commonroad op• Data kinds: table × table → table
• Call: import fullseye as fs; fs.ledger.cr_collision(scene, run, *, margin: 'float' = 0.0, lanelets: 'str' = 'all') -> 'dict' (to call the implementation directly, import drivecommonroad; drivecommonroad.cr_collision(scene, run, *, margin: 'float' = 0.0, lanelets: 'str' = 'all') -> 'dict'; from the registry, opsdrive.get("cr_collision"))
Collision with obstacles (rectangle-vs-rectangle SAT, per time_step) and road boundary (whether the vehicle's 4 corners lie inside the union of the lanelet polygons).
lanelets="all" (default) uses all lanelets of the scene (the same scope as the grader's boundary_collision); "route" uses only the route's lanelets. margin is the distance (m) by which the obstacles' SAT is inflated.
Return value {"obstacle_collision", "first_collision": (time_step, obstacle_id) | None, "boundary_violation", "first_outside": time_step | None, "n_collisions", "n_outside"}.
Raises ValueError: invalid scene / run, lanelets other than "all"/"route", margin < 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_commonroad — py -3.11 examples/poc_driving_commonroad.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
commonroad)cr_synthetic · cr_read · cr_route · ks_step · cr_drive · cr_drive_sweep · cr_feasible · cr_solution_xml
*Provenance: drivecommonroad.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.