long op• Data kinds: scalar × scalar → table
• Call: import fullseye as fs; fs.ledger.stop_line_plan(v: 'float', dist_to_line: 'float', theta: 'float' = 0.0, params: 'Optional[dict]' = None, t0: 'float' = 0.0, margin: 'float' = 0.5, A1: 'float' = 1.5, A2: 'float' = 2.5, split: 'float' = 0.5) -> 'Dict[str, object]' (to call the implementation directly, import drivelong; drivelong.stop_line_plan(v: 'float', dist_to_line: 'float', theta: 'float' = 0.0, params: 'Optional[dict]' = None, t0: 'float' = 0.0, margin: 'float' = 0.5, A1: 'float' = 1.5, A2: 'float' = 2.5, split: 'float' = 0.5) -> 'Dict[str, object]'; from the registry, opsdrive.get("stop_line_plan"))
From the moment of perception (time t0, dist_to_line from the front end to the stop line, speed v), plans a 2-stage braking that stops margin short of the stop line.
> The detailed description below is the original text — the summary and the headings are translated.
段: 反応(ρ、速さを保つ)→ [必要なら速さを保ったまま待つ(cruise)] → 1 段目(減速度の定数部分 A1、速さが split·v まで) → 2 段目(A2、止まるまで)→ 保持。制動を 2 段に分けるのは通達の「ブレーキを数回に分けて踏まない場合」(制動操作不良)に合わせる。間に合わないときは 2 段目の減速度を閉形式で解き直し(ln の式、k > 0 でも厳密)、1 段目だけで足りない距離なら 1 段で止める(stages = 1)。上限(min(a_brake_max, μ g cos θ))で頭打ちなら saturated = True、予測は頭打ちの値で出す。坂は区間の中で一定の θ(停止の区間が坂の折れ点をまたがない)とする。
dict : phases((t_start, kind, drive, brake) の列、kind = react / cruise / brake1 / brake2)、t_breaks、
stages、predicted_gap(止まった前端から停止線まで。負 = 越えた)、t_stop、saturated、theta、d_react, d_cruise, d_brake。
Raises ValueError: v ≤ 0、非有限、split ∉ (0, 1)、A1・A2 ≤ 0。
• 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_longitudinal — py -3.11 examples/poc_driving_longitudinal.py
• poc_driving_weather — py -3.11 examples/poc_driving_weather.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
long)long_params · road_profile · road_eval · long_simulate · long_energy_residual · stopping_distance_grade · plan_command · hill_hold_brake_min
*Provenance: drivelong.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.