class Meta:
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ENGAGED = slice(0, 1)
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# next 2, 4, 6, 8, 10 seconds
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GAS_DISENGAGE = slice(1, 36, 7)
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BRAKE_DISENGAGE = slice(2, 36, 7)
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STEER_OVERRIDE = slice(3, 36, 7)
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HARD_BRAKE_3 = slice(4, 36, 7)
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HARD_BRAKE_4 = slice(5, 36, 7)
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HARD_BRAKE_5 = slice(6, 36, 7)
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GAS_PRESS = slice(7, 36, 7)
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# next 0, 2, 4, 6, 8, 10 seconds
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LEFT_BLINKER = slice(36, 48, 2)
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RIGHT_BLINKER = slice(37, 48, 2)
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