You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
84 lines
2.0 KiB
84 lines
2.0 KiB
import numpy as np
|
|
|
|
def index_function(idx, max_val=192, max_idx=32):
|
|
return (max_val) * ((idx/max_idx)**2)
|
|
|
|
class ModelConstants:
|
|
# time and distance indices
|
|
IDX_N = 33
|
|
T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)]
|
|
X_IDXS = [index_function(idx, max_val=192.0) for idx in range(IDX_N)]
|
|
LEAD_T_IDXS = [0., 2., 4., 6., 8., 10.]
|
|
LEAD_T_OFFSETS = [0., 2., 4.]
|
|
META_T_IDXS = [2., 4., 6., 8., 10.]
|
|
|
|
# model inputs constants
|
|
MODEL_FREQ = 20
|
|
FEATURE_LEN = 512
|
|
HISTORY_BUFFER_LEN = 99
|
|
DESIRE_LEN = 8
|
|
TRAFFIC_CONVENTION_LEN = 2
|
|
LAT_PLANNER_STATE_LEN = 4
|
|
LATERAL_CONTROL_PARAMS_LEN = 2
|
|
PREV_DESIRED_CURV_LEN = 1
|
|
|
|
# model outputs constants
|
|
FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32)
|
|
FCW_THRESHOLDS_3MS2 = np.array([.7, .7], dtype=np.float32)
|
|
FCW_5MS2_PROBS_WIDTH = 5
|
|
FCW_3MS2_PROBS_WIDTH = 2
|
|
|
|
DISENGAGE_WIDTH = 5
|
|
POSE_WIDTH = 6
|
|
WIDE_FROM_DEVICE_WIDTH = 3
|
|
SIM_POSE_WIDTH = 6
|
|
LEAD_WIDTH = 4
|
|
LANE_LINES_WIDTH = 2
|
|
ROAD_EDGES_WIDTH = 2
|
|
PLAN_WIDTH = 15
|
|
DESIRE_PRED_WIDTH = 8
|
|
LAT_PLANNER_SOLUTION_WIDTH = 4
|
|
DESIRED_CURV_WIDTH = 1
|
|
|
|
NUM_LANE_LINES = 4
|
|
NUM_ROAD_EDGES = 2
|
|
|
|
LEAD_TRAJ_LEN = 6
|
|
DESIRE_PRED_LEN = 4
|
|
|
|
PLAN_MHP_N = 5
|
|
LEAD_MHP_N = 2
|
|
PLAN_MHP_SELECTION = 1
|
|
LEAD_MHP_SELECTION = 3
|
|
|
|
FCW_THRESHOLD_5MS2_HIGH = 0.15
|
|
FCW_THRESHOLD_5MS2_LOW = 0.05
|
|
FCW_THRESHOLD_3MS2 = 0.7
|
|
|
|
CONFIDENCE_BUFFER_LEN = 5
|
|
RYG_GREEN = 0.01165
|
|
RYG_YELLOW = 0.06157
|
|
|
|
POLY_PATH_DEGREE = 4
|
|
|
|
# model outputs slices
|
|
class Plan:
|
|
POSITION = slice(0, 3)
|
|
VELOCITY = slice(3, 6)
|
|
ACCELERATION = slice(6, 9)
|
|
T_FROM_CURRENT_EULER = slice(9, 12)
|
|
ORIENTATION_RATE = slice(12, 15)
|
|
|
|
class Meta:
|
|
ENGAGED = slice(0, 1)
|
|
# next 2, 4, 6, 8, 10 seconds
|
|
GAS_DISENGAGE = slice(1, 36, 7)
|
|
BRAKE_DISENGAGE = slice(2, 36, 7)
|
|
STEER_OVERRIDE = slice(3, 36, 7)
|
|
HARD_BRAKE_3 = slice(4, 36, 7)
|
|
HARD_BRAKE_4 = slice(5, 36, 7)
|
|
HARD_BRAKE_5 = slice(6, 36, 7)
|
|
GAS_PRESS = slice(7, 36, 7)
|
|
# next 0, 2, 4, 6, 8, 10 seconds
|
|
LEFT_BLINKER = slice(36, 48, 2)
|
|
RIGHT_BLINKER = slice(37, 48, 2)
|
|
|