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osrm-backend/features/guidance/anticipate-lanes.feature

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Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
@routing @guidance @turn-lanes
Feature: Turn Lane Guidance
Background:
Given the profile "car"
Given a grid size of 20 meters
@anticipate
Scenario: Anticipate Lane Change for subsequent multi-lane intersections
Given the node map
| a | | b | | x | | |
| | | | | | | |
| | | c | | d | | z |
| | | | | | | |
| | | y | | e | | |
And the ways
update cucumber to 1.2.1 and remove hack
2016-07-07 09:31:20 -04:00
| nodes | turn:lanes:forward |
| ab | through\|right\|right\|right |
| bx | |
| bc | left\|left\|through |
| cd | through\|right |
| cy | |
| dz | |
| de | |
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
When I route I should get
expose lanes as enums, adjusted for comments
2016-06-21 04:41:08 -04:00
| waypoints | route | turns | lanes | # |
| a,d | ab,bc,cd,cd | depart,turn right,turn left,arrive | ,straight:false right:true right:true right:false,left:true left:true straight:false, | 2 hops |
| a,e | ab,bc,cd,de,de | depart,turn right,turn left,turn right,arrive | ,straight:false right:false right:true right:false,left:false left:true straight:false,straight:false right:true, | 3 hops |
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
@anticipate
Scenario: Anticipate Lane Change for quick same direction turns, staying on the same street
Given the node map
| a | | b | x |
| | | | |
| | | c | |
| | | | |
| e | | d | y |
And the ways
update cucumber to 1.2.1 and remove hack
2016-07-07 09:31:20 -04:00
| nodes | turn:lanes:forward | turn:lanes:backward | name |
| ab | through\|right\|right | | MySt |
| bx | | | XSt |
| bc | | left\|right | MySt |
| cd | left\|right | through\|through | MySt |
| de | | left\|left\|through | MySt |
| dy | | | YSt |
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
When I route I should get
expose lanes as enums, adjusted for comments
2016-06-21 04:41:08 -04:00
| waypoints | route | turns | lanes |
| a,e | MySt,MySt,MySt,MySt | depart,continue right,turn right,arrive | ,straight:false right:false right:true,left:false right:true, |
| e,a | MySt,MySt,MySt,MySt | depart,continue left,turn left,arrive | ,left:true left:false straight:false,left:true right:false, |
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
@anticipate
Scenario: Anticipate Lane Change for quick same direction turns, changing between streets
Given the node map
| a | | b | x |
| | | | |
| | | c | |
| | | | |
| e | | d | y |
And the ways
update cucumber to 1.2.1 and remove hack
2016-07-07 09:31:20 -04:00
| nodes | turn:lanes:forward | turn:lanes:backward | name |
| ab | through\|right\|right | | AXSt |
| bx | | | AXSt |
| bc | | left\|right | BDSt |
| cd | left\|right | through\|through | BDSt |
| de | | left\|left\|through | EYSt |
| dy | | | EYSt |
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
When I route I should get
expose lanes as enums, adjusted for comments
2016-06-21 04:41:08 -04:00
| waypoints | route | turns | lanes |
| a,e | AXSt,BDSt,EYSt,EYSt | depart,turn right,turn right,arrive | ,straight:false right:false right:true,left:false right:true, |
| e,a | EYSt,BDSt,AXSt,AXSt | depart,turn left,turn left,arrive | ,left:true left:false straight:false,left:true right:false, |
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
@anticipate
Scenario: Anticipate Lane Change for quick turns during a merge
Given the node map
| a | | | | |
| x | b | | c | y |
| | | | | d |
And the ways
| nodes | turn:lanes:forward | name | highway | oneway |
| ab | slight_left\|slight_left | On | motorway_link | yes |
| xb | | Hwy | motorway | |
| bc | through\|slight_right | Hwy | motorway | |
| cd | | Off | motorway_link | yes |
| cy | | Hwy | motorway | |
When I route I should get
expose lanes as enums, adjusted for comments
2016-06-21 04:41:08 -04:00
| waypoints | route | turns | lanes |
