carrot/selfdrive/car/torque_data/lat_models/HONDA HRV 2019 b'39990-THX-A020x00x00'.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":[[7.196055],[0.87593496],[0.33765027],[0.04197189],[0.886328],[0.8834333],[0.87928975],[0.85071605],[0.8310174],[0.8089368],[0.7878991],[0.041903123],[0.041929454],[0.04194031],[0.04174096],[0.041557845],[0.041190308],[0.040708046]],"model_test_loss":0.01768307387828827,"input_size":18,"current_date_and_time":"2023-08-06_14-17-31","input_mean":[[27.28112],[0.05775289],[0.0292109],[0.0014245252],[0.04902593],[0.05110525],[0.053358402],[0.06730357],[0.07672258],[0.086834796],[0.09349608],[0.0012768332],[0.001302666],[0.0013326345],[0.0014557338],[0.0014853236],[0.0014835508],[0.001441598]],"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":[[-1.4649247],[0.16453019],[-0.28886992],[-0.3648863],[-0.42144147],[1.2591343],[0.26168013]],"dense_1_W":[[0.65970325,0.3643967,-0.0078023723,-0.3371772,0.44859505,0.13993022,-0.59133023,0.06776411,0.40852416,0.2055092,-0.22950652,1.1044699,-0.061070323,0.018156692,-0.92917067,-0.29989886,-0.24349432,-0.2445954],[0.0043564676,0.14943714,1.5694466,0.54570717,0.23205929,0.23940374,-0.8834056,0.29886281,0.13640915,-0.07918449,0.06823687,0.4230718,-0.20778643,-0.80100656,0.067888916,0.013294644,-0.17124765,0.11134056],[-0.004692583,0.8932629,-3.326059,-0.13999403,0.71647453,0.7221725,-0.42850545,-0.27863225,-0.17863697,-0.19051133,-1.0301774,0.54785955,0.09839519,-0.52338004,-0.028131597,0.10106243,-0.26319197,0.2228086],[-0.13291039,-0.4817582,0.0022403449,-1.604327,-0.1416615,0.6045698,0.6883181,-0.09455803,-0.119714886,-0.031930104,0.16707899,1.219931,-0.027221087,0.2683029,-0.017352045,0.0354093,0.08798443,-0.011031896],[-0.0001811604,-0.55647755,-4.251647,0.10555062,1.2620865,0.87399095,1.7948182,0.5045302,-2.1733336,-1.323175,-0.20426413,-0.8539617,-0.42787957,0.87268126,0.50717103,0.21002649,-0.043627627,-0.31594208],[-0.7002713,0.0439368,-0.007873659,-0.15335229,-0.08326318,0.8655352,-0.4760854,-0.06738273,0.33060014,0.61478436,-0.43724525,0.8940125,0.14382815,-0.5073753,-0.16832146,-0.39969006,-0.77300745,-0.07796513],[0.18735953,0.5023311,-0.00044152042,0.6289259,-0.7044324,0.8138658,0.3475159,-0.48989236,0.070642374,-0.012694965,0.0680297,0.7051084,-0.33375153,-0.81817293,0.061156776,-0.22678623,0.075785585,-0.11933581]],"activation":"σ"},{"dense_2_W":[[0.44918334,-0.44261467,-0.37257126,0.06871936,-0.76875246,-0.02301384,-0.45431],[-0.028300185,0.74804,0.16640806,0.42070544,-0.45251933,-0.21348317,0.6122552],[-0.75886244,-0.4412132,-0.88113075,-0.5994053,0.81894237,0.0319869,0.07787325],[0.016850863,-0.46549502,-0.84523696,-0.4440643,-0.08756868,0.010443555,-0.11621737],[-0.11881556,0.04645116,0.035857048,0.5879231,0.10456129,0.2670699,0.30576423],[0.18244462,-0.18358052,0.63081473,0.678613,-0.065976664,0.5200684,0.0114103705],[0.17458354,-0.758713,-1.1933472,-1.2458708,2.0880768,-0.35880476,0.043243304],[0.6276925,0.3325886,0.42858002,-0.19699302,0.26399422,-0.5362572,-0.32001755],[0.019581828,-0.7625633,-0.43383184,-0.56120574,0.28209898,0.18763974,-0.48512912],[-0.72589034,-0.39149624,-0.69566345,0.25285095,0.9949407,-0.6764689,-0.86815906],[-0.229745,-0.04891058,-0.23069735,0.05986481,0.24995661,0.65987855,0.42597428],[0.21872666,-0.2117571,0.25106636,0.69597656,-0.34293714,0.08462207,0.626666],[-0.28573155,-0.4643647,-0.40302104,-0.41738722,0.75807416,0.047476795,-0.82152224]],"activation":"σ","dense_2_b":[[-0.040295057],[-0.038580682],[0.41026086],[0.13927889],[-0.051729757],[-0.19358195],[1.3526292],[-0.060473673],[0.15599808],[0.31490785],[-0.026681194],[-0.103706256],[0.075545505]]},{"dense_3_W":[[-0.19065312,-0.68438256,-0.1597246,0.23868644,0.2844928,0.24808933,-0.33611223,-0.09016653,0.7001218,0.3639498,0.2646331,-0.4721014,0.4990256],[-0.31301543,-0.42533165,-0.35976458,-0.23861757,0.4356561,0.6322021,-0.6240161,-0.16950898,-0.17745121,-0.17519787,0.5549622,0.65472394,0.46188885],[-0.048509836,0.6186861,-0.56957906,-0.63238627,0.35587925,0.47782204,-0.622644,0.1277044,-0.32014754,-0.24985255,0.19653115,-0.11492239,-0.59642744]],"activation":"identity","dense_3_b":[[-0.0043907734],[0.0006517651],[0.0069493363]]},{"dense_4_W":[[-0.6007436,0.5252799,1.091879]],"dense_4_b":[[0.0049111033]],"activation":"identity"}]}