commonroad op• Data kinds: any × any → any
• Call: import fullseye as fs; fs.ledger.ks_step(state, u, dt: 'float', params=None) -> 'np.ndarray' (to call the implementation directly, import drivecommonroad; drivecommonroad.ks_step(state, u, dt: 'float', params=None) -> 'np.ndarray'; from the registry, opsdrive.get("ks_step"))
Advances the kinematic single-track (KS) model by dt with RK4 under a piecewise-constant input u = (δ̇, a). Reference point = center of the rear axle.
> The detailed description below is the original text — the summary and the headings are translated.
state = (x_rear, y_rear, δ, v, ψ)。式: ẋ = v cos ψ、ẏ = v sin ψ、δ̇ = u₀、v̇ = u₁、ψ̇ = v / l_wb · tan δ (commonroad-vehicle-models vehicle_dynamics_ks、入力の飽和 steering_constraints / acceleration_constraints も同じ)。
門: δ = 0 で x = x₀ + v t(1e-9)、一定 δ で半径 l_wb / tan δ の円(1 周で始点へ 1e-6)、commonroad-io があれば vehicle_dynamics_ks の odeint と 1 step で 1e-6 一致。
Raises ValueError: state が (5,) でない・非有限、u が (2,) でない、dt ≤ 0、params が不正。
• 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
any as input)course_crank · course_s_curve · course_turnaround · course_slope · course_intersection · course_parallel_parking · course_crossing · course_road
commonroad)cr_synthetic · cr_read · cr_route · cr_drive · 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).*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.