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always on DM: filter green alert at low speeds (#33644)

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* disable visual too under 25

* seperate

* rename
This commit is contained in:
ZwX1616
2024-09-24 20:09:07 -07:00
committed by GitHub
parent 903ea9d8f3
commit 92fff4d486
1 changed files with 5 additions and 5 deletions
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selfdrive/monitoring/helpers.py
+5 -5
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@@ -57,7 +57,7 @@ class DRIVER_MONITOR_SETTINGS:
self._POSESTD_THRESHOLD = 0.3
self._HI_STD_FALLBACK_TIME = int(10 / self._DT_DMON) # fall back to wheel touch if model is uncertain for 10s
self._DISTRACTED_FILTER_TS = 0.25 # 0.6Hz
self._ALWAYS_ON_ALERT_MIN_SPEED = 7
self._ALWAYS_ON_ALERT_MIN_SPEED = 11
self._POSE_CALIB_MIN_SPEED = 13 # 30 mph
self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON) # valid data counts before calibration completes, 1min cumulative
@@ -337,9 +337,9 @@ class DriverMonitoring:
_reaching_audible = self.awareness - self.step_change <= self.threshold_prompt
_reaching_terminal = self.awareness - self.step_change <= 0
standstill_exemption = standstill and _reaching_audible
standstill_orange_exemption = standstill and _reaching_audible
always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal
always_on_lowspeed_exemption = always_on_valid and not op_engaged and car_speed < self.settings._ALWAYS_ON_ALERT_MIN_SPEED and _reaching_audible
always_on_lowspeed_exemption = always_on_valid and not op_engaged and car_speed < self.settings._ALWAYS_ON_ALERT_MIN_SPEED
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
@@ -347,7 +347,7 @@ class DriverMonitoring:
if certainly_distracted or maybe_distracted:
# should always be counting if distracted unless at standstill (lowspeed for always-on) and reaching orange
# also will not be reaching 0 if DM is active when not engaged
if not (standstill_exemption or always_on_red_exemption or always_on_lowspeed_exemption):
if not (standstill_orange_exemption or always_on_red_exemption or (always_on_lowspeed_exemption and _reaching_audible)):
self.awareness = max(self.awareness - self.step_change, -0.1)
alert = None
@@ -360,7 +360,7 @@ class DriverMonitoring:
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:
elif self.awareness <= self.threshold_pre and not always_on_lowspeed_exemption:
# pre green alert
alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive