From 22408781f7d7df5ff0395f80c1b15d6407acd0ff Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Fri, 29 Jul 2022 13:52:24 -0700 Subject: [PATCH] Remove RHD toggle: determine by driver side instead (#24802) * driverview * auto choose * useless * remove * modeld not use toggle * remove from params * should have commissue anyway * delete icon file * deal with init more elegantly and prohibit switching when engaged * nonblock save when not unstable * filter very low speeds * a few more secs dont harm * draw icon * match * radius * use const * ref commit * new transs * put_bool_nonblocking * 5k route tune * ref comm Co-authored-by: Comma Device --- common/params.cc | 2 +- .../offroad/icon_openpilot_mirrored.png | Bin 18150 -> 0 bytes selfdrive/modeld/modeld.cc | 5 +- selfdrive/modeld/models/driving.cc | 8 +- selfdrive/modeld/models/driving.h | 2 +- selfdrive/monitoring/dmonitoringd.py | 9 +- selfdrive/monitoring/driver_monitor.py | 20 ++- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/ui/qt/offroad/driverview.cc | 5 +- selfdrive/ui/qt/offroad/settings.cc | 6 - selfdrive/ui/qt/onroad.cc | 4 +- selfdrive/ui/qt/onroad.h | 2 + selfdrive/ui/translations/main_ko.ts | 156 +++++++++--------- selfdrive/ui/translations/main_zh-CHS.ts | 156 +++++++++--------- selfdrive/ui/translations/main_zh-CHT.ts | 156 +++++++++--------- 15 files changed, 270 insertions(+), 263 deletions(-) delete mode 100644 selfdrive/assets/offroad/icon_openpilot_mirrored.png diff --git a/common/params.cc b/common/params.cc index 1ead28d6cd..11b24fe9c1 100644 --- a/common/params.cc +++ b/common/params.cc @@ -124,7 +124,7 @@ std::unordered_map keys = { {"IsMetric", PERSISTENT}, {"IsOffroad", CLEAR_ON_MANAGER_START}, {"IsOnroad", PERSISTENT}, - {"IsRHD", PERSISTENT}, + {"IsRhdDetected", PERSISTENT}, {"IsTakingSnapshot", CLEAR_ON_MANAGER_START}, {"IsTestedBranch", CLEAR_ON_MANAGER_START}, {"IsUpdateAvailable", CLEAR_ON_MANAGER_START}, diff --git 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dropped frames FirstOrderFilter frame_dropped_filter(0., 10., 1. / MODEL_FREQ); @@ -111,6 +111,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl // TODO: path planner timeout? sm.update(0); int desire = ((int)sm["lateralPlan"].getLateralPlan().getDesire()); + bool is_rhd = ((bool)sm["driverMonitoringState"].getDriverMonitoringState().getIsRHD()); frame_id = sm["roadCameraState"].getRoadCameraState().getFrameId(); if (sm.updated("liveCalibration")) { auto extrinsic_matrix = sm["liveCalibration"].getLiveCalibration().getExtrinsicMatrix(); @@ -146,7 +147,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl } double mt1 = millis_since_boot(); - ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, prepare_only); + ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, is_rhd, prepare_only); double mt2 = millis_since_boot(); float model_execution_time = (mt2 - mt1) / 1000.0; diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index 59c0b249d9..9bf7e62184 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -49,14 +49,12 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context) { #endif #ifdef TRAFFIC_CONVENTION - const int idx = Params().getBool("IsRHD") ? 