Driver monitoring fix when face is visible briefly during nighttime (#806)

selfdrive/controls/lib/driver_monitor.py

@@ -82,6 +82,7 @@ class DriverStatus():
     self.blink = DriverBlink()
     self.awareness = 1.
     self.awareness_active = 1.
+    self.awareness_passive = 1.
     self.driver_distracted = False
     self.driver_distraction_filter = FirstOrderFilter(0., _DISTRACTED_FILTER_TS, DT_DMON)
     self.face_detected = False
@@ -108,6 +109,7 @@ class DriverStatus():
     if active_monitoring:
       # when falling back from passive mode to active mode, reset awareness to avoid false alert
       if not self.active_monitoring_mode:
+        self.awareness_passive = self.awareness
         self.awareness = self.awareness_active
 
       self.threshold_pre = _DISTRACTED_PRE_TIME_TILL_TERMINAL / _DISTRACTED_TIME
@@ -117,6 +119,7 @@ class DriverStatus():
     else:
       if self.active_monitoring_mode:
         self.awareness_active = self.awareness
+        self.awareness = self.awareness_passive
 
       self.threshold_pre = _AWARENESS_PRE_TIME_TILL_TERMINAL / _AWARENESS_TIME
       self.threshold_prompt = _AWARENESS_PROMPT_TIME_TILL_TERMINAL / _AWARENESS_TIME
@@ -174,6 +177,7 @@ class DriverStatus():
       # reset only when on disengagement if red reached
       self.awareness = 1.
       self.awareness_active = 1.
+      self.awareness_passive = 1.
       return events
 
     driver_attentive = self.driver_distraction_filter.x < 0.37
@@ -182,6 +186,8 @@ class DriverStatus():
     if (driver_attentive and self.face_detected and self.awareness > 0):
       # only restore awareness when paying attention and alert is not red
       self.awareness = min(self.awareness + ((_RECOVERY_FACTOR_MAX-_RECOVERY_FACTOR_MIN)*(1.-self.awareness)+_RECOVERY_FACTOR_MIN)*self.step_change, 1.)
+      if self.awareness == 1.:
+        self.awareness_passive = min(self.awareness_passive + self.step_change, 1.)
       # don't display alert banner when awareness is recovering and has cleared orange
       if self.awareness > self.threshold_prompt:
         return events

selfdrive/controls/tests/test_monitoring.py

@@ -138,20 +138,27 @@ class TestMonitoring(unittest.TestCase):
     self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)][0].name, 'driverDistracted')
     self.assertTrue(len(events_output[int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)])==0)
 
-  # 5. op engaged, invisible driver, down to orange, driver appears; then down to orange again, driver touches wheel
-  #  - both actions should clear the alert
+  # 5. op engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears
+  #  - both actions should clear the alert, but momentary appearence should not
   def test_sometimes_transparent_commuter(self):
-    _visible_time = 2 # seconds
-    ds_vector = always_no_face[:]*2
-    interaction_vector = always_false[:]*2
-    ds_vector[int(_INVISIBLE_SECONDS_TO_ORANGE/DT_DMON):int((_INVISIBLE_SECONDS_TO_ORANGE+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
-    interaction_vector[int((2*_INVISIBLE_SECONDS_TO_ORANGE+_visible_time)/DT_DMON):int((2*_INVISIBLE_SECONDS_TO_ORANGE+_visible_time+1)/DT_DMON)] = [True] * int(1/DT_DMON)
-    events_output = run_DState_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
-    self.assertTrue(len(events_output[int(_INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)])==0)
-    self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)][0].name, 'promptDriverUnresponsive')
-    self.assertTrue(len(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*1.5+_visible_time)/DT_DMON)])==0)
-    self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+_visible_time-0.5)/DT_DMON)][0].name, 'promptDriverUnresponsive')
-    self.assertTrue(len(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+_visible_time+0.1)/DT_DMON)])==0)
+      _visible_time = np.random.choice([1,10]) # seconds
+      # print _visible_time
+      ds_vector = always_no_face[:]*2
+      interaction_vector = always_false[:]*2
+      ds_vector[int((2*_INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*_INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
+      interaction_vector[int((_INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((_INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
+      events_output = run_DState_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
+      self.assertTrue(len(events_output[int(_INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)])==0)
+      self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)][0].name, 'promptDriverUnresponsive')
+      self.assertTrue(len(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)])==0)
+      if _visible_time == 1:
+        self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)][0].name, 'promptDriverUnresponsive')
+        self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)][0].name, 'preDriverUnresponsive')
+      elif _visible_time == 10:
+        self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)][0].name, 'promptDriverUnresponsive')
+        self.assertTrue(len(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)])==0)
+      else:
+        pass
 
   # 6. op engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages
   #  - only disengage will clear the alert