263 lines
11 KiB
Python
263 lines
11 KiB
Python
from common.numpy_fast import interp
|
|
from math import atan2, sqrt
|
|
from common.realtime import DT_DMON
|
|
from common.filter_simple import FirstOrderFilter
|
|
from common.stat_live import RunningStatFilter
|
|
|
|
from cereal import car
|
|
|
|
EventName = car.CarEvent.EventName
|
|
|
|
# ******************************************************************************************
|
|
# NOTE: To fork maintainers.
|
|
# Disabling or nerfing safety features may get you and your users banned from our servers.
|
|
# We recommend that you do not change these numbers from the defaults.
|
|
# ******************************************************************************************
|
|
|
|
_AWARENESS_TIME = 70. # one minute limit without user touching steering wheels make the car enter a terminal status
|
|
_AWARENESS_PRE_TIME_TILL_TERMINAL = 15. # a first alert is issued 25s before expiration
|
|
_AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6. # a second alert is issued 15s before start decelerating the car
|
|
_DISTRACTED_TIME = 11.
|
|
_DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
|
|
_DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
|
|
|
|
_FACE_THRESHOLD = 0.4
|
|
_EYE_THRESHOLD = 0.6
|
|
_BLINK_THRESHOLD = 0.5 # 0.225
|
|
_BLINK_THRESHOLD_SLACK = 0.65
|
|
_BLINK_THRESHOLD_STRICT = 0.5
|
|
_PITCH_WEIGHT = 1.35 # 1.5 # pitch matters a lot more
|
|
_POSESTD_THRESHOLD = 0.14
|
|
_METRIC_THRESHOLD = 0.4
|
|
_METRIC_THRESHOLD_SLACK = 0.55
|
|
_METRIC_THRESHOLD_STRICT = 0.4
|
|
_PITCH_POS_ALLOWANCE = 0.12 # rad, to not be too sensitive on positive pitch
|
|
_PITCH_NATURAL_OFFSET = 0.02 # people don't seem to look straight when they drive relaxed, rather a bit up
|
|
_YAW_NATURAL_OFFSET = 0.08 # people don't seem to look straight when they drive relaxed, rather a bit to the right (center of car)
|
|
|
|
_HI_STD_TIMEOUT = 5
|
|
_HI_STD_FALLBACK_TIME = 10 # fall back to wheel touch if model is uncertain for a long time
|
|
_DISTRACTED_FILTER_TS = 0.25 # 0.6Hz
|
|
|
|
_POSE_CALIB_MIN_SPEED = 13 # 30 mph
|
|
_POSE_OFFSET_MIN_COUNT = 600 # valid data counts before calibration completes, 1 seg is 600 counts
|
|
_POSE_OFFSET_MAX_COUNT = 3600 # stop deweighting new data after 6 min, aka "short term memory"
|
|
|
|
_RECOVERY_FACTOR_MAX = 5. # relative to minus step change
|
|
_RECOVERY_FACTOR_MIN = 1.25 # relative to minus step change
|
|
|
|
MAX_TERMINAL_ALERTS = 3 # not allowed to engage after 3 terminal alerts
|
|
MAX_TERMINAL_DURATION = 300 # 30s
|
|
|
|
# model output refers to center of cropped image, so need to apply the x displacement offset
|
|
RESIZED_FOCAL = 320.0
|
|
H, W, FULL_W = 320, 160, 426
|
|
|
|
class DistractedType():
|
|
NOT_DISTRACTED = 0
|
|
BAD_POSE = 1
|
|
BAD_BLINK = 2
|
|
|
|
def face_orientation_from_net(angles_desc, pos_desc, rpy_calib, is_rhd):
|
|
# the output of these angles are in device frame
|
|
# so from driver's perspective, pitch is up and yaw is right
|
|
|
|
pitch_net = angles_desc[0]
|
|
yaw_net = angles_desc[1]
|
|
roll_net = angles_desc[2]
|
|
|
|
face_pixel_position = ((pos_desc[0] + .5)*W - W + FULL_W, (pos_desc[1]+.5)*H)
|
|
yaw_focal_angle = atan2(face_pixel_position[0] - FULL_W//2, RESIZED_FOCAL)
|
|
pitch_focal_angle = atan2(face_pixel_position[1] - H//2, RESIZED_FOCAL)
|
|
|
|
roll = roll_net
|
|
pitch = pitch_net + pitch_focal_angle
|
|
yaw = -yaw_net + yaw_focal_angle
|
|
|
|
# no calib for roll
|
|
pitch -= rpy_calib[1]
|
|
yaw -= rpy_calib[2] * (1 - 2 * int(is_rhd)) # lhd -> -=, rhd -> +=
|
|
return roll, pitch, yaw
|
|
|
|
class DriverPose():
|
|
def __init__(self):
|
|
self.yaw = 0.
|
|
self.pitch = 0.
|
|
self.roll = 0.
|
|
self.yaw_std = 0.
