carrot/selfdrive/car/torque_data/lat_models/KIA NIRO HYBRID 2021.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":[[8.60443],[1.6242849],[0.8556237],[0.048838485],[1.6664606],[1.6576511],[1.6443201],[1.5343351],[1.4558861],[1.3655001],[1.273514],[0.048768718],[0.048813213],[0.048836343],[0.048861764],[0.04897125],[0.049200505],[0.04922823]],"model_test_loss":0.013757775537669659,"input_size":18,"current_date_and_time":"2024-01-02_20-57-56","input_mean":[[17.291964],[0.09773301],[0.5108349],[0.0006670509],[0.10108001],[0.100161456],[0.09939422],[0.09313934],[0.090212315],[0.090260334],[0.0940958],[0.0007652925],[0.0007394968],[0.00070309365],[0.00042771836],[0.00010528277],[-0.00010807689],[-0.00034154032]],"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":[[0.09704164],[0.06772629],[-0.24829745],[-0.09459925],[-0.37679377],[0.67907965],[0.7312695]],"dense_1_W":[[-0.011148252,0.6315173,0.06571543,0.13216867,0.4259651,0.5102815,-0.45210382,-0.13207369,-0.32752278,-0.19427557,0.326945,-0.1673175,-0.13886221,0.07494273,-0.4164767,0.18037063,0.5400959,-0.41911867],[-0.0087806275,-0.33079907,0.09112396,0.22266082,1.6118628,1.0362883,0.9838829,-1.4647006,-0.95487374,-0.6551192,0.029844094,0.092685066,-0.42932513,0.01725155,-0.15488794,0.18353516,-0.13151416,0.17579113],[-0.9421933,0.013446782,-0.054554038,-0.0324731,0.24267657,0.06659071,-0.012760461,0.23693468,0.02040142,-0.20373538,0.33050072,0.4053921,-0.5497347,0.08923496,0.004598124,0.004079607,-0.17234346,0.06278167],[0.010541568,-0.9638039,-0.054815065,-0.41033933,0.200739,0.488564,0.355953,-0.06802272,0.17728505,-0.50667596,0.03409793,-0.107320584,-0.09372767,0.22312592,0.19275194,-0.25182393,0.4703995,-0.2045823],[-0.87648124,-0.31513888,0.05162059,0.10601389,0.04407855,0.020202147,-0.092312805,-0.27812958,0.07460737,0.13439092,-0.26615468,0.16772822,-0.056351215,0.16048922,-0.67226213,0.33925673,0.11358569,0.022752488],[-1.019248,0.5724542,0.02104999,-0.47253367,0.68667674,-0.15251538,-0.19334482,0.26583257,0.08676254,-0.5514629,-0.7081595,0.58662975,-0.31215367,0.0038651985,-0.10067084,-0.1557054,-0.021690957,0.32408133],[-1.083063,-0.1945371,-0.016771397,0.40833881,-0.6022197,-0.15585236,0.05331974,-0.26704222,-0.05717444,0.4549331,0.755423,-0.6002274,0.0060425606,0.3098269,0.3040121,0.04636023,0.064261355,-0.37626898]],"activation":"σ"},{"dense_2_W":[[-0.73102283,0.22817627,-0.18595213,0.6684782,0.4927319,-0.1090405,0.3852988],[0.66049,-0.2791479,-0.12182493,-0.034543,-0.8566032,-0.04320626,-0.46593636],[0.044243734,0.33841887,-0.6089604,0.92138785,-0.14370312,-0.027232992,0.4339304],[1.1090982,-0.58442944,0.42548302,-0.68116426,-0.47211155,0.44618446,-0.28127795],[0.11360999,-0.39368537,0.93772626,-0.36161572,-0.71216685,0.21843474,-0.5998576],[-0.037476286,-0.437696,-0.06920992,-0.061544698,-0.82211345,-0.8245116,-0.5946029],[0.3751436,-0.28888538,0.571355,-0.6339266,-0.2675686,-0.047141425,-0.36075115],[-0.28277603,0.5962479,-0.8956938,0.6039592,0.40435624,0.025778634,0.16656417],[-0.032904975,-0.29524028,0.47378203,-0.6389807,-0.46656653,0.43379188,-0.009962926],[-0.8069284,0.47373673,0.075822294,0.4102212,0.7093508,-0.69777775,0.12370782],[-0.7757426,0.5473194,-0.7661202,0.7827363,-0.096258916,-0.53908885,0.52718544],[0.05687261,-0.82575047,0.7150992,-0.68352276,-0.4255761,0.28531465,-0.07625851],[0.82144934,-0.8227334,0.40952128,-0.07598164,-0.7586759,0.5608167,-0.72957623]],"activation":"σ","dense_2_b":[[-0.0848203],[-0.22016208],[-0.043136466],[0.23961414],[-0.2164789],[-0.10836485],[-0.29565263],[-0.19954456],[-0.09172517],[-0.0413441],[-0.11029816],[0.04255264],[0.09554766]]},{"dense_3_W":[[0.7839199,-0.5885021,0.06993066,-0.88334614,-0.66625386,0.18609095,-0.2965776,0.50369185,-0.3929932,0.58637375,-0.07015125,-0.021548882,-0.772331],[0.13875878,0.3765177,0.7130824,-0.4992262,0.23508485,-0.43757945,-0.0019901479,0.29000795,-0.49609274,0.5429547,0.54266053,-0.6493207,0.05894248],[-0.13451223,0.27304032,0.29475412,0.86158705,0.31786317,-0.35405266,-0.040034544,-0.039435185,0.027523886,-0.256729,-0.3564133,-0.06374808,-0.020466967]],"activation":"identity","dense_3_b":[[0.08036436],[0.04357687],[-0.061431516]]},{"dense_4_W":[[-0.98974735,-0.7507622,0.36499673]],"dense_4_b":[[-0.05315298]],"activation":"identity"}]}