friction_circle_usage — DRIVE `lateral` op

• Data kinds: any → any

• Call: import fullseye as fs; fs.ledger.friction_circle_usage(ax, ay, *, mu: 'float', g: 'float' = 9.81) -> 'np.ndarray' (to call the implementation directly, import drivelateral; drivelateral.friction_circle_usage(ax, ay, *, mu: 'float', g: 'float' = 9.81) -> 'np.ndarray'; from the registry, opsdrive.get("friction_circle_usage"))

Usage

Friction-circle utilization √(a_x² + a_y²) / (μ g) (above 1 = outside the friction circle = exceeds the force the tires can receive from the road surface).

ax, ay: longitudinal and lateral acceleration [m/s²] (same shape, or broadcastable shapes). mu: road–tyre friction coefficient (> 0).

Returns: array of usage ratios (same shape as the input).

Raises ValueError: non-finite, μ ≤ 0, g ≤ 0.

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 `any` as input)

course_crank · course_s_curve · course_turnaround · course_slope · course_intersection · course_parallel_parking · course_crossing · course_road

Same category (`lateral`)

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

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

friction_circle_usage — DRIVE lateral op