def __init__(self): self.yaw = 0. self.pitch = 0. self.roll = 0. self.pitch_offseter = RunningStatFilter(max_trackable=_POSE_OFFSET_MAX_COUNT) self.yaw_offseter = RunningStatFilter(max_trackable=_POSE_OFFSET_MAX_COUNT) self.cfactor = 1.
def __init__(self, rhd=False, settings=DRIVER_MONITOR_SETTINGS()): # init policy settings self.settings = settings # init driver status self.is_rhd_region = rhd self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT) self.pose_calibrated = False self.blink = DriverBlink() self.eev1 = 0. self.eev2 = 1. self.ee1_offseter = RunningStatFilter(max_trackable=self.settings._POSE_OFFSET_MAX_COUNT) self.ee2_offseter = RunningStatFilter(max_trackable=self.settings._POSE_OFFSET_MAX_COUNT) self.ee1_calibrated = False self.ee2_calibrated = False self.awareness = 1. self.awareness_active = 1. self.awareness_passive = 1. self.distracted_types = [] self.driver_distracted = False self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON) self.face_detected = False self.face_partial = False self.terminal_alert_cnt = 0 self.terminal_time = 0 self.step_change = 0. self.active_monitoring_mode = True self.is_model_uncertain = False self.hi_stds = 0 self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME self._set_timers(active_monitoring=True)
def __init__(self, max_trackable): self.yaw = 0. self.pitch = 0. self.roll = 0. self.yaw_std = 0. self.pitch_std = 0. self.roll_std = 0. self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable) self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable) self.low_std = True self.cfactor = 1.
class DriverStatus(): def __init__(self, rhd=False, settings=DRIVER_MONITOR_SETTINGS()): # init policy settings self.settings = settings # init driver status self.is_rhd_region = rhd self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT) self.pose_calibrated = False self.blink = DriverBlink() self.eev1 = 0. self.eev2 = 1. self.ee1_offseter = RunningStatFilter( max_trackable=self.settings._POSE_OFFSET_MAX_COUNT) self.ee2_offseter = RunningStatFilter( max_trackable=self.settings._POSE_OFFSET_MAX_COUNT) self.ee1_calibrated = False self.ee2_calibrated = False self.awareness = 1. self.awareness_active = 1. self.awareness_passive = 1. self.distracted_types = [] self.driver_distracted = False self.driver_distraction_filter = FirstOrderFilter( 0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON) self.face_detected = False self.face_partial = False self.terminal_alert_cnt = 0 self.terminal_time = 0 self.step_change = 0. self.active_monitoring_mode = True self.is_model_uncertain = False self.hi_stds = 0 self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME self._set_timers(active_monitoring=True) def _set_timers(self, active_monitoring): if self.active_monitoring_mode and self.awareness <= self.threshold_prompt: if active_monitoring: self.step_change = self.settings._DT_DMON / self.settings._DISTRACTED_TIME else: self.step_change = 0. return # no exploit after orange alert elif self.awareness <= 0.: return if active_monitoring: # when falling back from passive mode to active mode, reset awareness to avoid false alert if not self.active_monitoring_mode: self.awareness_passive = self.awareness self.awareness = self.awareness_active self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME self.step_change = self.settings._DT_DMON / self.settings._DISTRACTED_TIME self.active_monitoring_mode = True else: if self.active_monitoring_mode: self.awareness_active = self.awareness self.awareness = self.awareness_passive self.threshold_pre = self.settings._AWARENESS_PRE_TIME_TILL_TERMINAL / self.settings._AWARENESS_TIME self.threshold_prompt = self.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL / self.settings._AWARENESS_TIME self.step_change = self.settings._DT_DMON / self.settings._AWARENESS_TIME self.active_monitoring_mode = False def _get_distracted_types(self): distracted_types = [] if not self.pose_calibrated: pitch_error = self.pose.pitch - self.settings._PITCH_NATURAL_OFFSET yaw_error = self.pose.yaw - self.settings._YAW_NATURAL_OFFSET else: pitch_error = self.pose.pitch - min( max(self.pose.pitch_offseter.filtered_stat.mean(), self.settings._PITCH_MIN_OFFSET), self.settings._PITCH_MAX_OFFSET) yaw_error = self.pose.yaw - min( max(self.pose.yaw_offseter.filtered_stat.mean(), self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET) pitch_error = 0 if pitch_error > 0 else abs( pitch_error) # no positive pitch limit yaw_error = abs(yaw_error) if pitch_error > self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch or \ yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw: distracted_types.append(DistractedType.DISTRACTED_POSE) if (self.blink.left_blink + self.blink.right_blink ) * 0.5 > self.settings._BLINK_THRESHOLD * self.blink.cfactor: distracted_types.append(DistractedType.DISTRACTED_BLINK) if self.ee1_calibrated: 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: ee2_dist = self.eev2 < self.ee2_offseter.filtered_stat.M * self.settings._EE_THRESH22 else: ee2_dist = self.eev2 < self.settings._EE_THRESH21 if ee1_dist or ee2_dist: distracted_types.append(DistractedType.DISTRACTED_E2E) return distracted_types def set_policy(self, model_data, car_speed): ep = min(model_data.meta.engagedProb, 0.8) / 