diff --git a/selfdrive/modeld/models/dmonitoring_model.current b/selfdrive/modeld/models/dmonitoring_model.current index d1e7d1136f..065bc7d489 100644 --- a/selfdrive/modeld/models/dmonitoring_model.current +++ b/selfdrive/modeld/models/dmonitoring_model.current @@ -1,2 +1,2 @@ -ee8f830b-d6a1-42ef-9b1b-50fd0b2faae4 -cac8f7b69d420506707ff7a19d573d5011ef2533 \ No newline at end of file +d1124586-761e-4e18-a771-6b5ef35124fe +6fec774f513a19e44d4316e46ad38277197d45ea \ No newline at end of file diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx index 4cbd6bb7dd..f8bf94c061 100644 --- a/selfdrive/modeld/models/dmonitoring_model.onnx +++ b/selfdrive/modeld/models/dmonitoring_model.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:932e589e5cce66e5d9f48492426a33c74cd7f352a870d3ddafcede3e9156f30d -size 9157561 +oid sha256:517262fa9f1ad3cc8049ad3722903f40356d87ea423ee5cf011226fb6cfc3d5b +size 16072278 diff --git a/selfdrive/modeld/models/dmonitoring_model_q.dlc b/selfdrive/modeld/models/dmonitoring_model_q.dlc index 94632030ed..e4e6fb3347 100644 --- a/selfdrive/modeld/models/dmonitoring_model_q.dlc +++ b/selfdrive/modeld/models/dmonitoring_model_q.dlc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3587976a8b7e3be274fa86c2e2233e3e464cad713f5077c4394cd1ddd3c7c6c5 -size 2636965 +oid sha256:64b94659226a1e3c6594a13c2e5d029465d5803a5c3005121ec7217acdbbef20 +size 4443461 diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index 9ff3125c15..30781f4d1b 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -29,10 +29,10 @@ class DRIVER_MONITOR_SETTINGS(): self._FACE_THRESHOLD = 0.7 self._EYE_THRESHOLD = 0.65 self._SG_THRESHOLD = 0.9 - self._BLINK_THRESHOLD = 0.87 + self._BLINK_THRESHOLD = 0.895 - self._EE_THRESH11 = 0.75 - self._EE_THRESH12 = 3.25 + self._EE_THRESH11 = 0.275 + self._EE_THRESH12 = 3.0 self._EE_THRESH21 = 0.01 self._EE_THRESH22 = 0.35 @@ -207,11 +207,11 @@ class DriverStatus(): ee1_dist = self.eev1 > self.ee1_offseter.filtered_stat.M * self.settings._EE_THRESH12 else: ee1_dist = self.eev1 > self.settings._EE_THRESH11 - if self.ee2_calibrated: - ee2_dist = self.eev2 < self.ee2_offseter.filtered_stat.M * self.settings._EE_THRESH22 - else: - ee2_dist = self.eev2 < self.settings._EE_THRESH21 - if ee1_dist or ee2_dist: + # if self.ee2_calibrated: + # ee2_dist = self.eev2 < self.ee2_offseter.filtered_stat.M * self.settings._EE_THRESH22 + # else: + # ee2_dist = self.eev2 < self.settings._EE_THRESH21 + if ee1_dist: distracted_types.append(DistractedType.DISTRACTED_E2E) return distracted_types @@ -257,12 +257,11 @@ class DriverStatus(): self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) - self.eev1 = driver_data.notReadyProb[1] + self.eev1 = driver_data.notReadyProb[0] self.eev2 = driver_data.readyProb[0] self.distracted_types = self._get_distracted_types() - self.driver_distracted = (DistractedType.DISTRACTED_POSE in self.distracted_types or - DistractedType.DISTRACTED_BLINK in self.distracted_types) and \ + self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types or DistractedType.DISTRACTED_BLINK in self.distracted_types) and \ driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std self.driver_distraction_filter.update(self.driver_distracted) diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index b3e9c8c488..5bb045ec29 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -bfb0a2a52212d2aa1619d999aaae97fa7f7ff788 +865885fc49b2766326568e5cc7ec06be8a3f6fad diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 864b7019a0..998bf4e756 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -e5a86c14e2318f2dd218b3985cdbea6f875f7d83 +6bb7d8baae51d88dd61f0baf561e386664ddd266 \ No newline at end of file diff --git a/system/hardware/tici/test_power_draw.py b/system/hardware/tici/test_power_draw.py index 4830975917..2460152998 100755 --- a/system/hardware/tici/test_power_draw.py +++ b/system/hardware/tici/test_power_draw.py @@ -21,7 +21,7 @@ class Proc: PROCS = [ Proc('camerad', 2.15), Proc('modeld', 1.15, atol=0.2), - Proc('dmonitoringmodeld', 0.35), + Proc('dmonitoringmodeld', 0.4), Proc('encoderd', 0.23), ]