Initial commit: SmartCar Framework v0.1 — 龙芯2K0300智能车开发框架\n\n- HAL: GPIO/PWM/Encoder/Framebuffer 驱动\n- Control: PID/IMU/Motor/Servo 控制\n- Vision: HSV双Otsu→4点标定IPM→洪泛填充→逐行搜线\n- Strategy: 三区前瞻偏差+速度策略\n- Debug: 文件热调参+LCD预览+cv截帧\n- Scheduler: 5ms timerfd+epoll 中央调度器

model/config.json

@@ -0,0 +1,33 @@
+{
+  "seed": 42,
+  "data_path": "preprocessed/dataset_al8.npz",
+  "save_dir": "checkpoints_heat_v4",
+  "val_split": 0.15,
+  "batch_size": 64,
+  "epochs": 60,
+  "lr": 0.003,
+  "weight_decay": 0.0001,
+  "img_w": 160,
+  "img_h": 120,
+  "num_classes": 3,
+  "out_h": 15,
+  "out_w": 20,
+  "stride": 8,
+  "size_loss_weight": 2.0,
+  "bg_weight": 0.05,
+  "resume_from": "checkpoints_heat_v4/best.pth",
+  "ref_sizes": {
+    "0": [
+      75.35844421386719,
+      62.14570236206055
+    ],
+    "1": [
+      49.79265213012695,
+      38.633811950683594
+    ],
+    "2": [
+      67.58988189697266,
+      34.93575668334961
+    ]
+  }
+}