decide op• Data kinds: table → table
• Call: import fullseye as fs; fs.ledger.bus_departure_yield_check(trajectory, *, t_signal: 'float', bus_rear_x: 'float', merge_time: 'float' = 4.0, reaction: 'float' = 1.0, sudden_decel: 'float' = 3.0, standoff: 'float' = 2.0) -> 'Dict[str, object]' (to call the implementation directly, import drivedecide; drivedecide.bus_departure_yield_check(trajectory, *, t_signal: 'float', bus_rear_x: 'float', merge_time: 'float' = 4.0, reaction: 'float' = 1.0, sudden_decel: 'float' = 3.0, standoff: 'float' = 2.0) -> 'Dict[str, object]'; from the registry, opsdrive.get("bus_departure_yield_check"))
> This operator's description has not been translated yet. The original text follows as it is.
停留所から発進の合図をしたバスの進路変更を、後ろの自車が妨げたかを採点する(道路交通法 31 条の 2)。
`trajectory: {"t", "x", "v"}(自車の前端の位置、バスが入ってくる車線)。バスの後端は bus_rear_x`
(合図から `merge_time` 秒は止まっている / ゆっくり出る間とみなす)。
• 譲る義務: 合図の時刻 t_s の自車の (x_s, v_s) から、反応 ρ の後に一定減速でバスの後端の `standoff` 手前に
止まる減速 a_req = v²/(2(D − vρ))、D = bus_rear_x − standoff − x_s(D ≤ vρ なら ∞)。
a_req ≤ `sudden_decel なら **急に速度を変えずに譲れる** → 譲る義務あり(must_yield`)。
• 妨げた: [t_s, t_s + merge_time] のどこかで自車の前端がバスの後端を越えた(横に並んだ / 追い抜いた)。
• 違反 = 譲る義務あり かつ 妨げた。
「急に」の閾値 3.0 m/s²・反応 1.0 s・余裕 2 m・合流の時間 4 s は 仮定(法に数値なし)。
返り値: `a_required、must_yield、obstructed、violation、article、detail`。
• 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.
• poc_driving_decisions — py -3.11 examples/poc_driving_decisions.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
decide)mirror_reflection_matrix · mirror_virtual_camera · mirror_aim_normal · convex_mirror_fov · mirror_blind_zone · check_sequence_score · signal_phase_plan · signal_state
*Provenance: drivedecide.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.