DM: add use of e2e preds (#26078)

* try ml

* de56

* j914ef75a

* jd1124586

* jd1124586

* d112

* oops

* set

* update ref

* use offset

* bump DM power usage

* new ref
old-commit-hash: d522492ba0

selfdrive/modeld/models/dmonitoring_model.current

@@ -1,2 +1,2 @@
-ee8f830b-d6a1-42ef-9b1b-50fd0b2faae4
+d1124586-761e-4e18-a771-6b5ef35124fe
-cac8f7b69d420506707ff7a19d573d5011ef2533
+6fec774f513a19e44d4316e46ad38277197d45ea

selfdrive/modeld/models/dmonitoring_model.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:932e589e5cce66e5d9f48492426a33c74cd7f352a870d3ddafcede3e9156f30d
+oid sha256:517262fa9f1ad3cc8049ad3722903f40356d87ea423ee5cf011226fb6cfc3d5b
-size 9157561
+size 16072278

selfdrive/modeld/models/dmonitoring_model_q.dlc

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3587976a8b7e3be274fa86c2e2233e3e464cad713f5077c4394cd1ddd3c7c6c5
+oid sha256:64b94659226a1e3c6594a13c2e5d029465d5803a5c3005121ec7217acdbbef20
-size 2636965
+size 4443461

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_THRESH11 = 0.275
-    self._EE_THRESH12 = 3.25
+    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:
+    # if self.ee2_calibrated:
-      ee2_dist = self.eev2 < self.ee2_offseter.filtered_stat.M * self.settings._EE_THRESH22
+    #   ee2_dist = self.eev2 < self.ee2_offseter.filtered_stat.M * self.settings._EE_THRESH22
-    else:
+    # else:
-      ee2_dist = self.eev2 < self.settings._EE_THRESH21
+    #   ee2_dist = self.eev2 < self.settings._EE_THRESH21
-    if ee1_dist or ee2_dist:
+    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
+    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 \
-                                            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)
 

selfdrive/test/process_replay/model_replay_ref_commit

@@ -1 +1 @@
-bfb0a2a52212d2aa1619d999aaae97fa7f7ff788
+865885fc49b2766326568e5cc7ec06be8a3f6fad

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-e5a86c14e2318f2dd218b3985cdbea6f875f7d83
+6bb7d8baae51d88dd61f0baf561e386664ddd266

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),
 ]