cr_read — DRIVE commonroad op

• 資料種類:any → table

• 呼叫: import fullseye as fs; fs.ledger.cr_read(source) -> 'dict'(要直接呼叫實作,import drivecommonroad; drivecommonroad.cr_read(source) -> 'dict';從台帳取用則 opsdrive.get("cr_read"))

用法

> 該運算子的說明尚無譯文,以下照原文給出。

CommonRoad 2020a XML(文字列 or パス)を読む。

返り値: ``{"kind": "commonroad_scene", "id", "dt", "version", "lanelets": {id: {"center" (n,2), "left", "right", "polygon",

"successors", "predecessors", "adj_left", "adj_right", "speed_limit_mps" | None, "stop_line" (2,2) | None,

"traffic_sign_ids", "traffic_light_ids", "length"}}, "obstacles": [{"id", "type", "static", "shape", "states" (T,5)

[time_step, x, y, orientation, velocity]}], "planning_problems": [{"id", "initial": {time_step, x, y, orientation,

velocity}, "goal": [{"time_step": (lo, hi), "position_lanelets" | None, "position_polygon" (k,2) | None,

"velocity": (lo, hi) | None, "orientation": (lo, hi) | None}]}], "traffic_signs": {id: {"element_ids", "additional",

"position"}}, "traffic_lights": {id: {"position", "cycle": [(color, duration)], "time_offset", "active", "direction"}}}``。

中心線は左右境界の平均(頂点数が揃っていることを要求)。標識 274 の additional_value[0] は m/s → float。

Raises `ValueError`: 壊れた XML、ルートが commonRoad でない、commonRoadVersion ≠ 2020a、必須要素の欠落、矩形以外の障害物。

參考(範例資料・文獻)

• 範例資料目錄(下載 URL / 授權) —— 2-D 用 skimage.data(BSD/公有領域)加合成圖,3-D 給出真實資料源(Stanford/PDS 等)的下載 URL。

• 運算子來歷與參考文獻 —— 該運算子族所依據的研究/方法出處。

• 演算法的正典(作者・年份)與用途見上面的族使用指南。

可執行的範例(實際呼叫該運算子並已驗證的樣例)

• poc_driving_commonroad — py -3.11 examples/poc_driving_commonroad.py

型別可銜接的下一個運算子(可接受 table 作為輸入)

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

同類別(commonroad)

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

*Provenance: drivecommonroad.py — DRIVE 運算子登記表。本條目由 tools/opdocs.py md 自動產生(請勿手動編輯)。*

© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.