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Reduced wheel touch time (#2259) 

* decrease wheel touch time

* update refs

* fix unittest

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
pull/2276/head
ZwX1616 2020-10-05 14:39:24 -07:00 committed by GitHub
parent e51da619c1
commit 21d4ac1eeb
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3 changed files with 6 additions and 6 deletions
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6
selfdrive/monitoring/driver_monitor.py
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@ -14,9 +14,9 @@ EventName = car.CarEvent.EventName
# 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 15s before expiration
_AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6. # a second alert is issued 6s before start decelerating the car
_AWARENESS_TIME = 35. # passive wheel touch total timeout
_AWARENESS_PRE_TIME_TILL_TERMINAL = 7.
_AWARENESS_PROMPT_TIME_TILL_TERMINAL = 5.
_DISTRACTED_TIME = 11.
_DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
_DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.

4
selfdrive/monitoring/test_monitoring.py
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@ -141,7 +141,7 @@ class TestMonitoring(unittest.TestCase):
# 5. op engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears
# - both actions should clear the alert, but momentary appearence should not
def test_sometimes_transparent_commuter(self):
_visible_time = np.random.choice([1, 10]) # seconds
_visible_time = np.random.choice([0.5, 10]) # seconds
# print _visible_time
ds_vector = always_no_face[:]*2
interaction_vector = always_false[:]*2
@ -151,7 +151,7 @@ class TestMonitoring(unittest.TestCase):
self.assertTrue(len(events_output[int(_INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0)
self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
self.assertTrue(len(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0)
if _visible_time == 1:
if _visible_time == 0.5:
self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0], EventName.preDriverUnresponsive)
elif _visible_time == 10:

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
eaa9ac421abee09dfc2bac3b85423d3980f6e67b
6acafbadc569c82412a2370e61d8de619255b25a