Remove DM high std alert (#21501)
* cleaner * no face and high stds is the same * change test * final clean * need to deprecatepull/21515/head
HaraldSchafer
GitHub
parent
53430f87a0
commit
2aadf8beb2
2
cereal
2
cereal
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@ -1 +1 @@
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Subproject commit 96109a71b37d04b6848b46c660c1f13b542d5de8
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Subproject commit 1f5c4aa350c3783f249724e7a4ea0049e4c46a7a
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@ -466,14 +466,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
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Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),
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},
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EventName.driverMonitorLowAcc: {
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ET.WARNING: Alert(
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"CHECK DRIVER FACE VISIBILITY",
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"Driver Monitoring Uncertain",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .4, 0., 1.5),
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},
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EventName.manualRestart: {
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ET.WARNING: Alert(
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"TAKE CONTROL",
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@ -39,7 +39,6 @@ _PITCH_POS_ALLOWANCE = 0.12 # rad, to not be too sensitive on positive pitch
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_PITCH_NATURAL_OFFSET = 0.02 # people don't seem to look straight when they drive relaxed, rather a bit up
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_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)
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_HI_STD_TIMEOUT = 5
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_HI_STD_FALLBACK_TIME = 10 # fall back to wheel touch if model is uncertain for a long time
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_DISTRACTED_FILTER_TS = 0.25 # 0.6Hz
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@ -119,7 +118,6 @@ class DriverStatus():
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self.active_monitoring_mode = True
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self.is_model_uncertain = False
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self.hi_stds = 0
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self.hi_std_alert_enabled = True
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self.threshold_prompt = _DISTRACTED_PROMPT_TIME_TILL_TERMINAL / _DISTRACTED_TIME
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self._set_timers(active_monitoring=True)
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@ -196,10 +194,11 @@ class DriverStatus():
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self.blink.left_blink = driver_state.leftBlinkProb * (driver_state.leftEyeProb > _EYE_THRESHOLD) * (driver_state.sunglassesProb < _SG_THRESHOLD)
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self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb > _EYE_THRESHOLD) * (driver_state.sunglassesProb < _SG_THRESHOLD)
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self.driver_distracted = (self._is_driver_distracted(self.pose, self.blink) > 0 and
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driver_state.faceProb > _FACE_THRESHOLD and self.pose.low_std) or \
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((driver_state.distractedPose > _E2E_POSE_THRESHOLD or driver_state.distractedEyes > _E2E_EYES_THRESHOLD) and
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(self.face_detected and not self.face_partial))
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distracted_normal = (self._is_driver_distracted(self.pose, self.blink) > 0 and
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driver_state.faceProb > _FACE_THRESHOLD and self.pose.low_std)
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distracted_E2E = ((driver_state.distractedPose > _E2E_POSE_THRESHOLD or driver_state.distractedEyes > _E2E_EYES_THRESHOLD) and
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(self.face_detected and not self.face_partial))
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self.driver_distracted = distracted_normal or distracted_E2E
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self.driver_distraction_filter.update(self.driver_distracted)
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# update offseter
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@ -229,10 +228,6 @@ class DriverStatus():
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driver_attentive = self.driver_distraction_filter.x < 0.37
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awareness_prev = self.awareness
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if self.face_detected and self.hi_stds * DT_DMON > _HI_STD_TIMEOUT and self.hi_std_alert_enabled:
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events.add(EventName.driverMonitorLowAcc)
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self.hi_std_alert_enabled = False # only showed once until orange prompt resets it
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if (driver_attentive and self.face_detected and self.pose.low_std and self.awareness > 0):
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# only restore awareness when paying attention and alert is not red
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self.awareness = min(self.awareness + ((_RECOVERY_FACTOR_MAX-_RECOVERY_FACTOR_MIN)*(1.-self.awareness)+_RECOVERY_FACTOR_MIN)*self.step_change, 1.)
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@ -242,16 +237,18 @@ class DriverStatus():
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if self.awareness > self.threshold_prompt:
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return
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# should always be counting if distracted unless at standstill and reaching orange
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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 \
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not (standstill and self.awareness - self.step_change <= self.threshold_prompt):
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self.awareness = max(self.awareness - self.step_change, -0.1)
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standstill_exemption = standstill and self.awareness - self.step_change <= self.threshold_prompt
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certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
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maybe_distracted = self.hi_stds * DT_DMON > _HI_STD_FALLBACK_TIME or not self.face_detected
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if certainly_distracted or maybe_distracted:
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# should always be counting if distracted unless at standstill and reaching orange
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if not standstill_exemption:
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self.awareness = max(self.awareness - self.step_change, -0.1)
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alert = None
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if self.awareness <= 0.:
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# terminal red alert: disengagement required
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alert = EventName.driverDistracted if self.active_monitoring_mode else EventName.driverUnresponsive
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self.hi_std_alert_enabled = True
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self.terminal_time += 1
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if awareness_prev > 0.:
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self.terminal_alert_cnt += 1
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@ -9,7 +9,7 @@ from selfdrive.monitoring.driver_monitor import DriverStatus, \
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_AWARENESS_TIME, _AWARENESS_PRE_TIME_TILL_TERMINAL, \
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_AWARENESS_PROMPT_TIME_TILL_TERMINAL, _DISTRACTED_TIME, \
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_DISTRACTED_PRE_TIME_TILL_TERMINAL, _DISTRACTED_PROMPT_TIME_TILL_TERMINAL, \
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_POSESTD_THRESHOLD, _HI_STD_TIMEOUT, _HI_STD_FALLBACK_TIME
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_POSESTD_THRESHOLD, _HI_STD_FALLBACK_TIME
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EventName = car.CarEvent.EventName
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@ -18,7 +18,6 @@ _DISTRACTED_SECONDS_TO_ORANGE = _DISTRACTED_TIME - _DISTRACTED_PROMPT_TIME_TILL_
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_DISTRACTED_SECONDS_TO_RED = _DISTRACTED_TIME + 1
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_INVISIBLE_SECONDS_TO_ORANGE = _AWARENESS_TIME - _AWARENESS_PROMPT_TIME_TILL_TERMINAL + 1
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_INVISIBLE_SECONDS_TO_RED = _AWARENESS_TIME + 1
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_UNCERTAIN_SECONDS_TO_GREEN = _HI_STD_TIMEOUT + 0.5
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def make_msg(face_detected, distracted=False, model_uncertain=False):
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ds = log.DriverState.new_message()
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@ -33,6 +32,7 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
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ds.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
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return ds
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# driver state from neural net, 10Hz
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msg_NO_FACE_DETECTED = make_msg(False)
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msg_ATTENTIVE = make_msg(True)
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@ -192,11 +192,10 @@ class TestMonitoring(unittest.TestCase):
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ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(_TEST_TIMESPAN/DT_DMON)
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interaction_vector = always_false[:]
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events = self._run_seq(ds_vector, interaction_vector, always_true, always_false)[0]
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self.assertEqual(len(events[int(_UNCERTAIN_SECONDS_TO_GREEN*0.5/DT_DMON)]), 0)
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self.assertEqual(events[int((_HI_STD_TIMEOUT)/DT_DMON)].names[0], EventName.driverMonitorLowAcc)
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self.assertTrue(EventName.preDriverUnresponsive in events[int((_INVISIBLE_SECONDS_TO_ORANGE-1+_HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names)
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self.assertTrue(EventName.promptDriverUnresponsive in events[int((_INVISIBLE_SECONDS_TO_ORANGE-1+_HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)
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self.assertTrue(EventName.driverUnresponsive in events[int((_INVISIBLE_SECONDS_TO_RED-1+_HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)
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if __name__ == "__main__":
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unittest.main()
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