also use e2e model output for DM policy (#20526)

* neg mining

* clean up format

* eyes less noisy

* update ref
old-commit-hash: 0fb00e10b1

selfdrive/monitoring/driver_monitor.py

@@ -30,6 +30,8 @@ _BLINK_THRESHOLD_SLACK = 0.65
 _BLINK_THRESHOLD_STRICT = 0.5
 _PITCH_WEIGHT = 1.35  # pitch matters a lot more
 _POSESTD_THRESHOLD = 0.14
+_E2E_POSE_THRESHOLD = 0.9
+_E2E_EYES_THRESHOLD = 0.75
 _METRIC_THRESHOLD = 0.4
 _METRIC_THRESHOLD_SLACK = 0.55
 _METRIC_THRESHOLD_STRICT = 0.4
@@ -194,8 +196,10 @@ class DriverStatus():
     self.blink.left_blink = driver_state.leftBlinkProb * (driver_state.leftEyeProb > _EYE_THRESHOLD) * (driver_state.sunglassesProb < _SG_THRESHOLD)
     self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb > _EYE_THRESHOLD) * (driver_state.sunglassesProb < _SG_THRESHOLD)
 
-    self.driver_distracted = self._is_driver_distracted(self.pose, self.blink) > 0 and \
-                              driver_state.faceProb > _FACE_THRESHOLD and self.pose.low_std
+    self.driver_distracted = (self._is_driver_distracted(self.pose, self.blink) > 0 and
+                              driver_state.faceProb > _FACE_THRESHOLD and self.pose.low_std) or \
+                             ((driver_state.distractedPose > _E2E_POSE_THRESHOLD or driver_state.distractedEyes > _E2E_EYES_THRESHOLD) and
+                              (self.face_detected and not self.face_partial))
     self.driver_distraction_filter.update(self.driver_distracted)
 
     # update offseter
@@ -209,7 +213,7 @@ class DriverStatus():
 
     self.is_model_uncertain = self.hi_stds * DT_DMON > _HI_STD_FALLBACK_TIME
     self._set_timers(self.face_detected and not self.is_model_uncertain)
-    if self.face_detected and not self.pose.low_std:
+    if self.face_detected and not self.pose.low_std and not self.driver_distracted:
       self.hi_stds += 1
     elif self.face_detected and self.pose.low_std:
       self.hi_stds = 0

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-3da639f754563292103525345ec26e384e4cb9a5
+796df70c9c83a693f81e4a35d97f90dc5378ef06