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Take stop and give way signs into account during routing #6426

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Take stop and give way signs into account during routing #6426

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SiarheiFedartsou Oct 27, 2022
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Take stop signs into account during routing
SiarheiFedartsou Oct 27, 2022
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Take stop signs into account during routing
SiarheiFedartsou Oct 28, 2022
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Take stop signs into account during routing
SiarheiFedartsou Oct 28, 2022
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Take stop signs into account during routing
SiarheiFedartsou Oct 28, 2022
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Take stop signs into account during routing
SiarheiFedartsou Oct 28, 2022
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Take stop signs into account during routing
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Take stop signs into account during routing
SiarheiFedartsou Oct 28, 2022
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Take stop signs into account during routing
SiarheiFedartsou Oct 30, 2022
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Take stop signs into account during routing
SiarheiFedartsou Oct 31, 2022
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Take stop signs into account during routing
SiarheiFedartsou Oct 31, 2022
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Take stop signs into account during routing
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Merge branch 'master' into sf-stop-sign
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Take stop signs into account during routing
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Take stop signs into account during routing
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Take stop signs into account during routing
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Take stop signs into account during routing
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Take stop signs into account during routing
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Take stop signs into account during routing
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77 changes: 77 additions & 0 deletions features/car/give_way_sign_penalties.feature
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@@ -0,0 +1,77 @@
@routing @car @give_way_sign
Feature: Car - Handle give way signs

Background:
Given the profile "car"

Scenario: Car - Encounters a give way sign
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@SiarheiFedartsou SiarheiFedartsou Oct 31, 2022 •
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It is almost copy-paste of existing tests for traffic lights

osrm-backend/features/car/traffic_light_penalties.feature

Line 7 in afe3445

Scenario: Car - Encounters a traffic light

Probably worth having here all tests we have for traffic lights, but is there way to reduce copy-paste here somehow? E.g. somehow run the same test multiple times, but with different highway tag values for each run?

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I expect there's some support for parametrization of tests, but we're on an ancient Cucumber version, so might take a lot of effort. Plus, having a separate file per penalty feature will allow the functionality to diverge if required.

Given the node map
"""
a-1-b-2-c

d-3-e-4-f

g-h-i k-l-m
| |
j n

"""

And the ways
| nodes | highway |
| abc | primary |
| def | primary |
| ghi | primary |
| klm | primary |
| hj | primary |
| ln | primary |

And the nodes
| node | highway |
| e | give_way |
| l | give_way |

# TODO: give way signs with no direction has no any impact on routing at the moment
When I route I should get
| from | to | time | # |
| 1 | 2 | 11.1s | no turn with no give way |
| 3 | 4 | 11.1s | no turn with give way |
| g | j | 18.7s | turn with no give way |
| k | n | 18.7s | turn with give way |


Scenario: Car - Give way direction
Given the node map
"""
a-1-b-2-c

d-3-e-4-f

g-5-h-6-i

j-7-k-8-l

"""

And the ways
| nodes | highway |
| abc | primary |
| def | primary |
| ghi | primary |
| jkl | primary |

And the nodes
| node | highway | direction |
| e | give_way | |
| h | give_way | forward |
| k | give_way | backward |
When I route I should get
| from | to | time | weight | # |
| 1 | 2 | 11.1s | 11.1 | no turn with no give way |
| 2 | 1 | 11.1s | 11.1 | no turn with no give way |
| 3 | 4 | 11.1s | 11.1 | no turn with give way |
| 4 | 3 | 11.1s | 11.1 | no turn with give way |
| 5 | 6 | 12.6s | 12.6 | no turn with give way |
| 6 | 5 | 11.1s | 11.1 | no turn with no give way |
| 7 | 8 | 11.1s | 11.1 | no turn with no give way |
| 8 | 7 | 12.6s | 12.6 | no turn with give way |
77 changes: 77 additions & 0 deletions features/car/stop_sign_penalties.feature
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@routing @car @stop_sign
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@SiarheiFedartsou SiarheiFedartsou Oct 27, 2022 •
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Hi @mjjbell !

May I ask you to take a look here?
What I actually did is took our existing traffic lights logic and completely repeated it for stop signs. There is a lot of things to be done here(at least we need to get rid of copy-paste), but before starting doing it, would be great to have your opinion here. Don't you see any fundamental problems in this approach? I am not very familiar with OSRM internals yet(one of the goals of this PR is to educate myself :) ) and tbh some parts of PR were "blindly" copy-pasted from traffic lights, so asking.

