doppler_track — DRIVE `decide` op

• Data kinds: signal → table

• Call: import fullseye as fs; fs.ledger.doppler_track(signal, fs, *, f_high: 'float' = 960.0, f_low: 'float' = 770.0, c: 'float' = 343.0, smooth: 'float' = 0.005, guard: 'float' = 0.01, edge: 'float' = 0.05, v_tol: 'float' = 1.0, verdict_window: 'float' = 0.5) -> 'Dict[str, object]' (to call the implementation directly, import drivedecide; drivedecide.doppler_track(signal, fs, *, f_high: 'float' = 960.0, f_low: 'float' = 770.0, c: 'float' = 343.0, smooth: 'float' = 0.005, guard: 'float' = 0.01, edge: 'float' = 0.05, v_tol: 'float' = 1.0, verdict_window: 'float' = 0.5) -> 'Dict[str, object]'; from the registry, opsdrive.get("doppler_track"))

Usage

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

サイレンの音から瞬時周波数を推定し、近づいている / 遠ざかっているを判定する。

1. 解析信号(FFT の Hilbert 変換)の位相差 → 瞬時周波数 f(t) = arg(z[n+1] z̄[n]) fs / 2π。

2. 幅 `smooth` 秒の移動中央値。

3. 各時刻で公称の 2 音(`f_high / f_low`)のうち比が近い方を「発した音」とみなし、ドップラー係数

D = f / f_nom、視線速度 v_r = c (1 − 1/D)(`doppler_shift` を v_r について解いたもの)。

4. 音が切り替わる所(中央値の跳び > 20 Hz)の前後 `guard 秒と、両端 edge 秒は無効(valid` = False)。

5. 判定: 最後の `verdict_window 秒の有効な v_r の中央値が +v_tol より大 → "approaching"`、−v_tol より小 →

`"receding"、間 → "abeam"。state は各時刻の同じ判定(無効な所は "unknown"`)。

公称音の取り違えの限界: 振り分けの境目は幾何平均 √(f_h f_l)。低い音が近づいて境目を越えるのは

v_r = c (1 − √(f_l/f_h))、高い音が遠ざかって越えるのは v_r = −c (√(f_h/f_l) − 1)。960/770 Hz では

+35.8 m/s(129 km/h)と −40.0 m/s。これより速い視線速度は取り違える(テストで固定)。

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_decisions — py -3.11 examples/poc_driving_decisions.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 (`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).*

doppler_track — DRIVE decide op