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GaloisInc / BESSPIN-Tool-Suite

The core tool of the BESSPIN Framework.
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Ignition detect driver enhancement #1201

Closed podhrmic closed 3 years ago

podhrmic commented 3 years ago

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:

  50:43:16.715 (prvInfoTask:raw) throttle: 58, brake: 290
  50:43:16.719 (prvInfoTask:scaled) Gear: D, throttle: 0, brake: 0
  50:43:16.725 (prvInfoTask:hz) prvSensorTask: 19[Hz]

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.

podhrmic commented 3 years ago

Fixed in #1206