From f4e4ae65080b8fb6afd6d1c91f831c4e76d3d1a3 Mon Sep 17 00:00:00 2001 From: dragonpilot Date: Mon, 19 Aug 2019 21:30:42 +1000 Subject: [PATCH 1/2] =?UTF-8?q?=E9=A7=95=E9=A7=9B=E7=9B=A3=E6=8E=A7?= =?UTF-8?q?=E6=94=B9=E8=87=B330=20=E5=88=86=E9=90=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- selfdrive/controls/lib/driver_monitor.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/driver_monitor.py b/selfdrive/controls/lib/driver_monitor.py index c175adea6..11ea0ba44 100644 --- a/selfdrive/controls/lib/driver_monitor.py +++ b/selfdrive/controls/lib/driver_monitor.py @@ -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 = 1800. # 30 minutes limit without user touching steering wheels make the car enter a terminal status _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. From 7fd9e33cb422bc460f18c68cccde4bd531f9e653 Mon Sep 17 00:00:00 2001 From: dragonpilot Date: Tue, 20 Aug 2019 15:56:06 +1000 Subject: [PATCH 2/2] =?UTF-8?q?=E4=BF=AE=E6=AD=A3DragonSteeringMonitorTime?= =?UTF-8?q?r=20=E9=8C=AF=E8=AA=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- selfdrive/controls/lib/driver_monitor.py | 13 +++++-------- 1 file changed, 5 insertions(+), 8 deletions(-) diff --git a/selfdrive/controls/lib/driver_monitor.py b/selfdrive/controls/lib/driver_monitor.py index cff869d09..c489655d4 100644 --- a/selfdrive/controls/lib/driver_monitor.py +++ b/selfdrive/controls/lib/driver_monitor.py @@ -5,7 +5,7 @@ from common.filter_simple import FirstOrderFilter from common.params import Params params = Params() -_AWARENESS_TIME = 1800. # 30 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: