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Correctly handle compressed traffic signals (#6724)
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Unidirectional traffic signal segments are currently not compressed.
This means traffic signals which are not on turns can be missed and
not applied the correct penalty.

This commit changes this behaviour to correctly handle the graph
compression. Additional tests are added to ensure there is no
regression for other cases (turns, restrictions).

Co-authored-by: Michael Bell <[email protected]>
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@GitBenjamin @mjjbell
GitBenjamin and mjjbell authored Mar 17, 2024
1 parent 99875b4 commit 6e77d53
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Expand Up @@ -35,6 +35,7 @@
- FIXED: Bicycle and foot profiles now don't route on proposed ways [#6615](https://github.com/Project-OSRM/osrm-backend/pull/6615)
- Routing:
- FIXED: Fix adding traffic signal penalties during compression [#6419](https://github.com/Project-OSRM/osrm-backend/pull/6419)
- FIXED: Correctly handle compressed traffic signals. [#6724](https://github.com/Project-OSRM/osrm-backend/pull/6724)
# 5.27.1
- Changes from 5.27.0
- Misc:
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204 changes: 162 additions & 42 deletions features/car/traffic_light_penalties.feature
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Expand Up @@ -32,14 +32,14 @@ Feature: Car - Handle traffic lights
| l | traffic_signals |

When I route I should get
| from | to | time | # |
| from | to | time | # |
| 1 | 2 | 11.1s | no turn with no traffic light |
| 3 | 4 | 13.1s | no turn with traffic light |
| g | j | 18.7s | turn with no traffic light |
| k | n | 20.7s | turn with traffic light |


Scenario: Car - Traffic signal direction
Scenario: Car - Traffic signal direction straight
Given the node map
"""
a-1-b-2-c
Expand Down Expand Up @@ -112,14 +112,14 @@ Feature: Car - Handle traffic lights



Scenario: Car - Encounters a traffic light
Scenario: Car - Encounters a traffic light direction
Given the node map
"""
a f k
| | |
b-c-d h-g-i l-m-n
| | |
e j o
a f k p
| | | |
b-c-d h-g-i l-m-n q-r-s
| | | |
e j o t
"""

Expand All @@ -131,53 +131,70 @@ Feature: Car - Handle traffic lights
| fgj | primary |
| lmn | primary |
| kmo | primary |
| qrs | primary |
| prt | primary |

And the nodes
| node | highway | traffic_signals:direction |
| g | traffic_signals | forward |
| m | traffic_signals | backward |
| g | traffic_signals | |
| m | traffic_signals | forward |
| r | traffic_signals | backward |


When I route I should get
# Base case
| from | to | time | # |
| a | d | 21.9s | no turn with no traffic light |
| a | e | 22.2s | no turn with traffic light |
| a | b | 18.7s | turn with no traffic light |
| e | b | 21.9s | no turn with no traffic light |
| e | a | 22.2s | no turn with traffic light |
| a | e | 22.2s | no turn with no traffic light |
| a | d | 21.9s | turn with no traffic light |
| e | b | 21.9s | turn with no traffic light |
| e | a | 22.2s | no turn with no traffic light |
| e | d | 18.7s | turn with no traffic light |
| d | e | 21.9s | no turn with no traffic light |
| d | b | 11s | no turn with traffic light |
| d | e | 21.9s | turn with no traffic light |
| d | b | 11s | no turn with no traffic light |
| d | a | 18.7s | turn with no traffic light |
| b | a | 21.9s | no turn with no traffic light |
| b | d | 11s | no turn with traffic light |
| b | a | 21.9s | turn with no traffic light |
| b | d | 11s | no turn with no traffic light |
| b | e | 18.7s | turn with no traffic light |

