Using TensorFlow backend.
Parameters
data_dir := data
test_size := 0.2
keep_prob := 0.5
nb_epoch := 10
samples_per_epoch := 20000
batch_size := 40
save_best_only := True
learning_rate := 0.0001
Warning (from warnings module):
File "E:\How_to_simulate_a_self_driving_car-master\model.py", line 66
model.add(Conv2D(24, 5, 5, activation='elu', subsample=(2, 2)))
UserWarning: Update your Conv2D call to the Keras 2 API: Conv2D(24, (5, 5), activation="elu", strides=(2, 2))
Warning (from warnings module):
File "E:\How_to_simulate_a_self_driving_car-master\model.py", line 67
model.add(Conv2D(36, 5, 5, activation='elu', subsample=(2, 2)))
UserWarning: Update your Conv2D call to the Keras 2 API: Conv2D(36, (5, 5), activation="elu", strides=(2, 2))
Warning (from warnings module):
File "E:\How_to_simulate_a_self_driving_car-master\model.py", line 68
model.add(Conv2D(48, 5, 5, activation='elu', subsample=(2, 2)))
UserWarning: Update your Conv2D call to the Keras 2 API: Conv2D(48, (5, 5), activation="elu", strides=(2, 2))
Warning (from warnings module):
File "E:\How_to_simulate_a_self_driving_car-master\model.py", line 69
model.add(Conv2D(64, 3, 3, activation='elu'))
UserWarning: Update your Conv2D call to the Keras 2 API: Conv2D(64, (3, 3), activation="elu")
Warning (from warnings module):
File "E:\How_to_simulate_a_self_driving_car-master\model.py", line 70
model.add(Conv2D(64, 3, 3, activation='elu'))
UserWarning: Update your Conv2D call to the Keras 2 API: Conv2D(64, (3, 3), activation="elu")
Layer (type) Output Shape Param #
lambda_1 (Lambda) (None, 66, 200, 3) 0
conv2d_1 (Conv2D) (None, 31, 98, 24) 1824
conv2d_2 (Conv2D) (None, 14, 47, 36) 21636
conv2d_3 (Conv2D) (None, 5, 22, 48) 43248
conv2d_4 (Conv2D) (None, 3, 20, 64) 27712
conv2d_5 (Conv2D) (None, 1, 18, 64) 36928
dropout_1 (Dropout) (None, 1, 18, 64) 0
flatten_1 (Flatten) (None, 1152) 0
dense_1 (Dense) (None, 100) 115300
dense_2 (Dense) (None, 50) 5050
dense_3 (Dense) (None, 10) 510
dense_4 (Dense) (None, 1) 11
Total params: 252,219
Trainable params: 252,219
Non-trainable params: 0
Warning (from warnings module):
File "E:\How_to_simulate_a_self_driving_car-master\model.py", line 120
verbose=1)
UserWarning: The semantics of the Keras 2 argument steps_per_epoch is not the same as the Keras 1 argument samples_per_epoch. steps_per_epoch is the number of batches to draw from the generator at each epoch. Basically steps_per_epoch = samples_per_epoch/batch_size. Similarly nb_val_samples->validation_steps and val_samples->steps arguments have changed. Update your method calls accordingly.
Warning (from warnings module):
File "E:\How_to_simulate_a_self_driving_car-master\model.py", line 120
verbose=1)
UserWarning: Update your fit_generator call to the Keras 2 API: fit_generator(<generator..., 20000, 10, validation_data=<generator..., callbacks=[<keras.ca..., verbose=1, validation_steps=746, max_queue_size=1)
Epoch 1/10
Traceback (most recent call last):
File "E:\How_to_simulate_a_self_driving_car-master\model.py", line 163, in
main()
File "E:\How_to_simulate_a_self_driving_car-master\model.py", line 159, in main
train_model(model, args, *data)
File "E:\How_to_simulate_a_self_driving_car-master\model.py", line 120, in train_model
verbose=1)
File "C:\python\lib\site-packages\keras\legacy\interfaces.py", line 91, in wrapper
return func(*args, **kwargs)
File "C:\python\lib\site-packages\keras\engine\training.py", line 1426, in fit_generator
initial_epoch=initial_epoch)
File "C:\python\lib\site-packages\keras\engine\training_generator.py", line 155, in fit_generator
generator_output = next(output_generator)
File "C:\python\lib\site-packages\keras\utils\data_utils.py", line 793, in get
six.reraise(value.class, value, value.traceback)
File "C:\python\lib\site-packages\six.py", line 693, in reraise
raise value
File "C:\python\lib\site-packages\keras\utils\data_utils.py", line 658, in _data_generator_task
generator_output = next(self._generator)
File "E:\How_to_simulate_a_self_driving_car-master\utils.py", line 149, in batch_generator
image, steering_angle = augument(data_dir, center, left, right, steering_angle)
File "E:\How_to_simulate_a_self_driving_car-master\utils.py", line 131, in augument
image = random_shadow(image)
File "E:\How_to_simulate_a_self_driving_car-master\utils.py", line 100, in random_shadow
mask[(ym - y1) * (x2 - x1) - (y2 - y1) * (xm - x1) > 0] = 1
IndexError: boolean index did not match indexed array along dimension 0; dimension is 160 but corresponding boolean dimension is 66
its my output when i run model.py
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