curvature_speed_plan — DRIVE `lateral` op

• Data kinds: any → table

• Call: import fullseye as fs; fs.ledger.curvature_speed_plan(s, kappa, *, v_max, a_lat_max: 'float', a_accel: 'float', a_decel: 'float', a_total: 'Optional[float]' = None, v_start: 'Optional[float]' = None, v_end: 'Optional[float]' = None) -> 'Dict[str, np.ndarray]' (to call the implementation directly, import drivelateral; drivelateral.curvature_speed_plan(s, kappa, *, v_max, a_lat_max: 'float', a_accel: 'float', a_decel: 'float', a_total: 'Optional[float]' = None, v_start: 'Optional[float]' = None, v_end: 'Optional[float]' = None) -> 'Dict[str, np.ndarray]'; from the registry, opsdrive.get("curvature_speed_plan"))

Usage

Speed planning that builds a speed limit from a curvature sequence and enforces acceleration/deceleration limits with 2 passes, forward and backward (a classical method).

> The detailed description below is the original text — the summary and the headings are translated.

s: 弧長(増加、(N,))。kappa: 各点の曲率(符号は問わない)。v_max: 速度の上限(スカラーまたは (N,)、法定速度・徐行の区間など)。上限 v_lim = min(v_max, √(a_lat_max/|κ|))。刻みの間は v² を s に一次(一定の加減速)。a_total(摩擦円の半径、例 μg)を与えると、縦の加減速を √(a_total² − (v²κ_m)²) でも抑える(κ_m = 刻みの両端の |κ| の大きい方、2 次方程式で解くので刻みの中の どこでも √(a_x² + a_y²) ≤ a_total)。a_lat_max ≤ a_total を要求。

返り値: v, v_limit, ax(刻みごとの縦の加速度、(N−1,))、ay_max(刻みの中の横の加速度の最大)、time(到着時刻、v² 一次の厳密な時間)。

Raises ValueError: 形の誤り、s が増加でない、上限が正でない、a_lat_max > a_total、v_start/v_end が上限超え。

References (sample data, literature)

• 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.

Runnable examples (verified samples that actually call this op)

• poc_driving_lateral — py -3.11 examples/poc_driving_lateral.py

Ops the type connects to (they accept `table` as input)

course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same

Same category (`lateral`)

friction_circle_usage · curve_speed_limit · design_min_radius · understeer_gradient · steady_cornering · bicycle_model_step · ackermann_steer_angles · offtracking_circle

*Provenance: drivelateral.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

curvature_speed_plan — DRIVE lateral op