Los Angeles Model 2 (#31135)

* 7045fb53-6739-4338-8426-20cbd4ad7832/600

* Update constants

* Update parse

* Typos

* Update ref

* 26057144-130f-48e1-8a98-00fae53ae7db/700

* Update ref
old-commit-hash: f55e6a3b81

selfdrive/modeld/constants.py

@@ -23,7 +23,7 @@ class ModelConstants:
   DRIVING_STYLE_LEN = 12
   LAT_PLANNER_STATE_LEN = 4
   LATERAL_CONTROL_PARAMS_LEN = 2
-  PREV_DESIRED_CURVS_LEN = 20
+  PREV_DESIRED_CURV_LEN = 1
 
   # model outputs constants
   FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32)

selfdrive/modeld/modeld.py

@@ -58,7 +58,7 @@ class ModelState:
       'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
       'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
       'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32),
-      'prev_desired_curvs': np.zeros(ModelConstants.PREV_DESIRED_CURVS_LEN, dtype=np.float32),
+      'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
       'nav_features': np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32),
       'nav_instructions': np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32),
       'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
@@ -110,8 +110,8 @@ class ModelState:
 
     self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:]
     self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :]
-    self.inputs['prev_desired_curvs'][:-1] = self.inputs['prev_desired_curvs'][1:]
-    self.inputs['prev_desired_curvs'][-1] = outputs['desired_curvature'][0, 0]
+    self.inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:]
+    self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][0, :]
     return outputs
 
 

selfdrive/modeld/models/supercombo.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4b085c1ba231bc381f78462bda136172787371d5d83b6e1bcd340aad17290ebc
-size 48197170
+oid sha256:763821410b35b06b598cacfa5bc3e312610b3f8de2729e0d5954d7571b6794be
+size 48219112

selfdrive/test/process_replay/model_replay_ref_commit

@@ -1 +1 @@
-cfdad3a695e3562ca32accce043b358291f0eef2
+4b983afeba5ec953f0d37e7b3499bde5209728eb