overtake_requirement — DRIVE `pass` op

• Data kinds: none → table (an op determined by its arguments alone — it takes no image or data input)

• Call: import fullseye as fs; fs.ledger.overtake_requirement(v_ego: 'float', v_lead: 'float', *, lead_length: 'float', ego_length: 'float', gap_back: 'float', gap_front: 'float', accel: 'float' = 0.0, v_max: 'Optional[float]' = None, lane_change_time: 'float' = 0.0, v_oncoming: 'float' = 0.0, pet_min: 'float' = 0.0) -> 'Dict[str, float]' (to call the implementation directly, import drivepass; drivepass.overtake_requirement(v_ego: 'float', v_lead: 'float', *, lead_length: 'float', ego_length: 'float', gap_back: 'float', gap_front: 'float', accel: 'float' = 0.0, v_max: 'Optional[float]' = None, lane_change_time: 'float' = 0.0, v_oncoming: 'float' = 0.0, pet_min: 'float' = 0.0) -> 'Dict[str, float]'; from the registry, opsdrive.get("overtake_requirement"))

Usage

Time and distance needed to overtake the lead vehicle, and the threshold distance within which no oncoming vehicle may be approaching (closed form). Scenarios S079, S086, S145 (Art. 28(4)).

> The detailed description below is the original text — the summary and the headings are translated.

自車の前端が前車の後端の gap_back 手前で対向車線(又は右の車線)に出てから、自車の後端が前車の前端の gap_front 先に出るまで(相対の距離 D = gap_back + lead_length + ego_length + gap_front)。自車は初速 v_ego から accel で v_max まで加速(教則 5-6-3(4)「最高速度の制限内で加速しながら」)、前車は v_lead で一定。そのあと lane_change_time かけて元の車線に戻り切る。gap_front に overtake_return_gap の値を入れると「ルームミラーで見える距離」まで進んでから戻る手順(教則 5-6-3(6))になる。

返り値: relative_distance = D、t_pass、t_occupy = t_pass + lane_change_time、ego_distance(占有の間に自車が進む道のり)、v_pass(追い越し終えたときの速さ)、d_required = ego_distance + v_oncoming (t_occupy + pet_min)(判断の時点で対向車がこれより遠ければ、戻り切ってから pet_min 秒以上あとに対向車がその地点に着く)。前に出られない(相対速度が正にならない)は ValueError。

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_pass — py -3.11 examples/poc_driving_pass.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 (`pass`)

overtake_return_gap · no_overtaking_zones · overtake_permitted · overtaken_conduct_check · lane_change_follower_decel · lane_change_permitted · roundabout_entry_check · roundabout_signal_point

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

overtake_requirement — DRIVE pass op