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Not Too Shabby Model (#34484)

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* b25c27a8-263b-4f3f-b1f8-72ac49b4f9c7/700

* replay

* model_replay: support empty
This commit is contained in:
YassineYousfi
2025-01-28 12:16:13 -08:00
committed by GitHub
parent 82722217be
commit 2eb3585dae
4 changed files with 28 additions and 24 deletions
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selfdrive/modeld/constants.py
+10 -9
View File
@@ -71,13 +71,14 @@ class Plan:
class Meta:
ENGAGED = slice(0, 1)
# next 2, 4, 6, 8, 10 seconds
GAS_DISENGAGE = slice(1, 36, 7)
BRAKE_DISENGAGE = slice(2, 36, 7)
STEER_OVERRIDE = slice(3, 36, 7)
HARD_BRAKE_3 = slice(4, 36, 7)
HARD_BRAKE_4 = slice(5, 36, 7)
HARD_BRAKE_5 = slice(6, 36, 7)
GAS_PRESS = slice(7, 36, 7)
GAS_DISENGAGE = slice(1, 31, 6)
BRAKE_DISENGAGE = slice(2, 31, 6)
STEER_OVERRIDE = slice(3, 31, 6)
HARD_BRAKE_3 = slice(4, 31, 6)
HARD_BRAKE_4 = slice(5, 31, 6)
HARD_BRAKE_5 = slice(6, 31, 6)
# next 0, 2, 4, 6, 8, 10 seconds
LEFT_BLINKER = slice(36, 48, 2)
RIGHT_BLINKER = slice(37, 48, 2)
GAS_PRESS = slice(31, 55, 4)
BRAKE_PRESS = slice(32, 55, 4)
LEFT_BLINKER = slice(33, 55, 4)
RIGHT_BLINKER = slice(34, 55, 4)
selfdrive/modeld/fill_model_msg.py
+2 -2
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@@ -159,8 +159,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist()
disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist()
disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist()
#disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
#disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0]
selfdrive/modeld/models/supercombo.onnx
+2 -2
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@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:39786068cae1ed8c0dc34ef80c281dfcc67ed18a50e06b90765c49bcfdbf7db4
size 51453312
oid sha256:d21daa542227ecc5972da45df4e26f018ba113c0461f270e367d57e3ad89221a
size 51461700