Skip to content

Commit e9cea3a

Browse files
authored
Revert TR again (commaai#35179)
Revert "Tomb Raider 7 (commaai#35114)" This reverts commit 0fb4aaf.
1 parent 01867f1 commit e9cea3a

File tree

7 files changed

+25
-37
lines changed

7 files changed

+25
-37
lines changed

selfdrive/controls/lib/longitudinal_planner.py

Lines changed: 3 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -90,7 +90,7 @@ def parse_model(model_msg, model_error):
9090
return x, v, a, j, throttle_prob
9191

9292
def update(self, sm):
93-
self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
93+
self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
9494

9595
if len(sm['carControl'].orientationNED) == 3:
9696
accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -113,7 +113,7 @@ def update(self, sm):
113113
# No change cost when user is controlling the speed, or when standstill
114114
prev_accel_constraint = not (reset_state or sm['carState'].standstill)
115115

116-
if self.mode == 'acc':
116+
if self.mpc.mode == 'acc':
117117
accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
118118
steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
119119
accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
@@ -160,17 +160,8 @@ def update(self, sm):
160160
self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
161161

162162
action_t = self.CP.longitudinalActuatorDelay + DT_MDL
163-
output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
163+
output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
164164
action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
165-
output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
166-
output_should_stop_e2e = sm['modelV2'].action.shouldStop
167-
168-
if self.mode == 'acc':
169-
output_a_target = output_a_target_mpc
170-
self.output_should_stop = output_should_stop_mpc
171-
else:
172-
output_a_target = min(output_a_target_mpc, output_a_target_e2e)
173-
self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
174165

175166
for idx in range(2):
176167
accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)

selfdrive/modeld/fill_model_msg.py

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -90,11 +90,11 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
9090
fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
9191

9292
# temporal pose
93-
#temporal_pose = modelV2.temporalPose
94-
#temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
95-
#temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
96-
#temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
97-
#temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
93+
temporal_pose = modelV2.temporalPose
94+
temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
95+
temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
96+
temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
97+
temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
9898

9999
# poly path
100100
fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)

selfdrive/modeld/modeld.py

Lines changed: 5 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -26,7 +26,7 @@
2626
from openpilot.common.transformations.model import get_warp_matrix
2727
from openpilot.system import sentry
2828
from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
29-
from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
29+
from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
3030
from openpilot.selfdrive.modeld.parse_model_outputs import Parser
3131
from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
3232
from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
@@ -41,8 +41,8 @@
4141
VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
4242
POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'
4343

44-
LAT_SMOOTH_SECONDS = 0.1
45-
LONG_SMOOTH_SECONDS = 0.3
44+
LAT_SMOOTH_SECONDS = 0.0
45+
LONG_SMOOTH_SECONDS = 0.0
4646
MIN_LAT_CONTROL_SPEED = 0.3
4747

4848

@@ -55,11 +55,7 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
5555
action_t=long_action_t)
5656
desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
5757

58-
desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2],
59-
plan[:,Plan.ORIENTATION_RATE][:,2],
60-
ModelConstants.T_IDXS,
61-
v_ego,
62-
lat_action_t)
58+
desired_curvature = model_output['desired_curvature'][0, 0]
6359
if v_ego > MIN_LAT_CONTROL_SPEED:
6460
desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
6561
else:
@@ -176,7 +172,7 @@ def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_
176172
# TODO model only uses last value now
177173
self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
178174
self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
179-
self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
175+
self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
180176

181177
combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
182178
if SEND_RAW_PRED:
Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,3 +1,3 @@
11
version https://git-lfs.github.com/spec/v1
2-
oid sha256:19e30484236efff72d519938c3e26461dbeb89c11d81fa7ecbff8e0263333c18
3-
size 15588463
2+
oid sha256:98f0121ccb6f850077b04cc91bd33d370fc6cbdc2bd35f1ab55628a15a813f36
3+
size 15966721
Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,3 +1,3 @@
11
version https://git-lfs.github.com/spec/v1
2-
oid sha256:dad289ae367cefcb862ef1d707fb4919d008f0eeaa1ebaf18df58d8de5a7d96e
3-
size 46265585
2+
oid sha256:897f80d0388250f99bba69b6a8434560cc0fd83157cbeb0bc134c67fe4e64624
3+
size 34882971

selfdrive/modeld/parse_model_outputs.py

Lines changed: 7 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -88,23 +88,24 @@ def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndar
8888
self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
8989
self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
9090
self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
91-
self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
92-
self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
93-
self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
94-
out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
95-
for k in ['lead_prob', 'lane_lines_prob']:
96-
self.parse_binary_crossentropy(k, outs)
9791
self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
9892
self.parse_binary_crossentropy('meta', outs)
9993
return outs
10094

10195
def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
10296
self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
10397
out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
98+
self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
99+
self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
100+
self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
101+
self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
102+
out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
104103
if 'lat_planner_solution' in outs:
105104
self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
106105
if 'desired_curvature' in outs:
107106
self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
107+
for k in ['lead_prob', 'lane_lines_prob']:
108+
self.parse_binary_crossentropy(k, outs)
108109
self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
109110
return outs
110111

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1 +1 @@
1-
7bf4ae5b92a3ad1f073f675e24e28babad0f2aa0
1+
7bf4ae5b92a3ad1f073f675e24e28babad0f2aa0

0 commit comments

Comments
 (0)