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352 lines
13 KiB
352 lines
13 KiB
<!DOCTYPE html>
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<html lang="en">
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<head>
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<meta charset="UTF-8">
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<meta name="viewport" content="width=device-width, initial-scale=1.0">
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<title>C-Shenron Physics Architecture Deep-Dive</title>
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<link rel="preconnect" href="https://fonts.googleapis.com">
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<link rel="preconnect" href="https://fonts.gstatic.com" crossorigin>
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<style>
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:root {
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--bg: #0a0c10;
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* {
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.container {
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}
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header {
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text-align: center;
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margin-bottom: 80px;
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animation: fadeInDown 1s ease-out;
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@keyframes fadeInDown {
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to { opacity: 1; transform: translateY(0); }
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h1 {
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/* Debug Findings Section */
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@media (max-width: 900px) {
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padding: 25px;
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h2 { font-size: 2.2rem; margin-bottom: 25px; display: flex; align-items: center; gap: 15px; }
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h3 { margin-bottom: 15px; font-weight: 600; }
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/* Hardware Matrix */
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.table-container {
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width: 100%;
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overflow-x: auto;
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border-radius: 20px;
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border: 1px solid var(--border);
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table {
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background: var(--card-bg);
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th, td {
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padding: 20px;
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text-align: left;
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border-bottom: 1px solid var(--border);
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}
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th { background: #1c2128; color: var(--text-secondary); font-weight: 600; text-transform: uppercase; font-size: 0.8rem; }
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.tag {
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padding: 4px 10px;
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border-radius: 6px;
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font-size: 0.75rem;
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font-weight: 700;
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text-transform: uppercase;
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.tag-physics { background: rgba(56, 139, 253, 0.1); color: var(--accent); border: 1px solid var(--accent); }
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.tag-signal { background: rgba(175, 245, 180, 0.1); color: var(--success); border: 1px solid var(--success); }
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/* Vector Art */
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.hero-svg {
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display: block;
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margin: 0 auto 50px;
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max-width: 800px;
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width: 100%;
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}
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footer {
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text-align: center;
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color: var(--text-secondary);
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padding: 60px 0;
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border-top: 1px solid var(--border);
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font-family: 'JetBrains Mono', monospace;
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font-size: 0.9rem;
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}
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.highlight { color: var(--accent); font-weight: 600; }
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</style>
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</head>
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<body>
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<div class="container">
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<header>
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<div class="subtitle">Radar Physics Engine v4.2</div>
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<h1>C-Shenron Deep Architecture</h1>
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<p>From Raw LiDAR Scents to Synthetic FMCW Realities</p>
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</header>
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<svg class="hero-svg" viewBox="0 0 800 200" fill="none" xmlns="http://www.w3.org/2000/svg">
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<!-- Background Lines -->
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<path d="M50 100 H750" stroke="#30363d" stroke-dasharray="8 8" />
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<!-- Nodes -->
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<circle cx="100" cy="100" r="30" fill="#161b22" stroke="#58a6ff" stroke-width="2"/>
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<text x="100" y="105" text-anchor="middle" fill="#58a6ff" font-family="Outfit" font-weight="600" font-size="12">LiDAR</text>
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<circle cx="300" cy="100" r="30" fill="#161b22" stroke="#58a6ff" stroke-width="2"/>
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<text x="300" y="105" text-anchor="middle" fill="#58a6ff" font-family="Outfit" font-weight="600" font-size="12">RCS</text>
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<circle cx="500" cy="100" r="30" fill="#161b22" stroke="#58a6ff" stroke-width="2"/>
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<text x="500" y="105" text-anchor="middle" fill="#58a6ff" font-family="Outfit" font-weight="600" font-size="12">ADC</text>
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<circle cx="700" cy="100" r="35" fill="#1f6feb" stroke="#58a6ff" stroke-width="2"/>
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<text x="700" y="105" text-anchor="middle" fill="white" font-family="Outfit" font-weight="600" font-size="12">PCD</text>
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<!-- Dynamic Arrows -->
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<path d="M135 100 L260 100" stroke="#58a6ff" stroke-width="2" marker-end="url(#arrowhead)"/>
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<path d="M335 100 L460 100" stroke="#58a6ff" stroke-width="2" marker-end="url(#arrowhead)"/>
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<defs>
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<marker id="arrowhead" markerWidth="10" markerHeight="7" refX="0" refY="3.5" orient="auto">
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<polygon points="0 0, 10 3.5, 0 7" fill="#58a6ff" />
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</marker>
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</defs>
