Route leftRelation() and rightRelation() do not work consistently with RoutingCostTravelTime

[tambetm]

When I use RoutingCostTravelTime, the route.leftRelation() and route.rightRelation() return None for the lane change lanelet, even though the next lanelet is part of the shortest path and graph.left() and graph.right() correctly return it. This problem does not occur with RoutingCostDistance.

Test code:

import lanelet2

projector = lanelet2.projection.UtmProjector(lanelet2.io.Origin(58.385345, 26.726272), True, False)
lanelet2_map = lanelet2.io.load("tartu_demo.osm", projector)

traffic_rules = lanelet2.traffic_rules.create(lanelet2.traffic_rules.Locations.Germany,
                                                  lanelet2.traffic_rules.Participants.VehicleTaxi)
graph = lanelet2.routing.RoutingGraph(lanelet2_map, traffic_rules)

start_lanelet = lanelet2_map.laneletLayer[213]
end_lanelet = lanelet2_map.laneletLayer[824]
lanechange_lanelet = lanelet2_map.laneletLayer[595]

print("RoutingCostDistance:")
route = graph.getRoute(start_lanelet, end_lanelet, 0, True)
print("graph.right:", graph.right(lanechange_lanelet, 0))
print("route.right:", route.rightRelation(lanechange_lanelet).lanelet)

print("RoutingCostTravelTime:")
route = graph.getRoute(start_lanelet, end_lanelet, 1, True)
print("graph.right:", graph.right(lanechange_lanelet, 1))
print("route.right:", route.rightRelation(lanechange_lanelet))

print("ShortestPath:")
path = route.shortestPath()
for i, lanelet in enumerate(path):
    if lanelet == lanechange_lanelet:
        print("Lane change lanelet:", lanelet)
        print("Next lanelet:", path[i + 1])
        break

Map file:
tartu_demo.zip

[poggenhans]

Thanks for reporting this and for the script to reproduce the bug! I'll look into it when I have the time.

What I already found is that it is not directly related to RoutingCostTravelTime, it is more a bug that is somehow related to the routing cost index being nonzero. E.g. if you instanciate the routing graph like this, you will find that it is now RoutingCostDistance at index 1 that doesn't work:

graph = lanelet2.routing.RoutingGraph(lanelet2_map, traffic_rules, [lanelet2.routing.RoutingCostDistance(5), lanelet2.routing.RoutingCostTravelTime(10)])

[tambetm]

Thanks for the hint! Indeed the current workaround for us is to include only RoutingCostTravelTime in the routing costs list.

graph = lanelet2.routing.RoutingGraph(lanelet2_map, traffic_rules, [lanelet2.routing.RoutingCostTravelTime(10)])