1 : 0; - s->traffic_convention[idx] = 1.0; s->m->addTrafficConvention(s->traffic_convention, TRAFFIC_CONVENTION_LEN); #endif } ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf, - const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool prepare_only) { + const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, bool prepare_only) { #ifdef DESIRE if (desire_in != NULL) { for (int i = 1; i < DESIRE_LEN; i++) { @@ -72,6 +70,10 @@ ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf, } #endif + int rhd_idx = is_rhd; + s->traffic_convention[rhd_idx] = 1.0; + s->traffic_convention[1-rhd_idx] = 0.0; + // if getInputBuf is not NULL, net_input_buf will be auto net_input_buf = s->frame->prepare(buf->buf_cl, buf->width, buf->height, buf->stride, buf->uv_offset, transform, static_cast(s->m->getInputBuf())); s->m->addImage(net_input_buf, s->frame->buf_size); diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h index 97e65fbc0e..d551bdf488 100644 --- a/selfdrive/modeld/models/driving.h +++ b/selfdrive/modeld/models/driving.h @@ -268,7 +268,7 @@ struct ModelState { void model_init(ModelState* s, cl_device_id device_id, cl_context context); ModelOutput *model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* buf_wide, - const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool prepare_only); + const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, bool prepare_only); void model_free(ModelState* s); void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop, const ModelOutput &net_outputs, uint64_t timestamp_eof, diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index c31e9da43b..35eee5b035 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -3,7 +3,7 @@ import gc import cereal.messaging as messaging from cereal import car -from common.params import Params +from common.params import Params, put_bool_nonblocking from common.realtime import set_realtime_priority from selfdrive.controls.lib.events import Events from selfdrive.locationd.calibrationd import Calibration @@ -20,7 +20,7 @@ def dmonitoringd_thread(sm=None, pm=None): if sm is None: sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2']) - driver_status = DriverStatus(rhd=Params().get_bool("IsRHD")) + driver_status = DriverStatus(rhd_saved=Params().get_bool("IsRhdDetected")) sm['liveCalibration'].calStatus = Calibration.INVALID sm['liveCalibration'].rpyCalib = [0, 0, 0] @@ -83,6 +83,11 @@ def dmonitoringd_thread(sm=None, pm=None): } pm.send('driverMonitoringState', dat) + # save rhd virtual toggle every 5 mins + if (sm['driverStateV2'].frameId % 6000 == 0 and + driver_status.wheelpos_learner.filtered_stat.n > driver_status.settings._WHEELPOS_FILTER_MIN_COUNT and + driver_status.wheel_on_right == (driver_status.wheelpos_learner.filtered_stat.M > driver_status.settings._WHEELPOS_THRESHOLD)): + put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right) def main(sm=None, pm=None): dmonitoringd_thread(sm, pm) diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index 48d4303aa5..9ff3125c15 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -57,8 +57,9 @@ class DRIVER_MONITOR_SETTINGS(): 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" + self._WHEELPOS_CALIB_MIN_SPEED = 11 self._WHEELPOS_THRESHOLD = 0.5 - self._WHEELPOS_FILTER_MIN_COUNT = int(5 / self._DT_DMON) + self._WHEELPOS_FILTER_MIN_COUNT = int(15 / self._DT_DMON) # allow 15 seconds to converge wheel side self._RECOVERY_FACTOR_MAX = 5. # relative to minus step change self._RECOVERY_FACTOR_MIN = 1.25 # relative to minus step change @@ -115,7 +116,7 @@ class DriverBlink(): self.right_blink = 0. class DriverStatus(): - def __init__(self, rhd=False, settings=DRIVER_MONITOR_SETTINGS()): + def __init__(self, rhd_saved=False, settings=DRIVER_MONITOR_SETTINGS()): # init policy settings self.settings = settings @@ -138,7 +139,8 @@ class DriverStatus(): self.driver_distracted = False self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON) self.wheel_on_right = False - self.rhd_toggled = rhd + self.wheel_on_right_last = None + self.wheel_on_right_default = rhd_saved self.face_detected = False self.terminal_alert_cnt = 0 self.terminal_time = 0 @@ -227,13 +229,18 @@ class DriverStatus(): def update_states(self, driver_state, cal_rpy, car_speed, op_engaged): rhd_pred = driver_state.wheelOnRightProb - if car_speed > 0.01: + # calibrates only when there's movement and either face detected + if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or + driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD): self.wheelpos_learner.push_and_update(rhd_pred) if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT: self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD else: - self.wheel_on_right = rhd_pred > self.settings._WHEELPOS_THRESHOLD - driver_data = driver_state.rightDriverData if self.rhd_toggled else driver_state.leftDriverData + self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished + # make sure no switching when engaged + if op_engaged and self.wheel_on_right_last is not None and self.wheel_on_right_last != self.wheel_on_right: + self.wheel_on_right = self.wheel_on_right_last + driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition, driver_data.faceOrientationStd, driver_data.facePositionStd, driver_data.readyProb, driver_data.notReadyProb)): @@ -243,6 +250,7 @@ class DriverStatus(): self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy) if self.wheel_on_right: self.pose.yaw *= -1 + self.wheel_on_right_last = self.wheel_on_right self.pose.pitch_std = driver_data.faceOrientationStd[0] self.pose.yaw_std = driver_data.faceOrientationStd[1] model_std_max = max(self.pose.pitch_std, self.pose.yaw_std) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 22cc2442b1..35226a30eb 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -cfe79d760f161a46e48b60c1debe11b8f300e717 \ No newline at end of file +912413daa4c36a788cf2c801fc49829d46ae3072 \ No newline at end of file diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index 5bf70584a1..be8b84d45e 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -31,7 +31,6 @@ DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverStateV2"}), QWidg void DriverViewScene::showEvent(QShowEvent* event) { frame_updated = false; - is_rhd = params.getBool("IsRHD"); params.putBool("IsDriverViewEnabled", true); } @@ -60,7 +59,7 @@ void DriverViewScene::paintEvent(QPaintEvent* event) { cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2(); cereal::DriverStateV2::DriverData::Reader driver_data; - // is_rhd = driver_state.getWheelOnRightProb() > 0.5; + is_rhd = driver_state.getWheelOnRightProb() > 0.5; driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData(); bool face_detected = driver_data.getFaceProb() > 0.7; @@ -85,7 +84,7 @@ void DriverViewScene::paintEvent(QPaintEvent* event) { // icon const int img_offset = 60; - const int img_x = rect().left() + img_offset; + const int img_x = is_rhd ? rect().right() - FACE_IMG_SIZE - img_offset : rect().left() + img_offset; const int img_y = rect().bottom() - FACE_IMG_SIZE - img_offset; p.setOpacity(face_detected ? 1.0 : 0.2); p.drawPixmap(img_x, img_y, face_img); diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 0956f6c8dd..e6e21bd8d3 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -41,12 +41,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { tr("Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h)."), "../assets/offroad/icon_warning.png", }, - { - "IsRHD", - tr("Enable Right-Hand Drive"), - tr("Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat."), - "../assets/offroad/icon_openpilot_mirrored.png", - }, { "IsMetric", tr("Use Metric System"), diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index fbfa7e646d..0ab1424023 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -217,6 +217,7 @@ void NvgWindow::updateState(const UIState &s) { if (sm.frame % (UI_FREQ / 2) == 0) { setProperty("engageable", cs.getEngageable() || cs.getEnabled()); setProperty("dmActive", sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode()); + setProperty("rightHandDM", sm["driverMonitoringState"].getDriverMonitoringState().getIsRHD()); } if (s.scene.calibration_valid) { @@ -381,7 +382,8 @@ void NvgWindow::drawHud(QPainter &p) { // dm icon if (!hideDM) { - drawIcon(p, radius / 2 + (bdr_s * 2), rect().bottom() - footer_h / 2, + int dm_icon_x = rightHandDM ? rect().right() - radius / 2 - (bdr_s * 2) : radius / 2 + (bdr_s * 2); + drawIcon(p, dm_icon_x, rect().bottom() - footer_h / 2, dm_img, blackColor(70), dmActive ? 1.0 : 0.2); } p.restore(); diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index dc1e69da2a..7f51a73510 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -39,6 +39,7 @@ class NvgWindow : public CameraViewWidget { Q_PROPERTY(bool engageable MEMBER engageable); Q_PROPERTY(bool dmActive MEMBER dmActive); Q_PROPERTY(bool hideDM MEMBER hideDM); + Q_PROPERTY(bool rightHandDM MEMBER rightHandDM); Q_PROPERTY(int status MEMBER status); public: @@ -62,6 +63,7 @@ private: bool engageable = false; bool dmActive = false; bool hideDM = false; + bool rightHandDM = false; bool has_us_speed_limit = false; bool has_eu_speed_limit = false; int status = STATUS_DISENGAGED; diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 9928a57e14..fe10008635 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -108,152 +108,152 @@ DevicePanel - + Dongle ID Dongle ID - + N/A N/A - + Serial Serial - + Driver Camera 운전자 카메라 - + PREVIEW 미리보기 - + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 운전자 모니터링이 좋은 가시성을 갖도록 운전자를 향한 카메라를 미리 봅니다. (차량연결은 해제되어있어야 합니다) - + Reset Calibration 캘리브레이션 재설정 - + RESET 재설정 - + Are you sure you want to reset calibration? 캘리브레이션을 재설정하시겠습니까? - + Review Training Guide 트레이닝 가이드 다시보기 - + REVIEW 다시보기 - + Review the rules, features, and limitations of openpilot openpilot의 규칙, 기능 및 제한 다시보기 - + Are you sure you want to review the training guide? 트레이닝 가이드를 다시보시겠습니까? - + Regulatory 규제 - + VIEW 보기 - + Change Language 언어 변경 - + CHANGE 변경 - + Select a language 언어를 선택하세요 - + Reboot 재부팅 - + Power Off 전원 종료 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot은 장치를 좌측 또는 우측은 4° 이내, 위쪽 5° 또는 아래쪽은 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다. - + Your device is pointed %1° %2 and %3° %4. 사용자의 장치가 %1° %2 및 %3° %4를 가리키고 있습니다. - + down 아래로 - + up 위로 - + left 좌측으로 - + right 우측으로 - + Are you sure you want to reboot? 재부팅 하시겠습니까? - + Disengage to Reboot 재부팅 하려면 해제하세요 - + Are you sure you want to power off? 전원을 종료하시겠습니까? - + Disengage to Power Off 전원을 종료하려면 해제하세요 @@ -294,7 +294,7 @@ DriverViewScene - + camera starting 카메라 시작중 @@ -498,20 +498,20 @@ location set mph - - + + MAX MAX - - + + SPEED SPEED - - + + LIMIT LIMIT @@ -710,33 +710,33 @@ location set SettingsWindow - + × × - + Device 장치 - - + + Network 네트워크 - + Toggles 토글 - + Software 소프트웨어 - + Navigation 네비게이션 @@ -975,89 +975,89 @@ location set SoftwarePanel - + Git Branch Git 브렌치 - + Git Commit Git 커밋 - + OS Version OS 버전 - + Version 버전 - + Last Update Check 최신 업데이트 검사 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 최근에 openpilot이 업데이트를 성공적으로 확인했습니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다. - + Check for Update 업데이트 확인 - + CHECKING 확인중 - + Switch Branch 브랜치 변경 - + ENTER 입력하세요 - - + + The new branch will be pulled the next time the updater runs. 다음 업데이트 프로그램이 실행될 때 새 브랜치가 적용됩니다. - + Enter branch name 브랜치명 입력 - + UNINSTALL 제거 - + Uninstall %1 %1 제거 - + Are you sure you want to uninstall? 