|
|
self.pitch_std = 0.
|
|
self.roll_std = 0.
|
|
self.pitch_offseter = RunningStatFilter(max_trackable=_POSE_OFFSET_MAX_COUNT)
|
|
self.yaw_offseter = RunningStatFilter(max_trackable=_POSE_OFFSET_MAX_COUNT)
|
|
self.low_std = True
|
|
self.cfactor = 1.
|
|
|
|
class DriverBlink():
|
|
def __init__(self):
|
|
self.left_blink = 0.
|
|
self.right_blink = 0.
|
|
self.cfactor = 1.
|
|
|
|
class DriverStatus():
|
|
def __init__(self):
|
|
self.pose = DriverPose()
|
|
self.pose_calibrated = self.pose.pitch_offseter.filtered_stat.n > _POSE_OFFSET_MIN_COUNT and \
|
|
self.pose.yaw_offseter.filtered_stat.n > _POSE_OFFSET_MIN_COUNT
|
|
self.blink = DriverBlink()
|
|
self.awareness = 1.
|
|
self.awareness_active = 1.
|
|
self.awareness_passive = 1.
|
|
self.driver_distracted = False
|
|
self.driver_distraction_filter = FirstOrderFilter(0., _DISTRACTED_FILTER_TS, DT_DMON)
|
|
self.face_detected = False
|
|
self.terminal_alert_cnt = 0
|
|
self.terminal_time = 0
|
|
self.step_change = 0.
|
|
self.active_monitoring_mode = True
|
|
self.hi_stds = 0
|
|
self.threshold_prompt = _DISTRACTED_PROMPT_TIME_TILL_TERMINAL / _DISTRACTED_TIME
|
|
|
|
self.is_rhd_region = False
|
|
self.is_rhd_region_checked = False
|
|
|
|
self._set_timers(active_monitoring=True)
|
|
|
|
def _set_timers(self, active_monitoring):
|
|
if self.active_monitoring_mode and self.awareness <= self.threshold_prompt:
|
|
if active_monitoring:
|
|
self.step_change = DT_DMON / _DISTRACTED_TIME
|
|
else:
|
|
self.step_change = 0.
|
|
return # no exploit after orange alert
|
|
elif self.awareness <= 0.:
|
|
return
|
|
|
|
if active_monitoring:
|
|
# when falling back from passive mode to active mode, reset awareness to avoid false alert
|
|
if not self.active_monitoring_mode:
|
|
self.awareness_passive = self.awareness
|
|
self.awareness = self.awareness_active
|
|
|
|
self.threshold_pre = _DISTRACTED_PRE_TIME_TILL_TERMINAL / _DISTRACTED_TIME
|
|
self.threshold_prompt = _DISTRACTED_PROMPT_TIME_TILL_TERMINAL / _DISTRACTED_TIME
|
|
self.step_change = DT_DMON / _DISTRACTED_TIME
|
|
self.active_monitoring_mode = True
|
|
else:
|
|
if self.active_monitoring_mode:
|
|
self.awareness_active = self.awareness
|
|
self.awareness = self.awareness_passive
|
|
|
|
self.threshold_pre = _AWARENESS_PRE_TIME_TILL_TERMINAL / _AWARENESS_TIME
|
|
self.threshold_prompt = _AWARENESS_PROMPT_TIME_TILL_TERMINAL / _AWARENESS_TIME
|
|
self.step_change = DT_DMON / _AWARENESS_TIME
|
|
self.active_monitoring_mode = False
|
|
|
|
def _is_driver_distracted(self, pose, blink):
|
|
if not self.pose_calibrated:
|
|
pitch_error = pose.pitch - _PITCH_NATURAL_OFFSET
|
|
yaw_error = pose.yaw - _YAW_NATURAL_OFFSET
|
|
else:
|
|
pitch_error = pose.pitch - self.pose.pitch_offseter.filtered_stat.mean()
|
|
yaw_error = pose.yaw - self.pose.yaw_offseter.filtered_stat.mean()
|
|
|
|
# positive pitch allowance
|
|
if pitch_error > 0.:
|
|
pitch_error = max(pitch_error - _PITCH_POS_ALLOWANCE, 0.)
