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' (implementation को सीधे call करना हो तो 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', registry से लेना हो तो opsdrive.get("cr_drive"))
अपने driver (longitudinal IDM + pure pursuit) को CommonRoad planning problem पर चलाता है।
> नीचे का विस्तृत विवरण मूल text में है — सारांश और headings का अनुवाद हो चुका है।
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 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。
• Sample data catalog (DL URL / license) — 2-D के लिए skimage.data (BSD/public) + synthetic, 3-D के लिए real data sources (Stanford/PDS आदि) के DL URL।
• Operators का स्रोत और संदर्भ — इस op family के मूल research/methods के स्रोत।
• Algorithm का मानक स्रोत (लेखक, वर्ष) और उपयोग ऊपर की family usage guide में दिए गए हैं।
• poc_driving_commonroad — py -3.11 examples/poc_driving_commonroad.py
table को input के रूप में लेते हैं)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_sweep · cr_feasible · cr_collision · cr_solution_xml
*Provenance: drivecommonroad.py — DRIVE operator registry. यह per-op note tools/opdocs.py md से अपने-आप generate होता है (हाथ से edit न करें)।*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.