carrot/selfdrive/car/torque_data/lat_models/HYUNDAI ELANTRA HYBRID 2021 b'xf1x00CN7 MDPS C 1.00 1.03 56310BY050 4CNHC103'.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
4.4 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":[[6.5466146],[0.80981266],[0.4014232],[0.035715338],[0.808276],[0.80946004],[0.8099587],[0.8003049],[0.79292077],[0.7788614],[0.7569955],[0.035431836],[0.03552915],[0.035616748],[0.035825603],[0.035789166],[0.035539445],[0.035157643]],"model_test_loss":0.0024959088768810034,"input_size":18,"current_date_and_time":"2023-08-07_02-05-51","input_mean":[[20.843248],[-0.067527235],[0.00015006482],[-0.012940521],[-0.06860682],[-0.06791663],[-0.06730508],[-0.06773257],[-0.066599436],[-0.0642261],[-0.06246489],[-0.012981559],[-0.012971355],[-0.012961813],[-0.013026318],[-0.013139244],[-0.013358213],[-0.013696734]],"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":[[0.36959708],[-0.3927159],[0.015337716],[-2.6280007],[0.013323148],[-2.6784072],[0.012876663]],"dense_1_W":[[0.00441593,-0.28445426,0.12868425,-0.06594001,0.643517,-0.26863223,0.23516199,0.0933076,-0.54322356,-0.13129324,0.22534953,0.15129176,-0.13127483,0.19987836,-0.39554223,-0.0589629,-0.49924454,-0.28881076],[0.39027417,0.15401302,-0.056920696,-0.47890553,-0.3300009,-0.48306167,0.5828366,-0.065358765,0.11067453,-0.19332197,0.08158799,-0.13183025,0.08212273,0.34178394,0.30528525,-0.046424016,0.45213524,0.049064413],[-0.0018742161,1.0021389,3.8293767,-0.20225114,-0.7356092,0.38675764,-0.6186065,0.1530118,-0.19326465,-0.16745023,-0.09147689,0.3500271,0.28329384,-0.3719793,-0.11645031,0.012525024,-0.15232189,0.16442363],[-0.37709048,-0.18989839,-0.39395905,0.45258853,-0.27445865,-1.0695606,0.52972853,-0.24389778,0.18883058,-0.3289555,0.026898181,-0.4512817,-0.012726739,0.24032715,0.039549112,-0.15741278,0.23836505,-0.22582999],[0.0026869208,0.5816565,0.0047081015,0.33716485,-0.43749458,-0.90179884,0.090872325,-0.18876752,0.28434423,0.30354127,-0.45683673,-0.0043129507,-0.15474738,-0.12864216,0.33334208,-0.37975344,-0.17868224,0.17245947],[-0.37269658,0.056210883,0.39117196,-0.20178121,0.48395464,0.6668031,-0.19134971,0.05924893,0.20031299,-0.051123295,0.11479842,0.3327035,0.406696,-0.60037625,-0.55025846,0.3823001,0.067088164,0.03777696],[0.28842884,0.27748382,0.055223227,0.24982269,-0.25035748,0.6999531,-0.5086199,-0.16066559,0.18782836,-0.009960592,-0.09571262,0.5652131,-0.20471764,-0.25930697,-0.46783432,-0.36040586,-0.04924343,-0.036189865]],"activation":"σ"},{"dense_2_W":[[0.4325747,0.05352207,-0.019636882,0.23707733,0.51061547,-0.4637862,-0.40100852],[0.20493814,-0.20983218,-0.4001346,-0.008143373,0.2476857,-0.037123583,-0.67152816],[-0.38300198,-0.5133637,0.054119077,-0.6279624,-0.49244288,0.6256476,0.7907053],[0.19233866,0.08520638,0.08706983,-1.0209559,-0.61933124,0.5403933,0.96377575],[-0.5673173,-0.8495875,0.35421842,-0.16951926,-0.36651966,0.16976853,0.0146132065],[-0.11585242,0.6740597,-0.41580456,-0.12795658,-0.036778353,-0.3175067,0.04743779],[-0.07734896,-0.36116868,-0.13891894,0.13353403,-0.17158407,0.18492623,0.215829],[-0.079607025,-0.0628624,-0.40307927,-0.6614631,0.25177357,0.37012863,-0.057130966],[-0.39253744,-0.11905358,-0.0998102,0.14498588,0.031866945,0.4783852,-0.27589342],[-0.46258968,-0.5466553,0.5868711,-0.5633951,-0.14532568,0.22600377,1.0318995],[0.11289376,-0.40194705,0.4572626,0.7012955,-0.27434063,-0.30249357,0.39138433],[0.0068481546,0.33485183,-0.21508186,-0.07030695,-0.10074153,-0.07031553,0.2075642],[0.19613013,0.27113703,-0.25391266,-0.21612066,0.19921905,-0.14536792,-0.3427696]],"activation":"σ","dense_2_b":[[-0.012001398],[-0.02212474],[0.14096059],[0.041697618],[-0.008908936],[0.047332846],[-0.009194286],[-0.039932724],[-0.043813754],[0.036821954],[-0.0014258353],[0.00875199],[0.015467969]]},{"dense_3_W":[[0.32098088,-0.32571092,-0.6606648,-0.15589207,-0.29422677,-0.11235969,0.27968746,-0.4088068,0.46579373,-0.32524452,-0.25602353,-0.074144796,0.4581445],[0.2711465,0.4530056,0.31585717,0.165996,0.09512367,0.54065865,-0.5712976,0.093997784,0.22095615,-0.3393496,0.04974402,0.16312775,0.20385568],[0.6250006,0.51413673,-0.7039048,-0.40498862,-0.30975106,0.5319801,-0.030333402,-0.34835565,-0.48519892,-0.087083556,0.5168309,0.3949118,0.14679015]],"activation":"identity","dense_3_b":[[0.029179294],[2.9370978e-5],[0.024199445]]},{"dense_4_W":[[-0.8672829,-0.09036683,-0.9275841]],"dense_4_b":[[-0.027475327]],"activation":"identity"}]}