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Merge branch 'devel-en' into devel-zht

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dragonpilot
2019-08-20 15:56:30 +10:00
parent 48c0937081 7fd9e33cb4
commit 03d8cf087b
1 changed files with 5 additions and 8 deletions
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selfdrive/controls/lib/driver_monitor.py
+5 -8
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@@ -5,7 +5,7 @@ from common.filter_simple import FirstOrderFilter
from common.params import Params
params = Params()
_AWARENESS_TIME = 90. # 1.5 minutes limit without user touching steering wheels make the car enter a terminal status
_AWARENESS_TIME = int(params.get("DragonSteeringMonitorTimer"))
_AWARENESS_PRE_TIME_TILL_TERMINAL = 20. # a first alert is issued 20s before expiration
_AWARENESS_PROMPT_TIME_TILL_TERMINAL = 5. # a second alert is issued 5s before start decelerating the car
_DISTRACTED_TIME = 10.
@@ -98,7 +98,6 @@ class DriverStatus():
# dragonpilot
self.dp_last_check = 0.
self.dragon_enable_driver_safety_check = True
self.dragon_steering_monitor_timer = 180
def _reset_filters(self):
self.driver_distraction_filter.x = 0.
@@ -108,15 +107,15 @@ class DriverStatus():
def _set_timers(self, active_monitoring):
if active_monitoring:
# when falling back from passive mode to active mode, reset awareness to avoid false alert
if self.step_change == DT_CTRL / self.dragon_steering_monitor_timer:
if self.step_change == DT_CTRL / _AWARENESS_TIME:
self.awareness = 1.
self.threshold_pre = _DISTRACTED_PRE_TIME_TILL_TERMINAL / _DISTRACTED_TIME
self.threshold_prompt = _DISTRACTED_PROMPT_TIME_TILL_TERMINAL / _DISTRACTED_TIME
self.step_change = DT_CTRL / _DISTRACTED_TIME
else:
self.threshold_pre = _AWARENESS_PRE_TIME_TILL_TERMINAL / self.dragon_steering_monitor_timer
self.threshold_prompt = _AWARENESS_PROMPT_TIME_TILL_TERMINAL / self.dragon_steering_monitor_timer
self.step_change = DT_CTRL / self.dragon_steering_monitor_timer
self.threshold_pre = _AWARENESS_PRE_TIME_TILL_TERMINAL / _AWARENESS_TIME
self.threshold_prompt = _AWARENESS_PROMPT_TIME_TILL_TERMINAL / _AWARENESS_TIME
self.step_change = DT_CTRL / _AWARENESS_TIME
def _is_driver_distracted(self, pose, blink):
# TODO: natural pose calib of each driver
@@ -172,8 +171,6 @@ class DriverStatus():
ts = sec_since_boot()
if ts - self.dp_last_check > 3.:
self.dragon_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck") == "0" else True
timer = params.get("DragonSteeringMonitorTimer")
self.dragon_steering_monitor_timer = 60 * 60 * 24 if timer == "0" else int(timer) * 60
self.dp_last_check = ts
if not self.dragon_enable_driver_safety_check: