Instead of directly letting Alpamayo control the vehicle throttle, brake, steering, I want to put in-between custom block which handles outputs from Alpamayo and controls the vehicle. The purpose of this block is to have it control the vehicle in a driving style, so just like a person has a style of driving for example braking short and intense, this block would allow customization of this, including steering and other stuff.
I suggest Alpamayo to return additional information in the trajectory output, importance gradient (lowest) 0.0-1.0 (highest), which means that model will output 1.0 (red color for example) meaing that this path segment needs to be exactly followed, the block will use this imformation to control vehicle, value 1.0 should mean that no driving style or personalization is applied to the vehicle control i.e. that if the vehicle needs immediately to stop, it will just stop and don't apply any driving style freedom, and in the other values like 0.0 the driving-style personalization is fully applied i.e. the Alpamayo output is fully transformed by that block, so it will follow personalized style, 0-1 values mean how much of personalization freedom is available to given path segment.
What do you think?
And also the Alpamayo should output labels to the trajectory, like when it's going to overtake a vehicle in front of it, it will show on the path label showing where it's going to overtake.
I think you should split the Alpamayo into the:
- high-level (planning) <- handles trajectory
- low-level (control) <- handles vehicle control
Instead of directly letting Alpamayo control the vehicle throttle, brake, steering, I want to put in-between custom block which handles outputs from Alpamayo and controls the vehicle. The purpose of this block is to have it control the vehicle in a driving style, so just like a person has a style of driving for example braking short and intense, this block would allow customization of this, including steering and other stuff.
I suggest Alpamayo to return additional information in the trajectory output, importance gradient (lowest) 0.0-1.0 (highest), which means that model will output 1.0 (red color for example) meaing that this path segment needs to be exactly followed, the block will use this imformation to control vehicle, value 1.0 should mean that no driving style or personalization is applied to the vehicle control i.e. that if the vehicle needs immediately to stop, it will just stop and don't apply any driving style freedom, and in the other values like 0.0 the driving-style personalization is fully applied i.e. the Alpamayo output is fully transformed by that block, so it will follow personalized style, 0-1 values mean how much of personalization freedom is available to given path segment.
What do you think?
And also the Alpamayo should output labels to the trajectory, like when it's going to overtake a vehicle in front of it, it will show on the path label showing where it's going to overtake.
I think you should split the Alpamayo into the: