carrot/selfdrive/car/torque_data/lat_models/HYUNDAI IONIQ PHEV 2020.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":[[9.357256],[1.3853693],[0.5860666],[0.030226383],[1.3820823],[1.3859806],[1.3875121],[1.3500047],[1.3076668],[1.2478263],[1.1802238],[0.030195916],[0.03021214],[0.030222759],[0.030213308],[0.030233195],[0.030223383],[0.03021046]],"model_test_loss":0.019678475335240364,"input_size":18,"current_date_and_time":"2024-01-02_13-17-17","input_mean":[[17.12661],[-0.06443716],[0.31774127],[0.004326282],[-0.060317524],[-0.061987303],[-0.0634136],[-0.059887633],[-0.052522298],[-0.044862807],[-0.04163009],[0.004387604],[0.004375547],[0.0043553617],[0.004286983],[0.0042546038],[0.0041611837],[0.003939608]],"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":[[-0.33107734],[-0.29385474],[-1.9679092],[0.27805138],[1.2317452],[-0.1080191],[-1.8408762]],"dense_1_W":[[0.019644069,1.0780592,0.017720805,-0.00321851,0.04871929,0.14486584,-0.64387065,0.13836545,-0.33094546,-0.38514575,0.40284497,0.16394557,-0.43758535,0.16648428,-0.17851505,0.09279432,0.047763377,-0.051883508],[-0.0029077628,0.5566107,-0.0123966,0.030964492,0.7708837,-0.28105685,-0.3187648,0.22364752,-0.14553037,0.3119839,0.055494912,-0.09726193,0.49268416,-0.37789202,-0.018979624,0.010155313,-0.3082196,0.2074371],[-1.2033105,-0.11157157,0.038026266,0.2411149,1.4984214,1.5892767,0.706726,-1.1586789,-1.2129319,-0.6161806,-1.6354302,-0.020493673,0.22285718,-0.37392586,-0.1522913,-0.38774338,-0.0016318994,0.19950503],[0.57476366,-1.1203756,0.042029057,0.245152,0.1211022,-0.44965276,0.039809022,-0.052846607,0.5484753,0.36237174,0.77410144,-0.063447066,-0.42470035,0.04263277,0.06679556,0.35364315,-0.13030612,-0.13632272],[2.0007126,0.56079066,-0.029939255,-0.020063488,1.0919676,0.07997328,-0.04961092,-0.112434305,-0.59358746,-0.7546542,-0.7962858,-0.17646742,-0.033432126,0.43087828,-0.21747781,0.060552474,-0.06890449,0.059925094],[-0.31403047,-0.05552091,-0.024815893,0.48247203,1.3602576,0.9622197,0.98671883,-1.7480977,-1.4285035,-0.5487519,0.35073572,-0.2306133,0.11711485,-0.1880303,0.008694098,0.046064526,-0.25711262,0.10957639],[-1.6788851,0.6337613,0.022867039,0.23847544,-0.6629179,-1.2843336,-0.7831921,1.1587924,-0.01424714,0.6363135,0.76317894,-0.14488105,-0.64313877,0.0012221787,0.6088522,0.22306068,0.069581226,-0.37696806]],"activation":"σ"},{"dense_2_W":[[0.35171905,0.22623484,-1.0404752,-1.5359467,-0.88166505,-0.33548686,1.2356595],[1.3176707,0.8265608,-0.32476285,-0.11769025,0.28296307,0.116421096,0.036233734],[-0.95096046,-1.4340745,1.2720921,-0.8422924,-1.512094,0.16846201,-0.4478157],[0.9256966,0.48653695,0.33842096,-0.1264764,0.23338409,-0.7410388,0.13078101],[-0.7738724,-1.5621216,1.196706,0.9450166,-1.4977528,-0.76679105,0.5436701],[-0.7076873,-0.733177,-0.77718157,0.8808904,-0.5327768,0.8195293,-0.26373464],[0.7075363,0.8723508,-0.08214869,-0.760776,0.047255073,-0.1680505,0.55200064],[-0.7331615,0.034092482,0.06450747,-0.25109568,-0.910406,0.19667247,-0.01668838],[0.57477146,0.57919395,0.30127937,-0.20247243,0.50456476,-0.58332366,0.513677],[0.505019,1.0994383,-0.14527836,0.067917034,0.50373757,-0.6618878,0.61109954],[-0.8890985,-0.5764501,-0.05234242,-0.32461607,0.04189649,0.9690916,-1.0181533],[-0.81819135,-0.2174197,-0.53395563,0.12047927,-0.36224785,1.022972,-0.9129789],[-0.6101177,-1.1466122,0.024110101,0.56132454,0.27354205,0.59622085,-0.43450713]],"activation":"σ","dense_2_b":[[-0.31243196],[-0.05223962],[-0.1543078],[-0.31996402],[-0.15088257],[0.11593273],[-0.32512003],[-0.23281695],[-0.130241],[-0.052429464],[0.04035238],[-0.040209796],[0.12240848]]},{"dense_3_W":[[0.13114046,-0.17310603,1.034066,-0.4547746,0.99615526,0.7378159,0.12623946,-0.48924795,-0.5330256,0.0164184,0.078483954,0.17965497,0.03087854],[0.5963886,-0.4478305,-0.250156,-0.11058543,-0.7129467,-0.6691348,0.34309468,-0.15970567,0.3521864,-0.3766161,0.24351728,0.53742605,0.54425246],[0.8362147,0.43278587,-0.8513518,0.30489874,-0.67381823,-0.7772826,0.6525396,-0.24718161,0.24452294,0.43076834,-0.7626005,-0.5142894,-0.7443221]],"activation":"identity","dense_3_b":[[0.025841534],[0.03747944],[0.03932869]]},{"dense_4_W":[[-0.35278133,0.009195282,1.0585722]],"dense_4_b":[[0.033836827]],"activation":"identity"}]}