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DM: Lancia Delta HF Integrale model (#37696)

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* 00c00ac7-7b6e-4546-b86f-7ddd5f0596b4

* mici cleanup

* update msg

* rename
This commit is contained in:
ZwX1616
2026-04-01 16:14:15 -07:00
committed by GitHub
parent efd5301f65
commit d8569b07eb
8 changed files with 24 additions and 53 deletions
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selfdrive/monitoring/helpers.py
+5 -14
View File
@@ -32,9 +32,8 @@ class DRIVER_MONITOR_SETTINGS:
self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
self._FACE_THRESHOLD = 0.7
self._EYE_THRESHOLD = 0.65
self._SG_THRESHOLD = 0.9
self._BLINK_THRESHOLD = 0.865
self._EYE_THRESHOLD = 0.5
self._BLINK_THRESHOLD = 0.5
self._PHONE_THRESH = 0.5
self._POSE_PITCH_THRESHOLD = 0.3133
@@ -111,11 +110,6 @@ class DriverProb:
self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
self.prob_calibrated = False
class DriverBlink:
def __init__(self):
self.left = 0.
self.right = 0.
# model output refers to center of undistorted+leveled image
EFL = 598.0 # focal length in K
@@ -150,7 +144,7 @@ class DriverMonitoring:
wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
self.pose = DriverPose(settings=self.settings)
self.blink = DriverBlink()
self.blink_prob = 0.
self.phone_prob = 0.
self.always_on = always_on
@@ -253,7 +247,7 @@ class DriverMonitoring:
if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
distracted_types.append(DistractedType.DISTRACTED_POSE)
if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
if self.blink_prob > self.settings._BLINK_THRESHOLD:
distracted_types.append(DistractedType.DISTRACTED_BLINK)
if self.phone_prob > self.settings._PHONE_THRESH:
@@ -294,10 +288,7 @@ class DriverMonitoring:
self.pose.yaw_std = driver_data.faceOrientationStd[1]
model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
self.blink.left = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
* (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
* (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
self.blink_prob = driver_data.eyesClosedProb * (driver_data.eyesVisibleProb > self.settings._EYE_THRESHOLD)
self.phone_prob = driver_data.phoneProb
self.distracted_types = self._get_distracted_types()
selfdrive/monitoring/test_monitoring.py
+2 -4
View File
@@ -19,10 +19,8 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
ds.leftDriverData.faceOrientation = [0., 0., 0.]
ds.leftDriverData.facePosition = [0., 0.]
ds.leftDriverData.faceProb = 1. * face_detected
ds.leftDriverData.leftEyeProb = 1.
ds.leftDriverData.rightEyeProb = 1.
ds.leftDriverData.leftBlinkProb = 1. * distracted
ds.leftDriverData.rightBlinkProb = 1. * distracted
ds.leftDriverData.eyesVisibleProb = 1.
ds.leftDriverData.eyesClosedProb = 1. * distracted
ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
# TODO: test both separately when e2e is used