| f | i | 23.9s | no turn with no traffic light |
# All have traffic lights - 2s penalty
| f | h | 20.7s | turn with traffic light |
| f | j | 24.2s | no turn with traffic light |
| f | h | 20.7s | turn with no traffic light |
| j | h | 21.9s | no turn with no traffic light |
| j | f | 22.2s | no turn with traffic light |
| j | i | 18.7s | turn with no traffic light |
| i | j | 21.9s | no turn with no traffic light |
| i | h | 11s | no turn with traffic light |
| i | f | 18.7s | turn with no traffic light |
| h | f | 23.9s | no turn with no traffic light |
| f | i | 23.9s | turn with traffic light |
| j | h | 23.9s | turn with traffic light |
| j | f | 24.2s | no turn with traffic light |
| j | i | 20.7s | turn with traffic light |
| i | j | 23.9s | turn with traffic light |
| i | h | 13s | no turn with traffic light |
| i | f | 20.7s | turn with traffic light |
| h | f | 23.9s | turn with traffic light |
| h | i | 13s | no turn with traffic light |
| h | j | 20.7s | turn with no traffic light |

| k | n | 21.9s | no turn with no traffic light |
| k | o | 22.2s | no turn with traffic light |
| k | l | 18.7s | turn with no traffic light |
| o | l | 23.9s | no turn with no traffic light |
| o | k | 24.2s | no turn with traffic light |
| o | n | 20.7s | turn with no traffic light |
| n | o | 23.9s | no turn with no traffic light |
| n | l | 13s | no turn with traffic light |
| n | k | 20.7s | turn with no traffic light |
| l | k | 21.9s | no turn with no traffic light |
| l | n | 11s | no turn with traffic light |
| l | o | 18.7s | turn with no traffic light |
| h | j | 20.7s | turn with traffic light |
# Front direction have traffic lights - 2s penalty
| k | l | 20.7s | turn with traffic light |
| k | o | 24.2s | no turn with traffic light |
| k | n | 23.9s | turn with traffic light |
| o | l | 21.9s | turn with no traffic light |
| o | k | 22.2s | no turn with no traffic light |
| o | n | 18.7s | turn with no traffic light |
| n | o | 21.9s | turn with no traffic light |
| n | l | 11s | no turn with no traffic light |
| n | k | 18.7s | turn with no traffic light |
| l | k | 23.9s | turn with traffic light |
| l | n | 13s | no turn with traffic light |
| l | o | 20.7s | turn with traffic light |
# Reverse direction have traffic lights - 2s penalty
| p | q | 18.7s | turn with no traffic light |
| p | t | 22.2s | no turn with no traffic light |
| p | s | 21.9s | turn with no traffic light |
| t | q | 23.9s | turn with traffic light |
| t | p | 24.2s | no turn with traffic light |
| t | s | 20.7s | turn with traffic light |
| s | t | 23.9s | turn with traffic light |
| s | q | 13s | no turn with traffic light |
| s | p | 20.7s | turn with traffic light |
| q | p | 21.9s | turn with no traffic light |
| q | s | 11s | no turn with no traffic light |
| q | t | 18.7s | turn with no traffic light |


Scenario: Traffic Signal Geometry
Expand Down Expand Up @@ -343,3 +360,106 @@ Feature: Car - Handle traffic lights
| from | to | route | speed | weights | time | distances | a:datasources | a:nodes | a:speed | a:duration | a:weight |
| a | c | abc,abc | 65 km/h | 22.2,0 | 22.2s | 400m,0m | 1:0 | 1:2:3 | 18:18 | 11.1:11.1 | 11.1:11.1 |
| c | a | abc,abc | 60 km/h | 24.2,0 | 24.2s | 400m,0m | 0:1 | 3:2:1 | 18:18 | 11.1:11.1 | 11.1:11.1 |


Scenario: Car - Traffic signal straight direction with edge compression
Given the node map
"""
a-1-b - c - d-2-e
"""

And the ways
| nodes | highway |
| abcde | primary |

And the nodes
| node | highway | traffic_signals:direction |
| c | traffic_signals | forward |

When I route I should get
| from | to | time | weight | # |
| 1 | 2 | 35.3s | 35.3 | no turn with traffic light |
| 2 | 1 | 33.3s | 33.3 | no turn with no traffic light |


Scenario: Car - Traffic signal turn direction with edge compression
Given the node map
"""
d
|
2
|
a-1-b - c - f
|
e
j
|
4
|
g-3-h - i - k
|
l
"""

And the ways
| nodes | highway |
| abc | primary |
| cf | primary |
| fd | primary |
| fe | primary |
| ghi | primary |
| ik | primary |
| kj | primary |
| kl | primary |

