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Code for running legacy models (#31111)

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* Code for running legacy models

* Optional outputs
old-commit-hash: 7c9530f7431f66df186aa4855fbd481592d94198
This commit is contained in:
Harald Schäfer
2024-01-22 14:44:48 -08:00
committed by GitHub
parent 5d8cf902c5
commit b2983029d9
2 changed files with 6 additions and 1 deletions
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selfdrive/modeld/constants.py
+2
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@@ -21,6 +21,7 @@ class ModelConstants:
NAV_FEATURE_LEN = 256
NAV_INSTRUCTION_LEN = 150
DRIVING_STYLE_LEN = 12
LAT_PLANNER_STATE_LEN = 4
LATERAL_CONTROL_PARAMS_LEN = 2
PREV_DESIRED_CURVS_LEN = 20
@@ -39,6 +40,7 @@ class ModelConstants:
ROAD_EDGES_WIDTH = 2
PLAN_WIDTH = 15
DESIRE_PRED_WIDTH = 8
LAT_PLANNER_SOLUTION_WIDTH = 4
DESIRED_CURV_WIDTH = 1
NUM_LANE_LINES = 4
selfdrive/modeld/parse_model_outputs.py
+4 -1
View File
@@ -93,7 +93,10 @@ class Parser:
self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
if 'lat_planner_solution' in outs:
self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
if 'desired_curvature' in outs:
self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
for k in ['lead_prob', 'lane_lines_prob', 'meta']:
self.parse_binary_crossentropy(k, outs)
self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))