brianhansonxyz/clearpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

wip

Browse Source
This commit is contained in:
Your Name
2024-04-27 13:48:05 -05:00
parent 2fbe9dbea1
commit 931db76fc6
432 changed files with 12973 additions and 3300 deletions
Download Patch File Download Diff File Expand all files Collapse all files

25
selfdrive/monitoring/driver_monitor.py
View File

@@ -5,7 +5,7 @@ from openpilot.common.numpy_fast import interp
from openpilot.common.realtime import DT_DMON
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.stat_live import RunningStatFilter
from openpilot.common.transformations.camera import tici_d_frame_size
from openpilot.common.transformations.camera import DEVICE_CAMERAS
EventName = car.CarEvent.EventName
@@ -19,19 +19,12 @@ class DRIVER_MONITOR_SETTINGS():
def __init__(self):
self._DT_DMON = DT_DMON
# ref (page15-16): https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2
# self._AWARENESS_TIME = 30. # passive wheeltouch total timeout
# self._AWARENESS_PRE_TIME_TILL_TERMINAL = 15.
# 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.
self._AWARENESS_TIME = 60. # passive wheeltouch total timeout
self._AWARENESS_PRE_TIME_TILL_TERMINAL = 60.
self._AWARENESS_PROMPT_TIME_TILL_TERMINAL = 30.
self._DISTRACTED_TIME = 30. # active monitoring total timeout
self._DISTRACTED_PRE_TIME_TILL_TERMINAL = 60.
self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 30.
self._AWARENESS_TIME = 30. # passive wheeltouch total timeout
self._AWARENESS_PRE_TIME_TILL_TERMINAL = 15.
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.
self._FACE_THRESHOLD = 0.7
self._EYE_THRESHOLD = 0.65
@@ -78,9 +71,11 @@ class DRIVER_MONITOR_SETTINGS():
self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON) # not allowed to engage after 30s of terminal alerts
# TODO: get these live
# model output refers to center of undistorted+leveled image
EFL = 598.0 # focal length in K
W, H = tici_d_frame_size # corrected image has same size as raw
cam = DEVICE_CAMERAS[("tici", "ar0231")] # corrected image has same size as raw
W, H = (cam.dcam.width, cam.dcam.height) # corrected image has same size as raw
class DistractedType:
NOT_DISTRACTED = 0