DM: reasonable lockout ramp up (#38358)

openpilot/cereal/log.capnp

@@ -2160,7 +2160,8 @@ struct DriverMonitoringStateDEPRECATED @0xb83cda094a1da284 {
 
 struct DriverMonitoringState {
   lockout @0 :Bool;
-  lockoutRecoveryPercent @11 :Int8;
+  lockoutCount @15 :Int8;
+  lockoutMinutesRemaining @11 :Int8;
   alert3Count @12 :Int8;
   noResponseCount @13 :Int8;
   noResponseForceDecel @14 :Bool;

openpilot/common/params_keys.h

@@ -37,6 +37,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DoShutdown", {CLEAR_ON_MANAGER_START, BOOL}},
     {"DoUninstall", {CLEAR_ON_MANAGER_START, BOOL}},
     {"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
+    {"DriverLockoutCount", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, INT, "0"}},
     {"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY, BOOL}},
     {"ExperimentalMode", {PERSISTENT, BOOL}},
     {"ExperimentalModeConfirmed", {PERSISTENT, BOOL}},

openpilot/selfdrive/monitoring/policy.py

@@ -41,7 +41,7 @@ class DRIVER_MONITOR_SETTINGS:
     # lockout specs
     self._MAX_ALERT_3 = 2
     self._MAX_NO_RESPONSE = 1
-    self._LOCKOUT_TIME = int(1800 / DT_DMON)
+    self._LOCKOUT_TIMES = [int(60 * n_min / DT_DMON) for n_min in [1, 5, 15, 30]]
 
     self._TIMEOUT_RECOVERY_FACTOR_MAX = 5.
     self._TIMEOUT_RECOVERY_FACTOR_MIN = 1.25
@@ -152,7 +152,10 @@ class DriverMonitoring:
     self.cnt_since_alert_3 = 0
     self.no_response_timeout = int(self.settings._NO_RESPONSE_TIMEOUT / DT_DMON)
     self.no_response_cnt = 0
-    self.lockout_time = 0
+    self.lockout_active = Params().get_bool("DriverTooDistracted")
+    self.lockout_count = Params().get("DriverLockoutCount") or 0
+    self.lockout_duration = self.settings._LOCKOUT_TIMES[min(max(self.lockout_count - 1, 0), len(self.settings._LOCKOUT_TIMES) - 1)]
+    self.lockout_time_elapsed = 0
     self.step_change = 0.
     self.active_policy = MonitoringPolicy.vision
     self.driver_interacting = False
@@ -163,7 +166,6 @@ class DriverMonitoring:
     self.threshold_alert_2 = 0.
     self.dcam_uncertain_cnt = 0
     self.dcam_reset_cnt = 0
-    self.too_distracted = Params().get_bool("DriverTooDistracted")
 
     self._reset_awareness()
     self._set_policy(MonitoringPolicy.vision)
@@ -310,16 +312,20 @@ class DriverMonitoring:
     self.driver_interacting = driver_engaged
 
     if self.alert_3_cnt >= self.settings._MAX_ALERT_3 or self.no_response_cnt >= self.settings._MAX_NO_RESPONSE:
-      self.too_distracted = True
+      if not self.lockout_active:
+        self.lockout_count += 1
+        self.lockout_duration = self.settings._LOCKOUT_TIMES[min(self.lockout_count - 1, len(self.settings._LOCKOUT_TIMES) - 1)]
+        Params().put("DriverLockoutCount", self.lockout_count)
+      self.lockout_active = True
 
-    if self.too_distracted:
-      self.lockout_time += 1
-      if self.lockout_time > self.settings._LOCKOUT_TIME:
-        self.too_distracted = False
+    if self.lockout_active:
+      self.lockout_time_elapsed += 1
+      if self.lockout_time_elapsed > self.lockout_duration:
+        self.lockout_active = False
         self.alert_3_cnt = 0
         self.cnt_since_alert_3 = 0
         self.no_response_cnt = 0
-        self.lockout_time = 0
+        self.lockout_time_elapsed = 0
 
     always_on_valid = self.always_on and not wrong_gear
     if (self.driver_interacting and self.awareness > 0 and self.active_policy == MonitoringPolicy.wheeltouch) or \
@@ -379,8 +385,10 @@ class DriverMonitoring:
     dat = messaging.new_message('driverMonitoringState', valid=valid)
     dm = dat.driverMonitoringState
 
