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NNLC: use torque substitutes as fuzzy fingerprints (#700)

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* NNLC: use torque substitutes as fuzzy fingerprints

* substitutes are not exact matches

* update nnlc helpers

for extra nnlc model path checks, take the first one that passes.

* Update sunnypilot/selfdrive/controls/lib/nnlc/helpers.py

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
This commit is contained in:
Tim Wilson
2025-03-22 17:49:05 -06:00
committed by GitHub
parent 002a37cdc4
commit bab2d776b6
2 changed files with 15 additions and 6 deletions
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sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
+12 -2
View File
@@ -5,12 +5,14 @@ This file is part of sunnypilot and is licensed under the MIT License.
See the LICENSE.md file in the root directory for more details.
"""
import os
import tomllib
from difflib import SequenceMatcher
from opendbc.car import structs
from openpilot.common.basedir import BASEDIR
TORQUE_NN_MODEL_PATH = os.path.join(BASEDIR, "sunnypilot", "neural_network_data", "neural_network_lateral_control")
TORQUE_NN_MODEL_SUBSTITUTE_PATH = os.path.join(BASEDIR, "opendbc", "car", "torque_data/substitute.toml")
MOCK_MODEL_PATH = os.path.join(TORQUE_NN_MODEL_PATH, "MOCK.json")
@@ -42,16 +44,24 @@ def get_nn_model_path(CP: structs.CarParams) -> tuple[str, str, bool]:
model_path, max_similarity = check_nn_path(nn_candidate)
exact_match = max_similarity >= 0.99
if car_fingerprint not in model_path or 0.0 <= max_similarity < 0.8:
nn_candidate = car_fingerprint
model_path, max_similarity = check_nn_path(nn_candidate)
if 0.0 <= max_similarity < 0.8:
model_path = MOCK_MODEL_PATH
with open(TORQUE_NN_MODEL_SUBSTITUTE_PATH, 'rb') as f:
sub = tomllib.load(f)
sub_candidate = sub.get(car_fingerprint, car_fingerprint)
for candidate in [car_fingerprint, sub_candidate]:
model_path, max_similarity = check_nn_path(candidate)
exact_match = False
if CP.steerControlType == structs.CarParams.SteerControlType.angle:
model_path = MOCK_MODEL_PATH
model_name = os.path.splitext(os.path.basename(model_path))[0]
exact_match = max_similarity >= 0.99
return model_path, model_name, exact_match
sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
+3 -4
View File
@@ -1,4 +1,3 @@
from numpy.ma.testutils import assert_equal
from parameterized import parameterized
from opendbc.car.car_helpers import interfaces
@@ -13,8 +12,8 @@ from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfac
class TestNNTorqueModel:
@parameterized.expand([(HONDA.HONDA_CIVIC, True), (TOYOTA.TOYOTA_RAV4, True), (HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN, False)])
def test_load_model(self, car_name, should_load_model):
@parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN])
def test_load_model(self, car_name):
params = Params()
params.put_bool("NeuralNetworkLateralControl", True)
@@ -29,4 +28,4 @@ class TestNNTorqueModel:
controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI)
assert_equal(should_load_model, controller.extension.has_nn_model)
assert controller.extension.has_nn_model