0.8 # engaged prob bp = model_data.meta.disengagePredictions.brakeDisengageProbs[ 0] # brake disengage prob in next 2s # TODO: retune adaptive blink self.blink.cfactor = interp(ep, [0, 0.5, 1], [ self.settings._BLINK_THRESHOLD_STRICT, self.settings._BLINK_THRESHOLD, self.settings._BLINK_THRESHOLD_SLACK ]) / self.settings._BLINK_THRESHOLD k1 = max(-0.00156 * ((car_speed - 16)**2) + 0.6, 0.2) bp_normal = max(min(bp / k1, 0.5), 0) self.pose.cfactor_pitch = interp(bp_normal, [0, 0.5], [ self.settings._POSE_PITCH_THRESHOLD_SLACK, self.settings._POSE_PITCH_THRESHOLD_STRICT ]) / self.settings._POSE_PITCH_THRESHOLD self.pose.cfactor_yaw = interp(bp_normal, [0, 0.5], [ self.settings._POSE_YAW_THRESHOLD_SLACK, self.settings._POSE_YAW_THRESHOLD_STRICT ]) / self.settings._POSE_YAW_THRESHOLD def update_states(self, driver_state, cal_rpy, car_speed, op_engaged): if not all( len(x) > 0 for x in (driver_state.faceOrientation, driver_state.facePosition, driver_state.faceOrientationStd, driver_state.facePositionStd, driver_state.readyProb, driver_state.notReadyProb)): return self.face_partial = driver_state.partialFace > self.settings._PARTIAL_FACE_THRESHOLD self.face_detected = driver_state.faceProb > self.settings._FACE_THRESHOLD or self.face_partial self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net( driver_state.faceOrientation, driver_state.facePosition, cal_rpy, self.is_rhd_region) self.pose.pitch_std = driver_state.faceOrientationStd[0] self.pose.yaw_std = driver_state.faceOrientationStd[1] # self.pose.roll_std = driver_state.faceOrientationStd[2] model_std_max = max(self.pose.pitch_std, self.pose.yaw_std) self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD and not self.face_partial self.blink.left_blink = driver_state.leftBlinkProb * ( driver_state.leftEyeProb > self.settings._EYE_THRESHOLD) * ( driver_state.sunglassesProb < self.settings._SG_THRESHOLD) self.blink.right_blink = driver_state.rightBlinkProb * ( driver_state.rightEyeProb > self.settings._EYE_THRESHOLD) * ( driver_state.sunglassesProb < self.settings._SG_THRESHOLD) self.eev1 = driver_state.notReadyProb[1] self.eev2 = driver_state.readyProb[0] self.distracted_types = self._get_distracted_types() self.driver_distracted = (DistractedType.DISTRACTED_POSE in self.distracted_types or DistractedType.DISTRACTED_BLINK in self.distracted_types) and \ driver_state.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std self.driver_distraction_filter.update(self.driver_distracted) # update offseter # only update when driver is actively driving the car above a certain speed if self.face_detected and car_speed > self.settings._POSE_CALIB_MIN_SPEED and self.pose.low_std and ( not op_engaged or not self.driver_distracted): self.pose.pitch_offseter.push_and_update(self.pose.pitch) self.pose.yaw_offseter.push_and_update(self.pose.yaw) self.ee1_offseter.push_and_update(self.eev1) self.ee2_offseter.push_and_update(self.eev2) self.pose_calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \ self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT self.ee1_calibrated = self.ee1_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT self.ee2_calibrated = self.ee2_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT self.is_model_uncertain = self.hi_stds > self.settings._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 and not self.driver_distracted: self.hi_stds += 1 elif self.face_detected and self.pose.low_std: self.hi_stds = 0 def update_events(self, events, driver_engaged, ctrl_active, standstill): if (driver_engaged and self.awareness > 0) or not ctrl_active: # reset only when on disengagement if red reached self.awareness = 1. self.awareness_active = 1. self.awareness_passive = 1. return driver_attentive = self.driver_distraction_filter.x < 0.37 awareness_prev = self.awareness 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 self.awareness = min( self.awareness + ((self.settings._RECOVERY_FACTOR_MAX - self.settings._RECOVERY_FACTOR_MIN) * (1. - self.awareness) + self.settings._RECOVERY_FACTOR_MIN) * self.step_change, 1.) if self.awareness == 1.: self.awareness_passive = min( self.awareness_passive + self.step_change, 1.) # don't display alert banner when awareness is recovering and has cleared orange if self.awareness > self.threshold_prompt: return standstill_exemption = standstill and self.awareness - self.step_change <= self.threshold_prompt certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected if certainly_distracted or maybe_distracted: # should always be counting if distracted unless at standstill and reaching orange if not standstill_exemption: self.awareness = max(self.awareness - self.step_change, -0.1) alert = None if self.awareness <= 0.: # terminal red alert: disengagement required alert = EventName.driverDistracted if self.active_monitoring_mode else EventName.driverUnresponsive self.terminal_time += 1 if awareness_prev > 0.: self.terminal_alert_cnt += 1 elif self.awareness <= self.threshold_prompt: # prompt orange alert alert = EventName.promptDriverDistracted if self.active_monitoring_mode else EventName.promptDriverUnresponsive elif self.awareness <= self.threshold_pre: # pre green alert alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive if alert is not None: events.add(alert)