pass op• Data kinds: any → table
• Call: import fullseye as fs; fs.ledger.lane_change_follower_decel(gap, v_follow, v_ego, *, reaction: 'float', accel_ego: 'float' = 0.0, min_gap: 'float' = 0.0, sudden: 'float' = 2.0) -> 'Dict[str, object]' (to call the implementation directly, import drivepass; drivepass.lane_change_follower_decel(gap, v_follow, v_ego, *, reaction: 'float', accel_ego: 'float' = 0.0, min_gap: 'float' = 0.0, sudden: 'float' = 2.0) -> 'Dict[str, object]'; from the registry, opsdrive.get("lane_change_follower_decel"))
Constant deceleration required for the following vehicle in the target lane not to come closer than min_gap to the ego vehicle (closed form, arrays allowed). Scenario S072.
Gap gap = distance from the follower's front end to the ego vehicle's rear end (at the moment of the change), follower speed v_follow, ego speed v_ego (keeps accelerating with accel_ego ≥ 0). The follower keeps its speed during reaction, then decelerates at a constant rate. w₀ = v_follow − v_ego. Closing during the reaction = w₀τ − a_eτ²/2 (w₀²/(2a_e) if the relative speed reaches 0 within the reaction). Relative speed after the reaction w₁ = w₀ − a_eτ, remaining g₁ = gap − min_gap − (closing). Required deceleration b = max(0, w₁²/(2g₁) − a_e). ∞ if the gap already drops below min_gap during the reaction. obstructs = b > sudden (assumption 2.0 m/s², Article 26-2 paragraph 2 "suddenly").
• 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_pass — py -3.11 examples/poc_driving_pass.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
pass)overtake_requirement · overtake_return_gap · no_overtaking_zones · overtake_permitted · overtaken_conduct_check · lane_change_permitted · roundabout_entry_check · roundabout_signal_point
*Provenance: drivepass.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.