-    dm.lockout = self.too_distracted
-    dm.lockoutRecoveryPercent = to_percent(self.lockout_time / self.settings._LOCKOUT_TIME)
+    dm.lockout = self.lockout_active
+    dm.lockoutCount = self.lockout_count
+    if self.lockout_active:
+      dm.lockoutMinutesRemaining = max(1, round((self.lockout_duration - self.lockout_time_elapsed) * DT_DMON / 60.))
     dm.alert3Count = self.alert_3_cnt
     dm.noResponseCount = self.no_response_cnt
     dm.noResponseForceDecel = self.alert_level == AlertLevel.three and self.cnt_since_alert_3 >= self.no_response_timeout

openpilot/selfdrive/monitoring/test_monitoring.py

@@ -83,21 +83,17 @@ class TestMonitoring:
   # engaged, distracted past red and beyond the no-response window -> unavailability response + lockout
   def test_distracted_lockout(self):
     alert_lvls, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
-    s = d_status.settings
     assert alert_lvls[int(DISTRACTED_SECONDS_TO_RED / DT_DMON)] == 3
-    assert d_status.alert_3_cnt == 1
-    assert d_status.no_response_cnt == s._MAX_NO_RESPONSE
-    assert d_status.too_distracted
-    assert d_status.lockout_time > 0
+    assert d_status.lockout_active
+    assert d_status.lockout_time_elapsed > 0
+    assert d_status.lockout_count >= 1
 
   # no face -> wheeltouch red, sustained past the no-response timeout -> unavailability response + lockout
   def test_invisible_lockout(self):
     _, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
-    s = d_status.settings
     assert d_status.active_policy == log.DriverMonitoringState.MonitoringPolicy.wheeltouch
-    assert d_status.alert_3_cnt == 1
-    assert d_status.no_response_cnt == s._MAX_NO_RESPONSE
-    assert d_status.too_distracted
+    assert d_status.lockout_active
+    assert d_status.lockout_count >= 1
 
   # engaged, no face detected the whole time, no action
   def test_fully_invisible_driver(self):

openpilot/selfdrive/selfdrived/events.py

@@ -10,9 +10,8 @@ from opendbc.car.structs import car
 import openpilot.cereal.messaging as messaging
 from openpilot.common.constants import CV
 from openpilot.common.git import get_short_branch
-from openpilot.common.realtime import DT_CTRL, DT_DMON
+from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
-from openpilot.selfdrive.monitoring.policy import DRIVER_MONITOR_SETTINGS
 from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
 from openpilot.selfdrive.ui.feedback.feedbackd import FEEDBACK_MAX_DURATION
 from openpilot.common.hardware import HARDWARE
@@ -23,7 +22,6 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = log.SelfdriveState.AudibleAlert
 EventName = log.OnroadEvent.EventName
 
-DMON_LOCKOUT_TIME = DRIVER_MONITOR_SETTINGS()._LOCKOUT_TIME
 
 # Alert priorities
 class Priority(IntEnum):
@@ -269,7 +267,7 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag
 
 def too_distracted_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   if sm['driverMonitoringState'].lockout:
-    mins_left = max(1, round((100 - sm['driverMonitoringState'].lockoutRecoveryPercent) / 100 * DMON_LOCKOUT_TIME * DT_DMON / 60.))
+    mins_left = sm['driverMonitoringState'].lockoutMinutesRemaining
     return NoEntryAlert("Too Distracted", f"{mins_left} minute{'s' if mins_left != 1 else ''} Left", priority=Priority.HIGH)
   return NoEntryAlert("Pay Attention to Engage", priority=Priority.HIGH)