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Restore the lane-changing penalties for the pathfinding v2->v1 transition. #555

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This commit is contained in:
Dustin Carlino 2021-04-06 11:00:05 -07:00
parent b9b5f63eb0
commit d0c82392e3
1 changed files with 16 additions and 4 deletions
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20
map_model/src/pathfind/v2.rs
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@ -5,7 +5,7 @@
use anyhow::Result;
use crate::pathfind::uber_turns::UberTurnV2;
use crate::{DirectedRoadID, Map, Path, PathRequest, PathStep, TurnID, UberTurn};
use crate::{DirectedRoadID, Map, Path, PathConstraints, PathRequest, PathStep, TurnID, UberTurn};
/// Transform a sequence of roads representing a path into the current lane-based path, by picking
/// particular lanes and turns to use.
@ -42,9 +42,21 @@ pub fn path_v2_to_v1(
&graph,
req.start.lane(),
|l| l == req.end.lane(),
// TODO We could include the old lane-changing penalties here, but I'm not sure it's worth
// the complication. The simulation layer will end up tuning those anyway.
|_| 1,
|(_, _, t)| {
// Normally opportunistic lane-changing adjusts the path live, but that doesn't work
// near uber-turns. So still use some of the penalties here.
let (lt, lc, slow_lane) = map.get_t(*t).penalty(map);
let mut extra_penalty = lt + lc;
if req.constraints == PathConstraints::Bike {
extra_penalty = slow_lane;
}
// Always treat every lane/turn as at least cost 1; otherwise A* can't understand that
// a final path with 10 steps costs more than one with 5. The road-based pathfinding
// has already chosen the overall route; when we're picking individual lanes, the
// length of each lane along one road is going to be about the same.
let base = 1;
base + extra_penalty
},
|_| 0,
) {
Some((_, path)) => {