And the nodes
| node | highway | traffic_signals:direction |
| k | traffic_signals | forward |

When I route I should get
| from | to | time | weight | # |
| 1 | 2 | 44.2s | 44.2 | turn with no traffic light |
| 2 | 1 | 41s | 41 | turn with no traffic light |
| 3 | 4 | 46.2s | 46.2 | turn with traffic light |
| 4 | 3 | 41s | 41 | turn with no traffic light |


Scenario: Car - Traffic signal turn direction with turn restriction
Given the node map
"""
d
|
2
|
a-1-b - c - f
|
e
"""

And the ways
| nodes | highway |
| abc | primary |
| cf | primary |
| fd | primary |
| fe | primary |

And the nodes
| node | highway | traffic_signals:direction |
| f | traffic_signals | forward |

And the relations
| type | way:from | way:to | way:via | restriction |
| restriction | abc | fe | cf | no_right_turn |

And the relations
| type | way:from | way:to | node:via | restriction |
| restriction | df | fc | f | right_turn_only |

When I route I should get
| from | to | time | weight | # |
| 1 | 2 | 46.2s | 46.2 | turn with traffic light |
| 2 | 1 | 41s | 41 | turn with no traffic light |
2 changes: 1 addition & 1 deletion include/extractor/graph_compressor.hpp
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Expand Up @@ -24,7 +24,7 @@ class GraphCompressor

public:
void Compress(const std::unordered_set<NodeID> &barrier_nodes,
const TrafficSignals &traffic_signals,
TrafficSignals &traffic_signals,
ScriptingEnvironment &scripting_environment,
std::vector<TurnRestriction> &turn_restrictions,
std::vector<UnresolvedManeuverOverride> &maneuver_overrides,
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4 changes: 2 additions & 2 deletions include/extractor/node_based_graph_factory.hpp
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Expand Up @@ -39,7 +39,7 @@ class NodeBasedGraphFactory
NodeBasedGraphFactory(ScriptingEnvironment &scripting_environment,
std::vector<TurnRestriction> &turn_restrictions,
std::vector<UnresolvedManeuverOverride> &maneuver_overrides,
const TrafficSignals &traffic_signals,
TrafficSignals &traffic_signals,
std::unordered_set<NodeID> &&barriers,
std::vector<util::Coordinate> &&coordinates,
extractor::PackedOSMIDs &&osm_node_ids,
Expand Down Expand Up @@ -71,7 +71,7 @@ class NodeBasedGraphFactory
void Compress(ScriptingEnvironment &scripting_environment,
std::vector<TurnRestriction> &turn_restrictions,
std::vector<UnresolvedManeuverOverride> &maneuver_overrides,
const TrafficSignals &traffic_signals);
TrafficSignals &traffic_signals);

// Most ways are bidirectional, making the geometry in forward and backward direction the same,
// except for reversal. We make use of this fact by keeping only one representation of the
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15 changes: 15 additions & 0 deletions include/extractor/traffic_signals.hpp
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Expand Up @@ -19,6 +19,21 @@ struct TrafficSignals
{
return bidirectional_nodes.count(to) > 0 || unidirectional_segments.count({from, to}) > 0;
}

void Compress(NodeID from, NodeID via, NodeID to)
{
bidirectional_nodes.erase(via);
if (unidirectional_segments.count({via, to}))
{
unidirectional_segments.erase({via, to});
unidirectional_segments.insert({from, to});
}
if (unidirectional_segments.count({via, from}))
{
unidirectional_segments.erase({via, from});
unidirectional_segments.insert({to, from});
}
}
};
} // namespace osrm::extractor

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33 changes: 17 additions & 16 deletions src/extractor/edge_based_graph_factory.cpp
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Expand Up @@ -608,26 +608,12 @@ void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
BOOST_ASSERT(!edge_data1.reversed);
BOOST_ASSERT(!edge_data2.reversed);

// We write out the mapping between the edge-expanded edges and the original nodes.
// Since each edge represents a possible maneuver, external programs can use this to
// quickly perform updates to edge weights in order to penalize certain turns.

// If this edge is 'trivial' -- where the compressed edge corresponds exactly to an
// original OSM segment -- we can pull the turn's preceding node ID directly with
// `node_along_road_entering`;
// otherwise, we need to look up the node immediately preceding the turn from the
// compressed edge container.
const bool isTrivial = m_compressed_edge_container.IsTrivial(node_based_edge_from);

const auto &from_node =
isTrivial ? node_along_road_entering
: m_compressed_edge_container.GetLastEdgeSourceID(node_based_edge_from);

// compute weight and duration penalties
// In theory we shouldn't get a directed traffic light on a turn, as it indicates that
// the traffic signal direction was potentially ambiguously annotated on the junction
// node But we'll check anyway.
const auto is_traffic_light = m_traffic_signals.HasSignal(from_node, intersection_node);
const auto is_traffic_light =
m_traffic_signals.HasSignal(node_along_road_entering, intersection_node);
const auto is_uturn =
guidance::getTurnDirection(turn_angle) == guidance::DirectionModifier::UTurn;

Expand Down Expand Up @@ -694,6 +680,21 @@ void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
true,
false};

// We write out the mapping between the edge-expanded edges and the original nodes.
// Since each edge represents a possible maneuver, external programs can use this to
// quickly perform updates to edge weights in order to penalize certain turns.

// If this edge is 'trivial' -- where the compressed edge corresponds exactly to an
// original OSM segment -- we can pull the turn's preceding node ID directly with
// `node_along_road_entering`;
// otherwise, we need to look up the node immediately preceding the turn from the
// compressed edge container.
const bool isTrivial = m_compressed_edge_container.IsTrivial(node_based_edge_from);

const auto &from_node =
isTrivial ? node_along_road_entering
: m_compressed_edge_container.GetLastEdgeSourceID(node_based_edge_from);

const auto &to_node =
m_compressed_edge_container.GetFirstEdgeTargetID(node_based_edge_to);

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5 changes: 4 additions & 1 deletion src/extractor/graph_compressor.cpp
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Expand Up @@ -20,7 +20,7 @@ namespace osrm::extractor
static constexpr int SECOND_TO_DECISECOND = 10;

void GraphCompressor::Compress(const std::unordered_set<NodeID> &barrier_nodes,
const TrafficSignals &traffic_signals,
TrafficSignals &traffic_signals,
ScriptingEnvironment &scripting_environment,
std::vector<TurnRestriction> &turn_restrictions,
std::vector<UnresolvedManeuverOverride> &maneuver_overrides,
Expand Down Expand Up @@ -338,6 +338,9 @@ void GraphCompressor::Compress(const std::unordered_set<NodeID> &barrier_nodes,
// update any involved turn relations
turn_path_compressor.Compress(node_u, node_v, node_w);

// Update traffic signal paths containing compressed node.
traffic_signals.Compress(node_u, node_v, node_w);

// Forward and reversed compressed edge lengths need to match.
// Set a dummy empty penalty weight if opposite value exists.
auto set_dummy_penalty = [](EdgeWeight &weight_penalty,
Expand Down
4 changes: 2 additions & 2 deletions src/extractor/node_based_graph_factory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ NodeBasedGraphFactory::NodeBasedGraphFactory(
ScriptingEnvironment &scripting_environment,
std::vector<TurnRestriction> &turn_restrictions,
std::vector<UnresolvedManeuverOverride> &maneuver_overrides,
const TrafficSignals &traffic_signals,
TrafficSignals &traffic_signals,
std::unordered_set<NodeID> &&barriers,
std::vector<util::Coordinate> &&coordinates,
extractor::PackedOSMIDs &&osm_node_ids,
Expand Down Expand Up @@ -72,7 +72,7 @@ void NodeBasedGraphFactory::BuildCompressedOutputGraph(const std::vector<NodeBas
void NodeBasedGraphFactory::Compress(ScriptingEnvironment &scripting_environment,
std::vector<TurnRestriction> &turn_restrictions,
std::vector<UnresolvedManeuverOverride> &maneuver_overrides,
const TrafficSignals &traffic_signals)
TrafficSignals &traffic_signals)
{
GraphCompressor graph_compressor;
graph_compressor.Compress(barriers,
Expand Down

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