commonroad op• Data kinds: table → table
• Call: import fullseye as fs; fs.ledger.cr_drive_sweep(scene, pp_index: 'int' = 0, *, grid=None, margin: 'float' = 0.15, **kwargs) -> 'dict' (to call the implementation directly, import drivecommonroad; drivecommonroad.cr_drive_sweep(scene, pp_index: 'int' = 0, *, grid=None, margin: 'float' = 0.15, **kwargs) -> 'dict'; from the registry, opsdrive.get("cr_drive_sweep"))
Rule-based gap acceptance: tries a grid of driver parameters in order, gentlest first, and returns the first run that passes all gates.
Gate = goal reached ∧ cr_feasible ∧ no obstacle collision by cr_collision (judged with inflation by margin) ∧ no road-boundary violation. grid has the form {"a_lat": (...), "lookahead": (...), "k_v": (...), "v_cruise": (...)} (default = a_lat 2.5→10, lookahead 5/8, k_v 0.6/1.0, v_cruise None). Other kwargs go to cr_drive.
Return value {"run" (通った走行 | None), "settings" (その母数 | None), "tries": [{"settings", "goal_reached", "feasible", "obstacle_collision", "boundary_violation", "first_collision"}], "n_tries"}. If nothing passes, run is None (not a ValueError).
Raises ValueError: grid keys other than the above, margin < 0.
• 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_commonroad — py -3.11 examples/poc_driving_commonroad.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
commonroad)cr_synthetic · cr_read · cr_route · ks_step · cr_drive · cr_feasible · cr_collision · cr_solution_xml
*Provenance: drivecommonroad.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.