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Yes if we're viewing all of them as node penalties applicable by direction, then it's basically the same code.

If we wanted to model the impact of each sign/traffic light more accurately (e.g. junction size, unprotected turns, all the other stuff in #2652, etc) then we'd probably want to handle them differently, but I don't think we're at that stage yet.

Feature: Car - Handle stop signs

Background:
Given the profile "car"

Scenario: Car - Encounters a stop sign
Given the node map
"""
a-1-b-2-c

d-3-e-4-f

g-h-i k-l-m
| |
j n

"""

And the ways
| nodes | highway |
| abc | primary |
| def | primary |
| ghi | primary |
| klm | primary |
| hj | primary |
| ln | primary |

And the nodes
| node | highway |
| e | stop |
| l | stop |

# TODO: stop signs with no direction has no any impact on routing at the moment
When I route I should get
| from | to | time | # |
| 1 | 2 | 11.1s | no turn with no stop sign |
| 3 | 4 | 11.1s | no turn with stop sign |
| g | j | 18.7s | turn with no stop sign |
| k | n | 18.7s | turn with stop sign |

Scenario: Car - Stop sign direction
Given the node map
"""
a-1-b-2-c

d-3-e-4-f

g-5-h-6-i

j-7-k-8-l

"""

And the ways
| nodes | highway |
| abc | primary |
| def | primary |
| ghi | primary |
| jkl | primary |

And the nodes
| node | highway | direction |
| e | stop | |
| h | stop | forward |
| k | stop | backward |

When I route I should get
| from | to | time | weight | # |
| 1 | 2 | 11.1s | 11.1 | no turn with no stop sign |
| 2 | 1 | 11.1s | 11.1 | no turn with no stop sign |
| 3 | 4 | 11.1s | 11.1 | no turn with stop sign |
| 4 | 3 | 11.1s | 11.1 | no turn with stop sign |
| 5 | 6 | 13.1s | 13.1 | no turn with stop sign |
| 6 | 5 | 11.1s | 11.1 | no turn with no stop sign |
| 7 | 8 | 11.1s | 11.1 | no turn with no stop sign |
| 8 | 7 | 13.1s | 13.1 | no turn with stop sign |
1 change: 0 additions & 1 deletion features/options/extract/turn_function.feature
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@@ -1,7 +1,6 @@
@routing @testbot @turn_function
Feature: Turn Function Information


Background:
Given the profile file
"""
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2 changes: 1 addition & 1 deletion features/support/hooks.js
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Expand Up @@ -51,7 +51,7 @@ module.exports = function () {
.defer(rimraf, this.scenarioLogFile)
.awaitAll(callback);
// uncomment to get path to logfile
// console.log(' Writing logging output to ' + this.scenarioLogFile);
console.log(' Writing logging output to ' + this.scenarioLogFile);
});

this.After((scenario, callback) => {
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11 changes: 8 additions & 3 deletions include/extractor/edge_based_graph_factory.hpp
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Expand Up @@ -23,7 +23,7 @@
#include "util/typedefs.hpp"

#include "storage/io.hpp"
#include "traffic_signals.hpp"
#include "traffic_flow_control_nodes.hpp"

#include <algorithm>
#include <cstddef>
Expand Down Expand Up @@ -69,7 +69,9 @@ class EdgeBasedGraphFactory
EdgeBasedNodeDataContainer &node_data_container,
const CompressedEdgeContainer &compressed_edge_container,
const std::unordered_set<NodeID> &barrier_nodes,
const TrafficSignals &traffic_signals,
const TrafficFlowControlNodes &traffic_signals,
const TrafficFlowControlNodes &stop_signs,
const TrafficFlowControlNodes &give_way_signs,
const std::vector<util::Coordinate> &coordinates,
const NameTable &name_table,
const std::unordered_set<EdgeID> &segregated_edges,
Expand Down Expand Up @@ -135,7 +137,10 @@ class EdgeBasedGraphFactory
const util::NodeBasedDynamicGraph &m_node_based_graph;

const std::unordered_set<NodeID> &m_barrier_nodes;
const TrafficSignals &m_traffic_signals;
const TrafficFlowControlNodes &m_traffic_signals;
const TrafficFlowControlNodes &m_stop_signs;
const TrafficFlowControlNodes &m_give_way_signs;

const CompressedEdgeContainer &m_compressed_edge_container;

const NameTable &name_table;
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29 changes: 21 additions & 8 deletions include/extractor/extraction_containers.hpp
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Expand Up @@ -8,8 +8,7 @@
#include "extractor/scripting_environment.hpp"