| a,d | On,Hwy,Off,Off | depart,merge slight right,off ramp right,arrive | ,slight left:false slight left:true,straight:false slight right:true, |
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
@anticipate
Scenario: Schoenefelder Kreuz
# https://www.openstreetmap.org/way/264306388#map=16/52.3202/13.5568
Given the node map
| a | b | x | | | i |
| | | c | d | | |
| | | | | | j |
And the ways
update cucumber to 1.2.1 and remove hack
2016-07-07 09:31:20 -04:00
| nodes | turn:lanes:forward | lanes | highway | oneway | name |
| ab | none\|none\|none\|slight_right\|slight_right | 5 | motorway | | abx |
| bx | | 3 | motorway | | abx |
| bc | | 2 | motorway_link | yes | bcd |
| cd | slight_left\|slight_left;slight_right\|slight_right | 3 | motorway_link | yes | bcd |
| di | slight_left\|slight_right | 2 | motorway_link | yes | di |
| dj | | 2 | motorway_link | yes | dj |
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
When I route I should get
Implement Turn Lane Api
2016-06-15 08:38:24 -04:00
| waypoints | route | turns | lanes |
expose lanes as enums, adjusted for comments
2016-06-21 04:41:08 -04:00
| a,i | abx,bcd,di,di | depart,off ramp right,fork slight left,arrive | ,none:false none:false none:false slight right:true slight right:true,slight left:true slight left;slight right:true slight right:false, |
| a,j | abx,bcd,dj,dj | depart,off ramp right,fork slight right,arrive | ,none:false none:false none:false slight right:true slight right:true,slight left:false slight left;slight right:true slight right:true, |
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
@anticipate
Scenario: Kreuz Oranienburg
# https://www.openstreetmap.org/way/4484007#map=18/52.70439/13.20269
Given the node map
| i | | | | | a |
| j | | c | b | | x |
And the ways
| nodes | turn:lanes:forward | lanes | highway | oneway | name |
| ab | | 1 | motorway_link | yes | ab |
| xb | | 1 | motorway_link | yes | xbcj |
| bc | none\|slight_right | 2 | motorway_link | yes | xbcj |
| ci | | 1 | motorway_link | yes | ci |
| cj | | 1 | motorway_link | yes | xbcj |
When I route I should get
Implement Turn Lane Api
2016-06-15 08:38:24 -04:00
| waypoints | route | turns | lanes |
expose lanes as enums, adjusted for comments
2016-06-21 04:41:08 -04:00
| a,i | ab,xbcj,ci,ci | depart,merge slight left,turn slight right,arrive | ,,none:false slight right:true, |
| a,j | ab,xbcj,xbcj,xbcj | depart,merge slight left,use lane straight,arrive | ,,none:true slight right:false, |
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
@anticipate
Scenario: Lane anticipation for fan-in
Given the node map
| a | | b | | x | | |
| | | | | | | |
| | | c | | d | | z |
| | | | | | | |
| | | y | | e | | |
And the ways
update cucumber to 1.2.1 and remove hack
2016-07-07 09:31:20 -04:00
| nodes | turn:lanes:forward | name |
| ab | through\|right\|right\|right | abx |
| bx | | abx |
| bc | left\|left\|through | bcy |
| cy | | bcy |
| cd | through\|right | cdz |
| dz | | cdz |
| de | | de |
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
When I route I should get
expose lanes as enums, adjusted for comments
2016-06-21 04:41:08 -04:00
| waypoints | route | turns | lanes |
| a,e | abx,bcy,cdz,de,de | depart,turn right,turn left,turn right,arrive | ,straight:false right:false right:true right:false,left:false left:true straight:false,straight:false right:true, |
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
@anticipate
Scenario: Lane anticipation for fan-out
Given the node map
| a | | b | | x | | |
| | | | | | | |
| | | c | | d | | z |
| | | | | | | |
| | | y | | e | | |
And the ways
update cucumber to 1.2.1 and remove hack
2016-07-07 09:31:20 -04:00
| nodes | turn:lanes:forward | name |
| ab | through\|right | abx |
| bx | | abx |
| bc | left\|left\|through | bcy |
| cy | | bcy |
| cd | through\|right\|right\|right | cdz |
| dz | | cdz |
| de | | de |
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
When I route I should get
expose lanes as enums, adjusted for comments
2016-06-21 04:41:08 -04:00
| waypoints | route | turns | lanes |
