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Code Issues Packages Projects Releases Wiki Activity

Cut down unnecessary DM uncertain alerts (#2157)

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* cut down high std alerts

* clean comments

* uncertain curve tune

* update test gt

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: a2adfdb155f2293d9a2e7be11e81af8c020f011b
This commit is contained in:
ZwX1616
2020-09-14 10:43:19 -07:00
committed by GitHub
parent 7accebd4a7
commit 6f3c2fba6e
4 changed files with 17 additions and 15 deletions
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selfdrive/controls/lib/events.py
+1 -1
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@@ -413,7 +413,7 @@ EVENTS = {
"CHECK DRIVER FACE VISIBILITY",
"Driver Monitor Model Output Uncertain",
AlertStatus.normal, AlertSize.mid,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .4, 0., 1.),
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .4, 0., 1.5),
},
EventName.manualRestart: {
selfdrive/monitoring/driver_monitor.py
+9 -6
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@@ -15,8 +15,8 @@ EventName = car.CarEvent.EventName
# ******************************************************************************************
_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
_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
_DISTRACTED_TIME = 11.
_DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
_DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
@@ -24,10 +24,10 @@ _DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
_FACE_THRESHOLD = 0.6
_EYE_THRESHOLD = 0.6
_SG_THRESHOLD = 0.5
_BLINK_THRESHOLD = 0.5 # 0.225
_BLINK_THRESHOLD = 0.5
_BLINK_THRESHOLD_SLACK = 0.65
_BLINK_THRESHOLD_STRICT = 0.5
_PITCH_WEIGHT = 1.35 # 1.5 # pitch matters a lot more
_PITCH_WEIGHT = 1.35 # pitch matters a lot more
_POSESTD_THRESHOLD = 0.14
_METRIC_THRESHOLD = 0.4
_METRIC_THRESHOLD_SLACK = 0.55
@@ -116,6 +116,7 @@ class DriverStatus():
self.step_change = 0.
self.active_monitoring_mode = True
self.hi_stds = 0
self.hi_std_alert_enabled = True
self.threshold_prompt = _DISTRACTED_PROMPT_TIME_TILL_TERMINAL / _DISTRACTED_TIME
self.is_rhd_region = False
@@ -212,7 +213,7 @@ class DriverStatus():
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.step_change *= min(1.0, max(0.6, 1.6*(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
@@ -228,8 +229,9 @@ class DriverStatus():
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:
if self.face_detected and self.hi_stds * DT_DMON > _HI_STD_TIMEOUT and self.hi_std_alert_enabled:
events.add(EventName.driverMonitorLowAcc)
self.hi_std_alert_enabled = False # only showed once until orange prompt resets it
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
@@ -255,6 +257,7 @@ class DriverStatus():
elif self.awareness <= self.threshold_prompt:
# prompt orange alert
alert = EventName.promptDriverDistracted if self.active_monitoring_mode else EventName.promptDriverUnresponsive
self.hi_std_alert_enabled = True
elif self.awareness <= self.threshold_pre:
# pre green alert
alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive
selfdrive/monitoring/test_monitoring.py
+6 -7
View File
@@ -196,8 +196,7 @@ class TestMonitoring(unittest.TestCase):
self.assertEqual(events_output[int((_redlight_time+0.5)/DT_DMON)].names[0], EventName.promptDriverDistracted)
# 9. op engaged, model is extremely uncertain. driver first attentive, then distracted
# - should only pop the green alert about model uncertainty
# - (note: this's just for sanity check, std output should never be this high)
# - should pop a uncertain message first, then slowly into active green/orange, finally back to wheel touch but timer locked by orange
def test_one_indecisive_model(self):
ds_vector = [msg_ATTENTIVE_UNCERTAIN] * int(_UNCERTAIN_SECONDS_TO_GREEN/DT_DMON) + \
[msg_ATTENTIVE] * int(_DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \
@@ -205,9 +204,9 @@ class TestMonitoring(unittest.TestCase):
interaction_vector = always_false[:]
events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false)[0]
self.assertTrue(len(events_output[int(_UNCERTAIN_SECONDS_TO_GREEN*0.5/DT_DMON)]) == 0)
self.assertEqual(events_output[int((_UNCERTAIN_SECONDS_TO_GREEN-0.1)/DT_DMON)].names[0], EventName.driverMonitorLowAcc)
self.assertEqual(events_output[int((_HI_STD_TIMEOUT)/DT_DMON)].names[0], EventName.driverMonitorLowAcc)
self.assertTrue(len(events_output[int((_UNCERTAIN_SECONDS_TO_GREEN+_DISTRACTED_SECONDS_TO_ORANGE-0.5)/DT_DMON)]) == 0)
self.assertEqual(events_output[int((_TEST_TIMESPAN-5.)/DT_DMON)].names[0], EventName.driverMonitorLowAcc)
self.assertTrue(EventName.promptDriverDistracted in events_output[int((_TEST_TIMESPAN-5.)/DT_DMON)].names)
# 10. op engaged, model is somehow uncertain and driver is distracted
# - should slow down the alert countdown but it still gets there
@@ -216,9 +215,9 @@ class TestMonitoring(unittest.TestCase):
interaction_vector = always_false[:]
events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false)[0]
self.assertTrue(len(events_output[int(_UNCERTAIN_SECONDS_TO_GREEN*0.5/DT_DMON)]) == 0)
self.assertEqual(events_output[int((_UNCERTAIN_SECONDS_TO_GREEN)/DT_DMON)].names[0], EventName.driverMonitorLowAcc)
self.assertEqual(events_output[int((2.5*(_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL))/DT_DMON)].names[1], EventName.preDriverDistracted)
self.assertEqual(events_output[int((2.5*(_DISTRACTED_TIME-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL))/DT_DMON)].names[1], EventName.promptDriverDistracted)
self.assertEqual(events_output[int((_HI_STD_TIMEOUT)/DT_DMON)].names[0], EventName.driverMonitorLowAcc)
self.assertTrue(EventName.preDriverDistracted in events_output[int((2*(_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL))/DT_DMON)].names)
self.assertTrue(EventName.promptDriverDistracted in events_output[int((2*(_DISTRACTED_TIME-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL))/DT_DMON)].names)
self.assertEqual(events_output[int((_DISTRACTED_TIME+1)/DT_DMON)].names[1], EventName.promptDriverDistracted)
self.assertEqual(events_output[int((_DISTRACTED_TIME*2.5)/DT_DMON)].names[1], EventName.promptDriverDistracted) # set_timer blocked
selfdrive/test/process_replay/ref_commit
+1 -1
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@@ -1 +1 @@
5c2c99c4572d68f17ffa3a33acf8e4e205ca94c2
45b676ebf79e402b5482b5fbadcc8147fdb8a1f8