time_to_line_crossing — DRIVE lateral op

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

• Call: import fullseye as fs; fs.ledger.time_to_line_crossing(offset: 'float', heading_error: 'float', curvature: 'float', speed: 'float', *, line_offset: 'float', lane_curvature: 'float' = 0.0) -> 'float' (to call the implementation directly, import drivelateral; drivelateral.time_to_line_crossing(offset: 'float', heading_error: 'float', curvature: 'float', speed: 'float', *, line_offset: 'float', lane_curvature: 'float' = 0.0) -> 'float'; from the registry, opsdrive.get("time_to_line_crossing"))

Usage

TLC: time [s] until the vehicle (its reference point) reaches the lane boundary, assuming it drives a circle (or straight line) at its current curvature.

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

座標: 車線の中心線の上の点を原点、中心線の向きを +x、左を +y。車は (0, offset)、中心線に対する向き heading_error、曲率 curvature(左が正)。境界は中心線から横 line_offset(左が正)の線 —— 中心線が曲率 lane_curvature の円なら、それと同心の円。届かなければ inf。

Raises ValueError: 非有限、v ≤ 0、車がすでに境界の外側(offset と line_offset の関係で判断)。

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 scalar as input)

spin_from_marker_sequence · carla_transform_matrix · carla_pose_to_world · carla_camera_pose · carla_xy_yaw · carla_scene_load · town_chain · osm_parse

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).*

© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.