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</svg>
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<div class="pipeline-grid">
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<div class="step-card">
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<div class="step-num">01</div>
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<div class="step-title">Scene Ingestion</div>
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<p>Converts raw Semantic LiDAR into physical material properties. Vehicles become <span class="highlight">High-Permittivity Metal</span>, Foliage becomes <span class="highlight">Diffuse Carbon</span>.</p>
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<div class="code-snippet">map_carla_semantic_lidar_latest()<br>→ Recovered Tags via .view(np.uint32)</div>
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</div>
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<div class="step-card">
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<div class="step-num step-num-alt">02</div>
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<div class="step-title">Physics Modeling</div>
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<p>Calculates the <span class="highlight">Fresnel Reflection</span> loss based on incident angles. Handles Specular (mirror) vs Diffuse (scattering) coefficients.</p>
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<div class="code-snippet">Sceneset.specularpoints()<br>Pr = (Pt * G² * λ² * σ) / ((4π)³ * R⁴)</div>
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</div>
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<div class="step-card">
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<div class="step-num">03</div>
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<div class="step-title">FMCW Synthesis</div>
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<p>Synthesizes raw Analog-to-Digital samples. Models the <span class="highlight">Beat Frequency</span> ($f_{beat}$) across multiple Rx antennas & chirps.</p>
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<div class="code-snippet">heatmap_gen_fast.py<br>signal = exp(j * 2π * f_beat * t)</div>
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</div>
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<div class="step-card">
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<div class="step-num">04</div>
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<div class="step-title">DSP Pipeline</div>
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<p>Processes the raw signal through Range/Doppler FFTs and <span class="highlight">CA-CFAR Detection</span> to generate the final synthetic PointCloud.</p>
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<div class="code-snippet">RadarProcessor.cal_doppler_fft()<br>N=256, Np=128 (Configurable)</div>
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</div>
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</div>
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<div class="debug-section">
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<h2>⚡ Today's Optimization Discoveries</h2>
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<p style="color: var(--text-secondary); margin-bottom: 30px;">Summary of the hardware-to-model alignment fixes applied in Iteration 05.</p>
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<div class="debug-grid">
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<div class="bug-box">
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<h3>Detected Failure</h3>
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<p>The <b>'Cos(Cos)' Bug</b> in Sceneset.py. The engine was calculating <i>np.cos(angles)</i> on values that were already cosines. <b>Result:</b> 46% energy loss on every bounce.</p>
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</div>
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<div class="fix-box">
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<h3>Engineering Fix</h3>
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<p>Removed the double-dampening logic. Physics engine now correctly interprets incident angles from CARLA, restoring realistic metallic RCS signatures.</p>
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</div>
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<div class="bug-box">
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<h3>Detected Failure</h3>
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<p>The <b>'Stationary Reality' Bug</b>. Moving targets appeared stationary or dragged behind the car. <b>Result:</b> Radial velocity was being zeroed out due to incorrect bit-interpretations.</p>
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</div>
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<div class="fix-box">
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<h3>Engineering Fix</h3>
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<p>Synchronized World-Pose and LiDAR-Tick via <i>recorder.py</i> update. High-fidelity Doppler detection now tracks dynamic NPC movement at 64Hz.</p>
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</div>
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</div>
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</div>
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<h2>🛠️ Hardware Support Matrix</h2>
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<div class="table-container">
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<table>
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<thead>
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<tr>
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<th>Radar Model</th>
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<th>Frequency</th>
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<th>Chirps (Np)</th>
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<th>Samples (N)</th>
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<th>Logic Layer</th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td><span class="highlight">AWRL1432 BOOST</span></td>
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<td>77-81 GHz</td>
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<td>128</td>
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<td>256</td>
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<td><span class="tag tag-physics">Rich Physics</span></td>
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</tr>
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<tr>
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<td><span class="highlight">TI Cascade Array</span></td>
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<td>77-81 GHz</td>
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<td>3 (Fast)</td>
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<td>256</td>
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<td><span class="tag tag-signal">Phase-Prime</span></td>
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</tr>
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<tr>
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<td><span class="highlight">Generic Radarbook</span></td>
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<td>24 GHz</td>
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<td>128</td>
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<td>256</td>
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<td><span class="tag tag-physics">Standard</span></td>
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</tr>
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</tbody>
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</table>
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</div>
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<footer>
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Fox CARLA ADAS Simulation Project | Automated Sync by Antigravity AI<br>
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© 2026 SHENRON INTEGRATION LOGS
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</footer>
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</div>
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</body>
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</html>
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