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explicitly check for 90 degree turns / turning onto segregated roads

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This commit is contained in:
Moritz Kobitzsch
2017-10-20 11:26:45 +02:00
committed by Michael Krasnyk
parent b8651bfac9
commit 704cf314d4
4 changed files with 134 additions and 51 deletions
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src/extractor/guidance/mergable_road_detector.cpp
+61 -25
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@@ -109,7 +109,13 @@ bool MergableRoadDetector::CanMergeRoad(const NodeID intersection_node,
return true;
// finally check if two roads describe the direction
return HaveSameDirection(intersection_node, lhs, rhs);
if (HaveSameDirection(intersection_node, lhs, rhs))
{
// do not merge traffic circles and similar
return !IsCircularShape(intersection_node, lhs, rhs);
}
else
return false;
}
bool MergableRoadDetector::HaveIdenticalNames(const NameID lhs, const NameID rhs) const
@@ -184,7 +190,8 @@ bool MergableRoadDetector::IsNarrowTriangle(const NodeID intersection_node,
node_data_container.GetAnnotation(node_based_graph.GetEdgeData(lhs.eid).annotation_data)
.name_id,
lhs.bearing,
/*requires entry=*/false);
/*requires entry=*/false,
false);
NodeBasedGraphWalker graph_walker(
node_based_graph, node_data_container, intersection_generator);
@@ -270,14 +277,10 @@ bool MergableRoadDetector::IsNarrowTriangle(const NodeID intersection_node,
node_based_graph.GetTarget(right_accumulator.via_edge_id);
}
bool MergableRoadDetector::HaveSameDirection(const NodeID intersection_node,
const MergableRoadData &lhs,
const MergableRoadData &rhs) const
bool MergableRoadDetector::IsCircularShape(const NodeID intersection_node,
const MergableRoadData &lhs,
const MergableRoadData &rhs) const
{
if (angularDeviation(lhs.bearing, rhs.bearing) > MERGABLE_ANGLE_DIFFERENCE)
return false;
// Find a coordinate following a road that is far away
NodeBasedGraphWalker graph_walker(
node_based_graph, node_data_container, intersection_generator);
const auto getCoordinatesAlongWay = [&](const EdgeID edge_id, const double max_length) {
@@ -286,7 +289,8 @@ bool MergableRoadDetector::HaveSameDirection(const NodeID intersection_node,
node_data_container.GetAnnotation(node_based_graph.GetEdgeData(edge_id).annotation_data)
.name_id,
lhs.bearing,
/*requires_entry=*/false);
/*requires_entry=*/false,
false);
graph_walker.TraverseRoad(intersection_node, edge_id, accumulator, selector);
return std::make_pair(accumulator.accumulated_length, accumulator.coordinates);
@@ -295,26 +299,12 @@ bool MergableRoadDetector::HaveSameDirection(const NodeID intersection_node,
std::vector<util::Coordinate> coordinates_to_the_left, coordinates_to_the_right;
double distance_traversed_to_the_left, distance_traversed_to_the_right;
// many roads only do short parallel segments. To get a good impression of how `parallel` two
// roads are, we look 100 meters down the road (wich can be quite short for very broad roads).
const double constexpr distance_to_extract = 150;
std::tie(distance_traversed_to_the_left, coordinates_to_the_left) =
getCoordinatesAlongWay(lhs.eid, distance_to_extract);
// tuned parameter, if we didn't get as far as 40 meters, we might barely look past an
// intersection.
const auto constexpr MINIMUM_LENGTH_FOR_PARALLEL_DETECTION = 40;
// quit early if the road is not very long
if (distance_traversed_to_the_left <= MINIMUM_LENGTH_FOR_PARALLEL_DETECTION)
return false;
std::tie(distance_traversed_to_the_right, coordinates_to_the_right) =
getCoordinatesAlongWay(rhs.eid, distance_to_extract);
if (distance_traversed_to_the_right <= MINIMUM_LENGTH_FOR_PARALLEL_DETECTION)
return false;
const auto connect_again = (coordinates_to_the_left.back() == coordinates_to_the_right.back());
// Tuning parameter to detect and don't merge roads close to circular shapes
@@ -344,9 +334,55 @@ bool MergableRoadDetector::HaveSameDirection(const NodeID intersection_node,
// then don't merge roads if A/L² is greater than the lower bound
BOOST_ASSERT(area_to_squared_perimeter_ratio <= 1. / (4 * M_PI));
if (area_to_squared_perimeter_ratio >= CIRCULAR_POLYGON_ISOPERIMETRIC_LOWER_BOUND)
return false;
return true;
}
return false;
}
bool MergableRoadDetector::HaveSameDirection(const NodeID intersection_node,
const MergableRoadData &lhs,
const MergableRoadData &rhs) const
{
if (angularDeviation(lhs.bearing, rhs.bearing) > MERGABLE_ANGLE_DIFFERENCE)
return false;
// Find a coordinate following a road that is far away
NodeBasedGraphWalker graph_walker(
node_based_graph, node_data_container, intersection_generator);
const auto getCoordinatesAlongWay = [&](const EdgeID edge_id, const double max_length) {
LengthLimitedCoordinateAccumulator accumulator(coordinate_extractor, max_length);
SelectStraightmostRoadByNameAndOnlyChoice selector(
node_data_container.GetAnnotation(node_based_graph.GetEdgeData(edge_id).annotation_data)
.name_id,
lhs.bearing,
/*requires_entry=*/false,
true);
graph_walker.TraverseRoad(intersection_node, edge_id, accumulator, selector);
return std::make_pair(accumulator.accumulated_length, accumulator.coordinates);
};
std::vector<util::Coordinate> coordinates_to_the_left, coordinates_to_the_right;
double distance_traversed_to_the_left, distance_traversed_to_the_right;
std::tie(distance_traversed_to_the_left, coordinates_to_the_left) =
getCoordinatesAlongWay(lhs.eid, distance_to_extract);
// tuned parameter, if we didn't get as far as 40 meters, we might barely look past an
// intersection.
const auto constexpr MINIMUM_LENGTH_FOR_PARALLEL_DETECTION = 40;
// quit early if the road is not very long
if (distance_traversed_to_the_left <= MINIMUM_LENGTH_FOR_PARALLEL_DETECTION)
return false;
std::tie(distance_traversed_to_the_right, coordinates_to_the_right) =
getCoordinatesAlongWay(rhs.eid, distance_to_extract);
if (distance_traversed_to_the_right <= MINIMUM_LENGTH_FOR_PARALLEL_DETECTION)
return false;
const auto connect_again = (coordinates_to_the_left.back() == coordinates_to_the_right.back());
// sampling to correctly weight longer segments in regression calculations
const auto constexpr SAMPLE_INTERVAL = 5;
coordinates_to_the_left = coordinate_extractor.SampleCoordinates(