carrot/selfdrive/car/torque_data/lat_models/HYUNDAI IONIQ 5 2022 b'xf1x00NE MDPS R 1.00 1.06 57700GI000 4NEDR106'.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":[[9.703846],[1.4697211],[0.9972711],[0.033180196],[1.5312563],[1.5139608],[1.4934232],[1.3644961],[1.2731767],[1.1700225],[1.0811497],[0.033358984],[0.03331386],[0.033269495],[0.033040732],[0.032871656],[0.032650415],[0.032309204]],"model_test_loss":0.04205486178398132,"input_size":18,"current_date_and_time":"2024-01-01_20-37-31","input_mean":[[17.33725],[0.05042373],[0.717343],[-0.022862555],[0.055327892],[0.05493625],[0.05458788],[0.05138512],[0.050127104],[0.05051005],[0.047631554],[-0.02283038],[-0.022839705],[-0.022848826],[-0.023046004],[-0.023218146],[-0.023326905],[-0.023497522]],"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":[[0.204281],[0.26689142],[3.108001],[-4.210843],[-0.7578804],[-0.49968684],[-0.23880507]],"dense_1_W":[[0.11202892,-0.021227907,0.58332694,-0.28936756,-0.51093143,-0.35285702,-0.80423146,1.7629282,0.41133928,0.79250115,-1.1018183,0.3052887,0.3605385,-0.37999627,-0.41093367,0.27781862,0.3325378,-0.20347151],[0.2401276,-2.408979,0.23172472,0.1766606,0.25675574,0.29535872,0.5973928,0.27719554,1.138445,0.122290954,-0.074691914,-0.09113987,-0.16583279,-0.054649107,0.12354217,0.2466539,-0.012393485,-0.1983738],[1.4489361,0.49853098,0.0028291359,0.33412066,-0.80918664,-0.011472892,0.07842913,0.9946121,0.04992063,-0.1709647,1.1880641,-0.08055103,-0.2976662,0.009631397,0.25439984,0.035289057,-0.041707076,-0.21155278],[-1.8516834,1.1458772,-0.0045561823,0.37416545,-1.3399917,-0.9282117,0.22745255,2.190884,-0.15808713,-0.073587514,1.1350452,-0.29525617,0.2414165,-0.17590562,-0.027897123,0.17154282,-0.109110445,-0.17368363],[-0.07603974,0.21505786,-1.1178323,0.13814607,0.036007173,-1.0179394,-0.7762731,0.9261797,0.31311202,0.041368533,-0.13645919,0.41473058,0.009863016,-0.48322207,-0.016930785,-0.15416534,-0.18076502,0.28485465],[-1.3677552,0.24025178,2.5893734,-0.058397137,-0.6675413,-0.76632226,-0.9980631,0.9165333,0.018339206,1.1624013,3.0608647,0.12720783,0.38108477,-0.27858233,-0.30698434,-0.011681204,0.17465995,-0.5020236],[0.065347046,0.6456468,-0.00060345145,0.24937639,-0.055730857,0.2924855,-0.18430746,0.15490627,0.15371828,-0.34182736,0.46137056,-0.068896815,-0.1067872,-0.030229643,-0.06350135,0.0107521955,-0.15444039,0.056294244]],"activation":"σ"},{"dense_2_W":[[0.9805546,-0.33737838,0.28064644,0.16307455,-0.02643023,0.47108907,0.37016493],[-0.107220165,0.22605968,-0.054070197,-0.09680817,-0.3434619,-0.21908028,-0.31586096],[0.9724754,-0.47966638,0.87494713,-0.0759287,0.27159134,0.6302329,0.515316],[-0.48666418,1.0023828,-0.5635873,-1.4169964,-0.47026387,0.87805057,-1.7219222],[0.020739071,-0.6074141,-0.11377775,0.7358074,-0.10725657,0.55394155,1.0667536],[-0.76538765,-0.42720744,0.062783875,0.41877344,0.13158713,-0.3504552,-0.16285266],[0.14332412,-0.5715832,-0.6476809,-0.449941,0.120772846,0.51582605,-0.09672506],[-0.44782013,0.34335232,-0.13179293,-0.23775074,-0.6298554,0.40158617,-0.48087695],[-1.5653481,0.54616416,-0.29352787,-0.06304394,0.23149484,-0.19162945,-0.7399644],[-0.66037923,-0.23982029,-1.2549261,0.7899298,-0.33762068,-1.2285393,0.04129351],[-0.62064177,0.74972457,-0.2659907,-1.0069056,-0.007805993,0.03195985,-1.6529744],[0.38110077,-0.670977,-0.109252684,0.29334652,0.349658,0.2537981,1.2252986],[-0.40419266,-0.71884245,-1.2898341,0.23814791,-0.39158157,-0.8687276,0.4322234]],"activation":"σ","dense_2_b":[[-0.061251912],[-0.044528484],[-0.15617827],[0.5635394],[-0.005463948],[-0.24621545],[-0.07619176],[0.118364416],[-0.14639716],[0.083183534],[0.1671745],[-0.15804562],[-0.013364779]]},{"dense_3_W":[[0.23684539,0.22976884,-0.31738988,0.36973563,-0.7278191,-0.3884805,0.1216559,0.56799316,0.018870415,0.688983,0.344004,-0.7786276,-0.06752253],[0.54566956,0.17846113,0.11712884,-0.764229,-0.2655504,-0.43226698,0.056456096,0.035558138,-0.46943069,0.109357245,-0.42806897,-0.16096461,-0.71951014],[0.719759,-0.37092668,0.19052228,-0.5292048,-0.28603145,-0.4023252,0.51604766,-0.6359464,0.13428678,-0.030619862,-0.38329777,-0.38071984,-0.6735255]],"activation":"identity","dense_3_b":[[-0.041765265],[0.058315128],[0.06635849]]},{"dense_4_W":[[-1.1486828,0.8504439,0.4064111]],"dense_4_b":[[0.049656216]],"activation":"identity"}]}