carrot/selfdrive/car/torque_data/lat_models/CHRYSLER PACIFICA HYBRID 2019 b'68416741AA'.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":[[3.540884],[0.72527695],[0.45695683],[0.034991868],[0.709294],[0.71476114],[0.72185975],[0.7211512],[0.7235535],[0.7168181],[0.7078516],[0.034848806],[0.03490882],[0.034961533],[0.03501503],[0.03508182],[0.035303213],[0.035285834]],"model_test_loss":0.008240409195423126,"input_size":18,"current_date_and_time":"2023-08-05_13-46-44","input_mean":[[25.921837],[0.0125832055],[-0.01164115],[0.0026885534],[0.014492291],[0.0139633],[0.013493571],[0.008726519],[0.008531813],[0.009844244],[0.0044681607],[0.0026176367],[0.0026374457],[0.0026502886],[0.0027010296],[0.00267962],[0.0024883181],[0.0022550253]],"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":[[-0.13672608],[-0.041571867],[1.2636456],[-0.065467335],[0.011800385],[-0.46202916],[-1.372556]],"dense_1_W":[[0.007422458,0.6754113,7.4073644,0.11848473,-2.1631336,-0.912065,-0.8724629,-0.2556371,3.0907576,1.412602,-0.8293619,0.79462373,0.14016043,0.24535954,-0.30560818,-0.57401854,-0.60158664,0.14450504],[-0.0018305334,0.09137483,0.0048553096,-0.18322048,-0.17445193,1.1315465,-0.99553066,0.20692046,-0.1573373,0.10723841,0.034833677,0.013222382,0.04913359,-0.063011676,0.080315255,0.007860034,-0.06869685,-0.10426123],[0.41642052,-0.43292236,-0.00016212527,-0.28172606,0.22388797,-0.5387432,0.5000487,-0.0662662,-0.19251756,-0.24930976,0.21399923,0.21182868,0.23792529,0.36422804,-0.12048849,-0.10356604,-0.18955365,0.20988986],[0.007196369,-0.40141714,0.004146293,0.24328095,0.08316568,-0.7725523,0.24712877,0.31170592,-0.2618485,0.3492374,-0.23321508,-0.5998228,0.054245714,0.05656959,0.42039597,0.29605547,-0.16332126,-0.25805196],[-0.0066868253,0.24793896,-0.9155987,-0.22574951,0.2279949,-0.75932324,0.5498709,-0.50319123,-0.25042525,-0.16740315,0.9464338,-0.6654067,-0.46457547,-0.62106884,0.38022646,0.66043746,0.57050747,-0.051786408],[-0.013603165,-0.7850666,0.22816952,-0.94007343,0.6314619,-1.1180922,0.9316161,0.71419287,1.565776,0.82271457,-0.6743947,-0.03324018,-0.22406328,0.11753971,-0.86198115,-0.7191324,-1.2573929,-1.3663477],[-0.39971876,-0.90275395,-0.002747763,0.3259772,0.053136084,-0.1129504,0.67844796,-0.12035228,-0.111051224,-0.23912819,0.22313052,0.015122417,-0.042040545,0.31138957,-0.21768394,-0.19387904,0.17800824,-0.058540124]],"activation":"σ"},{"dense_2_W":[[-0.2712744,-0.27548417,-0.24589045,-0.94929534,0.056101516,0.37687665,-0.34930152],[0.12890357,0.107452646,0.05273279,-0.2842241,-0.26417354,-0.36303985,-0.88106096],[0.10812536,0.8229097,-0.48439428,-0.6146967,0.30271894,-0.47587743,-0.72306526],[-0.2970765,-0.9954584,0.8347318,0.28984168,0.22221072,-0.08318426,0.5174111],[0.022121632,-0.9320088,-0.13187025,0.84971243,0.11638838,-0.18265942,0.6944859],[-0.81018156,-1.4140185,0.0050559104,0.8047088,0.112945594,0.11903153,1.4750458],[-0.10029377,0.79245657,-0.129312,-0.96144485,-0.14801987,-0.19154973,-0.27617636],[-0.42813414,-1.1076767,0.41040602,0.6022723,0.2166483,0.101234265,0.25476956],[-0.2616646,0.06810875,-0.2897757,-0.34468642,0.19396816,-0.23995267,0.042478308],[0.064412996,0.088728696,-0.83973736,0.046822183,-0.044361882,-0.2079744,-0.5540397],[-0.9322635,-0.08910884,2.045478,0.7023676,0.27462402,-0.3360689,-0.5251471],[-0.82763696,0.09217775,-0.5712728,-0.1493765,0.17474991,-0.029826907,-0.55813324],[-0.30443445,-0.47327244,-0.5111389,-0.45714694,0.37277365,0.38366705,0.1959204]],"activation":"σ","dense_2_b":[[0.08118501],[0.07975673],[0.11642572],[-0.2567934],[-0.4266919],[-0.5458668],[0.18571955],[-0.08934562],[-0.29633301],[0.13670655],[0.07141965],[-0.30583197],[-0.0840992]]},{"dense_3_W":[[-0.5074871,-0.28185704,0.4593259,0.47745362,-0.44245535,0.07299903,-0.67817503,0.13860504,0.30813742,0.42423633,-0.060915153,-0.56996584,-0.0628069],[-0.63610864,-0.52725506,-0.59844047,0.43560866,0.6619392,0.40266907,-0.7854964,0.7018912,-0.12779734,-0.56247413,0.6380423,0.3426679,0.12550351],[-0.22990963,-0.22485729,0.11532963,0.1304727,0.34375438,0.09126867,-0.44410926,0.5529583,-0.08919587,-0.62609166,-0.042024292,-0.44053796,-0.45395342]],"activation":"identity","dense_3_b":[[-0.029381804],[-0.053650945],[-0.030720724]]},{"dense_4_W":[[-0.4063532,-1.1326009,-0.48396984]],"dense_4_b":[[0.045191046]],"activation":"identity"}]}