제거하시겠습니까? - + failed to fetch update 업데이트를 가져올수없습니다 - - + + CHECK 확인 @@ -1165,72 +1165,70 @@ location set 차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향 지시등이 활성화되지 않은 상태에서 감지된 차선 위를 주행할 경우 차선이탈 경고를 사용합니다. - Enable Right-Hand Drive - 우측핸들 사용 + 우측핸들 사용 - Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat. - openpilot이 좌측 교통 규칙을 준수하고 우측 운전석에서 운전자 모니터링을 수행합니다. + openpilot이 좌측 교통 규칙을 준수하고 우측 운전석에서 운전자 모니터링을 수행합니다. - + Use Metric System 미터법 사용 - + Display speed in km/h instead of mph. mph 대신 km/h로 속도를 표시합니다. - + Record and Upload Driver Camera 운전자 카메라 녹화 및 업로드 - + Upload data from the driver facing camera and help improve the driver monitoring algorithm. 운전자 카메라에서 데이터를 업로드하고 운전자 모니터링 알고리즘을 개선합니다. - + Disengage On Accelerator Pedal 가속페달 조작시 해제 - + When enabled, pressing the accelerator pedal will disengage openpilot. 활성화된 경우 가속 페달을 누르면 openpilot이 해제됩니다. - + Show ETA in 24h format 24시간 형식으로 도착예정시간 표시 - + Use 24h format instead of am/pm 오전/오후 대신 24시간 형식 사용 - + Show Map on Left Side of UI UI 왼쪽에 지도 표시 - + Show map on left side when in split screen view. 분할 화면 보기에서 지도를 왼쪽에 표시합니다. - + openpilot Longitudinal Control openpilot Longitudinal Control - + openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! openpilot은 차량'의 레이더를 무력화시키고 가속페달과 브레이크의 제어를 인계받을 것이다. 경고: AEB를 비활성화합니다! diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index da0841c3b5..5c949b0d3b 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -108,152 +108,152 @@ DevicePanel - + Dongle ID 设备ID（Dongle ID） - + N/A N/A - + Serial 序列号 - + Driver Camera 驾驶员摄像头 - + PREVIEW 预览 - + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 打开并预览驾驶员摄像头，以确保驾驶员监控具有良好视野。仅熄火时可用。 - + Reset Calibration 重置设备校准 - + RESET 重置 - + Are you sure you want to reset calibration? 您确定要重置设备校准吗？ - + Review Training Guide 新手指南 - + REVIEW 查看 - + Review the rules, features, and limitations of openpilot 查看openpilot的使用规则，以及其功能和限制。 - + Are you sure you want to review the training guide? 您确定要查看新手指南吗？ - + Regulatory 监管信息 - + VIEW 查看 - + Change Language 切换语言 - + CHANGE 切换 - + Select a language 选择语言 - + Reboot 重启 - + Power Off 关机 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下8°之间。一般来说，openpilot会持续更新校准，很少需要重置。 - + Your device is pointed %1° %2 and %3° %4. 您的设备校准为%1° %2、%3° %4。 - + down 朝下 - + up 朝上 - + left 朝左 - + right 朝右 - + Are you sure you want to reboot? 您确定要重新启动吗？ - + Disengage to Reboot 取消openpilot以重新启动 - + Are you sure you want to power off? 您确定要关机吗？ - + Disengage to Power Off 取消openpilot以关机 @@ -294,7 +294,7 @@ DriverViewScene - + camera starting 正在启动相机 @@ -496,20 +496,20 @@ location set mph - - + + MAX 最高定速 - - + + SPEED SPEED - - + + LIMIT LIMIT @@ -708,33 +708,33 @@ location set SettingsWindow - + × × - + Device 设备 - - + + Network 网络 - + Toggles 设定 - + Software 软件 - + Navigation 导航 @@ -973,89 +973,89 @@ location set SoftwarePanel - + Git Branch Git Branch - + Git Commit Git Commit - + OS Version 系统版本 - + Version 软件版本 - + Last Update Check 上次检查更新 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 上一次成功检查更新的时间。更新程序仅在汽车熄火时运行。 - + Check for Update 检查更新 - + CHECKING 正在检查更新 - + Switch Branch 切换分支 - + ENTER 输入 - - + + The new branch will be pulled the next time the updater runs. 分支将在更新服务下次启动时自动切换。 - + Enter branch name 输入分支名称 - + UNINSTALL 卸载 - + Uninstall %1 卸载 %1 - + Are you sure you want to uninstall? 您确定要卸载吗？ - + failed to fetch update 获取更新失败 - - + + CHECK 查看 @@ -1163,72 +1163,70 @@ location set 车速超过31mph（50km/h）时，若检测到车辆越过车道线且未打转向灯，系统将发出警告以提醒您返回车道。 - Enable Right-Hand Drive - 启用右舵模式 + 启用右舵模式 - Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat. - 允许openpilot遵守左侧交通惯例并在右侧驾驶座上执行驾驶员监控。 + 允许openpilot遵守左侧交通惯例并在右侧驾驶座上执行驾驶员监控。 - + Use Metric System 使用公制单位 - + Display speed in km/h instead of mph. 显示车速时，以km/h代替mph。 - + Record and Upload Driver Camera 录制并上传驾驶员摄像头 - + Upload data from the driver facing camera and help improve the driver monitoring algorithm. 上传驾驶员摄像头的数据，帮助改进驾驶员监控算法。 - + Disengage On Accelerator Pedal 踩油门时取消控制 - + When enabled, pressing the accelerator pedal will disengage openpilot. 启用后，踩下油门踏板将取消openpilot。 - + Show ETA in 24h format 以24小时格式显示预计到达时间 - + Use 24h format instead of am/pm 使用24小时制代替am/pm - + Show Map on Left Side of UI 在介面左侧显示地图 - + Show map on left side when in split screen view. 在分屏模式中，将地图置于屏幕左侧。 - + openpilot Longitudinal Control openpilot纵向控制 - + openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! openpilot将禁用车辆的雷达并接管油门和刹车的控制。警告：AEB将被禁用！ diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 85d40c60a3..d1b1566a5a 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -108,152 +108,152 @@ DevicePanel - + Dongle ID Dongle ID - + N/A 無法使用 - + Serial 序號 - + Driver Camera 駕駛員攝像頭 - + PREVIEW 預覽 - + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 預覽駕駛員監控鏡頭畫面，以確保其具有良好視野。（僅在熄火時可用） - + Reset Calibration 重置校準 - + RESET 重置 - + Are you sure you want to reset calibration? 您確定要重置校準嗎？ - + Review Training Guide 觀看使用教學 - + REVIEW 觀看 - + Review the rules, features, and limitations of openpilot 觀看 openpilot 的使用規則、功能和限制 - + Are you sure you want to review the training guide? 您確定要觀看使用教學嗎？ - + Regulatory 法規/監管 - + VIEW 觀看 - + Change Language 更改語言 - + CHANGE 更改 - + Select a language 選擇語言 - + Reboot 重新啟動 - + Power Off 關機 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。 - + Your device is pointed %1° %2 and %3° %4. 你的設備目前朝%2 %1° 以及朝%4 %3° 。 - + down 下 - + up 上 - + left 左 - + right 右 - + Are you sure you want to reboot? 您確定要重新啟動嗎？ - + Disengage to Reboot 請先取消控車才能重新啟動 - + Are you sure you want to power off? 您確定您要關機嗎？ - + Disengage to Power Off 請先取消控車才能關機 @@ -294,7 +294,7 @@ DriverViewScene - + camera starting 開啟相機中 @@ -498,20 +498,20 @@ location set mph - - + + MAX 最高 - - + + SPEED 速度 - - + + LIMIT 速限 @@ -713,33 +713,33 @@ location set SettingsWindow - + × × - + Device 設備 - - + + Network 網路 - + Toggles 設定 - + Software 軟體 - + Navigation 導航 @@ -978,89 +978,89 @@ location set SoftwarePanel - + Git Branch Git 分支 - + Git Commit Git 提交 - + OS Version 系統版本 - + Version 版本 - + Last Update Check 上次檢查時間 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 上次成功檢查更新的時間。更新系統只會在車子熄火時執行。 - + Check for Update 檢查更新 - + CHECKING 檢查中 - + Switch Branch 切換分支 - + ENTER 切換 - - + + The new branch will be pulled the next time the updater runs. 新的分支將會在下次檢查更新時切換過去。 - + Enter branch name 輸入分支名稱 - + UNINSTALL 卸載 - + Uninstall %1 卸載 %1 - + Are you sure you want to uninstall? 您確定您要卸載嗎？ - + failed to fetch update 下載更新失敗 - - + + CHECK 檢查 @@ -1168,72 +1168,70 @@ location set 車速在時速 50 公里 (31 英里) 以上且未打方向燈的情況下，如果偵測到車輛駛出目前車道線時，發出車道偏離警告。 - Enable Right-Hand Drive - 啟用右駕模式 + 啟用右駕模式 - Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat. - openpilot 將對右側駕駛進行監控 (但仍遵守靠左駕的交通慣例)。 + openpilot 將對右側駕駛進行監控 (但仍遵守靠左駕的交通慣例)。 - + Use Metric System 使用公制單位 - + Display speed in km/h instead of mph. 啟用後，速度單位顯示將從 mp/h 改為 km/h。 - + Record and Upload Driver Camera 記錄並上傳駕駛監控影像 - + Upload data from the driver facing camera and help improve the driver monitoring algorithm. 上傳駕駛監控的錄像來協助我們提升駕駛監控的準確率。 - + Disengage On Accelerator Pedal 油門取消控車 - + When enabled, pressing the accelerator pedal will disengage openpilot. 啟用後，踩踏油門將會取消 openpilot 控制。 - + Show ETA in 24h format 預計到達時間單位改用 24 小時制 - + Use 24h format instead of am/pm 使用 24 小時制。(預設值為 12 小時制) - + Show Map on Left Side of UI 將地圖顯示在畫面的左側 - + Show map on left side when in split screen view. 進入分割畫面後，地圖將會顯示在畫面的左側。 - + openpilot Longitudinal Control openpilot 縱向控制 - + openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! openpilot 將會關閉雷達訊號並接管油門和剎車的控制。注意：這也會關閉自動緊急煞車 (AEB) 系統！