rss op• Data kinds: table → table
• Call: import fullseye as fs; fs.ledger.rss_worst_case_gap_lateral(d0: 'float', v1: 'float', v2: 'float', p1: 'dict', p2: 'Optional[dict]' = None, dt: 'float' = 0.001, t_max: 'Optional[float]' = None) -> 'Dict[str, object]' (to call the implementation directly, import rsssafety; rsssafety.rss_worst_case_gap_lateral(d0: 'float', v1: 'float', v2: 'float', p1: 'dict', p2: 'Optional[dict]' = None, dt: 'float' = 0.001, t_max: 'Optional[float]' = None) -> 'Dict[str, object]'; from the registry, opsdrive.get("rss_worst_case_gap_lateral"))
Lateral worst case: during ρ, accelerate toward each other with lat_accel_max → decelerate with lat_brake_min until the lateral velocity is 0.
c_1 (left) starts at y = 0, c_2 (right) at y = d0. + points right. A vehicle whose lateral speed after ρ points away from the other is treated as stopped at that moment (same as the lib's stated pattern; moving away does not narrow the gap). gap = y_2 − y_1. μ is the lower bound of the final gap (the paper's Definition lateral_safe_distance), so the comparison excludes μ:
under the paper's assumption (v_{1,ρ} ≥ 0, v_{2,ρ} ≤ 0), min_gap = d0 − max(d_min − μ, 0) (μ = ½(μ_1 + μ_2), d_min = rss_lateral). Outside the assumption, min_gap can be at or below this value (module docstring "worst-case time integration"). Returns t, y1, y2, v1, v2, gap, min_gap, t_min, collided (min_gap < 0), margin (μ), final_gap (両車停止後の間隔 = gap[-1]、t_max で打ち切ればその時刻の間隔), margin_violated (final_gap < μ), min_gap_closed_form (= d0 − max(d_min − μ, 0)), shortfall (= min_gap_closed_form − min_gap ≥ 0、閉形式が安全側でない分), paper_assumption (両車の ρ 後の横速度が互いに向いているか), t_stop_1, t_stop_2. d0 > d_min ⇔ final_gap > μ (equivalent to the lib's "safe").
• 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.
• gallery_drive_lateral_env — py -3.11 examples/gallery_drive_lateral_env.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
rss)rss_params · rss_stopping_distance · rss_longitudinal_same · rss_longitudinal_opposite · rss_lateral · rss_longitudinal_check · rss_lateral_check · rss_worst_case_gap
*Provenance: rsssafety.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.