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DM: Ford GT model (#37013)

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* b483cec4-7816-4570-a774-be3a2c100098/50

* shipfest

* da4b8724-8998-45da-aa36-d8fb390492b9

* revert

* typo

* deprecates
This commit is contained in:
ZwX1616
2026-01-22 18:41:08 -08:00
committed by GitHub
parent c9cfe2c727
commit 1459d3519d
3 changed files with 8 additions and 25 deletions
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4
cereal/log.capnp
View File

@@ -2227,9 +2227,9 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
isActiveMode @16 :Bool;
isRHD @4 :Bool;
uncertainCount @19 :UInt32;
phoneProbOffset @20 :Float32;
phoneProbValidCount @21 :UInt32;
phoneProbOffsetDEPRECATED @20 :Float32;
phoneProbValidCountDEPRECATED @21 :UInt32;
isPreviewDEPRECATED @15 :Bool;
rhdCheckedDEPRECATED @5 :Bool;
eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED);

4
selfdrive/modeld/models/dmonitoring_model.onnx
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@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:3446bf8b22e50e47669a25bf32460ae8baf8547037f346753e19ecbfcf6d4e59
size 6954368
oid sha256:35e4a5d4c4d481f915e42358af4665b2c92b8f5c1efd1c0731f21b876ad1d856
size 6954249

25
selfdrive/monitoring/helpers.py
View File

@@ -35,14 +35,7 @@ class DRIVER_MONITOR_SETTINGS:
self._EYE_THRESHOLD = 0.65
self._SG_THRESHOLD = 0.9
self._BLINK_THRESHOLD = 0.865
self._PHONE_THRESH = 0.75 if device_type == 'mici' else 0.4
self._PHONE_THRESH2 = 15.0
self._PHONE_MAX_OFFSET = 0.06
self._PHONE_MIN_OFFSET = 0.025
self._PHONE_DATA_AVG = 0.05
self._PHONE_DATA_VAR = 3*0.005
self._PHONE_MAX_COUNT = int(360 / self._DT_DMON)
self._PHONE_THRESH = 0.5
self._POSE_PITCH_THRESHOLD = 0.3133
self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
@@ -152,11 +145,10 @@ class DriverMonitoring:
# init driver status
wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
phone_filter_raw_priors = (self.settings._PHONE_DATA_AVG, self.settings._PHONE_DATA_VAR, 2)
self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
self.phone = DriverProb(raw_priors=phone_filter_raw_priors, max_trackable=self.settings._PHONE_MAX_COUNT)
self.pose = DriverPose(settings=self.settings)
self.blink = DriverBlink()
self.phone_prob = 0.
self.always_on = always_on
self.distracted_types = []
@@ -257,12 +249,7 @@ class DriverMonitoring:
if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
distracted_types.append(DistractedType.DISTRACTED_BLINK)
if self.phone.prob_calibrated:
using_phone = self.phone.prob > max(min(self.phone.prob_offseter.filtered_stat.M, self.settings._PHONE_MAX_OFFSET), self.settings._PHONE_MIN_OFFSET) \
* self.settings._PHONE_THRESH2
else:
using_phone = self.phone.prob > self.settings._PHONE_THRESH
if using_phone:
if self.phone_prob > self.settings._PHONE_THRESH:
distracted_types.append(DistractedType.DISTRACTED_PHONE)
return distracted_types
@@ -301,7 +288,7 @@ class DriverMonitoring:
* (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
* (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
self.phone.prob = driver_data.phoneProb
self.phone_prob = driver_data.phoneProb
self.distracted_types = self._get_distracted_types()
self.driver_distracted = (DistractedType.DISTRACTED_PHONE in self.distracted_types
@@ -315,11 +302,9 @@ class DriverMonitoring:
if self.face_detected and car_speed > self.settings._POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted):
self.pose.pitch_offseter.push_and_update(self.pose.pitch)
self.pose.yaw_offseter.push_and_update(self.pose.yaw)
self.phone.prob_offseter.push_and_update(self.phone.prob)
self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \
self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
self.phone.prob_calibrated = self.phone.prob_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
if self.face_detected and not self.driver_distracted:
if model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD:
@@ -425,8 +410,6 @@ class DriverMonitoring:
"posePitchValidCount": self.pose.pitch_offseter.filtered_stat.n,
"poseYawOffset": self.pose.yaw_offseter.filtered_stat.mean(),
"poseYawValidCount": self.pose.yaw_offseter.filtered_stat.n,
"phoneProbOffset": self.phone.prob_offseter.filtered_stat.mean(),
"phoneProbValidCount": self.phone.prob_offseter.filtered_stat.n,
"stepChange": self.step_change,
"awarenessActive": self.awareness_active,
"awarenessPassive": self.awareness_passive,