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FrogPilot 0.9.7

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This commit is contained in:
FrogAi
2024-06-27 10:22:08 -07:00
parent da00915ac8
commit b705b02e70
682 changed files with 181798 additions and 1348 deletions
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selfdrive/modeld/constants.py
+14 -11
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@@ -15,7 +15,8 @@ class ModelConstants:
# model inputs constants
MODEL_FREQ = 20
FEATURE_LEN = 512
HISTORY_BUFFER_LEN = 99
FULL_HISTORY_BUFFER_LEN = 99
HISTORY_BUFFER_LEN = 24
DESIRE_LEN = 8
TRAFFIC_CONVENTION_LEN = 2
LAT_PLANNER_STATE_LEN = 4
@@ -31,7 +32,6 @@ class ModelConstants:
DISENGAGE_WIDTH = 5
POSE_WIDTH = 6
WIDE_FROM_DEVICE_WIDTH = 3
SIM_POSE_WIDTH = 6
LEAD_WIDTH = 4
LANE_LINES_WIDTH = 2
ROAD_EDGES_WIDTH = 2
@@ -59,6 +59,8 @@ class ModelConstants:
RYG_GREEN = 0.01165
RYG_YELLOW = 0.06157
POLY_PATH_DEGREE = 4
# model outputs slices
class Plan:
POSITION = slice(0, 3)
@@ -70,13 +72,14 @@ 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)