From 447fd0df26e3ddbf872f27a21600f1016ae965e0 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 24 May 2022 09:11:31 -0700 Subject: [PATCH] New model: Worse laneless (#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 69e57eb7e1a72e4bad5e12bcfded6ff431a21a0e. --- selfdrive/controls/lib/lateral_planner.py | 5 ++--- selfdrive/modeld/models/supercombo.dlc | 4 ++-- selfdrive/modeld/models/supercombo.onnx | 4 ++-- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- 4 files changed, 7 insertions(+), 8 deletions(-) diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index f60b3159b9a4cd..6349f05cc216db 100644 --- 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 index a27e3d11809b8b..23f6d904fb238b 100644 --- a/selfdrive/modeld/models/supercombo.dlc +++ b/selfdrive/modeld/models/supercombo.dlc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ba3fe3e61853cc1434e3e220f40c8e9d1f1b9bab8458196ba3bea6a10b82c6ed -size 72718099 +oid sha256:027cbb1fabae369878271cb0e3505071a8bdaa07473fad9a0b2e8d695c5dc1ff +size 76725611 diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 3039035fbc1820..9023c18dd7f970 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bda57c1a66944f5a633ecd739a24d62702c717a234f2fdcc499dfa1d61c3c19e -size 73147489 +oid sha256:484976ea5bd4ddcabc82e95faf30d7311a27802c1e337472558699fa2395a499 +size 77472267 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index bf4e1eadb83733..90520f2619e4d4 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -5fb5cd71a6e878cf45593ecea22c93e932f70c31 \ No newline at end of file +f74ab97371be93fdc28333e5ea12bbb78c3a32d0