| a,e | abx,bcy,cdz,de,de | depart,turn right,turn left,turn right,arrive | ,straight:false right:true,left:true left:true straight:false,straight:false right:true right:true right:true, |
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
@anticipate
Scenario: Lane anticipation for fan-in followed by fan-out
Given the node map
| a | | b | | x | | |
| | | | | | | |
| | | c | | d | | z |
| | | | | | | |
| | | y | | e | | |
And the ways
update cucumber to 1.2.1 and remove hack
2016-07-07 09:31:20 -04:00
| nodes | turn:lanes:forward | name |
| ab | through\|right\|right\|right | abx |
| bx | | abx |
| bc | left\|left\|through | bcy |
| cy | | bcy |
| cd | through\|right\|right\|right | cdz |
| dz | | cdz |
| de | | de |
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
When I route I should get
expose lanes as enums, adjusted for comments
2016-06-21 04:41:08 -04:00
| waypoints | route | turns | lanes |
| a,e | abx,bcy,cdz,de,de | depart,turn right,turn left,turn right,arrive | ,straight:false right:true right:true right:false,left:true left:true straight:false,straight:false right:true right:true right:true, |
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
@anticipate
Scenario: Lane anticipation for fan-out followed by fan-in
Given the node map
| a | | b | | x | | |
| | | | | | | |
| | | c | | d | | z |
| | | | | | | |
| | | y | | e | | |
And the ways
update cucumber to 1.2.1 and remove hack
2016-07-07 09:31:20 -04:00
| nodes | turn:lanes:forward | name |
| ab | through\|right | abx |
| bx | | abx |
| bc | left\|left\|through | bcy |
| cy | | bcy |
| cd | through\|right | cdz |
| dz | | cdz |
| de | | de |
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
When I route I should get
expose lanes as enums, adjusted for comments
2016-06-21 04:41:08 -04:00
| waypoints | route | turns | lanes |
| a,e | abx,bcy,cdz,de,de | depart,turn right,turn left,turn right,arrive | ,straight:false right:true,left:false left:true straight:false,straight:false right:true, |
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
@anticipate
Scenario: Lane anticipation for multiple hops with same number of lanes
Given the node map
| a | | b | | x | | |
| | | | | | | |
| | | c | | d | | z |
| | | | | | | |
| | | y | | e | | f |
| | | | | | | |
| | | | | w | | |
And the ways
update cucumber to 1.2.1 and remove hack
2016-07-07 09:31:20 -04:00
| nodes | turn:lanes:forward | name |
| ab | through\|right\|right\|right | abx |
| bx | | abx |
| bc | left\|left\|through | bcy |
| cy | | bcy |
| cd | through\|right\|right | cdz |
| dz | | cdz |
| de | left\|through | dew |
| ew | | dew |
| ef | | ef |
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
When I route I should get
expose lanes as enums, adjusted for comments
2016-06-21 04:41:08 -04:00
| waypoints | route | turns | lanes |
| a,f | abx,bcy,cdz,dew,ef,ef | depart,turn right,turn left,turn right,turn left,arrive | ,straight:false right:false right:true right:false,left:false left:true straight:false,straight:false right:true right:false,left:true straight:false, |
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
Improves Lane Handling for Multi-Hop Roundabout Instruction This changeset implements Lane Anticipation on roundabouts, delimited by enter / leave step pairs. It does not handle lane anticipation within a roundabout. Lane anticipation happens on the granularity of a valid roundbaout: We discard partial roundabout (enter without exit or exit without enter) or data issues (no roundabout, exit before enter). Related: - https://github.com/Project-OSRM/osrm-backend/issues/2626 for lanes within a roundabout - https://github.com/Project-OSRM/osrm-backend/issues/2625 for handling going straight in lane anticipation
2016-06-30 06:10:48 -04:00
@anticipate
Scenario: Anticipate with lanes in roundabout: roundabouts as the unit of anticipation
Given the node map
| | | e | | |
| a | b | | d | f |
| | | c | | |
| | | | | |
| | | g | | |
| k | h | | j | l |
| | | i | | |
And the ways
| nodes | turn:lanes:forward | highway | junction | # |
Fix tests after cucumber update and changed escaping.
