Merge pull request #125 from Phyks/travelTime
Travel time computation for bikes and foot
This commit is contained in:
abrensch
GitHub
commit
c57eaf9eff
4 changed files with 196 additions and 84 deletions
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@ -9,11 +9,15 @@ package btools.router;
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final class KinematicPath extends OsmPath
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{
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private double ekin; // kinetic energy (Joule)
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private double totalTime; // travel time (seconds)
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private double totalEnergy; // total route energy (Joule)
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private float floatingAngleLeft; // sliding average left bend (degree)
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private float floatingAngleRight; // sliding average right bend (degree)
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KinematicPath() {
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super();
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computeTime = false; // Time is already computed by the kinematic model.
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}
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@Override
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protected void init( OsmPath orig )
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{
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@ -35,12 +39,12 @@ final class KinematicPath extends OsmPath
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floatingAngleLeft = 0.f;
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floatingAngleRight = 0.f;
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}
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@Override
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protected double processWaySection( RoutingContext rc, double dist, double delta_h, double elevation, double angle, double cosangle, boolean isStartpoint, int nsection, int lastpriorityclassifier )
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{
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KinematicModel km = (KinematicModel)rc.pm;
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double cost = 0.;
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double extraTime = 0.;
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@ -64,7 +68,7 @@ final class KinematicPath extends OsmPath
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if ( angle < 0 ) floatingAngleLeft -= (float)angle;
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else floatingAngleRight += (float)angle;
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float aa = Math.max( floatingAngleLeft, floatingAngleRight );
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if ( aa > 130. ) turnspeed = 0.;
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else if ( aa > 100. ) turnspeed = 1.;
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else if ( aa > 70. ) turnspeed = 2.;
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@ -73,9 +77,9 @@ final class KinematicPath extends OsmPath
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else if ( aa > 20. ) turnspeed = 14.;
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else if ( aa > 10. ) turnspeed = 20.;
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}
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if ( nsection == 0 ) // process slowdown by crossing geometry
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{
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{
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int classifiermask = (int)rc.expctxWay.getClassifierMask();
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// penalty for equal priority crossing
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@ -85,12 +89,12 @@ final class KinematicPath extends OsmPath
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for( OsmPrePath prePath = rc.firstPrePath; prePath != null; prePath = prePath.next )
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{
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KinematicPrePath pp = (KinematicPrePath)prePath;
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if ( ( (pp.classifiermask ^ classifiermask) & 8 ) != 0 ) // exactly one is linktype
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{
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continue;
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}
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if ( ( pp.classifiermask & 32 ) != 0 ) // touching a residential?
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{
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hasResidential = true;
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@ -104,7 +108,7 @@ final class KinematicPath extends OsmPath
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}
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}
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double residentialSpeed = 13.;
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if ( hasLeftWay && turnspeed > km.leftWaySpeed ) turnspeed = km.leftWaySpeed;
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if ( hasRightWay && turnspeed > km.rightWaySpeed ) turnspeed = km.rightWaySpeed;
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if ( hasResidential && turnspeed > residentialSpeed ) turnspeed = residentialSpeed;
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@ -141,7 +145,7 @@ final class KinematicPath extends OsmPath
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protected double evolveDistance( KinematicModel km, double dist, double delta_h, double f_air )
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{
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{
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// elevation force
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double fh = delta_h * km.totalweight * 9.81 / dist;
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@ -154,7 +158,7 @@ final class KinematicPath extends OsmPath
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double vb = km.getBreakingSpeed( effectiveSpeedLimit );
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double elow = 0.5*km.totalweight*vb*vb;
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double elapsedTime = 0.;
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double elapsedTime = 0.;
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double dissipatedEnergy = 0.;
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double v = Math.sqrt( 2. * ekin / km.totalweight );
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@ -167,7 +171,7 @@ final class KinematicPath extends OsmPath
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double f = km.f_roll + f_air*v*v + fh;
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double f_recup = Math.max( 0., fast ? -f : (slow ? km.f_recup :0 ) -fh ); // additional recup for slow part
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f += f_recup;
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double delta_ekin;
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double timeStep;
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double x;
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@ -215,7 +219,7 @@ final class KinematicPath extends OsmPath
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}
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dissipatedEnergy += elapsedTime * km.p_standby;
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totalTime += elapsedTime;
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totalEnergy += dissipatedEnergy + dist*fh;
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@ -235,7 +239,7 @@ final class KinematicPath extends OsmPath
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if ( initialcost >= 1000000. )
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{