#include "storage/tar_fwd.hpp"
#include "traffic_lights.hpp"
#include "traffic_signals.hpp"
#include "traffic_flow_control_nodes.hpp"

#include <unordered_map>
#include <unordered_set>
Expand All @@ -27,20 +26,29 @@ namespace extractor
*/
class ExtractionContainers
{
public:
using InputTrafficFlowControlNode = std::pair<OSMNodeID, TrafficFlowControlNodeDirection>;

private:
using ReferencedWays = std::unordered_map<OSMWayID, NodesOfWay>;
using ReferencedTrafficSignals =
using ReferencedTrafficFlowControlNodes =
std::pair<std::unordered_set<OSMNodeID>, std::unordered_multimap<OSMNodeID, OSMNodeID>>;
// The relationship between way and nodes is lost during node preparation.
// We identify the ways and nodes relevant to restrictions/overrides/signals prior to
// node processing so that they can be referenced in the preparation phase.
ReferencedWays IdentifyRestrictionWays();
ReferencedWays IdentifyManeuverOverrideWays();
ReferencedTrafficSignals IdentifyTrafficSignals();

ReferencedTrafficFlowControlNodes IdentifyTrafficFlowControlNodes(
const std::vector<InputTrafficFlowControlNode> &external_traffic_control_nodes);

void PrepareNodes();
void PrepareManeuverOverrides(const ReferencedWays &maneuver_override_ways);
void PrepareRestrictions(const ReferencedWays &restriction_ways);
void PrepareTrafficSignals(const ReferencedTrafficSignals &referenced_traffic_signals);
void PrepareTrafficFlowControlNodes(
const ReferencedTrafficFlowControlNodes &referenced_traffic_control_nodes,
TrafficFlowControlNodes &internal_traffic_control_nodes);

void PrepareEdges(ScriptingEnvironment &scripting_environment);

void WriteCharData(const std::string &file_name);
Expand All @@ -54,7 +62,6 @@ class ExtractionContainers
using NameOffsets = std::vector<size_t>;
using WayIDVector = std::vector<OSMWayID>;
using WayNodeIDOffsets = std::vector<size_t>;
using InputTrafficSignal = std::pair<OSMNodeID, TrafficLightClass::Direction>;

std::vector<OSMNodeID> barrier_nodes;
NodeIDVector used_node_id_list;
Expand All @@ -69,8 +76,14 @@ class ExtractionContainers

unsigned max_internal_node_id;

std::vector<InputTrafficSignal> external_traffic_signals;
TrafficSignals internal_traffic_signals;
std::vector<InputTrafficFlowControlNode> external_traffic_signals;
TrafficFlowControlNodes internal_traffic_signals;

std::vector<InputTrafficFlowControlNode> external_stop_signs;
TrafficFlowControlNodes internal_stop_signs;

std::vector<InputTrafficFlowControlNode> external_give_ways;
TrafficFlowControlNodes internal_give_way_signs;

std::vector<NodeBasedEdge> used_edges;

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14 changes: 10 additions & 4 deletions include/extractor/extraction_node.hpp
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@@ -1,7 +1,8 @@
#ifndef EXTRACTION_NODE_HPP
#define EXTRACTION_NODE_HPP

#include "traffic_lights.hpp"
#include "traffic_flow_control_nodes.hpp"
#include <cstdint>
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Needed?


namespace osrm
{
Expand All @@ -10,14 +11,19 @@ namespace extractor

struct ExtractionNode
{
ExtractionNode() : traffic_lights(TrafficLightClass::NONE), barrier(false) {}
ExtractionNode() : traffic_lights(TrafficFlowControlNodeDirection::NONE), barrier(false) {}
void clear()
{
traffic_lights = TrafficLightClass::NONE;
traffic_lights = TrafficFlowControlNodeDirection::NONE;
stop_sign = TrafficFlowControlNodeDirection::NONE;
give_way = TrafficFlowControlNodeDirection::NONE;
barrier = false;
}
TrafficLightClass::Direction traffic_lights;
TrafficFlowControlNodeDirection traffic_lights;
bool barrier;

