You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
215 lines
14 KiB
215 lines
14 KiB
#!/usr/bin/env python3
|
|
import unittest
|
|
import numpy as np
|
|
|
|
from cereal import car, log
|
|
from common.realtime import DT_DMON
|
|
from selfdrive.controls.lib.events import Events
|
|
from selfdrive.monitoring.driver_monitor import DriverStatus, DRIVER_MONITOR_SETTINGS
|
|
|
|
EventName = car.CarEvent.EventName
|
|
dm_settings = DRIVER_MONITOR_SETTINGS()
|
|
|
|
TEST_TIMESPAN = 120 # seconds
|
|
DISTRACTED_SECONDS_TO_ORANGE = dm_settings._DISTRACTED_TIME - dm_settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + 1
|
|
DISTRACTED_SECONDS_TO_RED = dm_settings._DISTRACTED_TIME + 1
|
|
INVISIBLE_SECONDS_TO_ORANGE = dm_settings._AWARENESS_TIME - dm_settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + 1
|
|
INVISIBLE_SECONDS_TO_RED = dm_settings._AWARENESS_TIME + 1
|
|
|
|
def make_msg(face_detected, distracted=False, model_uncertain=False):
|
|
ds = log.DriverStateV2.new_message()
|
|
ds.leftDriverData.faceOrientation = [0., 0., 0.]
|
|
ds.leftDriverData.facePosition = [0., 0.]
|
|
ds.leftDriverData.faceProb = 1. * face_detected
|
|
ds.leftDriverData.leftEyeProb = 1.
|
|
ds.leftDriverData.rightEyeProb = 1.
|
|
ds.leftDriverData.leftBlinkProb = 1. * distracted
|
|
ds.leftDriverData.rightBlinkProb = 1. * distracted
|
|
ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
|
|
ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
|
|
# TODO: test both separately when e2e is used
|
|
ds.leftDriverData.readyProb = [0., 0., 0., 0.]
|
|
ds.leftDriverData.notReadyProb = [0., 0.]
|
|
return ds
|
|
|
|
|
|
# driver state from neural net, 10Hz
|
|
msg_NO_FACE_DETECTED = make_msg(False)
|
|
msg_ATTENTIVE = make_msg(True)
|
|
msg_DISTRACTED = make_msg(True, distracted=True)
|
|
msg_ATTENTIVE_UNCERTAIN = make_msg(True, model_uncertain=True)
|
|
msg_DISTRACTED_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=True)
|
|
msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=dm_settings._POSESTD_THRESHOLD*1.5)
|
|
|
|
# driver interaction with car
|
|
car_interaction_DETECTED = True
|
|
car_interaction_NOT_DETECTED = False
|
|
|
|
# some common state vectors
|
|
always_no_face = [msg_NO_FACE_DETECTED] * int(TEST_TIMESPAN / DT_DMON)
|
|
always_attentive = [msg_ATTENTIVE] * int(TEST_TIMESPAN / DT_DMON)
|
|
always_distracted = [msg_DISTRACTED] * int(TEST_TIMESPAN / DT_DMON)
|
|
always_true = [True] * int(TEST_TIMESPAN / DT_DMON)
|
|
always_false = [False] * int(TEST_TIMESPAN / DT_DMON)
|
|
|
|
# TODO: this only tests DriverStatus
|
|
class TestMonitoring(unittest.TestCase):
|
|
# pylint: disable=no-member
|
|
def _run_seq(self, msgs, interaction, engaged, standstill):
|
|
DS = DriverStatus()
|
|
events = []
|
|
for idx in range(len(msgs)):
|
|
e = Events()
|
|
DS.update_states(msgs[idx], [0, 0, 0], 0, engaged[idx])
|
|
# cal_rpy and car_speed don't matter here
|
|
|
|
# evaluate events at 10Hz for tests
|
|
DS.update_events(e, interaction[idx], engaged[idx], standstill[idx])
|
|
events.append(e)
|
|
assert len(events) == len(msgs), f"got {len(events)} for {len(msgs)} driverState input msgs"
|
|
return events, DS
|
|
|
|
def _assert_no_events(self, events):
|
|
self.assertTrue(all(not len(e) for e in events))
|
|
|
|
# engaged, driver is attentive all the time
|
|
def test_fully_aware_driver(self):
|
|
events, _ = self._run_seq(always_attentive, always_false, always_true, always_false)
|
|
self._assert_no_events(events)
|
|
|
|
# engaged, driver is distracted and does nothing
|
|
def test_fully_distracted_driver(self):
|
|
events, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
|
|
self.assertEqual(len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]), 0)
|
|
self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL +
|
|
((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0],
|
|
EventName.preDriverDistracted)
|
|
self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL +
|
|
((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverDistracted)
|
|
self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME +
|
|
((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0], EventName.driverDistracted)
|
|
self.assertIs(type(d_status.awareness), float)
|
|
|
|
# engaged, no face detected the whole time, no action
|
|
def test_fully_invisible_driver(self):
|
|
events, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
|
|
self.assertTrue(len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0)
|
|
self.assertEqual(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL +
|
|
((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0],
|
|
EventName.preDriverUnresponsive)
|
|
self.assertEqual(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL +
|
|
((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
|
|
self.assertEqual(events[int((d_status.settings._AWARENESS_TIME +
|
|
((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0], EventName.driverUnresponsive)
|
|
|
|
# engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel
|
|
# - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention
|
|
def test_normal_driver(self):
|
|
ds_vector = [msg_DISTRACTED] * int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \
|
|
[msg_ATTENTIVE] * int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \
|
|
[msg_DISTRACTED] * int((DISTRACTED_SECONDS_TO_ORANGE+2)/DT_DMON) + \
|
|
[msg_ATTENTIVE] * (int(TEST_TIMESPAN/DT_DMON)-int((DISTRACTED_SECONDS_TO_ORANGE*3+2)/DT_DMON))
|
|
interaction_vector = [car_interaction_NOT_DETECTED] * int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON) + \
|
|
[car_interaction_DETECTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON))
|
|
events, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
|
|
self.assertEqual(len(events[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)]), 0)
|
|
self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted)
|
|
self.assertEqual(len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]), 0)
