carrot/selfdrive/car/torque_data/lat_models/CHEVROLET BOLT EV NO ACC.json
FrogAi 5589bead02 Controls - Lateral Tuning - NNFF
Use Twilsonco's Neural Network Feedforward for enhanced precision in lateral control.

Credit goes to Twilsonco!

https: //github.com/twilsonco
Co-Authored-By: Tim Wilson <7284371+twilsonco@users.noreply.github.com>
2024-06-01 02:34:40 -07:00

1 line
4.3 KiB
JSON
Raw Blame History

This file contains ambiguous Unicode characters

This file contains Unicode characters that might be confused with other characters. If you think that this is intentional, you can safely ignore this warning. Use the Escape button to reveal them.

{"input_std":[[7.805154],[1.1292539],[1.3490857],[0.036217604],[1.0977132],[1.1155211],[1.127409],[1.0727364],[1.0458817],[1.026358],[1.0011874],[0.03617948],[0.036222186],[0.03623641],[0.036185585],[0.036199734],[0.035991978],[0.03567496]],"model_test_loss":0.01370001956820488,"input_size":18,"current_date_and_time":"2024-01-01_13-04-12","input_mean":[[21.193375],[-0.07126711],[0.010940193],[-0.009177298],[-0.053769287],[-0.0626145],[-0.06936511],[-0.055694804],[-0.053399004],[-0.046697848],[-0.03906417],[-0.009396684],[-0.009317463],[-0.009245554],[-0.009097925],[-0.009196822],[-0.009279612],[-0.009441936]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.3285913],[0.99726945],[0.06084373],[1.2424482],[0.88918895],[-1.2196591],[-0.07867578]],"dense_1_W":[[-0.051281568,-0.5051756,0.19735675,0.7725091,-2.8877864,-1.1379802,0.7701628,0.021472264,1.5689127,0.3365713,-1.4571329,0.2316042,0.37530744,0.12189294,0.25959742,-0.46881798,0.23864648,-0.08181852],[0.027359115,-2.6414714,3.191655,0.5274587,-2.550477,-2.52041,-2.6644318,-2.9815207,-1.3143195,-2.005771,-3.5004995,-0.36418968,-0.069188714,0.021047201,0.9395694,-0.9058005,-0.23064037,0.10042772],[0.037466932,3.6640952,0.03145805,-0.23057933,-1.8516039,-1.2305965,0.5281986,1.9490814,1.3995173,-0.24309371,-1.0689102,-0.056276716,0.040782165,0.12059725,-0.49844372,-0.8216072,-0.18152438,0.6763167],[0.27012432,-0.43368447,-0.22669458,-0.08431162,-0.7071407,-0.48135045,0.55884933,0.34444404,-0.28769356,-0.0797289,-0.088475846,0.058576252,0.033922695,0.3534258,-0.018070675,-0.38197684,-0.6239397,0.65558445],[2.1792965,0.58517677,0.34956864,0.12193334,0.21761975,0.6789033,1.249713,-0.48586452,0.33732596,-0.424527,0.54885083,0.5129997,-0.14347216,-0.0546822,-0.26293123,-0.06863725,-0.57270604,0.4571868],[-0.79956,-0.84588563,-0.24401124,0.38323095,-0.81192094,-0.5009944,0.45785642,0.65137523,-0.20026092,0.03374542,-0.28906596,-0.13346131,0.062622495,0.052971195,-0.1633737,-0.02865504,-0.7684347,0.59446514],[0.045892548,5.397834,1.5689781,0.26977316,-3.5300484,-4.2731714,-1.1710402,2.7152314,1.2540212,0.80045575,-1.1171184,0.08092267,0.1180596,0.23980759,0.5013149,-0.9601375,-1.156669,0.90494317]],"activation":"σ"},{"dense_2_W":[[-0.49807936,-0.35614428,0.27732018,0.1256018,-0.58871704,0.062494375,0.047935154],[-0.53877306,0.1852636,0.11236675,0.122244425,0.3056249,0.15762979,-0.2031525],[0.32510728,0.2247377,0.19543059,0.33656535,0.025677254,-0.77777624,0.34671205],[0.15794428,-0.34107143,-0.22429225,0.4915409,-0.39946282,0.708664,-0.46860406],[-0.12848404,-0.5651869,0.2651021,-0.39348817,-0.7327032,-0.21450776,-0.100767024],[0.5320222,0.115114555,0.20224684,-0.14977555,0.25091904,0.51314765,-0.6404437],[-0.29723015,0.53304607,0.152574,0.6062823,0.45843652,-0.13362893,-0.42261922],[-0.41594058,-0.0350032,0.5107924,-0.44232282,-0.4230101,-0.49740207,0.041017145],[0.08500249,-0.5033914,-0.096879825,-0.74622214,0.05090967,0.093134046,-0.52570236],[0.9970047,0.77350116,-0.96016175,0.7246978,-0.4472165,0.6113522,-1.2581744],[0.45012528,-0.33633977,-0.076350845,0.21303017,-0.2314128,0.30510262,-0.09691445],[-0.34624612,0.07063122,-0.5849178,0.18063238,0.13059561,0.8219127,-0.20530286],[-0.05819726,0.13545145,0.36940986,-0.17962353,0.19971876,-0.056305908,-0.43643346]],"activation":"σ","dense_2_b":[[0.0042140363],[-0.007488511],[0.022306686],[0.008221663],[-0.009001905],[-0.17095418],[0.0835481],[0.10033875],[-0.19425896],[-0.28095624],[-0.03933655],[-0.10130748],[0.007645404]]},{"dense_3_W":[[0.36598796,0.23568383,0.3547073,-0.2884487,-0.31224865,0.15397908,0.00051128346,-0.35919607,-0.178205,0.5657017,0.35726655,-0.5271686,0.46255848],[0.1923403,0.17933448,0.51658535,-0.4521261,0.6263542,-0.29074374,-0.44493693,0.6960586,-0.13207766,0.12166583,-0.53720266,-0.4814689,-0.108239666],[-0.53916067,0.020402208,0.074103095,0.29275122,0.15590864,-0.06063754,0.10560816,-0.5669755,-0.26955825,0.49029124,-0.28647858,0.14348778,-0.6431672]],"activation":"identity","dense_3_b":[[-0.07445188],[0.06259737],[-0.0585549]]},{"dense_4_W":[[-0.3374292,1.0653836,-0.7952112]],"dense_4_b":[[0.063679315]],"activation":"identity"}]}