Isaac Barham
359ee2b59f
The turn desire reaches the model as a one-frame pulse on its rising edge, and its desire and feature history is 5 s (100 model frames). On routes 92-96 the model's turn state fell 6.5 s after every cue, and after a cue at a red light the car pulled away straight. While a turn desire (turnLeft/turnRight, never a lane change) is held, the desire input is cleared for one frame so the next frame is a fresh pulse: every 4 s, and when the car pulls away after a stop of 1 s or more. A cue stops being refreshed for good once the car has gone 40 m since the cue (a stop inside that restarts the count) or turned 60 deg toward the turn, from the model's own pose yaw rate (this car's carState.yawRate is always 0). The refresh resets on the big-to-small fallback, as the small model pulses a held desire on its first frame. Replaying the cue timing of routes 85-9a from qlogs (74 single turns): the 5 s history held the turn until it was 80% done on 10 turns; with the refresh, 58. Of the other 16, the blinker cancelled before 80% on 13. No refresh lands after a turn is 80% done (12 did with no heading cap). Four cues with no turn (slow lane changes, a blinker held at a light) got 11 extra pulses, 6 of them while parked at the light. Not checked: how the model responds to a second pulse for the same turn, which it never saw in training. That needs the full camera video, which is only on the device. On by default; ENABLED in turn_desire_refresh.py turns it off. Not yet driven. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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sunnypilot is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
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