From 93e972e6f9907382d62807c5d4c2eb80327ebc43 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 19 Oct 2022 16:55:14 -0700 Subject: [PATCH 1/4] Update RELEASES.md --- RELEASES.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 51387091b8..b424259581 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -2,9 +2,10 @@ Version 0.8.17 (2022-XX-XX) ======================== * New driving model * Internal feature space accuracy increased tenfold during training, this makes the model dramatically more accurate. +* New driver monitoring model + * New end-to-end distracted trigger * Self-tuning torque lateral controller parameters * Parameters learned live for each car - * Enabled only on Toyota Corolla for now * UI updates * Multi-language in navigation * Matched speeds shown on car's dash @@ -12,6 +13,7 @@ Version 0.8.17 (2022-XX-XX) * Border turns grey while overriding steering * Added button to bookmark events while driving; view them later in comma connect * AGNOS 6 +* tools: new and improved cabana thanks to deanlee! * Kia Sportage Hybrid 2023 support thanks to sunnyhaibin! Version 0.8.16 (2022-08-26) From 1800592f5a4403a38891f8513e6438300a3b5e01 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Wed, 19 Oct 2022 17:09:25 -0700 Subject: [PATCH 2/4] DM: finetune e2e policy but keep alert rate (#26168) --- selfdrive/monitoring/driver_monitor.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index 30781f4d1b..a2dda5da9d 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -32,7 +32,8 @@ class DRIVER_MONITOR_SETTINGS(): self._BLINK_THRESHOLD = 0.895 self._EE_THRESH11 = 0.275 - self._EE_THRESH12 = 3.0 + self._EE_THRESH12 = 5.5 + self._EE_MAX_OFFSET1 = 0.06 self._EE_THRESH21 = 0.01 self._EE_THRESH22 = 0.35 @@ -204,7 +205,7 @@ class DriverStatus(): distracted_types.append(DistractedType.DISTRACTED_BLINK) if self.ee1_calibrated: - ee1_dist = self.eev1 > self.ee1_offseter.filtered_stat.M * self.settings._EE_THRESH12 + ee1_dist = self.eev1 > min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1) * self.settings._EE_THRESH12 else: ee1_dist = self.eev1 > self.settings._EE_THRESH11 # if self.ee2_calibrated: From 301a7ce1899a3212900dc6cfb08de6840d276a05 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 19 Oct 2022 20:40:52 -0700 Subject: [PATCH 3/4] GM: make loopback updated check more explicit This previously checked if parser_pyx filled the defaultdict, now it checks the values in the list (same either way) --- selfdrive/car/gm/carstate.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index f531914877..b651606b79 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -28,7 +28,7 @@ class CarState(CarStateBase): self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"] # Variables used for avoiding LKAS faults - self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]) > 0 + self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0 if self.CP.networkLocation == NetworkLocation.fwdCamera: self.camera_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"] From eaedfb9a66012b82091c4b602184a0078d7f0c25 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 19 Oct 2022 23:31:24 -0700 Subject: [PATCH 4/4] Hyundai CAN-FD: use cruise signals from SCC ECU (#26171) * Hyundai CAN-FD: use cruise signals from SCC ECU * bump panda * bumppanda * update refs --- panda | 2 +- selfdrive/car/hyundai/carstate.py | 3 ++- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 4 insertions(+), 3 deletions(-) diff --git a/panda b/panda index dd751862c3..723e60cb43 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit dd751862c34f6a9c9c95748acaf31b8534b42497 +Subproject commit 723e60cb435ad5d3b6a8e99080be46a6590259cd diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 5da1dd72c8..60d434a603 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -189,13 +189,13 @@ class CarState(CarStateBase): cp.vl["BLINKERS"]["RIGHT_LAMP"]) ret.cruiseState.available = True - ret.cruiseState.enabled = cp.vl["SCC1"]["CRUISE_ACTIVE"] == 1 self.is_metric = cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] != 1 if not self.CP.openpilotLongitudinalControl: speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS cp_cruise_info = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam ret.cruiseState.speed = cp_cruise_info.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor ret.cruiseState.standstill = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1 + ret.cruiseState.enabled = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STATUS"] != 0 self.cruise_info = copy.copy(cp_cruise_info.vl["CRUISE_INFO"]) cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS" @@ -452,6 +452,7 @@ class CarState(CarStateBase): if CP.flags & HyundaiFlags.CANFD_HDA2 and not CP.openpilotLongitudinalControl: signals += [ + ("CRUISE_STATUS", "CRUISE_INFO"), ("SET_SPEED", "CRUISE_INFO"), ("CRUISE_STANDSTILL", "CRUISE_INFO"), ] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index b0613393ad..84658effee 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a87455caf93e91fae0f3704aa476e0732d066b77 \ No newline at end of file +1f41cd8bbf2431ae89c489a81698120d14a44145 \ No newline at end of file