rss_stopping_distance — DRIVE `rss` op

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

• Call: import fullseye as fs; fs.ledger.rss_stopping_distance(v: 'float', rho: 'float', accel: 'float', brake: 'float', v_max: 'Optional[float]' = None, direction: 'float' = 1.0) -> 'float' (to call the implementation directly, import rsssafety; rsssafety.rss_stopping_distance(v: 'float', rho: 'float', accel: 'float', brake: 'float', v_max: 'Optional[float]' = None, direction: 'float' = 1.0) -> 'float'; from the registry, opsdrive.get("rss_stopping_distance"))

Usage

Signed position offset under ad-rss-lib's stated braking pattern (1 formula shared by the longitudinal and lateral directions).

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

ρ の間 accel で加速(v_max で頭打ち)し、ρ 後の速度 v_ρ が 相手へ向いている (direction · v_ρ > 0)ときだけ停止距離 direction · v_ρ² / (2 brake) を足す。離れる向きなら足さない(lib calculateLongitudinalDistanceOffsetAfterStatedBrakingPattern / calculateLateralDistanceOffsetAfterStatedBrakingPattern の signbit 判定)。

符号規約

• direction = 相手へ向かう向き(+1 か −1)。縦方向は +1(進行方向 = +x)。横方向は左の車が +1、右の車が −1。

• v は符号つき速度(direction 側が正なら相手へ向かっている)。縦方向は v ≥ 0 で呼ぶ。

• accel は符号つきで direction 側に向ける(direction · accel ≥ 0 でないと ValueError)。縦方向は +a_accel_max、横方向は左 +a_lat、右 −a_lat。

• brake は正の大きさ。常に「相手へ向かう速度を 0 にする向き」(= −direction 側)にかかる。

• v_max は direction 側の到達速度の上限(None = 制限なし)。既に |v| がそれ以上なら加速しない。

縦方向(v ≥ 0, accel ≥ 0)では v ρ + ½ a ρ² + (v + a ρ)²/(2 b) になり論文 Lemma 2 の後続車の走行距離と一致する。

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_longitudinal — py -3.11 examples/poc_driving_longitudinal.py

Ops the type connects to (they accept `scalar` as input)

spin_from_marker_sequence · carla_transform_matrix · carla_pose_to_world · carla_camera_pose · carla_xy_yaw · carla_scene_load · town_chain · osm_parse

Same category (`rss`)

rss_params · rss_longitudinal_same · rss_longitudinal_opposite · rss_lateral · rss_longitudinal_check · rss_lateral_check · rss_worst_case_gap · rss_worst_case_gap_opposite

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

rss_stopping_distance — DRIVE rss op