commonroad op• Data kinds: table × table → table
• Call: import fullseye as fs; fs.ledger.cr_collision(scene, run, *, margin: 'float' = 0.0, lanelets: 'str' = 'all') -> 'dict' (to call the implementation directly, import drivecommonroad; drivecommonroad.cr_collision(scene, run, *, margin: 'float' = 0.0, lanelets: 'str' = 'all') -> 'dict'; from the registry, opsdrive.get("cr_collision"))
> This operator's description has not been translated yet. The original text follows as it is.
障害物との衝突(矩形同士の SAT、time_step ごと)と道路境界(車両 4 角が lanelet 多角形の和集合に入るか)。
`lanelets="all"(既定)は場面の全 lanelet(採点器の boundary_collision と同じ範囲)、"route"` は経路の lanelet だけ。
`margin` は障害物の SAT を膨らませる距離(m)。
返り値 ``{"obstacle_collision", "first_collision": (time_step, obstacle_id) | None, "boundary_violation",
"first_outside": time_step | None, "n_collisions", "n_outside"}``。
Raises `ValueError`: scene / run が不正、lanelets が "all"/"route" 以外、margin < 0。
• 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_commonroad — py -3.11 examples/poc_driving_commonroad.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
commonroad)cr_synthetic · cr_read · cr_route · ks_step · cr_drive · cr_drive_sweep · cr_feasible · cr_solution_xml
*Provenance: drivecommonroad.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.