cr_drive — DRIVE `commonroad` op

• Data kinds: table → table

• Call: import fullseye as fs; fs.ledger.cr_drive(scene, pp_index: 'int' = 0, *, route=None, v_cruise=None, a_max: 'float' = 1.5, b_max: 'float' = 3.0, lookahead: 'float' = 5.0, dt=None, stop_lines=None, hold_s: 'float' = 2.0, goal_inset: 'float' = 0.2, idm_T: 'float' = 1.2, stop_margin: 'float' = 0.6, a_lat: 'float' = 2.5, k_v: 'float' = 0.6, follow_width: 'float' = 2.0, follow_obstacles: 'bool' = True, curvature_window: 'float' = 10.0, horizon=None, params=None) -> 'dict' (to call the implementation directly, import drivecommonroad; drivecommonroad.cr_drive(scene, pp_index: 'int' = 0, *, route=None, v_cruise=None, a_max: 'float' = 1.5, b_max: 'float' = 3.0, lookahead: 'float' = 5.0, dt=None, stop_lines=None, hold_s: 'float' = 2.0, goal_inset: 'float' = 0.2, idm_T: 'float' = 1.2, stop_margin: 'float' = 0.6, a_lat: 'float' = 2.5, k_v: 'float' = 0.6, follow_width: 'float' = 2.0, follow_obstacles: 'bool' = True, curvature_window: 'float' = 10.0, horizon=None, params=None) -> 'dict'; from the registry, opsdrive.get("cr_drive"))

Usage

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

自分の運転手(縦 IDM + pure pursuit)を CommonRoad の planning problem で走らせる。

縦: IDM(a_max, b_max, idm_T, s₀ = stop_margin)で、目標 = 経路終点(ゴール lanelet の `goal_inset` 地点、止まった先行車と

見なす)・`stop_lines(経路の弧長の列、または "scene" で lanelet の stopLine を経路に射影。止まったら hold_s` 秒で発進)・

経路上の先行障害物(`follow_obstacles、中心が経路から follow_width` 以内で前にある物)。希望速度 v₀ = min(v_cruise, 経路の

制限, 曲率の許容 √(a_lat/|κ|)、κ は `curvature_window` m の移動平均)。横: 見通し L_d = max(lookahead, k_v·v) の pure pursuit、

δ̇ ∈ ±0.4。各 step は :func:ks_step(RK4)。`horizon` = step 数(既定 = ゴール time_step 区間の上端 − 初期 time_step)。

返り値 ``{"kind": "commonroad_run", "t", "time_step", "x", "y" (車両中心), "x_rear", "y_rear", "delta", "v", "psi",

"u" (T−1, 2), "s" (中心の弧長), "s_front", "lat_err", "v_allow", "stops": [(time_step, s_front, kind, target_s)], "events",

"route", "goal_reached", "goal_index", "params", "dt", "pp_id", "initial_time_step", "v_limit"}``。

門: |a| ≤ max(a_max, b_max)、0 ≤ v ≤ v_limit、停止線の前端が 0〜1 m 手前で止まる、cr_feasible が feasible、ゴール到達。

Raises `ValueError`: scene / route が不正、pp_index 範囲外、速度の上限が決まらない(制限も v_cruise も無い)、

初期位置がどの lanelet にも無い、stop_lines が経路の外。

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_commonroad — py -3.11 examples/poc_driving_commonroad.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 (`commonroad`)

cr_synthetic · cr_read · cr_route · ks_step · cr_drive_sweep · cr_feasible · cr_collision · cr_solution_xml

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

cr_drive — DRIVE commonroad op