carrot/selfdrive/car/torque_data/lat_models/HYUNDAI GENESIS 2015-2016.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":[[3.7556865],[0.89940834],[0.67879796],[0.031962715],[0.8653804],[0.8679779],[0.8817272],[0.90270793],[0.90001684],[0.88460803],[0.85145134],[0.031683847],[0.031756546],[0.031847],[0.031920686],[0.031601347],[0.031399142],[0.031760495]],"model_test_loss":0.0037527475506067276,"input_size":18,"current_date_and_time":"2024-01-04_16-42-31","input_mean":[[26.171658],[-0.08774186],[-0.089951776],[0.026726294],[-0.07526713],[-0.07957021],[-0.08020052],[-0.108971246],[-0.11010833],[-0.118074596],[-0.1266786],[0.027349057],[0.027166761],[0.02699084],[0.02649325],[0.026241982],[0.025737077],[0.025352998]],"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":[[0.09362387],[-0.17276667],[0.33338386],[-0.3156544],[-0.9768829],[-0.27498174],[-1.3759602]],"dense_1_W":[[0.007824183,0.45800245,-0.12309973,-0.35748523,0.21884313,-0.75677437,0.07558299,0.062057156,-0.26110807,0.21560276,-0.2682213,0.20357178,0.026325434,-0.47474426,0.47363266,0.18330094,0.28198072,-0.32562622],[-0.0009478355,0.049949232,0.02006107,-0.17534888,-0.09126707,-0.26944596,0.7681451,0.12765184,0.4166388,0.051213846,-0.25796825,0.53435314,-0.37749326,-0.24420953,0.04291624,-0.022155384,0.4288103,-0.25314027],[0.012952409,0.8745645,-0.56402653,-0.12304021,-0.34621274,-0.8883634,0.034928713,0.07572593,0.5578455,0.3517223,-0.09744362,0.20388608,-0.31459042,0.20595706,0.24897693,-0.3837785,0.32223228,0.24684827],[-0.011601953,-1.5442103,0.09368733,0.08987813,-0.39958876,0.76853,0.20130827,0.7633118,0.6096491,0.20027813,-0.5202404,0.45157498,-0.18745212,-0.45576903,0.015495239,0.035457667,-0.07153516,0.07118796],[1.1791711,-1.2082016,0.1504347,0.09413099,0.4115065,0.068484075,-0.17691647,0.47192603,-1.0028208,0.6620161,0.11323731,0.10798919,0.088230595,-0.0055387556,0.27408412,0.24862653,-0.5327211,0.11022062],[0.0020577686,0.48583165,-0.044140726,0.19018489,0.17221704,-0.38114366,0.24461201,-0.036392916,0.27635142,0.021303134,0.0817815,0.15446927,-0.13769911,-0.21762037,-0.038250852,-0.22074658,0.30579036,-0.06522256],[1.5630853,-0.28399438,0.2037302,-0.12833543,-0.33163851,0.2186809,-0.63406676,-0.28089893,0.28887862,0.1187599,0.026994208,0.053278938,-0.17760779,0.5965935,-0.25147694,0.63692904,0.21828686,-0.49391508]],"activation":"σ"},{"dense_2_W":[[0.0726715,-0.48241988,-0.013562942,-0.68643826,0.122418925,-0.6117028,0.57509285],[-0.9087994,0.6238399,-0.4529101,0.6710324,0.59708506,0.10907213,-0.4773115],[-0.44659194,0.67464584,0.15803032,0.021582875,0.31015953,0.5452285,-0.6765116],[0.51516974,-0.3116313,-0.07177004,-0.51212347,-0.41373298,-0.31192935,-0.14307344],[0.31589127,-0.72425485,0.5110943,-0.062953934,-0.10496644,-0.18849522,0.49435458],[-0.82823604,0.109315805,-0.53005844,0.8256638,0.1827822,0.7369232,-0.053916167],[-0.28737116,0.15566273,-0.8042681,0.7764775,0.47997072,0.17953235,0.012232639],[-0.3514961,-0.55900663,0.15639468,-0.0017432063,-0.5496177,0.04161801,-0.14632827],[0.6656533,-0.33880675,0.098893695,-0.39361373,-0.27766383,0.05749044,-0.39188436],[-1.038375,0.1520447,-0.34554598,0.6995767,0.20770136,0.69976556,0.01809379],[0.22465566,-0.75247806,-0.18460034,-0.742148,-0.18416166,0.008065607,-0.08483126],[-0.29408965,-0.29050434,-0.6048463,-0.27565485,0.13551772,0.34966597,-0.5267373],[-0.22069135,-0.2626666,0.17469417,-0.27533576,-0.33667958,0.11219375,0.024925495]],"activation":"σ","dense_2_b":[[0.0076279477],[-0.18462089],[-0.04759257],[0.0969256],[-0.048814774],[-0.09263657],[-0.004799774],[-0.2058062],[0.024347737],[-0.14662875],[-0.12046921],[-0.30261606],[0.004081911]]},{"dense_3_W":[[-0.120574914,0.49720204,0.2383173,-0.5080956,-0.60780656,-0.026719434,0.65661365,-0.50218445,-0.32933223,-0.29561388,-0.5014581,-0.4577656,0.08181169],[0.4257378,-0.31580517,-0.5934632,-0.6027063,0.32563043,0.0008438376,0.3448457,0.1931739,0.28145376,-0.11271943,0.54359156,0.46130052,0.17723548],[-0.5716866,0.12516831,0.6076393,-0.44782907,-0.66915834,0.45487607,0.4344843,0.07892973,-0.1510296,0.5472205,-0.10359479,0.22010674,-0.19422393]],"activation":"identity","dense_3_b":[[-0.03257466],[-0.044291034],[-0.04256071]]},{"dense_4_W":[[0.36766285,-0.10294844,1.0944453]],"dense_4_b":[[-0.041747186]],"activation":"identity"}]}