From 29d7c8f9543706a6e1b2ffb7bcb474ebecbbbcae Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Fri, 27 May 2022 14:50:19 -0700 Subject: [PATCH] no --- selfdrive/monitoring/driver_monitor.py | 9 +-------- 1 file changed, 1 insertion(+), 8 deletions(-) diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index 6d49454e65..1311bccbfd 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -113,7 +113,6 @@ class DriverBlink(): def __init__(self): self.left_blink = 0. self.right_blink = 0. - self.cfactor = 1. class DriverStatus(): def __init__(self, settings=DRIVER_MONITOR_SETTINGS()): @@ -198,7 +197,7 @@ class DriverStatus(): yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw: distracted_types.append(DistractedType.DISTRACTED_POSE) - if (self.blink.left_blink + self.blink.right_blink)*0.5 > self.settings._BLINK_THRESHOLD*self.blink.cfactor: + if (self.blink.left_blink + self.blink.right_blink)*0.5 > self.settings._BLINK_THRESHOLD: distracted_types.append(DistractedType.DISTRACTED_BLINK) if self.ee1_calibrated: @@ -215,13 +214,7 @@ class DriverStatus(): return distracted_types def set_policy(self, model_data, car_speed): - ep = min(model_data.meta.engagedProb, 0.8) / 0.8 # engaged prob bp = model_data.meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s - # TODO: retune adaptive blink - self.blink.cfactor = interp(ep, [0, 0.5, 1], - [self.settings._BLINK_THRESHOLD, - self.settings._BLINK_THRESHOLD, - self.settings._BLINK_THRESHOLD]) / self.settings._BLINK_THRESHOLD k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2) bp_normal = max(min(bp / k1, 0.5),0) self.pose.cfactor_pitch = interp(bp_normal, [0, 0.5],