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Improves Lane Handling for Multi-Hop Roundabout Instruction

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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
This commit is contained in:
Daniel J. Hofmann 2016-06-30 12:10:48 +02:00 committed by Patrick Niklaus
parent 04667f1ed8
commit e76e39a398
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GPG Key ID: E426891B5F978B1B
4 changed files with 227 additions and 8 deletions
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134
features/guidance/anticipate-lanes.feature
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@ -259,6 +259,140 @@ Feature: Turn Lane Guidance
| waypoints | route | turns | lanes | | 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, | | 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
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 | # |
| ab | slight_right\|slight_right&slight_right | primary | | |
| bc | slight_left\|slight_right&slight_right | primary | roundabout | top |
| 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 |
| cd | slight_left\|slight_left&slight_right | primary | roundabout |
| 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 |
| 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
| 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 |
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, |
@anticipate @bug @todo @anticipate @bug @todo
Scenario: Tripple Right keeping Left Scenario: Tripple Right keeping Left
Given the node map Given the node map

37
include/engine/guidance/toolkit.hpp
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@ -2,10 +2,13 @@
#define OSRM_ENGINE_GUIDANCE_TOOLKIT_HPP_ #define OSRM_ENGINE_GUIDANCE_TOOLKIT_HPP_
#include "extractor/guidance/turn_instruction.hpp" #include "extractor/guidance/turn_instruction.hpp"
#include "util/guidance/toolkit.hpp" #include "engine/guidance/route_step.hpp"
#include "util/bearing.hpp" #include "util/bearing.hpp"
#include "util/guidance/toolkit.hpp"
#include <algorithm> #include <algorithm>
#include <iterator>
#include <utility>
namespace osrm namespace osrm
{ {
@ -40,6 +43,38 @@ inline extractor::guidance::DirectionModifier::Enum angleToDirectionModifier(con
return extractor::guidance::DirectionModifier::Left; return extractor::guidance::DirectionModifier::Left;
} }
// Runs fn on RouteStep sub-ranges determined to be roundabouts.
// The function fn is getting called with a roundabout range as in: [enter, .., leave].
//
// The following situations are taken care for (i.e. we discard them):
// - partial roundabout: enter without exit or exit without enter
// - data issues: no roundabout, exit before enter
template <typename Iter, typename Fn> inline Fn forEachRoundabout(Iter first, Iter last, Fn fn)
{
while (first != last)
{
const auto enter = std::find_if(first, last, [](const RouteStep &step) {
return entersRoundabout(step.maneuver.instruction);
});
// enter has to come before leave, otherwise: faulty data / partial roundabout, skip those
const auto leave = std::find_if(enter, last, [](const RouteStep &step) {
return leavesRoundabout(step.maneuver.instruction);
});
// No roundabouts, or partial one (like start / end inside a roundabout)
if (enter == last || leave == last)
break;
(void)fn(std::make_pair(enter, leave));
// Skip to first step after the currently handled enter / leave pair
first = std::next(leave);
}
return fn;
}
} // namespace guidance } // namespace guidance
} // namespace engine } // namespace engine
} // namespace osrm } // namespace osrm

11
include/util/debug.hpp
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@ -21,10 +21,13 @@ inline void print(const engine::guidance::RouteStep &step)
{ {
std::cout << static_cast<int>(step.maneuver.instruction.type) << " " std::cout << static_cast<int>(step.maneuver.instruction.type) << " "
<< static_cast<int>(step.maneuver.instruction.direction_modifier) << " " << static_cast<int>(step.maneuver.instruction.direction_modifier) << " "
<< static_cast<int>(step.maneuver.waypoint_type) << " Duration: " << step.duration << static_cast<int>(step.maneuver.waypoint_type) << " "
<< " Distance: " << step.distance << " Geometry: " << step.geometry_begin << " " << " Lanes: (" << static_cast<int>(step.maneuver.lanes.lanes_in_turn) << ", "
<< step.geometry_end << " exit: " << step.maneuver.exit << static_cast<int>(step.maneuver.lanes.first_lane_from_the_right) << ")"
<< " Intersections: " << step.intersections.size() << " ["; << " Duration: " << step.duration << " Distance: " << step.distance
<< " Geometry: " << step.geometry_begin << " " << step.geometry_end
<< " exit: " << step.maneuver.exit << " Intersections: " << step.intersections.size()
<< " [";
for (const auto &intersection : step.intersections) for (const auto &intersection : step.intersections)
{ {

