lateral op• Data kinds: any → any
• Call: import fullseye as fs; fs.ledger.bicycle_model_step(state, steer, speed, params: 'dict', dt: 'float') -> 'np.ndarray' (to call the implementation directly, import drivelateral; drivelateral.bicycle_model_step(state, steer, speed, params: 'dict', dt: 'float') -> 'np.ndarray'; from the registry, opsdrive.get("bicycle_model_step"))
1 step of the linear 2-wheel equivalent (bicycle) model (classic 4th-order Runge–Kutta; δ and u are constant within the step).
> The detailed description below is the original text — the summary and the headings are translated.
state: (..., 5) = (x, y, ψ, v_y, r)(重心の位置 [m]、向き [rad]、車の座標の横速度 [m/s]、ヨーレート [rad/s])。steer: 前輪の舵角 δ [rad] (state の先頭の形に放送)。speed: 前向きの速さ u [m/s] (> 0、放送)。params には inertia(I_z [kg m²])も要る。返り値: 次の状態(同じ形)。
横力は線形(飽和しない)。u → 0 で式が特異になるので u ≥ 0.5 m/s を要求する(低速は運動学で扱う)。
Raises ValueError: 形の誤り、非有限、u < 0.5、dt ≤ 0、I_z が無い。
• 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_lateral — py -3.11 examples/poc_driving_lateral.py
any as input)course_crank · course_s_curve · course_turnaround · course_slope · course_intersection · course_parallel_parking · course_crossing · course_road
lateral)friction_circle_usage · curve_speed_limit · design_min_radius · understeer_gradient · steady_cornering · ackermann_steer_angles · offtracking_circle · rear_axle_path
*Provenance: drivelateral.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.