2016-07-13 05:48:53 -04:00
| ab | slight_right\|slight_right\|slight_right | primary | | |
| bc | slight_left\|slight_right\|slight_right | primary | roundabout | top |
Improves Lane Handling for Multi-Hop Roundabout Instruction This changeset implements Lane Anticipation on roundabouts, delimited by enter / leave step pairs. It does not handle lane anticipation within a roundabout. Lane anticipation happens on the granularity of a valid roundbaout: We discard partial roundabout (enter without exit or exit without enter) or data issues (no roundabout, exit before enter). Related: - https://github.com/Project-OSRM/osrm-backend/issues/2626 for lanes within a roundabout - https://github.com/Project-OSRM/osrm-backend/issues/2625 for handling going straight in lane anticipation
2016-06-30 06:10:48 -04:00
| cd | | primary | roundabout | top |
| de | | primary | roundabout | top |
| eb | | primary | roundabout | top |
| df | | primary | | |
| cg | slight_right\|slight_right | primary | | |
| gh | slight_left\|slight_right | primary | roundabout | bot |
| hi | | primary | roundabout | bot |
| ij | slight_left\|slight_right | primary | roundabout | bot |
| jg | | primary | roundabout | bot |
| hk | | primary | | |
| jl | | primary | | |
When I route I should get
| # | waypoints | route | turns | lanes |
| right-right | a,k | ab,cg,hk,hk | depart,roundabout-exit-1,roundabout-exit-1,arrive | ,slight right:false slight right:false slight right:true,slight right:false slight right:true, |
| right-left | a,l | ab,cg,jl,jl | depart,roundabout-exit-1,roundabout-exit-2,arrive | ,slight right:false slight right:false slight right:true,slight right:false slight right:true, |
| todo exits | a,f | ab,df,df | depart,roundabout-exit-2,arrive | ,slight right:false slight right:false slight right:true, |
| todo exits | a,e | ab,bc,eb | depart,roundabout-exit-undefined,arrive | ,slight right:true slight right:true slight right:true, |
@anticipate @todo
Scenario: Roundabout with lanes only tagged on exit
Given the node map
| | | e | | |
| a | b | | d | f |
| | | c | | |
And the ways
| nodes | turn:lanes:forward | highway | junction |
| ab | | primary | |
| bc | | primary | roundabout |
Fix tests after cucumber update and changed escaping.
2016-07-13 05:48:53 -04:00
| cd | slight_left\|slight_left\|slight_right | primary | roundabout |
Improves Lane Handling for Multi-Hop Roundabout Instruction This changeset implements Lane Anticipation on roundabouts, delimited by enter / leave step pairs. It does not handle lane anticipation within a roundabout. Lane anticipation happens on the granularity of a valid roundbaout: We discard partial roundabout (enter without exit or exit without enter) or data issues (no roundabout, exit before enter). Related: - https://github.com/Project-OSRM/osrm-backend/issues/2626 for lanes within a roundabout - https://github.com/Project-OSRM/osrm-backend/issues/2625 for handling going straight in lane anticipation
2016-06-30 06:10:48 -04:00
| de | | primary | roundabout |
| eb | | primary | roundabout |
| df | | primary | |
When I route I should get
| waypoints | route | turns | lanes |
| a,f | ab,df,df | depart,roundabout-exit-1,use lane slight right,arrive | ,,slight left:false slight left:false slight right:true, |
@anticipate
Scenario: Anticipate with lanes in roundabout where we stay on the roundabout for multiple exits
Given the node map
| | | a | | |
| | | b | | |
| | c | | g | h |
| | | | | |
| | d | | f | |