TrafficFlowControlNodeDirection stop_sign;
TrafficFlowControlNodeDirection give_way;
};
} // namespace extractor
} // namespace osrm
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7 changes: 6 additions & 1 deletion include/extractor/extraction_turn.hpp
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Expand Up @@ -51,6 +51,8 @@ struct ExtractionTurn
int number_of_roads,
bool is_u_turn,
bool has_traffic_light,
bool has_stop_sign,
bool has_give_way_sign,
bool is_left_hand_driving,
bool source_restricted,
TravelMode source_mode,
Expand All @@ -75,7 +77,8 @@ struct ExtractionTurn
const std::vector<ExtractionTurnLeg> &roads_on_the_right,
const std::vector<ExtractionTurnLeg> &roads_on_the_left)
: angle(180. - angle), number_of_roads(number_of_roads), is_u_turn(is_u_turn),
has_traffic_light(has_traffic_light), is_left_hand_driving(is_left_hand_driving),
has_traffic_light(has_traffic_light), has_stop_sign(has_stop_sign),
has_give_way_sign(has_give_way_sign), is_left_hand_driving(is_left_hand_driving),

source_restricted(source_restricted), source_mode(source_mode),
source_is_motorway(source_is_motorway), source_is_link(source_is_link),
Expand All @@ -100,6 +103,8 @@ struct ExtractionTurn
const int number_of_roads;
const bool is_u_turn;
const bool has_traffic_light;
const bool has_stop_sign;
const bool has_give_way_sign;
const bool is_left_hand_driving;

// source info
Expand Down
10 changes: 7 additions & 3 deletions include/extractor/extractor.hpp
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Expand Up @@ -43,7 +43,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "util/guidance/turn_lanes.hpp"

#include "restriction_graph.hpp"
#include "traffic_signals.hpp"
#include "traffic_flow_control_nodes.hpp"
#include "util/typedefs.hpp"

namespace osrm
Expand All @@ -66,7 +66,9 @@ class Extractor
LaneDescriptionMap turn_lane_map;
std::vector<TurnRestriction> turn_restrictions;
std::vector<UnresolvedManeuverOverride> unresolved_maneuver_overrides;
TrafficSignals traffic_signals;
TrafficFlowControlNodes traffic_signals;
TrafficFlowControlNodes stop_signs;
TrafficFlowControlNodes give_way_signs;
std::unordered_set<NodeID> barriers;
std::vector<util::Coordinate> osm_coordinates;
extractor::PackedOSMIDs osm_node_ids;
Expand All @@ -86,7 +88,9 @@ class Extractor
const std::vector<util::Coordinate> &coordinates,
const CompressedEdgeContainer &compressed_edge_container,
const std::unordered_set<NodeID> &barrier_nodes,
const TrafficSignals &traffic_signals,
const TrafficFlowControlNodes &traffic_signals,
const TrafficFlowControlNodes &stop_signs,
const TrafficFlowControlNodes &give_way_signs,
const RestrictionGraph &restriction_graph,
const std::unordered_set<EdgeID> &segregated_edges,
const NameTable &name_table,
Expand Down
1 change: 1 addition & 0 deletions include/extractor/extractor_callbacks.hpp
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Expand Up @@ -10,6 +10,7 @@

#include <string>
#include <unordered_map>
#include <unordered_set>

namespace osmium
{
Expand Down
6 changes: 4 additions & 2 deletions include/extractor/graph_compressor.hpp
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Expand Up @@ -4,7 +4,7 @@
#include "extractor/scripting_environment.hpp"
#include "util/typedefs.hpp"

#include "traffic_signals.hpp"
#include "traffic_flow_control_nodes.hpp"
#include "util/node_based_graph.hpp"

#include <memory>
Expand All @@ -26,7 +26,9 @@ class GraphCompressor

public:
void Compress(const std::unordered_set<NodeID> &barrier_nodes,
const TrafficSignals &traffic_signals,
const TrafficFlowControlNodes &traffic_signals,
const TrafficFlowControlNodes &stop_signs,
const TrafficFlowControlNodes &give_way_signs,
ScriptingEnvironment &scripting_environment,
std::vector<TurnRestriction> &turn_restrictions,
std::vector<UnresolvedManeuverOverride> &maneuver_overrides,
Expand Down
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