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NNLC: use torque substitutes as fuzzy fingerprints

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This commit is contained in:
Jason Wen
2025-03-22 10:04:10 -04:00
parent 309304a352
commit a2f25897d2
2 changed files with 11 additions and 4 deletions
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sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
+8 -1
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")
@@ -46,7 +48,12 @@ def get_nn_model_path(CP: structs.CarParams) -> tuple[str, str, bool]:
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)
if CP.steerControlType == structs.CarParams.SteerControlType.angle:
model_path = MOCK_MODEL_PATH
sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
+3 -3
View File
@@ -13,8 +13,8 @@ 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 +29,4 @@ 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