New model: Worse laneless (commaai#24605)

* Fix ping pong * Fix hugging: e6fd3a62-aa86-46d1-a414-19137ed1babc/800 * Remove lateral toggle * a6da6265-1952-48dd-986b-2b5996dd2642/950 * Model replay commit * Revert "Remove lateral toggle" This reverts commit 69e57eb.
ntegan1 · May 27, 2022 · 447fd0d · 447fd0d
1 parent 3d74b54
commit 447fd0d
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Showing 4 changed files with 7 additions and 8 deletions.
diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
@@ -62,10 +62,9 @@ def update(self, sm):
       self.lat_mpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, self.steer_rate_cost)
     else:
       d_path_xyz = self.path_xyz
-      path_cost = np.clip(abs(self.path_xyz[0, 1] / self.path_xyz_stds[0, 1]), 0.5, 1.5) * MPC_COST_LAT.PATH
       # Heading cost is useful at low speed, otherwise end of plan can be off-heading
-      heading_cost = interp(v_ego, [5.0, 10.0], [MPC_COST_LAT.HEADING, 0.0])
-      self.lat_mpc.set_weights(path_cost, heading_cost, self.steer_rate_cost)
+      heading_cost = interp(v_ego, [5.0, 10.0], [MPC_COST_LAT.HEADING, 0.15])
+      self.lat_mpc.set_weights(MPC_COST_LAT.PATH, heading_cost, self.steer_rate_cost)
 
     y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1])
     heading_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)

diff --git a/selfdrive/modeld/models/supercombo.dlc b/selfdrive/modeld/models/supercombo.dlc
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-5fb5cd71a6e878cf45593ecea22c93e932f70c31
+f74ab97371be93fdc28333e5ea12bbb78c3a32d0