Open-Harbor/osrm-backend
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases 3 Wiki Activity

make roundabout maneuvers continuous with respect to lane changes

Browse Source
This commit is contained in:
Moritz Kobitzsch 2016-07-15 14:14:06 +02:00
parent 86241a2793
commit 396add1e9d
5 changed files with 70 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
CHANGELOG.md
View File

@ -8,6 +8,7 @@
- Guidance
- Improved detection of obvious turns
- Improved turn lane detection
- Improved lane anticipation for roundabouts
- Bugfixes
- Fix bug that didn't chose minimal weights on overlapping edges

56
features/guidance/anticipate-lanes.feature
View File

@ -365,6 +365,62 @@ Feature: Turn Lane Guidance
| 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 |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | | | |
| | | 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 |
| 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

5
include/engine/guidance/lane_processing.hpp
View File

@ -15,7 +15,10 @@ namespace guidance
// Constrains lanes for multi-hop situations where lane changes depend on earlier ones.
// Instead of forcing users to change lanes rapidly in a short amount of time,
// we anticipate lane changes emitting only matching lanes early on.
std::vector<RouteStep> anticipateLaneChange(std::vector<RouteStep> steps);
// the second parameter describes the duration that we feel two segments need to be apart to count
// as separate maneuvers.
std::vector<RouteStep> anticipateLaneChange(std::vector<RouteStep> steps,
const double min_duration_needed_for_lane_change = 15);
} // namespace guidance
} // namespace engine

10
src/engine/guidance/lane_processing.cpp
View File

@ -1,3 +1,4 @@
#include "util/debug.hpp"
#include "util/for_each_pair.hpp"
#include "util/group_by.hpp"
#include "util/guidance/toolkit.hpp"
@ -20,18 +21,17 @@ namespace engine
namespace guidance
{
std::vector<RouteStep> anticipateLaneChange(std::vector<RouteStep> steps)
std::vector<RouteStep> anticipateLaneChange(std::vector<RouteStep> steps,
const double min_duration_needed_for_lane_change)
{
const constexpr auto MIN_DURATION_NEEDED_FOR_LANE_CHANGE = 15.;
// Postprocessing does not strictly guarantee for only turns
const auto is_turn = [](const RouteStep &step) {
return step.maneuver.instruction.type != TurnType::NewName &&
step.maneuver.instruction.type != TurnType::Notification;
};
const auto is_quick = [MIN_DURATION_NEEDED_FOR_LANE_CHANGE](const RouteStep &step) {
return step.duration < MIN_DURATION_NEEDED_FOR_LANE_CHANGE;
const auto is_quick = [min_duration_needed_for_lane_change](const RouteStep &step) {
return step.duration < min_duration_needed_for_lane_change;
};
const auto is_quick_turn = [&](const RouteStep &step) {

5
src/engine/guidance/post_processing.cpp
View File

@ -524,7 +524,10 @@ std::vector<RouteStep> anticipateLaneChangeForRoundabouts(std::vector<RouteStep>
enter.maneuver.instruction.direction_modifier =
mirrorDirectionModifier(enter_direction);
auto enterAndLeave = anticipateLaneChange({enter, leave});
// a roundabout is a continuous maneuver. We don't switch lanes within a roundabout, as long
// as it can be avoided.
auto enterAndLeave =
anticipateLaneChange({enter, leave}, std::numeric_limits<double>::max());
// Undo flipping direction on a right turn in a right-sided counter-clockwise roundabout.
// FIXME: assumes right-side driving (counter-clockwise roundabout flow)