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return -1.;
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}
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}
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cutEkin( km.totalweight, km.getNodeMaxspeed() ); // apply node maxspeed
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if ( message != null )
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@ -247,7 +251,7 @@ final class KinematicPath extends OsmPath
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}
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return 0.;
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}
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private void cutEkin( double weight, double speed )
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{
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double e = 0.5*weight*speed*speed;
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@ -264,7 +268,7 @@ final class KinematicPath extends OsmPath
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f *= 0.367879;
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}
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return f*( 1. + x*( 1. + x * ( 0.5 + x * ( 0.166667 + 0.0416667 * x) ) ) );
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}
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}
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@Override
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@ -281,14 +285,14 @@ final class KinematicPath extends OsmPath
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int c = p.cost;
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return cost > c + 100;
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}
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public double getTotalTime()
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{
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return totalTime;
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}
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public double getTotalEnergy()
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{
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return totalEnergy;
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@ -25,7 +25,7 @@ abstract class OsmPath implements OsmLinkHolder
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public short selev;
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public int airdistance = 0; // distance to endpos
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protected OsmNode sourceNode;
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protected OsmNode targetNode;
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@ -50,6 +50,12 @@ abstract class OsmPath implements OsmLinkHolder
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protected int priorityclassifier;
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protected boolean computeTime = false;
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protected double totalTime; // travel time (seconds)
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// Gravitational constant, g
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private double GRAVITY = 9.81; // in meters per second^(-2)
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private static final int PATH_START_BIT = 1;
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private static final int CAN_LEAVE_DESTINATION_BIT = 2;
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private static final int IS_ON_DESTINATION_BIT = 4;
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@ -129,7 +135,7 @@ abstract class OsmPath implements OsmLinkHolder
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init( origin );
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addAddionalPenalty(refTrack, detailMode, origin, link, rc );
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}
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protected abstract void init( OsmPath orig );
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protected abstract void resetState();
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@ -191,7 +197,7 @@ abstract class OsmPath implements OsmLinkHolder
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lastClassifier = newClassifier;
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lastInitialCost = newInitialCost;
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// *** destination logic: no destination access in between
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// *** destination logic: no destination access in between
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int classifiermask = (int)rc.expctxWay.getClassifierMask();
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boolean newDestination = (classifiermask & 64) != 0;
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boolean oldDestination = getBit( IS_ON_DESTINATION_BIT );
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@ -217,14 +223,14 @@ abstract class OsmPath implements OsmLinkHolder
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}
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}
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setBit( IS_ON_DESTINATION_BIT, newDestination );
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OsmTransferNode transferNode = link.geometry == null ? null
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: rc.geometryDecoder.decodeGeometry( link.geometry, sourceNode, targetNode, isReverse );
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for(int nsection=0; ;nsection++)
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{
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originLon = lon1;
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originLat = lat1;
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@ -300,7 +306,7 @@ abstract class OsmPath implements OsmLinkHolder
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}
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int dist = rc.calcDistance( lon1, lat1, lon2, lat2 );
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boolean stopAtEndpoint = false;
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if ( rc.shortestmatch )
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{
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@ -393,63 +399,130 @@ abstract class OsmPath implements OsmLinkHolder
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traffic += dist*rc.expctxWay.getTrafficSourceDensity()*Math.pow(cost2/10000.f,rc.trafficSourceExponent);
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}
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if ( message != null )
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{
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message.turnangle = (float)angle;
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message.time = (float)getTotalTime();
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message.energy = (float)getTotalEnergy();
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message.priorityclassifier = priorityclassifier;
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message.classifiermask = classifiermask;
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message.lon = lon2;
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message.lat = lat2;
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message.ele = ele2;
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message.wayKeyValues = rc.expctxWay.getKeyValueDescription( isReverse, description );
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String wayKeyValues = "";
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if ( message != null ) {
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wayKeyValues = rc.expctxWay.getKeyValueDescription( isReverse, description );
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}
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if ( stopAtEndpoint )
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// Only do speed computation for detailMode (final) and bike or foot modes.