| | | e | | |
| x | | | | y |
And the ways
| nodes | turn:lanes:forward | highway | junction |
| ab | slight_right\|slight_right | primary | |
| bc | | primary | roundabout |
| cd | | primary | roundabout |
| de | | primary | roundabout |
| ef | | primary | roundabout |
| fg | slight_right | primary | roundabout |
| gb | | primary | roundabout |
| gh | | primary | |
| cx | | primary | |
| dx | | primary | |
| ey | | primary | |
| fy | | primary | |
When I route I should get
| waypoints | route | turns | lanes |
| a,h | ab,gh,gh | depart,roundabout-exit-5,arrive | ,slight right:false slight right:true, |
@anticipate
Scenario: Departing or arriving inside a roundabout does not yet anticipate lanes
Given the node map
| | | a | | |
| x | b | | d | y |
| | | c | | |
And the ways
| nodes | turn:lanes:forward | highway | junction | name |
| xb | slight_right\|slight_right | primary | | xb |
| dy | | primary | | dy |
| ab | | primary | roundabout | roundabout |
| bc | | primary | roundabout | roundabout |
| cd | left\|slight_right | primary | roundabout | roundabout |
| da | | primary | roundabout | roundabout |
When I route I should get
| waypoints | route | turns | lanes |
make roundabout maneuvers continuous with respect to lane changes
2016-07-15 08:14:06 -04:00
| x,y | xb,dy,dy | depart,roundabout-exit-1,arrive | ,slight right:false slight right:true, |
| x,c | xb,roundabout,roundabout | depart,roundabout-exit-undefined,arrive | ,slight right:true slight right:true, |
| x,a | xb,roundabout,roundabout | depart,roundabout-exit-undefined,arrive | ,slight right:true slight right:true, |
@anticipate
Scenario: Departing or arriving inside a roundabout does not yet anticipate lanes (BIG version)
Given the node map
| | | a | | |
| x | b | | d | y |
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| | | c | | |
And the ways
| nodes | turn:lanes:forward | highway | junction | name |
| xb | slight_right\|slight_right | primary | | xb |
| dy | | primary | | dy |
| ab | | primary | roundabout | roundabout |
| bc | | primary | roundabout | roundabout |
| cd | left\|slight_right | primary | roundabout | roundabout |
| da | | primary | roundabout | roundabout |
When I route I should get
| waypoints | route | turns | lanes |
Improves Lane Handling for Multi-Hop Roundabout Instruction This changeset implements Lane Anticipation on roundabouts, delimited by enter / leave step pairs. It does not handle lane anticipation within a roundabout. Lane anticipation happens on the granularity of a valid roundbaout: We discard partial roundabout (enter without exit or exit without enter) or data issues (no roundabout, exit before enter). Related: - https://github.com/Project-OSRM/osrm-backend/issues/2626 for lanes within a roundabout - https://github.com/Project-OSRM/osrm-backend/issues/2625 for handling going straight in lane anticipation
2016-06-30 06:10:48 -04:00
| x,y | xb,dy,dy | depart,roundabout-exit-1,arrive | ,slight right:false slight right:true, |
| x,c | xb,roundabout,roundabout | depart,roundabout-exit-undefined,arrive | ,slight right:true slight right:true, |
| x,a | xb,roundabout,roundabout | depart,roundabout-exit-undefined,arrive | ,slight right:true slight right:true, |
@anticipate
Scenario: Anticipate Lanes for turns before and / or after roundabout
Given the node map
| a | b | | | x |
| | c | | | |
| d | | f | g | z |
| | e | | h | |
| | | | | |
| | y | | | |
And the ways
Fix tests after cucumber update and changed escaping.
