Cut down unnecessary DM uncertain alerts (#2157)

* cut down high std alerts

* clean comments

* uncertain curve tune

* update test gt

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: a2adfdb155

selfdrive/controls/lib/events.py

@@ -413,7 +413,7 @@ EVENTS = {
       "CHECK DRIVER FACE VISIBILITY",
       "Driver Monitor Model Output Uncertain",
       AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .4, 0., 1.),
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .4, 0., 1.5),
   },
 
   EventName.manualRestart: {

selfdrive/monitoring/driver_monitor.py

@@ -15,8 +15,8 @@ EventName = car.CarEvent.EventName
 # ******************************************************************************************
 
 _AWARENESS_TIME = 70.  # one minute limit without user touching steering wheels make the car enter a terminal status
-_AWARENESS_PRE_TIME_TILL_TERMINAL = 15.  # a first alert is issued 25s before expiration
-_AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6.  # a second alert is issued 15s before start decelerating the car
+_AWARENESS_PRE_TIME_TILL_TERMINAL = 15.  # a first alert is issued 15s before expiration
+_AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6.  # a second alert is issued 6s before start decelerating the car
 _DISTRACTED_TIME = 11.
 _DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
 _DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
@@ -24,10 +24,10 @@ _DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
 _FACE_THRESHOLD = 0.6
 _EYE_THRESHOLD = 0.6
 _SG_THRESHOLD = 0.5
-_BLINK_THRESHOLD = 0.5  # 0.225
+_BLINK_THRESHOLD = 0.5
 _BLINK_THRESHOLD_SLACK = 0.65
 _BLINK_THRESHOLD_STRICT = 0.5
-_PITCH_WEIGHT = 1.35  # 1.5  # pitch matters a lot more
+_PITCH_WEIGHT = 1.35  # pitch matters a lot more
 _POSESTD_THRESHOLD = 0.14
 _METRIC_THRESHOLD = 0.4
 _METRIC_THRESHOLD_SLACK = 0.55
@@ -116,6 +116,7 @@ class DriverStatus():
     self.step_change = 0.
     self.active_monitoring_mode = True
     self.hi_stds = 0
+    self.hi_std_alert_enabled = True
     self.threshold_prompt = _DISTRACTED_PROMPT_TIME_TILL_TERMINAL / _DISTRACTED_TIME
 
     self.is_rhd_region = False
@@ -212,7 +213,7 @@ class DriverStatus():
     self._set_timers(self.face_detected and not is_model_uncertain)
     if self.face_detected and not self.pose.low_std:
       if not is_model_uncertain:
-        self.step_change *= max(0, (model_std_max-0.5)*(model_std_max-2))
+        self.step_change *= min(1.0, max(0.6, 1.6*(model_std_max-0.5)*(model_std_max-2)))
       self.hi_stds += 1
     elif self.face_detected and self.pose.low_std:
       self.hi_stds = 0
@@ -228,8 +229,9 @@ class DriverStatus():
     driver_attentive = self.driver_distraction_filter.x < 0.37
     awareness_prev = self.awareness
 
-    if self.face_detected and self.hi_stds * DT_DMON > _HI_STD_TIMEOUT:
+    if self.face_detected and self.hi_stds * DT_DMON > _HI_STD_TIMEOUT and self.hi_std_alert_enabled:
       events.add(EventName.driverMonitorLowAcc)
+      self.hi_std_alert_enabled = False # only showed once until orange prompt resets it
 
     if (driver_attentive and self.face_detected and self.pose.low_std and self.awareness > 0):
       # only restore awareness when paying attention and alert is not red
@@ -255,6 +257,7 @@ class DriverStatus():
     elif self.awareness <= self.threshold_prompt:
       # prompt orange alert
       alert = EventName.promptDriverDistracted if self.active_monitoring_mode else EventName.promptDriverUnresponsive
+      self.hi_std_alert_enabled = True
     elif self.awareness <= self.threshold_pre:
       # pre green alert
       alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive

selfdrive/monitoring/test_monitoring.py

@@ -196,8 +196,7 @@ class TestMonitoring(unittest.TestCase):
     self.assertEqual(events_output[int((_redlight_time+0.5)/DT_DMON)].names[0], EventName.promptDriverDistracted)
 
