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Update modeld.py

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infiniteCable
2025-06-24 16:33:08 +02:00
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parent 247cb0170f
commit f63d8b3ab1
1 changed files with 3 additions and 3 deletions
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selfdrive/modeld/modeld.py
+3 -3
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@@ -55,9 +55,9 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
plan = model_output['plan'][0]
desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
plan[:,Plan.ACCELERATION][:,0],
ModelConstants.T_IDXS,
action_t=long_action_t)
plan[:,Plan.ACCELERATION][:,0],
ModelConstants.T_IDXS,
action_t=long_action_t)
desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
desired_curvature = model_output['desired_curvature'][0, 0]