|
|
pitch_error *= _PITCH_WEIGHT
|
|
pose_metric = sqrt(yaw_error**2 + pitch_error**2)
|
|
|
|
if pose_metric > _METRIC_THRESHOLD*pose.cfactor:
|
|
return DistractedType.BAD_POSE
|
|
elif (blink.left_blink + blink.right_blink)*0.5 > _BLINK_THRESHOLD*blink.cfactor:
|
|
return DistractedType.BAD_BLINK
|
|
else:
|
|
return DistractedType.NOT_DISTRACTED
|
|
|
|
def set_policy(self, model_data):
|
|
ep = min(model_data.meta.engagedProb, 0.8) / 0.8
|
|
self.pose.cfactor = interp(ep, [0, 0.5, 1], [_METRIC_THRESHOLD_STRICT, _METRIC_THRESHOLD, _METRIC_THRESHOLD_SLACK])/_METRIC_THRESHOLD
|
|
self.blink.cfactor = interp(ep, [0, 0.5, 1], [_BLINK_THRESHOLD_STRICT, _BLINK_THRESHOLD, _BLINK_THRESHOLD_SLACK])/_BLINK_THRESHOLD
|
|
|
|
def get_pose(self, driver_state, cal_rpy, car_speed, op_engaged):
|
|
# 10 Hz
|
|
if len(driver_state.faceOrientation) == 0 or len(driver_state.facePosition) == 0 or len(driver_state.faceOrientationStd) == 0 or len(driver_state.facePositionStd) == 0:
|
|
return
|
|
|
|
self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_state.faceOrientation, driver_state.facePosition, cal_rpy, self.is_rhd_region)
|
|
self.pose.pitch_std = driver_state.faceOrientationStd[0]
|
|
self.pose.yaw_std = driver_state.faceOrientationStd[1]
|
|
# self.pose.roll_std = driver_state.faceOrientationStd[2]
|
|
model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
|
|
self.pose.low_std = model_std_max < _POSESTD_THRESHOLD
|
|
self.blink.left_blink = driver_state.leftBlinkProb * (driver_state.leftEyeProb>_EYE_THRESHOLD)
|
|
self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb>_EYE_THRESHOLD)
|
|
self.face_detected = driver_state.faceProb > _FACE_THRESHOLD and \
|
|
abs(driver_state.facePosition[0]) <= 0.4 and abs(driver_state.facePosition[1]) <= 0.45
|
|
|
|
self.driver_distracted = self._is_driver_distracted(self.pose, self.blink) > 0
|
|
# first order filters
|
|
self.driver_distraction_filter.update(self.driver_distracted)
|
|
|
|
# update offseter
|
|
# only update when driver is actively driving the car above a certain speed
|
|
if self.face_detected and car_speed>_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.pose_calibrated = self.pose.pitch_offseter.filtered_stat.n > _POSE_OFFSET_MIN_COUNT and \
|
|
self.pose.yaw_offseter.filtered_stat.n > _POSE_OFFSET_MIN_COUNT
|
|
|
|
is_model_uncertain = self.hi_stds * DT_DMON > _HI_STD_FALLBACK_TIME
|
|
self._set_timers(self.face_detected and not is_model_uncertain)
|
|
if self.face_detected and not self.pose.low_std:
|
|
if not is_model_uncertain:
|
|
self.step_change *= max(0, (model_std_max-0.5)*(model_std_max-2))
|
|
self.hi_stds += 1
|
|
elif self.face_detected and self.pose.low_std:
|
|
self.hi_stds = 0
|
|
|
|
def update(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.
|
|
return
|
|
|
|
driver_attentive = self.driver_distraction_filter.x < 0.37
|
|
awareness_prev = self.awareness
|
|
|
|
if self.face_detected and self.hi_stds * DT_DMON > _HI_STD_TIMEOUT:
|
|
events.add(EventName.driverMonitorLowAcc)
|
|
|
|
if (driver_attentive and self.face_detected and self.pose.low_std and self.awareness > 0):
|
|
# only restore awareness when paying attention and alert is not red
|
|
self.awareness = min(self.awareness + ((_RECOVERY_FACTOR_MAX-_RECOVERY_FACTOR_MIN)*(1.-self.awareness)+_RECOVERY_FACTOR_MIN)*self.step_change, 1.)
|
|
if self.awareness == 1.:
|
|
self.awareness_passive = min(self.awareness_passive + self.step_change, 1.)
|
|
# don't display alert banner when awareness is recovering and has cleared orange
|
|
if self.awareness > self.threshold_prompt:
|
|
return
|
|
|
|
# should always be counting if distracted unless at standstill and reaching orange
|
|
if (not (self.face_detected and self.hi_stds * DT_DMON <= _HI_STD_FALLBACK_TIME) or (self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected)) and \
|
|
not (standstill and self.awareness - self.step_change <= self.threshold_prompt):
|
|
self.awareness = max(self.awareness - self.step_change, -0.1)
|
|
|
|
alert = None
|
|
if self.awareness <= 0.:
|
|
# terminal red alert: disengagement required
|
|
alert = EventName.driverDistracted if self.active_monitoring_mode else EventName.driverUnresponsive
|
|
self.terminal_time += 1
|
|
if awareness_prev > 0.:
|
|
self.terminal_alert_cnt += 1
|
|
elif self.awareness <= self.threshold_prompt:
|
|
# prompt orange alert
|
|
alert = EventName.promptDriverDistracted if self.active_monitoring_mode else EventName.promptDriverUnresponsive
|
|
elif self.awareness <= self.threshold_pre:
|
|
# pre green alert
|
|
alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive
|
|
|
|
if alert is not None:
|
|
events.add(alert)
|