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Multipath supercombo (#1036)

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* exclude stuff outside of validity window

* 94dd2da7-23ae-4628-9d12-37f58b379110/10

* fbe443fd-1d65-4b4d-8e3a-3817b58bacd0/50

* sanity clip
This commit is contained in:
HaraldSchafer
2020-02-03 11:25:22 -08:00
committed by GitHub
parent 7c94b36171
commit f610e596c4
3 changed files with 16 additions and 9 deletions
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models/supercombo.dlc
+2 -2
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@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:7e36d90b6ff6aaf655e57aed5c907eea55ad30806f0720c7e69559fa5e901592
size 26395446
oid sha256:b5bca4529ca5c2d6c12f2faa48265f706c057ec1d1243587fc8e4f31233bdf94
size 27183806
models/supercombo.keras
+2 -2
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@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:41f081e410d9f0e9f9c6f37446bb2de0676280694cd54391d62261642cd4bb25
size 27246624
oid sha256:23bff62f6a2055571750bc7b93f477a8d6c9a2971084c205e897ab5a35e584f1
size 28034952
selfdrive/modeld/models/driving.cc
+12 -5
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@@ -7,9 +7,9 @@
#define PATH_IDX 0
#define LL_IDX PATH_IDX + MODEL_PATH_DISTANCE*2
#define RL_IDX LL_IDX + MODEL_PATH_DISTANCE*2 + 1
#define LEAD_IDX RL_IDX + MODEL_PATH_DISTANCE*2 + 1
#define LL_IDX PATH_IDX + MODEL_PATH_DISTANCE*2 + 1
#define RL_IDX LL_IDX + MODEL_PATH_DISTANCE*2 + 2
#define LEAD_IDX RL_IDX + MODEL_PATH_DISTANCE*2 + 2
#define LONG_X_IDX LEAD_IDX + MDN_GROUP_SIZE*LEAD_MDN_N + SELECTION
#define LONG_V_IDX LONG_X_IDX + TIME_DISTANCE*2
#define LONG_A_IDX LONG_V_IDX + TIME_DISTANCE*2
@@ -133,13 +133,20 @@ void fill_path(cereal::ModelData::PathData::Builder path, const float * data, bo
float poly_arr[POLYFIT_DEGREE];
float std;
float prob;
float valid_len;
valid_len = data[MODEL_PATH_DISTANCE*2];
for (int i=0; i<MODEL_PATH_DISTANCE; i++) {
points_arr[i] = data[i] + offset;
stds_arr[i] = softplus(data[MODEL_PATH_DISTANCE + i]);
// Always do at least 5 points
if (i < 5 || i < valid_len) {
stds_arr[i] = softplus(data[MODEL_PATH_DISTANCE + i]);
} else {
stds_arr[i] = 1.0e3;
}
}
if (has_prob) {
prob = sigmoid(data[MODEL_PATH_DISTANCE*2]);
prob = sigmoid(data[MODEL_PATH_DISTANCE*2 + 1]);
} else {
prob = 1.0;
}