2016-07-13 05:48:53 -04:00
| nodes | turn:lanes:forward | highway | junction | name |
| ab | through\|right\|right\|right\|right | primary | | abx |
| bx | | primary | | abx |
| bc | right\|right\|right\|right | primary | | bc |
| cd | | primary | roundabout | cdefc |
| de | slight_left\|slight_left&slight_left\|slight_right | primary | roundabout | cdefc |
| ef | left\|slight_right\|slight_right | primary | roundabout | cdefc |
| fc | | primary | roundabout | cdefc |
| ey | | primary | | ey |
| fg | through\|right | primary | | fg |
| gz | | primary | | gz |
| gh | | primary | | gh |
Improves Lane Handling for Multi-Hop Roundabout Instruction This changeset implements Lane Anticipation on roundabouts, delimited by enter / leave step pairs. It does not handle lane anticipation within a roundabout. Lane anticipation happens on the granularity of a valid roundbaout: We discard partial roundabout (enter without exit or exit without enter) or data issues (no roundabout, exit before enter). Related: - https://github.com/Project-OSRM/osrm-backend/issues/2626 for lanes within a roundabout - https://github.com/Project-OSRM/osrm-backend/issues/2625 for handling going straight in lane anticipation
2016-06-30 06:10:48 -04:00
When I route I should get
| waypoints | route | turns | lanes |
| a,h | abx,bc,fg,gh,gh | depart,turn right,cdefc-exit-2,turn right,arrive | ,straight:false right:false right:false right:false right:true,right:false right:false right:false right:true,straight:false right:true, |
Implement Turn Lane Api
2016-06-15 08:38:24 -04:00
@anticipate @bug @todo
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
Scenario: Tripple Right keeping Left
Given the node map
| a | | | | b | | i |
| | | | | | | |
| | | | | | | |
| f | | e | | | | g |
| | | | | | | |
| | | | | | | |
| | j | d | | c | | |
| | | | | h | | |
And the ways
| nodes | turn:lanes:forward | highway | name |
update cucumber to 1.2.1 and remove hack
2016-07-07 09:31:20 -04:00
| abi | \|\|right\|right | primary | start |
| bch | \|\|right\|right | primary | first |
| cdj | \|\|right\|right | primary | second |
| de | left\|right\|right | secondary | third |
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
| feg | | tertiary | fourth |
When I route I should get
Implement Turn Lane Api
2016-06-15 08:38:24 -04:00
| waypoints | route | turns | lanes |
| a,f | start,first,second,third,fourth,fourth | depart,turn right,turn right,turn right,end of road left,arrive | ,none:false none:true right:false right:false,none:false none:true right:false right:false,none:false none:true right:false right:false,left:true right:false right:false, |
| a,g | start,first,second,third,fourth,fourth | depart,turn right,turn right,turn right,end of road right,arrive | ,none:false none:false right:true right:true,none:false none:false right:true right:true,none:false none:false right:true right:true,left:false right:true right:true, |
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
Implement Turn Lane Api
2016-06-15 08:38:24 -04:00
@anticipate @bug @todo
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
Scenario: Tripple Left keeping Right
Given the node map
| i | | b | | | | a |
| | | | | | | |
| | | | | | | |
| g | | | | e | | f |
| | | | | | | |
| | | | | | | |
| | | c | | d | j | |
| | | h | | | | |
And the ways
| nodes | turn:lanes:forward | highway | name |
update cucumber to 1.2.1 and remove hack
2016-07-07 09:31:20 -04:00
| abi | left\|left\|\| | primary | start |
| bch | left\|left\|\| | primary | first |
| cdj | left\|left\|\| | primary | second |
| de | left\|left\|right | secondary | third |
Anticipate Lane Changes
2016-06-06 07:52:41 -04:00
| feg | | tertiary | fourth |
When I route I should get
Implement Turn Lane Api
2016-06-15 08:38:24 -04:00
| waypoints | route | turns | lanes |
| a,f | start,first,second,third,fourth,fourth | depart,turn left,turn left,turn left,end of road right,arrive | ,left:false left:false none:true none:false,left:false left:false none:true none:false,left:false left:false none:true none:false,left:false left:false right:true, |
| a,g | start,first,second,third,fourth,fourth | depart,turn left,turn left,turn left,end of road left,arrive | ,left:true left:true none:false none:false,left:true left:true none:false none:false,left:true left:true none:false none:false,left:true left:true right:false, |
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