crossing op• Data kinds: table → table
• Call: import fullseye as fs; fs.ledger.crossing_stop_check(trajectory, *, stop_line: 'float', crossing_start: 'float', crossing_end: 'float', car_length: 'float', look_events: 'Sequence[Tuple[float, str]]' = (), forbidden_intervals: 'Sequence[Tuple[float, float]]' = (), queue_rear: 'Optional[float]' = None, signal_controlled: 'bool' = False, near: 'float' = 2.0, v_stop: 'float' = 0.05, gap: 'float' = 1.0, beyond: 'float' = 0.5, brake_max: 'Optional[float]' = None) -> 'Dict[str, object]' (to call the implementation directly, import drivecrossing; drivecrossing.crossing_stop_check(trajectory, *, stop_line: 'float', crossing_start: 'float', crossing_end: 'float', car_length: 'float', look_events: 'Sequence[Tuple[float, str]]' = (), forbidden_intervals: 'Sequence[Tuple[float, float]]' = (), queue_rear: 'Optional[float]' = None, signal_controlled: 'bool' = False, near: 'float' = 2.0, v_stop: 'float' = 0.05, gap: 'float' = 1.0, beyond: 'float' = 0.5, brake_max: 'Optional[float]' = None) -> 'Dict[str, object]'; from the registry, opsdrive.get("crossing_stop_check"))
Scores how a railroad crossing is traversed (Art. 33(1)-(2), Art. 50(2), Rules of the Road (Kyosoku) 6-1-1(1)(3)(4)(5)).
> The detailed description below is the original text — the summary and the headings are translated.
trajectory = {"t", "x"[, "v"]}(x = 車の前端)。判定(違反の名前):
• no_stop(33 条 1 項): 前端が踏切に入る前に、停止線の直前([stop_line − near, stop_line])で止まっていない(signal_controlled なら免除)。
• no_look(33 条 1 項・教則 6-1-1(1)(2)): 最後の停止の間(止まってから動き出すまで)に左右の両方を見ていない。
• entered_while_forbidden(33 条 2 項): 前端が踏切の手前の端を越えた時刻が forbidden_intervals の中。brake_max [m/s²] を渡すと、その区間の始まりの時点で brake_max の減速では踏切の手前に止まれなかった進入(v² / (2 brake_max) > 踏切までの距離)は違反に数えず unavoidable に記録する(黄信号で止まれない距離と同じ考え方。法に明文の例外は無い = 解釈・仮定)。None なら例外なし。
• no_exit_room(50 条 2 項): 入った時刻に向こう側の余地が無い(exit_room_check)。
• stopped_inside(教則 6-1-1(5)): 車体が踏切にかかっている間に止まった。
踏切に入らなかった軌跡は entered = False(違反は停止・確認以外を数えない)。
• 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_crossing — py -3.11 examples/poc_driving_crossing.py
• poc_driving_town — py -3.11 examples/poc_driving_town.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
crossing)crossing_timing_check · crossing_gate_state · crossing_lamp_signal · lamp_pair_phase · crossing_clear_time · exit_room_check · track_sight_distance · sight_triangle_distance
*Provenance: drivecrossing.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.