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if (detailMode && computeTime)
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{
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if ( recordTransferNodes )
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// Travel speed
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double speed = Double.NaN;
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if (rc.footMode || (rc.bikeMode && wayKeyValues.contains("bicycle=dismount")))
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{
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originElement = OsmPathElement.create( rc.ilonshortest, rc.ilatshortest, ele2, originElement, rc.countTraffic );
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originElement.cost = cost;
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if ( message != null )
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// Use Tobler's hiking function for walking sections
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speed = 6 * Math.exp(-3.5 * Math.abs(elevation / dist + 0.05)) / 3.6;
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}
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else if (rc.bikeMode)
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{
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// Uphill angle
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double alpha = Math.atan2(delta_h, dist);
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// Compute the speed assuming a basic kinematic model with constant
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// power.
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// Solves a * v^3 + b * v^2 + c * v + d = 0 with a Newton method to get
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// the speed v for the section.
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double a = rc.S_C_x;
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double b = 0.0;
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double c = (rc.bikeMass * GRAVITY * (rc.defaultC_r + Math.sin(alpha)));
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double d = -1. * rc.bikerPower;
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double tolerance = 1e-3;
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int max_count = 10;
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// Initial guess, this works rather well considering the allowed speeds.
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speed = rc.maxSpeed;
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double y = (a * speed * speed * speed) + (b * speed * speed) + (c * speed) + d;
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double y_prime = (3 * a * speed * speed) + (2 * b * speed) + c;
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int i = 0;
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for (i = 0; (Math.abs(y) > tolerance) && (i < max_count); i++) {
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speed = speed - y / y_prime;
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if (speed > rc.maxSpeed || speed <= 0) {
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// No need to compute further, the speed is likely to be
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// invalid or force set to maxspeed.
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speed = rc.maxSpeed;
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break;
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}
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y = (a * speed * speed * speed) + (b * speed * speed) + (c * speed) + d;
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y_prime = (3 * a * speed * speed) + (2 * b * speed) + c;
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}
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if (i == max_count)
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{
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originElement.message = message;
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// Newton method did not converge, speed is invalid.
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speed = Double.NaN;
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}
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else
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{
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// Speed cannot exceed max speed
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speed = Math.min(speed, rc.maxSpeed);
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}
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}
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if ( rc.nogomatch )
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if (!Double.isNaN(speed) && speed > 0)
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{
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cost = -1;
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totalTime += dist / speed;
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}
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return;
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}
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if ( transferNode == null )
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{
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// *** penalty for being part of the reference track
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if ( refTrack != null && refTrack.containsNode( targetNode ) && refTrack.containsNode( sourceNode ) )
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if ( message != null )
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{
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int reftrackcost = linkdisttotal;
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cost += reftrackcost;
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message.turnangle = (float)angle;
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message.time = (float)getTotalTime();
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message.energy = (float)getTotalEnergy();
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message.priorityclassifier = priorityclassifier;
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message.classifiermask = classifiermask;
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message.lon = lon2;
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message.lat = lat2;
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message.ele = ele2;
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message.wayKeyValues = wayKeyValues;
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}
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selev = ele2;
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break;
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}
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transferNode = transferNode.next;
