Always send loud alert when cruise disables in specific braking scenario #468

ghost · 2018-12-16T05:09:11Z

For Honda users without the pedal that allow OP to stop their car to a standstill, there are sometimes instances where a potential safety issue may occur in the following sequence:

the car brakes because lead car is slowing,
the car falls below the minimum cruise threshold and cruise disables
the lead car pulls away
car is now below cruise min speed so it can't accelerate, the non-loud alert is displayed and OP is disabled - the user doesn't notice.
the lead car brakes - OP is disabled so it doesn't brake.
the user is caught flat footed because they weren't aware that step 4 happened because couldn't hear / see the subtle alert that OP was disabled

This is a safety concern as it happened to me a few times before I got my pedal. Sending the loud alert mitigates this risk.

For users without the pedal there are sometimes instances where 1. the car brakes because lead car is slowing, 2. the car falls below the minimum cruise threshold and cruise disables 3. the lead car pulls away 4. car is now below cruise so can't accelerate, the non-loud alert is displayed and OP is disabled - the user doesn't notice 5. the lead car brakes 6. the user is caught flat footed because they weren't aware that step 4 happened because couldn't hear / see the subtle alert that OP was disabled This is a safety concern as it happened to me a few times before I got my pedal. Sending the loud alert mitigates this risk.

rbiasini · 2018-12-19T06:33:06Z

selfdrive/car/honda/interface.py

      if ret.vEgo < self.CP.minEnableSpeed + 2.:
-        events.append(create_event('speedTooLow', [ET.IMMEDIATE_DISABLE]))


I'm ok with the change, but you should change this in the alert database. speedTooLow is still what we want to be issued

Done. Restored the commented out code and changed alert.py instead.

This reverts commit 654abc4.

rbiasini · 2018-12-24T07:03:42Z

selfdrive/car/honda/interface.py

@@ -530,7 +530,7 @@ def update(self, c):
      events.append(create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))

    if self.CP.enableCruise and ret.vEgo < self.CP.minEnableSpeed:
-      events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
+      events.append(create_event('speedTooLowNoEntry', [ET.NO_ENTRY]))


here you want to keep speedTooLow (the NoEntry is added in controlsd)

rbiasini · 2018-12-24T07:07:25Z

selfdrive/controls/lib/alerts.py

@@ -432,7 +432,7 @@ def __gt__(self, alert2):
      "openpilot Canceled",
      "Speed too low",
      AlertStatus.normal, AlertSize.mid,
-      Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
+      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),


mmm... but an audible alert (the same used for normal disengagement) is already issued. Your change just makes it louder, which I think is too annoying.
Sorry, I was under the impression that before your change OP wasn't issuing any audible alert.

fix panda error

0696730 Toyota: add missing offset from speed signal (#469) 5b1a8dc Filtering LKAS HUD messages (#468) 99050f4 test_spam_can_buses was missing from Nissan 0f21b19 Cleanup pedal nomenclature (#467) ceff91d Standardize brake safety tests (#465) 04809e1 Hyundai brake check (#464) 74c8ee0 Subaru brake check (#463) 4ecc6b3 Cleanup: avoid unnecessary bus checks in rx hooks c7d0d5f Volkswagen safety updates: Phase 3 (#462) 4368748 WIP: Toyota brake check. (#459) 2ef996f fix addr frequencies e063b26 Second test fix tentative 88e2593 This should fix the test replay ebb8866 Added NISSAN replay test b2dbb50 remove toyota ipas safety code and tests (#460) a379faf White Panda's Wi-Fi setup instructions (#457) 11ef24b Improve tests (#456) fb02390 Subaru checksum counter (#455) 9a44499 Fix Subaru Legacy Torque driver bug (#454) dfa6b07 separating subary legacy safety mode from global (#452) dad5858 Chrysler: add brakepress cancellation (#451) db94a5b Added Nissan safety (#244) d7f1195 Chrysler Checksum/counter (#450) 96e535e abstract crc function (#448) 1b49d3e Hyundai: add gas disengage and tests (#447) 598074c Volkswagen safety updates: Phase 2 (#445) b2ffaae Chrysler: disengage on gas press (#442) 2ebbe36 Subaru: disengage on gas press (#446) ccf75c4 Volkswagen safety updates: Phase 1 (#444) git-subtree-dir: panda git-subtree-split: 0696730

* Filtering LKAS HUD messages * Added nissan test_fwd_hook() * Added Nissan TX_MSGS safety test Co-authored-by: rbiasini <riccardo.biasini@gmail.com>

rbiasini reviewed Dec 19, 2018

View reviewed changes

NeonGalaxy75 added 3 commits December 19, 2018 15:59

Revert "Always send loud alert when cruise disables"

4bdeffe

This reverts commit 654abc4.

Louder alert when OP disengages under cruise min speed

677d22a

Call speedTooLowNoEntry if OP not engaged

403c3ab

rbiasini reviewed Dec 24, 2018

View reviewed changes

rbiasini closed this Dec 24, 2018

ghost deleted the patch-1 branch December 25, 2018 09:49

Chrispreilly pushed a commit to Chrispreilly/openpilot that referenced this pull request Nov 21, 2019

Merge pull request commaai#468 from ShaneSmiskol/066-clean

581238c

fix panda error

Vaggysag pushed a commit to Vaggysag/openpilot that referenced this pull request Apr 21, 2020

Filtering LKAS HUD messages (commaai#468)

5b1a8dc

* Filtering LKAS HUD messages * Added nissan test_fwd_hook() * Added Nissan TX_MSGS safety test Co-authored-by: rbiasini <riccardo.biasini@gmail.com>

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Always send loud alert when cruise disables in specific braking scenario #468

Always send loud alert when cruise disables in specific braking scenario #468

ghost commented Dec 16, 2018 •

edited by ghost

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rbiasini Dec 19, 2018

ghost Dec 19, 2018

rbiasini Dec 24, 2018

rbiasini Dec 24, 2018

		if ret.vEgo < self.CP.minEnableSpeed + 2.:
		events.append(create_event('speedTooLow', [ET.IMMEDIATE_DISABLE]))

Always send loud alert when cruise disables in specific braking scenario #468

Always send loud alert when cruise disables in specific braking scenario #468

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ghost commented Dec 16, 2018 • edited by ghost Loading

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ghost commented Dec 16, 2018 •

edited by ghost

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