2) if in self-driving mode && the input we see is not 0/0 that means the driver pressed the pedals and we should exit self-driving mode.
3) if in manual mode, we cannot really say - but because we can detect the steering wheel movement, we will not enter self-driving mode as long as the driver is engaged
Does that sound reasonable? Hopefully that is a minor fix in ignition.
It should be possible to detect the presence of the driver based on the input from the brake/throttle pedals.
Here is the logic: 1) without any user input, brake/throttle readings should be 0/0 (or very close to it), see:
2) if in self-driving mode && the input we see is not 0/0 that means the driver pressed the pedals and we should exit self-driving mode. 3) if in manual mode, we cannot really say - but because we can detect the steering wheel movement, we will not enter self-driving mode as long as the driver is engaged
Does that sound reasonable? Hopefully that is a minor fix in ignition.