rss_params — DRIVE `rss` op

• Data kinds: none → table (an op determined by its arguments alone — it takes no image or data input)

• Call: import fullseye as fs; fs.ledger.rss_params(rho: 'float' = 1.0, accel_max: 'float' = 3.5, brake_min: 'float' = 4.0, brake_max: 'float' = 8.0, brake_min_correct: 'float' = 3.0, lat_accel_max: 'float' = 0.2, lat_brake_min: 'float' = 0.8, lat_margin: 'float' = 0.1, min_distance: 'float' = 0.0, v_max_accel: 'Optional[float]' = None) -> 'Dict[str, Optional[float]]' (to call the implementation directly, import rsssafety; rsssafety.rss_params(rho: 'float' = 1.0, accel_max: 'float' = 3.5, brake_min: 'float' = 4.0, brake_max: 'float' = 8.0, brake_min_correct: 'float' = 3.0, lat_accel_max: 'float' = 0.2, lat_brake_min: 'float' = 0.8, lat_margin: 'float' = 0.1, min_distance: 'float' = 0.0, v_max_accel: 'Optional[float]' = None) -> 'Dict[str, Optional[float]]'; from the registry, opsdrive.get("rss_params"))

Usage

Creates the RSS parameter dict (default = the published table of ad-rss-lib; ρ is 1 s for the ego).

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

ad-rss-lib doc/ad_rss/Appendix-ParameterDiscussion.md の "conservative starting point":

ρ_ego = 1 s(他車は rss_params(rho=2.0))、a_accel_max = 3.5、a_brake_min = 4、a_brake_max = 8、a_brake_min_correct = 3、a^lat_brake_min = 0.8、a^lat_accel_max = 0.2、δ^lat_min(μ)= 0.1 m。

Parameters

rho : 応答時間 [s] (≥ 0)

accel_max : 応答時間中の最大加速度 [m/s²] (≥ 0)

brake_min : 応答後に最低限かける減速度の大きさ [m/s²] (> 0)

brake_max : 先行車が急ブレーキでかけうる最大減速度の大きさ [m/s²] (> 0、brake_min ≤ brake_max)

brake_min_correct : 正しい車線を走る車が対向に対してかける最低減速度の大きさ(> 0、≤ brake_min)

lat_accel_max : 横方向の最大加速度 [m/s²] (≥ 0)

lat_brake_min : 横方向の最低減速度の大きさ [m/s²] (> 0)

lat_margin : 横方向の揺らぎ余裕 μ [m] (≥ 0)

min_distance : 縦方向に停止後も残す最小間隔 [m] (≥ 0。lib の min_longitudinal_safety_distance)

v_max_accel : 応答時間中の加速で到達しうる最大速度 [m/s] (None = 制限なし。lib の max_speed_on_acceleration)

Returns

dict : キー名は引数名と同じ。値は float(v_max_accel だけ None を許す)。

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_ttc_rss — py -3.11 examples/poc_ttc_rss.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 (`rss`)

rss_stopping_distance · rss_longitudinal_same · rss_longitudinal_opposite · rss_lateral · rss_longitudinal_check · rss_lateral_check · rss_worst_case_gap · rss_worst_case_gap_opposite

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

rss_params — DRIVE rss op