decide op• Data kinds: table → table
• Call: import fullseye as fs; fs.ledger.yield_maneuver_check(trajectory, *, t_approach: 'float', t_passed: 'float', intersections=(), near_margin: 'float' = 30.0, left_tol: 'float' = 1.0, stop_speed: 'float' = 0.1, car_length: 'float' = 4.5) -> 'Dict[str, object]' (to call the implementation directly, import drivedecide; drivedecide.yield_maneuver_check(trajectory, *, t_approach: 'float', t_passed: 'float', intersections=(), near_margin: 'float' = 30.0, left_tol: 'float' = 1.0, stop_speed: 'float' = 0.1, car_length: 'float' = 4.5) -> 'Dict[str, object]'; from the registry, opsdrive.get("yield_maneuver_check"))
Scores the ego vehicle's behavior when an emergency vehicle approaches, against Road Traffic Act Art. 40.
> The detailed description below is the original text — the summary and the headings are translated.
40 条 1 項: 交差点又はその附近 → 交差点を避け、道路の左側に寄って 一時停止。40 条 2 項: それ以外 → 道路の左側に寄って進路を譲る(停止までは求めない)。(一方通行で左に寄ると妨げる場合の右寄せは扱わない。)
trajectory: {"t", "x", "y", "v"}。x = 道に沿った前端の位置、y = 車の左側面と道路の左端の距離(≥ 0)、v = 速さ。intersections = [(x_in, x_out), ...] (交差点の範囲)。車は [x − car_length, x] を占める。t_approach = 近づきに気づくべき時刻、t_passed = 緊急自動車が通り過ぎた時刻。
判定(閾値はすべて 仮定、法は数値を定めていない):
• 「附近」= t_approach の自車の前端が [x_in − near_margin, x_out + near_margin] に入る交差点がある。
• 「左に寄る」= 期間中に y ≤ left_tol。「一時停止」= 期間中に v ≤ stop_speed の刻みがある。
• 「交差点を避け」= 期間中に止まっている刻み(v ≤ stop_speed)で車体が交差点の範囲に重ならない。
返り値: case("40-1" / "40-2")、violations(各 {"rule", "detail", "article"})、ok、min_y、stopped、stopped_in_intersection。
• 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_decisions — py -3.11 examples/poc_driving_decisions.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
decide)mirror_reflection_matrix · mirror_virtual_camera · mirror_aim_normal · convex_mirror_fov · mirror_blind_zone · check_sequence_score · signal_phase_plan · signal_state
*Provenance: drivedecide.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.