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Add lateral_control_params to model inputs if available

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This change introduces an additional check for "lateral_control_params" in model inputs. If present, it adds the lateral control parameters to the input dictionary, including vehicle speed and steering delay. This ensures compatibility with models requiring these parameters.
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DevTekVE
2024-12-30 19:56:29 +01:00
parent e6b9497099
commit b0fef4b5ea
1 changed files with 3 additions and 0 deletions
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selfdrive/modeld/modeld.py
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@@ -251,6 +251,9 @@ def main(demo=False):
'traffic_convention': traffic_convention,
}
if "lateral_control_params" in model.numpy_inputs.keys():
inputs['lateral_control_params'] = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32)
mt1 = time.perf_counter()
model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
mt2 = time.perf_counter()