| { |
| "major_version": 0, |
| "minor_version": 1, |
| "model_name": "vad-carla-tiny", |
| "training_dataset": "Bench2Drive CARLA", |
| "release_date": "2025-11-04", |
| "description": "VAD model trained on Bench2Drive CARLA dataset with 6-camera surround view", |
|
|
| "image_normalization": { |
| "mean": [123.675, 116.28, 103.53], |
| "std": [58.395, 57.12, 57.375], |
| "format": "RGB", |
| "note": "ImageNet normalization statistics" |
| }, |
|
|
| "input_specs": { |
| "target_image_width": 640, |
| "target_image_height": 384, |
| "num_cameras": 6, |
| "camera_order": ["FRONT", "BACK", "FRONT_LEFT", "BACK_LEFT", "FRONT_RIGHT", "BACK_RIGHT"] |
| }, |
|
|
| "class_definitions": { |
| "map_classes": ["Broken", "Solid", "SolidSolid", "Center", "TrafficLight", "StopSign"], |
| "object_classes": ["car", "van", "truck", "bicycle", "traffic_sign", "traffic_cone", "traffic_light", "pedestrian", "others"] |
| }, |
|
|
| "network_architecture": { |
| "bev": { |
| "height": 106, |
| "width": 200, |
| "feature_dim": 256, |
| "downsample_factor": 32 |
| }, |
| "transformer": { |
| "num_decoder_layers": 3 |
| }, |
| "prediction": { |
| "num_queries": 300, |
| "num_classes": 9, |
| "bbox_pred_dim": 10, |
| "trajectory_modes": 6, |
| "timesteps": 6, |
| "bbox_format": "[cx, cy, w, l, cz, h, sin, cos, vx, vy]" |
| }, |
| "planning": { |
| "ego_commands": 6, |
| "timesteps": 6 |
| }, |
| "map": { |
| "num_queries": 100, |
| "num_classes": 6, |
| "points_per_polyline": 20 |
| }, |
| "vehicle_state": { |
| "can_bus_dim": 18 |
| } |
| }, |
|
|
| "model_files": { |
| "backbone": "vad-carla-tiny_backbone.onnx", |
| "head": "vad-carla-tiny_head.onnx", |
| "head_no_prev": "vad-carla-tiny_head_no_prev.onnx" |
| }, |
|
|
| "compatibility": { |
| "autoware_tensorrt_vad_version": ">= 0.1.0", |
| "tensorrt_version": ">= 8.6", |
| "cuda_version": ">= 11.4" |
| } |
| } |
|
|