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if ( recordTransferNodes )
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{
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originElement = OsmPathElement.create( lon2, lat2, ele2, originElement, rc.countTraffic );
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originElement.cost = cost;
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originElement.addTraffic( traffic );
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traffic = 0;
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if ( stopAtEndpoint )
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{
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if ( recordTransferNodes )
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{
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originElement = OsmPathElement.create( rc.ilonshortest, rc.ilatshortest, ele2, originElement, rc.countTraffic );
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originElement.cost = cost;
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if ( message != null )
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{
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originElement.message = message;
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}
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}
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if ( rc.nogomatch )
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{
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cost = -1;
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}
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return;
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}
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if ( transferNode == null )
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{
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// *** penalty for being part of the reference track
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if ( refTrack != null && refTrack.containsNode( targetNode ) && refTrack.containsNode( sourceNode ) )
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{
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int reftrackcost = linkdisttotal;
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cost += reftrackcost;
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}
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selev = ele2;
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break;
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}
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transferNode = transferNode.next;
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if ( recordTransferNodes )
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{
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originElement = OsmPathElement.create( lon2, lat2, ele2, originElement, rc.countTraffic );
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originElement.cost = cost;
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originElement.addTraffic( traffic );
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traffic = 0;
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}
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lon0 = lon1;
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lat0 = lat1;
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lon1 = lon2;
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lat1 = lat2;
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ele1 = ele2;
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}
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lon0 = lon1;
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lat0 = lat1;
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lon1 = lon2;
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lat1 = lat2;
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ele1 = ele2;
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}
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// check for nogo-matches (after the *actual* start of segment)
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if ( rc.nogomatch )
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@ -514,9 +587,9 @@ abstract class OsmPath implements OsmLinkHolder
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public double getTotalTime()
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{
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return 0.;
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return totalTime;
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}
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public double getTotalEnergy()
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{
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return 0.;
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@ -34,7 +34,7 @@ public final class RoutingContext
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public Map<String,String> keyValues;
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public String rawTrackPath;
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public String getProfileName()
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{
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String name = localFunction == null ? "unknown" : localFunction;
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@ -46,17 +46,18 @@ public final class RoutingContext
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public BExpressionContextWay expctxWay;
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public BExpressionContextNode expctxNode;
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public GeometryDecoder geometryDecoder = new GeometryDecoder();
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public int memoryclass = 64;
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public int downhillcostdiv;
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public int downhillcutoff;
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public int uphillcostdiv;
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public int uphillcutoff;
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public boolean carMode;
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public boolean bikeMode;
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public boolean footMode;
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public boolean considerTurnRestrictions;
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public boolean processUnusedTags;
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public boolean forceSecondaryData;
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@ -74,8 +75,8 @@ public final class RoutingContext
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public double inittimeadjustment;
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public double starttimeoffset;
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public boolean transitonly;
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private void setModel( String className )
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{
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if ( className == null )
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@ -96,7 +97,7 @@ public final class RoutingContext
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}
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initModel();
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}
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public void initModel()
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{
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pm.init( expctxWay, expctxNode, keyValues );
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@ -120,7 +121,7 @@ public final class RoutingContext
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BExpressionContext expctxGlobal = expctxWay; // just one of them...
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setModel( expctxGlobal._modelClass );
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downhillcostdiv = (int)expctxGlobal.getVariableValue( "downhillcost", 0.f );
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downhillcutoff = (int)(expctxGlobal.getVariableValue( "downhillcutoff", 0.f )*10000);
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uphillcostdiv = (int)expctxGlobal.getVariableValue( "uphillcost", 0.f );
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@ -129,6 +130,7 @@ public final class RoutingContext
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if ( uphillcostdiv != 0 ) uphillcostdiv = 1000000/uphillcostdiv;
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carMode = 0.f != expctxGlobal.getVariableValue( "validForCars", 0.f );
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bikeMode = 0.f != expctxGlobal.getVariableValue( "validForBikes", 0.f );
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footMode = 0.f != expctxGlobal.getVariableValue( "validForFoot", 0.f );
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// turn-restrictions used per default for car profiles
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considerTurnRestrictions = 0.f != expctxGlobal.getVariableValue( "considerTurnRestrictions", carMode ? 1.f : 0.f );
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@ -170,6 +172,20 @@ public final class RoutingContext
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}
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turnInstructionCatchingRange = expctxGlobal.getVariableValue( "turnInstructionCatchingRange", 40.f );
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turnInstructionRoundabouts = expctxGlobal.getVariableValue( "turnInstructionRoundabouts", 1.f ) != 0.f;
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// Speed computation model (for bikes)
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if (bikeMode) {
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// Mass of the biker + bike + luggages, in kg
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bikeMass = expctxGlobal.getVariableValue( "bikeMass", 90.f );
|
||||
// Max speed (before braking), in km/h in profile and m/s in code
|
||||
maxSpeed = expctxGlobal.getVariableValue( "maxSpeed", 45.f ) / 3.6;
|
||||
// Equivalent surface for wind, S * C_x, F = -1/2 * S * C_x * v^2 = - S_C_x * v^2
|
||||
S_C_x = expctxGlobal.getVariableValue( "S_C_x", 0.5f * 0.45f );
|
||||
// Default resistance of the road, F = - m * g * C_r (for good quality road)
|
||||
defaultC_r = expctxGlobal.getVariableValue( "C_r", 0.01f );
|
||||
// Constant power of the biker (in W)
|
||||
bikerPower = expctxGlobal.getVariableValue( "bikerPower", 100.f );
|
||||
}
|
||||
}
|
||||
|
||||
public List<OsmNodeNamed> nogopoints = null;
|
||||
|
|
@ -202,13 +218,20 @@ public final class RoutingContext
|
|||
|
||||
public boolean showspeed;
|
||||
public boolean inverseRouting;
|
||||
|
||||
|
||||
public OsmPrePath firstPrePath;
|
||||
|
||||
public int turnInstructionMode; // 0=none, 1=auto, 2=locus, 3=osmand, 4=comment-style, 5=gpsies-style
|
||||
public double turnInstructionCatchingRange;
|
||||
public boolean turnInstructionRoundabouts;
|
||||
|
||||
// Speed computation model (for bikes)
|
||||
public double bikeMass;
|
||||
public double maxSpeed;
|
||||
public double S_C_x;
|
||||
public double defaultC_r;
|
||||
public double bikerPower;
|
||||
|
||||
public static void prepareNogoPoints( List<OsmNodeNamed> nogos )
|
||||
{
|
||||
for( OsmNodeNamed nogo : nogos )
|
||||
|
|
@ -242,7 +265,7 @@ public final class RoutingContext
|
|||
{
|
||||
if ( wp.calcDistance( nogo ) < radiusInMeter
|
||||
&& (!(nogo instanceof OsmNogoPolygon)
|
||||
|| (((OsmNogoPolygon)nogo).isClosed
|
||||
|| (((OsmNogoPolygon)nogo).isClosed
|
||||
? ((OsmNogoPolygon)nogo).isWithin(wp.ilon, wp.ilat)
|
||||
: ((OsmNogoPolygon)nogo).isOnPolyline(wp.ilon, wp.ilat))))
|
||||
{
|
||||
|
|
@ -268,7 +291,7 @@ public final class RoutingContext
|
|||
}
|
||||
return cs;
|
||||
}
|
||||
|
||||
|
||||
public void setWaypoint( OsmNodeNamed wp, boolean endpoint )
|
||||
{
|
||||
keepnogopoints = nogopoints;
|
||||
|
|
@ -438,9 +461,9 @@ public final class RoutingContext
|
|||
double x4 = x2*x2;
|
||||
return x * ( 57.4539 + 9.57565 * x2 + 4.30904 * x4 + 2.56491 * x2*x4 );
|
||||
}
|
||||
|
||||
|
||||
public OsmPathModel pm;
|
||||
|
||||
|
||||
public OsmPrePath createPrePath( OsmPath origin, OsmLink link )
|
||||
{
|
||||
OsmPrePath p = pm.createPrePath();
|
||||
|
|
@ -464,5 +487,5 @@ public final class RoutingContext
|
|||
p.init( origin, link, refTrack, detailMode, this );
|
||||
return p;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -18,12 +18,18 @@ final class StdPath extends OsmPath
|
|||
private int ehbd; // in micrometer
|
||||
private int ehbu; // in micrometer
|
||||
|
||||
StdPath() {
|
||||
super();
|
||||
computeTime = true;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void init( OsmPath orig )
|
||||
{
|
||||
StdPath origin = (StdPath)orig;
|
||||
this.ehbd = origin.ehbd;
|
||||
this.ehbu = origin.ehbu;
|
||||
this.totalTime = origin.totalTime;
|
||||
}
|
||||
|
||||
@Override
|
||||
|
|
@ -31,6 +37,7 @@ final class StdPath extends OsmPath
|
|||
{
|
||||
ehbd = 0;
|
||||
ehbu = 0;
|
||||
totalTime = 0.;
|
||||
}
|
||||
|
||||
@Override
|
||||
|
|
@ -139,7 +146,7 @@ final class StdPath extends OsmPath
|
|||
}
|
||||
|
||||
sectionCost += dist * costfactor + 0.5f;
|
||||
|
||||
|
||||
return sectionCost;
|
||||
}
|
||||
|
||||
|
|
@ -589,8 +596,13 @@ final class StdPath extends OsmPath
|
|||
int delta = p.ehbu - ehbu;
|
||||
if ( delta > 0 ) c += delta/rc.uphillcostdiv;
|
||||
}
|
||||
|
||||
|
||||
return cost > c;
|
||||
}
|
||||
|
||||
|
||||
@Override
|
||||
public double getTotalTime()
|
||||
{
|
||||
return totalTime;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in a new issue