lateral 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.steady_cornering(speed: 'float', radius: 'float', params: 'dict') -> 'Dict[str, float]' (to call the implementation directly, import drivelateral; drivelateral.steady_cornering(speed: 'float', radius: 'float', params: 'dict') -> 'Dict[str, float]'; from the registry, opsdrive.get("steady_cornering"))
Steady-state circular cornering of the linear 2-wheel equivalent (bicycle) model (speed u, turning radius R = u/r, left turn positive).
> The detailed description below is the original text — the summary and the headings are translated.
R は前向きの速さ u とヨーレート r で定義する(線形モデルの慣習)。重心の軌跡の実際の半径は合成の速さ / r = R √(1 + tan²β) で、β が小さい範囲で R に等しい(門で確かめた差は β² の桁)。
返り値: steer δ = L/R + K u²/R [rad]、yaw_rate r = u/R、lateral_accel u²/R、sideslip β = l_r/R − m l_f u²/(C_r L R)、yaw_gain r/δ = (u/L)/(1 + K u²/L)、front_slip・rear_slip (軸の横すべり角)、K。R < 0 で右旋回(符号がそのまま反転)。
Raises ValueError: u ≤ 0、R = 0 / 非有限、母数の誤り、1 + K u²/L ≤ 0(臨界速度以上)。
• 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.
• (none yet)
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
lateral)friction_circle_usage · curve_speed_limit · design_min_radius · understeer_gradient · bicycle_model_step · 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.