53
src/engine/guidance/post_processing.cpp
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@ -1,7 +1,8 @@
#include "extractor/guidance/turn_instruction.hpp"
#include "engine/guidance/post_processing.hpp" #include "engine/guidance/post_processing.hpp"
#include "extractor/guidance/turn_instruction.hpp"
#include "engine/guidance/assemble_steps.hpp" #include "engine/guidance/assemble_steps.hpp"
#include "engine/guidance/lane_processing.hpp"
#include "engine/guidance/toolkit.hpp" #include "engine/guidance/toolkit.hpp"
#include "util/guidance/toolkit.hpp" #include "util/guidance/toolkit.hpp"
@ -498,11 +499,49 @@ void collapseTurnAt(std::vector<RouteStep> &steps,
} }
} }
// Works on steps including silent and invalid instructions in order to do lane anticipation for
// roundabouts which later on get collapsed into a single multi-hop instruction.
std::vector<RouteStep> anticipateLaneChangeForRoundabouts(std::vector<RouteStep> steps)
{
using namespace util::guidance;
using StepIter = decltype(steps)::iterator;
using StepIterRange = std::pair<StepIter, StepIter>;
const auto anticipate_lanes_in_roundabout = [&](StepIterRange roundabout) {
// We do lane anticipation on the roundabout's enter and leave step only.
// TODO: This means, lanes _inside_ the roundabout are ignored at the moment.
auto enter = *roundabout.first;
const auto leave = *roundabout.second;
// Although the enter instruction may be a left/right turn, for right-sided driving the
// roundabout is counter-clockwise and therefore we need to always set it to a left turn.
// FIXME: assumes right-side driving (counter-clockwise roundabout flow)
const auto enter_direction = enter.maneuver.instruction.direction_modifier;
if (util::guidance::isRightTurn(enter.maneuver.instruction))
enter.maneuver.instruction.direction_modifier =
mirrorDirectionModifier(enter_direction);
auto enterAndLeave = anticipateLaneChange({enter, leave});
// Undo flipping direction on a right turn in a right-sided counter-clockwise roundabout.
// FIXME: assumes right-side driving (counter-clockwise roundabout flow)
enterAndLeave[0].maneuver.instruction.direction_modifier = enter_direction;
std::swap(*roundabout.first, enterAndLeave[0]);
std::swap(*roundabout.second, enterAndLeave[1]);
};
forEachRoundabout(begin(steps), end(steps), anticipate_lanes_in_roundabout);
return steps;
}
} // namespace } // namespace
// Post processing can invalidate some instructions. For example StayOnRoundabout // Post processing can invalidate some instructions. For example StayOnRoundabout
// is turned into exit counts. These instructions are removed by the following function // is turned into exit counts. These instructions are removed by the following function
std::vector<RouteStep> removeNoTurnInstructions(std::vector<RouteStep> steps) std::vector<RouteStep> removeNoTurnInstructions(std::vector<RouteStep> steps)
{ {
// finally clean up the post-processed instructions. // finally clean up the post-processed instructions.
@ -518,6 +557,9 @@ std::vector<RouteStep> removeNoTurnInstructions(std::vector<RouteStep> steps)
boost::remove_erase_if(steps, not_is_valid); boost::remove_erase_if(steps, not_is_valid);
// the steps should still include depart and arrive at least
BOOST_ASSERT(steps.size() >= 2);
BOOST_ASSERT(steps.front().intersections.size() >= 1); BOOST_ASSERT(steps.front().intersections.size() >= 1);
BOOST_ASSERT(steps.front().intersections.front().bearings.size() == 1); BOOST_ASSERT(steps.front().intersections.front().bearings.size() == 1);
BOOST_ASSERT(steps.front().intersections.front().entry.size() == 1); BOOST_ASSERT(steps.front().intersections.front().entry.size() == 1);
@ -544,6 +586,11 @@ std::vector<RouteStep> postProcess(std::vector<RouteStep> steps)
if (steps.size() == 2) if (steps.size() == 2)
return steps; return steps;
// Before we invalidate and remove silent instructions, we handle roundabouts (before they're
// getting collapsed into a single multi-hop instruction) by back-propagating exit lane
// constraints already to a roundabout's enter instruction.
steps = anticipateLaneChangeForRoundabouts(std::move(steps));
// Count Street Exits forward // Count Street Exits forward
bool on_roundabout = false; bool on_roundabout = false;
bool has_entered_roundabout = false; bool has_entered_roundabout = false;
@ -551,7 +598,7 @@ std::vector<RouteStep> postProcess(std::vector<RouteStep> steps)
// count the exits forward. if enter/exit roundabout happen both, no further treatment is // count the exits forward. if enter/exit roundabout happen both, no further treatment is
// required. We might end up with only one of them (e.g. starting within a roundabout) // required. We might end up with only one of them (e.g. starting within a roundabout)
// or having a via-point in the roundabout. // or having a via-point in the roundabout.
// In this case, exits are numbered from the start of the lag. // In this case, exits are numbered from the start of the leg.
for (std::size_t step_index = 0; step_index < steps.size(); ++step_index) for (std::size_t step_index = 0; step_index < steps.size(); ++step_index)
{ {
auto &step = steps[step_index]; auto &step = steps[step_index];