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dm: DriverProb (#36687)

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* wip

* ci

* fix
This commit is contained in:
YassineYousfi
2025-11-25 18:52:35 -08:00
committed by GitHub
parent f01391a7d9
commit 49178539f3
2 changed files with 11 additions and 8 deletions
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4
selfdrive/monitoring/dmonitoringd.py
View File

@@ -39,8 +39,8 @@ def dmonitoringd_thread():
# save rhd virtual toggle every 5 mins
if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
DM.wheelpos_learner.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
DM.wheel_on_right == (DM.wheelpos_learner.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
DM.wheelpos.prob_offseter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
DM.wheel_on_right == (DM.wheelpos.prob_offseter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)
def main():

15
selfdrive/monitoring/helpers.py
View File

@@ -98,7 +98,7 @@ class DriverPose:
self.cfactor_pitch = 1.
self.cfactor_yaw = 1.
class DriverPhone:
class DriverProb:
def __init__(self, max_trackable):
self.prob = 0.
self.prob_offseter = RunningStatFilter(max_trackable=max_trackable)
@@ -140,9 +140,9 @@ class DriverMonitoring:
self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
# init driver status
self.wheelpos_learner = RunningStatFilter()
self.wheelpos = DriverProb(-1)
self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
self.phone = DriverPhone(self.settings._POSE_OFFSET_MAX_COUNT)
self.phone = DriverProb(self.settings._POSE_OFFSET_MAX_COUNT)
self.blink = DriverBlink()
self.always_on = always_on
@@ -256,9 +256,12 @@ class DriverMonitoring:
# calibrates only when there's movement and either face detected
if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
self.wheelpos_learner.push_and_update(rhd_pred)
if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT or demo_mode:
self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
self.wheelpos.prob_offseter.push_and_update(rhd_pred)
self.wheelpos.prob_calibrated = self.wheelpos.prob_offseter.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT
if self.wheelpos.prob_calibrated or demo_mode:
self.wheel_on_right = self.wheelpos.prob_offseter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
else:
self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
# make sure no switching when engaged