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DM: no reset on steer if distracted (#26567)

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* only for attentive fast resets

* oops wheeltouch

* update test
old-commit-hash: 553da4ef30
This commit is contained in:
ZwX1616
2022-11-30 13:00:36 -08:00
committed by GitHub
parent 4f1ff1d253
commit cd3a3235e7
2 changed files with 15 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
selfdrive/monitoring/driver_monitor.py
View File

@@ -156,6 +156,11 @@ class DriverStatus():
self._set_timers(active_monitoring=True)
def _reset_awareness(self):
self.awareness = 1.
self.awareness_active = 1.
self.awareness_passive = 1.
def _set_timers(self, active_monitoring):
if self.active_monitoring_mode and self.awareness <= self.threshold_prompt:
if active_monitoring:
@@ -289,17 +294,17 @@ class DriverStatus():
self.hi_stds = 0
def update_events(self, events, driver_engaged, ctrl_active, standstill):
if (driver_engaged and self.awareness > 0) or not ctrl_active:
# reset only when on disengagement if red reached
self.awareness = 1.
self.awareness_active = 1.
self.awareness_passive = 1.
if (driver_engaged and self.awareness > 0 and not self.active_monitoring_mode) or not ctrl_active: # reset only when on disengagement if red reached
self._reset_awareness()
return
driver_attentive = self.driver_distraction_filter.x < 0.37
awareness_prev = self.awareness
if (driver_attentive and self.face_detected and self.pose.low_std and self.awareness > 0):
if driver_engaged:
self._reset_awareness()
return
# only restore awareness when paying attention and alert is not red
self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)*(1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.)
if self.awareness == 1.:

8
selfdrive/monitoring/test_monitoring.py
View File

@@ -101,11 +101,12 @@ class TestMonitoring(unittest.TestCase):
((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0], EventName.driverUnresponsive)
# engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel
# - should have short orange recovery time and no green afterwards; should recover rightaway on wheel touch
# - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention
def test_normal_driver(self):
ds_vector = [msg_DISTRACTED] * int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \
[msg_ATTENTIVE] * int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \
[msg_DISTRACTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*2/DT_DMON))
[msg_DISTRACTED] * int((DISTRACTED_SECONDS_TO_ORANGE+2)/DT_DMON) + \
[msg_ATTENTIVE] * (int(TEST_TIMESPAN/DT_DMON)-int((DISTRACTED_SECONDS_TO_ORANGE*3+2)/DT_DMON))
interaction_vector = [car_interaction_NOT_DETECTED] * int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON) + \
[car_interaction_DETECTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON))
events, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
@@ -113,7 +114,8 @@ class TestMonitoring(unittest.TestCase):
self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted)
self.assertEqual(len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]), 0)
self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted)
self.assertEqual(len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)]), 0)
self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted)
self.assertEqual(len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]), 0)
# engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \
# driver dodges, and then touches wheel to no avail, disengages and reengages