|
|
self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted)
|
|
self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted)
|
|
self.assertEqual(len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]), 0)
|
|
|
|
# engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \
|
|
# driver dodges, and then touches wheel to no avail, disengages and reengages
|
|
# - orange/red alert should remain after disappearance, and only disengaging clears red
|
|
def test_biggest_comma_fan(self):
|
|
_invisible_time = 2 # seconds
|
|
ds_vector = always_distracted[:]
|
|
interaction_vector = always_false[:]
|
|
op_vector = always_true[:]
|
|
ds_vector[int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON):int((DISTRACTED_SECONDS_TO_ORANGE+_invisible_time)/DT_DMON)] \
|
|
= [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
|
|
ds_vector[int((DISTRACTED_SECONDS_TO_RED+_invisible_time)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time)/DT_DMON)] \
|
|
= [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
|
|
interaction_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+0.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] \
|
|
= [True] * int(1/DT_DMON)
|
|
op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \
|
|
= [False] * int(0.5/DT_DMON)
|
|
events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
|
|
self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0], EventName.promptDriverDistracted)
|
|
self.assertEqual(events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0], EventName.driverDistracted)
|
|
self.assertEqual(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0], EventName.driverDistracted)
|
|
self.assertTrue(len(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)]) == 0)
|
|
|
|
# engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears
|
|
# - both actions should clear the alert, but momentary appearance should not
|
|
def test_sometimes_transparent_commuter(self):
|
|
_visible_time = np.random.choice([0.5, 10])
|
|
ds_vector = always_no_face[:]*2
|
|
interaction_vector = always_false[:]*2
|
|
ds_vector[int((2*INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = \
|
|
[msg_ATTENTIVE] * int(_visible_time/DT_DMON)
|
|
interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
|
|
events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
|
|
self.assertTrue(len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0)
|
|
self.assertEqual(events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
|
|
self.assertTrue(len(events[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0)
|
|
if _visible_time == 0.5:
|
|
self.assertEqual(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
|
|
self.assertEqual(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0], EventName.preDriverUnresponsive)
|
|
elif _visible_time == 10:
|
|
self.assertEqual(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
|
|
self.assertTrue(len(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)]) == 0)
|
|
|
|
# engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages
|
|
# - only disengage will clear the alert
|
|
def test_last_second_responder(self):
|
|
_visible_time = 2 # seconds
|
|
ds_vector = always_no_face[:]
|
|
interaction_vector = always_false[:]
|
|
op_vector = always_true[:]
|
|
ds_vector[int(INVISIBLE_SECONDS_TO_RED/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
|
|
interaction_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON)] = [True] * int(1/DT_DMON)
|
|
op_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON)
|
|
events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
|
|
self.assertTrue(len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0)
|
|
self.assertEqual(events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
|
|
self.assertEqual(events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0], EventName.driverUnresponsive)
|
|
self.assertEqual(events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0], EventName.driverUnresponsive)
|
|
self.assertEqual(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0], EventName.driverUnresponsive)
|
|
self.assertTrue(len(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)]) == 0)
|
|
|
|
# disengaged, always distracted driver
|
|
# - dm should stay quiet when not engaged
|
|
def test_pure_dashcam_user(self):
|
|
events, _ = self._run_seq(always_distracted, always_false, always_false, always_false)
|
|
self.assertTrue(sum(len(event) for event in events) == 0)
|
|
|
|
# engaged, car stops at traffic light, down to orange, no action, then car starts moving
|
|
# - should only reach green when stopped, but continues counting down on launch
|
|
def test_long_traffic_light_victim(self):
|
|
_redlight_time = 60 # seconds
|
|
standstill_vector = always_true[:]
|
|
standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON)
|
|
events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
|
|
self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0],
|
|
EventName.preDriverDistracted)
|
|
self.assertEqual(events[int((_redlight_time-0.1)/DT_DMON)].names[0], EventName.preDriverDistracted)
|
|
self.assertEqual(events[int((_redlight_time+0.5)/DT_DMON)].names[0], EventName.promptDriverDistracted)
|
|
|
|
# engaged, model is somehow uncertain and driver is distracted
|
|
# - should fall back to wheel touch after uncertain alert
|
|
def test_somehow_indecisive_model(self):
|
|
ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON)
|
|
interaction_vector = always_false[:]
|
|
events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
|
|
self.assertTrue(EventName.preDriverUnresponsive in
|
|
events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names)
|
|
self.assertTrue(EventName.promptDriverUnresponsive in
|
|
events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)
|
|
self.assertTrue(EventName.driverUnresponsive in
|
|
events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|
|
|