roundabout_entry_check — DRIVE `pass` op

• Data kinds: table → table

• Call: import fullseye as fs; fs.ledger.roundabout_entry_check(entry_theta: 'float', ring_radius: 'float', circulating: 'Sequence[dict]', *, t_clear: 'float', entry_speed: 'float', crawl: 'float' = 2.7777777777777777, sudden: 'float' = 2.0, side_friction: 'Optional[float]' = None) -> 'Dict[str, object]' (to call the implementation directly, import drivepass; drivepass.roundabout_entry_check(entry_theta: 'float', ring_radius: 'float', circulating: 'Sequence[dict]', *, t_clear: 'float', entry_speed: 'float', crawl: 'float' = 2.7777777777777777, sudden: 'float' = 2.0, side_friction: 'Optional[float]' = None) -> 'Dict[str, object]'; from the registry, opsdrive.get("roundabout_entry_check"))

Usage

> This operator's description has not been translated yet. The original text follows as it is.

環状交差点に入ってよいか(37 条の 2 第 1・2 項、35 条の 2)。場面 S102。

環道(中心 = 原点、半径 `ring_radius)を右回りに走る車 circulating[i] = {"theta", "speed"} が、入口の角 entry_theta`

(衝突の点)まで進む弧 = R·((θ − θ_e) mod 2π)、着く時刻 = 弧 / speed。入る車が衝突の点を抜けるのに `t_clear` 秒かかる

とき、環道の車が t_clear まで点に入らないために要る減速度(`drivecrossing.obstruction_decel)が sudden`

(仮定)を超えれば進行妨害 → `must_yield(37 条の 2 第 1 項)。entry_speed > crawl`(仮定 10 km/h)は

`not_crawling(同 2 項・35 条の 2 の徐行)。side_friction` を渡すと環道の曲線の上限速度

(`drivelateral.curve_speed_limit)も返す。返り値: ok、reasons、cars` = [{"arc", "t_arrive", "decel",

"obstructs"}]、`ring_speed_limit`。

References (sample data, literature)

• Sample-data catalog (download URLs / licences) — 2-D uses skimage.data (BSD/public domain) plus synthetic images; 3-D lists download URLs for real data sources (Stanford, PDS, …).

• Operator provenance and references — the sources of the research/methods this op family came from.

• The canonical algorithm (author, year) and its uses are named in the family usage guide above.

Runnable examples (verified samples that actually call this op)

• poc_driving_pass — py -3.11 examples/poc_driving_pass.py

Ops the type connects to (they accept `table` as input)

course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same

Same category (`pass`)

overtake_requirement · overtake_return_gap · no_overtaking_zones · overtake_permitted · overtaken_conduct_check · lane_change_follower_decel · lane_change_permitted · roundabout_signal_point

*Provenance: drivepass.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

roundabout_entry_check — DRIVE pass op