mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-08-21 16:23:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Toggle to always enable DM (#32205)

Browse Source 
* permanent

* param

* correct behavior

* toggle

* need trans

* ref_commit

* translate for chs/t

* disable on P and R

* read
old-commit-hash: 1d05704d27dbe4f73c0eba7e8dad2ae84d4e205e
This commit is contained in:
ZwX1616
2024-04-17 12:56:37 -07:00
committed by GitHub
parent bcf9f08563
commit c741dca04c
17 changed files with 112 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/monitoring/driver_monitor.py
+11 -4
View File
@@ -121,7 +121,7 @@ class DriverBlink():
self.right_blink = 0.
class DriverStatus():
def __init__(self, rhd_saved=False, settings=None):
def __init__(self, rhd_saved=False, settings=None, always_on=False):
if settings is None:
settings = DRIVER_MONITOR_SETTINGS()
# init policy settings
@@ -139,6 +139,7 @@ class DriverStatus():
self.ee1_calibrated = False
self.ee2_calibrated = False
self.always_on = always_on
self.awareness = 1.
self.awareness_active = 1.
self.awareness_passive = 1.
@@ -301,8 +302,12 @@ class DriverStatus():
elif self.face_detected and self.pose.low_std:
self.hi_stds = 0
def update_events(self, events, driver_engaged, ctrl_active, standstill):
if (driver_engaged and self.awareness > 0 and not self.active_monitoring_mode) or not ctrl_active: # reset only when on disengagement if red reached
def update_events(self, events, driver_engaged, ctrl_active, standstill, wrong_gear):
always_on_valid = self.always_on and not wrong_gear
if (driver_engaged and self.awareness > 0 and not self.active_monitoring_mode) or \
(not always_on_valid and not ctrl_active) or \
(always_on_valid and not ctrl_active and self.awareness <= 0):
# always reset on disengage with normal mode; disengage resets only on red if always on
self._reset_awareness()
return
@@ -323,11 +328,13 @@ class DriverStatus():
return
standstill_exemption = standstill and self.awareness - self.step_change <= self.threshold_prompt
always_on_red_exemption = always_on_valid and not ctrl_active and self.awareness - self.step_change <= 0
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 orange
if not standstill_exemption:
# also will not be reaching 0 if DM is active when not engaged
if not standstill_exemption and not always_on_red_exemption:
self.awareness = max(self.awareness - self.step_change, -0.1)
alert = None