6.1 KiB
Intersection-related design notes
Nice diagrams
http://streetsillustrated.seattle.gov/design-standards/intersections/pedcrossing/
Stop sign editor
Stop signs are FIFO, except that many intersections only have a stop sign for some sides. Going straight on the priority roads is immedite, and left turns from those priority roads also take precedence over the low-priority roads. So should the stop sign controller mark individual turns as priority/not, or individual roads, with implied semantics for left turns? There are really 3 priorities if turns are considered...
Figuring out nonconflicting roads seems tricky. For now, going to have a complicated UI and let individual turns be classified into 3 priority classes. First group can't conflict, second and third groups can conflict and are FIFO. Will probably have to revisit this later.
Stop signs
How to depict stop signs? Each driving lane has a priority... asap go or full stop. Turns from go lanes might be yields, but shouldn't need to represent that visually.
- Easy representation: draw red line / stop sign in some driving lanes. Leave the priority lanes alone.
- Harder: draw a stop sign on the side of the road by some lanes. Won't this look weird top-down and at certain angles?
Traffic signals
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per lane would be weird.
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drawing turn icons as red/yellow/green is pretty clear...
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could draw an unaligned signal box with 3 circles in the middle of the intersection, but what does it represent? maybe just an initial indicator of what's going on; not full detail.
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similarly, draw a single stop sign in the middle of other intersections? :P
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http://streetsillustrated.seattle.gov/design-standards/intersections/its/ probably has hints on cycle duration
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https://ops.fhwa.dot.gov/publications/fhwahop08024/chapter4.htm
- ring and barrier diagrams
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https://www.webpages.uidaho.edu/TrafficSignalSystems/traffic/instructor/ch3a.pdf
ah, think of the real world for the UI. Light per incoming lane. Sometimes need to show a green/yellow/red arrow. Could similarly show the ped stop hand or the walking figure, probably at both tips of a sidewalk.
- https://www.slideshare.net/hronaldo10/lecture-06-signalized-intersections-traffic-engineering-profusama-shahdah
- especially slide 11 has the best notation for protected and permited turns!
- slide 12 shows a nice table
Yielding
Similar to a stop sign, there are turn priorities for cycles. Some turns have right-of-way, others need to yield, but can go if there's room
Intersection policies for pedestrians
Before figuring out how pedestrians will deterministically use intersections alongside cars, recall how cars currently work...
- ask all cars for next move (continue on same thing, or move to a turn/lane)
- using fixed state, adjust some of the moves that dont have room to move to a new spot to wait instead
- serially ask intersections if a car can start a turn
- serially make sure only one new car enters a lane in the tick
- shouldnt the intersection policy guarantee this by itself?
- very awkwardly reset all queues from scratch
How did AORTA do it?
- agent.step for all of em (mutate stuff)
- enter intersections, telling them. must've previously gotten a ticket
- let all the agents react to the new world (immutable, except for IDEMPOTENTLY asking for turn)
- here we ask for tickets, unless we've already got one
- same for intersections
- grant them here
aka basically yeah, the simple:
- agents send a ticket during the planning phase?
- intersections get a chance to react every tick, granting tickets
- during the next action phase, an agent can act on the approved ticket?
good pattern in intersections:
- a sim state that the rest of the code interacts with for ALL intersections. rest of code doesnt see individual objects.
- that manager object delegates out most of the logic to SPECIALIZED versions of individual objects and does the matching
- no need for this to exist on the individual IntersectionPolicy object
How to share common state in intersections?
- if it's just the accepted set, have a parallel array and pass it into step()
- data locality gets ruined, this is ECS style, bleh
- have a common struct that both enum variants contain
- still have to match on enum type to operate on it commonly!
- have one struct that then contains an enum
- when delegating to specialized thing, can pass this unpacked thing down, right?
Seeing lots of deadlock bugs from accepting non-leader vehicles. For now, switch to only considering leader vehicles, and later maybe relax to anybody following only accepted vehicles.
Leader vehicle is a bit vague; could be leader on current queue, which is still a bit far away.
Stop sign priority
Use OSM highway tags to rank. For all the turns on the higher priority road, detect priority/yield based on turn angle, I guess.
Handling complicated intersections with tiny roads
AORTA's super-roads
https://www.mapbox.com/mapping/mapping-for-navigation/modeling-intersections-for-map-navigation/ https://wazeopedia.waze.com/wiki/Global/Junction_Style_Guide/Intersections https://wiki.openstreetmap.org/wiki/Junctions
- instead of looking for short roads, clip road lines to intersection geometry and then see if they're short (10m)
Maybe start by hardcoding the things to merge. Don't worry about detection yet. r257
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When to do the operation?
- do it before making lanes ideally...
- first, make lanes separately from making roads, so intersection geometry can move up.
- could then even merge the trim lines step? hmm.
- or even do it to raw data? is that possible?
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r257 example
- extend two roads with points from the tiny road. delete i283
- make sure the road attributes match up
- do this first; preprocess raw_data.
Ah, the problem with just extending geometry... I think turns need to be polylines sometimes. Need to do the merging all the way at the end, unfortunately...
Nicer turn geometry
Take the current turn-as-a-line thing, make it a box, and use that corner as a control point or something for a curve.