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Minor fixes 08 (#2565)

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* correct indexes

* best metrics yet 30231f46-08af-477e-9d30-776593913c24/700

* sometimes x decreases

* update model refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 7b216e7cbb30f9a7b164cc17bb66b348d728b65e
This commit is contained in:
HaraldSchafer
2020-11-17 20:04:32 -08:00
committed by GitHub
parent aa34cf305b
commit faad598e29
4 changed files with 17 additions and 17 deletions
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2
models/supercombo.dlc
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@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:53995037e75ef96e61d14a81d64de402edb5ca035ad0cb32bdc707484e24f348
oid sha256:642f549aa746dbf08930a5bd008b54f6d967d86ccc3ce8284db09086b2f9ef28
size 63447275

2
models/supercombo.onnx
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@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:f154a42ad1a6e2e50eac88aefe035d3956be33f3e416acc01b02427c3b82fa19
oid sha256:a9046e77c6972bbc4445b9f0e715f3e87719e2bf099fb943c75e5ae7091b9d29
size 63313285

28
selfdrive/modeld/models/driving.cc
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@@ -325,14 +325,6 @@ void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
plan_mhp_max_idx = i;
}
}
float valid_len = net_outputs.plan[plan_mhp_max_idx*(PLAN_MHP_GROUP_SIZE) + 30*32];
valid_len = fmin(MODEL_PATH_DISTANCE, fmax(MIN_VALID_LEN, valid_len));
int valid_len_idx = 0;
for (int i=1; i<TRAJECTORY_SIZE; i++) {
if (valid_len >= X_IDXS[valid_len_idx]){
valid_len_idx = i;
}
}
float * best_plan = &net_outputs.plan[plan_mhp_max_idx*(PLAN_MHP_GROUP_SIZE)];
float plan_t_arr[TRAJECTORY_SIZE];
@@ -342,12 +334,12 @@ void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
auto position = framed.initPosition();
fill_xyzt(position, best_plan, PLAN_MHP_COLUMNS, 0, plan_t_arr);
auto orientation = framed.initOrientation();
fill_xyzt(orientation, best_plan, PLAN_MHP_COLUMNS, 3, plan_t_arr);
auto velocity = framed.initVelocity();
fill_xyzt(velocity, best_plan, PLAN_MHP_COLUMNS, 6, plan_t_arr);
fill_xyzt(velocity, best_plan, PLAN_MHP_COLUMNS, 3, plan_t_arr);
auto orientation = framed.initOrientation();
fill_xyzt(orientation, best_plan, PLAN_MHP_COLUMNS, 9, plan_t_arr);
auto orientation_rate = framed.initOrientationRate();
fill_xyzt(orientation_rate, best_plan, PLAN_MHP_COLUMNS, 9, plan_t_arr);
fill_xyzt(orientation_rate, best_plan, PLAN_MHP_COLUMNS, 12, plan_t_arr);
// lane lines
auto lane_lines = framed.initLaneLines(4);
@@ -411,9 +403,17 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
plan_mhp_max_idx = i;
}
}
// x pos at 10s is a good valid_len
float valid_len = net_outputs.plan[plan_mhp_max_idx*(PLAN_MHP_GROUP_SIZE) + 30*32];
// clamp to 5 and MODEL_PATH_DISTANCE
float valid_len = 0;
float valid_len_candidate;
for (int i=1; i<TRAJECTORY_SIZE; i++) {
valid_len_candidate = net_outputs.plan[plan_mhp_max_idx*(PLAN_MHP_GROUP_SIZE) + 30*i];
if (valid_len_candidate >= valid_len){
valid_len = valid_len_candidate;
}
}
// clamp to 10 and MODEL_PATH_DISTANCE
valid_len = fmin(MODEL_PATH_DISTANCE, fmax(MIN_VALID_LEN, valid_len));
int valid_len_idx = 0;
for (int i=1; i<TRAJECTORY_SIZE; i++) {

2
selfdrive/test/process_replay/model_replay_ref_commit
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@@ -1 +1 @@
12bddb985d32a5efe460224fef55a47f92ecaae3
0d5ecd64a10debf2f62e27fc23738ccce9d1cdb3