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DM settings attributes (#21736)

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* dm thresholds are instance attributes

* bring back DT_DMON

* use realtime

* rename
This commit is contained in:
YassineYousfi
2021-07-27 14:03:18 -07:00
committed by GitHub
parent 7e13e6e35a
commit 5cd4ebcc0b
1 changed files with 39 additions and 37 deletions
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selfdrive/monitoring/driver_monitor.py
+39 -37
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@@ -16,44 +16,46 @@ EventName = car.CarEvent.EventName
# ******************************************************************************************
class DRIVER_MONITOR_SETTINGS():
_AWARENESS_TIME = 35. # passive wheeltouch total timeout
_AWARENESS_PRE_TIME_TILL_TERMINAL = 12.
_AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6.
_DISTRACTED_TIME = 11. # active monitoring total timeout
_DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
_DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
def __init__(self, TICI=TICI, DT_DMON=DT_DMON):
self._DT_DMON = DT_DMON
self._AWARENESS_TIME = 35. # passive wheeltouch total timeout
self._AWARENESS_PRE_TIME_TILL_TERMINAL = 12.
self._AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6.
self._DISTRACTED_TIME = 11. # active monitoring total timeout
self._DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
_FACE_THRESHOLD = 0.5
_PARTIAL_FACE_THRESHOLD = 0.75 if TICI else 0.5
_EYE_THRESHOLD = 0.5
_SG_THRESHOLD = 0.5
_BLINK_THRESHOLD = 0.88 if TICI else 0.5
_BLINK_THRESHOLD_SLACK = 0.98 if TICI else 0.65
_BLINK_THRESHOLD_STRICT = 0.88 if TICI else 0.5
_PITCH_WEIGHT = 1.175 if TICI else 1.35 # pitch matters a lot more
_POSESTD_THRESHOLD = 0.318 if TICI else 0.14
_E2E_POSE_THRESHOLD = 0.95 if TICI else 0.9
_E2E_EYES_THRESHOLD = 0.75
self._FACE_THRESHOLD = 0.5
self._PARTIAL_FACE_THRESHOLD = 0.75 if TICI else 0.5
self._EYE_THRESHOLD = 0.5
self._SG_THRESHOLD = 0.5
self._BLINK_THRESHOLD = 0.88 if TICI else 0.5
self._BLINK_THRESHOLD_SLACK = 0.98 if TICI else 0.65
self._BLINK_THRESHOLD_STRICT = 0.88 if TICI else 0.5
self._PITCH_WEIGHT = 1.175 if TICI else 1.35 # pitch matters a lot more
self._POSESTD_THRESHOLD = 0.318 if TICI else 0.14
self._E2E_POSE_THRESHOLD = 0.95 if TICI else 0.9
self._E2E_EYES_THRESHOLD = 0.75
_METRIC_THRESHOLD = 0.5 if TICI else 0.4
_METRIC_THRESHOLD_SLACK = 0.6875 if TICI else 0.55
_METRIC_THRESHOLD_STRICT = 0.5 if TICI else 0.4
_PITCH_POS_ALLOWANCE = 0.12 # rad, to not be too sensitive on positive pitch
_PITCH_NATURAL_OFFSET = 0.02 # people don't seem to look straight when they drive relaxed, rather a bit up
_YAW_NATURAL_OFFSET = 0.08 # people don't seem to look straight when they drive relaxed, rather a bit to the right (center of car)
self._METRIC_THRESHOLD = 0.5 if TICI else 0.4
self._METRIC_THRESHOLD_SLACK = 0.6875 if TICI else 0.55
self._METRIC_THRESHOLD_STRICT = 0.5 if TICI else 0.4
self._PITCH_POS_ALLOWANCE = 0.12 # rad, to not be too sensitive on positive pitch
self._PITCH_NATURAL_OFFSET = 0.02 # people don't seem to look straight when they drive relaxed, rather a bit up
self._YAW_NATURAL_OFFSET = 0.08 # people don't seem to look straight when they drive relaxed, rather a bit to the right (center of car)
_HI_STD_FALLBACK_TIME = int(10 / DT_DMON) # fall back to wheel touch if model is uncertain for 10s
_DISTRACTED_FILTER_TS = 0.25 # 0.6Hz
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
_POSE_CALIB_MIN_SPEED = 13 # 30 mph
_POSE_OFFSET_MIN_COUNT = int(60 / DT_DMON) # valid data counts before calibration completes, 1min cumulative
_POSE_OFFSET_MAX_COUNT = int(360 / DT_DMON) # stop deweighting new data after 6 min, aka "short term memory"
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
self._POSE_OFFSET_MAX_COUNT = int(360 / self._DT_DMON) # stop deweighting new data after 6 min, aka "short term memory"
_RECOVERY_FACTOR_MAX = 5. # relative to minus step change
_RECOVERY_FACTOR_MIN = 1.25 # relative to minus step change
self._RECOVERY_FACTOR_MAX = 5. # relative to minus step change
self._RECOVERY_FACTOR_MIN = 1.25 # relative to minus step change
_MAX_TERMINAL_ALERTS = 3 # not allowed to engage after 3 terminal alerts
_MAX_TERMINAL_DURATION = int(30 / DT_DMON) # not allowed to engage after 30s of terminal alerts
self._MAX_TERMINAL_ALERTS = 3 # not allowed to engage after 3 terminal alerts
self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON) # not allowed to engage after 30s of terminal alerts
# model output refers to center of cropped image, so need to apply the x displacement offset
@@ -103,7 +105,7 @@ class DriverBlink():
self.cfactor = 1.
class DriverStatus():
def __init__(self, rhd=False, settings=DRIVER_MONITOR_SETTINGS):
def __init__(self, rhd=False, settings=DRIVER_MONITOR_SETTINGS()):
# init policy settings
self.settings = settings
@@ -116,7 +118,7 @@ class DriverStatus():
self.awareness_active = 1.
self.awareness_passive = 1.
self.driver_distracted = False
self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, DT_DMON)
self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON)
self.face_detected = False
self.face_partial = False
self.terminal_alert_cnt = 0
@@ -133,7 +135,7 @@ class DriverStatus():
def _set_timers(self, active_monitoring):
if self.active_monitoring_mode and self.awareness <= self.threshold_prompt:
if active_monitoring:
self.step_change = DT_DMON / self.settings._DISTRACTED_TIME
self.step_change = self.settings._DT_DMON / self.settings._DISTRACTED_TIME
else:
self.step_change = 0.
return # no exploit after orange alert
@@ -148,7 +150,7 @@ class DriverStatus():
self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
self.step_change = DT_DMON / self.settings._DISTRACTED_TIME
self.step_change = self.settings._DT_DMON / self.settings._DISTRACTED_TIME
self.active_monitoring_mode = True
else:
if self.active_monitoring_mode:
@@ -157,7 +159,7 @@ class DriverStatus():
self.threshold_pre = self.settings._AWARENESS_PRE_TIME_TILL_TERMINAL / self.settings._AWARENESS_TIME
self.threshold_prompt = self.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL / self.settings._AWARENESS_TIME
self.step_change = DT_DMON / self.settings._AWARENESS_TIME
self.step_change = self.settings._DT_DMON / self.settings._AWARENESS_TIME
self.active_monitoring_mode = False
def _is_driver_distracted(self, pose, blink):