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DM: auto reset audible alert coming to a stop (#37071)

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* dm: suppress audible alert at standstill

* test: driver distracted then stops at standstill

* use recovery instead

* add back

* fix comment

---------

Co-authored-by: ZwX1616 <zwx1616@gmail.com>
This commit is contained in:
Andi Radulescu
2026-04-08 08:11:00 +03:00
committed by GitHub
parent 508863e5a8
commit 19d56f685b
2 changed files with 18 additions and 9 deletions
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selfdrive/monitoring/helpers.py
+7 -9
View File
@@ -345,10 +345,14 @@ class DriverMonitoring:
self._reset_awareness()
return
driver_attentive = self.driver_distraction_filter.x < 0.37
awareness_prev = self.awareness
_reaching_pre = self.awareness - self.step_change <= self.threshold_pre
_reaching_terminal = self.awareness - self.step_change <= 0
standstill_orange_exemption = standstill and _reaching_pre
always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal
if (driver_attentive and self.face_detected and self.pose.low_std and self.awareness > 0):
if self.awareness > 0 and \
((self.driver_distraction_filter.x < 0.37 and self.face_detected and self.pose.low_std) or standstill_orange_exemption):
if driver_engaged:
self._reset_awareness()
return
@@ -361,19 +365,13 @@ class DriverMonitoring:
if self.awareness > self.threshold_prompt:
return
_reaching_pre = self.awareness - self.step_change <= self.threshold_pre
_reaching_audible = self.awareness - self.step_change <= self.threshold_prompt
_reaching_terminal = self.awareness - self.step_change <= 0
standstill_exemption = standstill and _reaching_pre
always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal
certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected
if certainly_distracted or maybe_distracted:
# should always be counting if distracted unless at standstill and reaching green
# also will not be reaching 0 if DM is active when not engaged
if not (standstill_exemption or always_on_red_exemption):
if not (standstill_orange_exemption or always_on_red_exemption):
self.awareness = max(self.awareness - self.step_change, -0.1)
alert = None
selfdrive/monitoring/test_monitoring.py
+11
View File
@@ -189,6 +189,17 @@ class TestMonitoring:
assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.preDriverDistracted
assert events[int((_redlight_time+_pre_to_prompt+0.5)/DT_DMON)].names[0] == EventName.promptDriverDistracted
# engaged, distracted while moving, then car stops after reaching orange
# - should reset timer to pre green at standstill
def test_distracted_then_stops(self):
_stop_time = DISTRACTED_SECONDS_TO_ORANGE + 1 # stop 1 second after reaching orange
standstill_vector = always_false[:]
standstill_vector[int(_stop_time/DT_DMON):] = [True] * int((TEST_TIMESPAN-_stop_time)/DT_DMON)
events, _ = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
# just before and briefly after stopping: orange alert; goes away quickly after stopped
assert events[int((_stop_time+0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
assert len(events[int((_stop_time+0.5)/DT_DMON)]) == 0
# engaged, model is somehow uncertain and driver is distracted
# - should fall back to wheel touch after uncertain alert
def test_somehow_indecisive_model(self):