   # 9. op engaged, model is extremely uncertain. driver first attentive, then distracted
-  #  - should only pop the green alert about model uncertainty
-  #  - (note: this's just for sanity check, std output should never be this high)
+  #  - should pop a uncertain message first, then slowly into active green/orange, finally back to wheel touch but timer locked by orange 
   def test_one_indecisive_model(self):
     ds_vector = [msg_ATTENTIVE_UNCERTAIN] * int(_UNCERTAIN_SECONDS_TO_GREEN/DT_DMON) + \
                 [msg_ATTENTIVE] * int(_DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \
@@ -205,9 +204,9 @@ class TestMonitoring(unittest.TestCase):
     interaction_vector = always_false[:]
     events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false)[0]
     self.assertTrue(len(events_output[int(_UNCERTAIN_SECONDS_TO_GREEN*0.5/DT_DMON)]) == 0)
-    self.assertEqual(events_output[int((_UNCERTAIN_SECONDS_TO_GREEN-0.1)/DT_DMON)].names[0], EventName.driverMonitorLowAcc)
+    self.assertEqual(events_output[int((_HI_STD_TIMEOUT)/DT_DMON)].names[0], EventName.driverMonitorLowAcc)
     self.assertTrue(len(events_output[int((_UNCERTAIN_SECONDS_TO_GREEN+_DISTRACTED_SECONDS_TO_ORANGE-0.5)/DT_DMON)]) == 0)
-    self.assertEqual(events_output[int((_TEST_TIMESPAN-5.)/DT_DMON)].names[0], EventName.driverMonitorLowAcc)
+    self.assertTrue(EventName.promptDriverDistracted in events_output[int((_TEST_TIMESPAN-5.)/DT_DMON)].names)
 
   # 10. op engaged, model is somehow uncertain and driver is distracted
   #  - should slow down the alert countdown but it still gets there
@@ -216,9 +215,9 @@ class TestMonitoring(unittest.TestCase):
     interaction_vector = always_false[:]
     events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false)[0]
     self.assertTrue(len(events_output[int(_UNCERTAIN_SECONDS_TO_GREEN*0.5/DT_DMON)]) == 0)
-    self.assertEqual(events_output[int((_UNCERTAIN_SECONDS_TO_GREEN)/DT_DMON)].names[0], EventName.driverMonitorLowAcc)
-    self.assertEqual(events_output[int((2.5*(_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL))/DT_DMON)].names[1], EventName.preDriverDistracted)
-    self.assertEqual(events_output[int((2.5*(_DISTRACTED_TIME-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL))/DT_DMON)].names[1], EventName.promptDriverDistracted)
+    self.assertEqual(events_output[int((_HI_STD_TIMEOUT)/DT_DMON)].names[0], EventName.driverMonitorLowAcc)
+    self.assertTrue(EventName.preDriverDistracted in events_output[int((2*(_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL))/DT_DMON)].names)
+    self.assertTrue(EventName.promptDriverDistracted in events_output[int((2*(_DISTRACTED_TIME-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL))/DT_DMON)].names)
     self.assertEqual(events_output[int((_DISTRACTED_TIME+1)/DT_DMON)].names[1], EventName.promptDriverDistracted)
     self.assertEqual(events_output[int((_DISTRACTED_TIME*2.5)/DT_DMON)].names[1], EventName.promptDriverDistracted)  # set_timer blocked
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-5c2c99c4572d68f17ffa3a33acf8e4e205ca94c2
+45b676ebf79e402b5482b5fbadcc8147fdb8a1f8