CN103047990A - Multi-path selection method based on hierarchical backbone network - Google Patents
Multi-path selection method based on hierarchical backbone network Download PDFInfo
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Abstract
The invention discloses a multi-path selection method based on a hierarchical backbone network. The selection method comprises the following steps: 1, extracting backbone networks in an urban road network and performing connecting and simplifying processing on overpass regions in the backbone networks; 2, determining the value relationship between a given straight line distance from a starting point pair to an end point pair and a set path distance threshold to generate a short-distance path set according to step c and a remote-distance path set according to step d; 3, using a Dijkstra search algorithm to generate a short-distance path set with the minimum short-distance synthetic utility; and 4, using the Dijkstra search algorithm to respectively obtain an enter node set and an exit node set with the minimum remote-distance synthetic utility, using the fastest path between each set of enter nodes and each set of the exit nodes after the enter nodes and the exit nodes are combined and matched to obtain a backbone path set, and combining enter node paths, exit node paths and backbone path to obtain a remote-distance path set. According to the method provided by the invention, a reasonable driving path set can be generated to accurately reflect travel path conditions.
Description
Technical field
The present invention relates to the intelligent transportation applied technical field, specifically a kind of multipath system of selection based on key hierarchy of road network.
Background technology
Along with Chinese Urbanization, modernization, vehicularized simultaneously and rapidly development, each big city population increases rapidly, and vehicle guaranteeding organic quantity increases rapidly especially, and traffic congestion is day by day serious.The supply growth of urban road does not catch up with living standard far away and improves rear people for the demand growth of the comfortable trip of car.The road traffic flow has presented the over-saturation state in the urban district, the megalopolis such as Beijing, Shanghai, if meet the inclement weathers such as heavy rain heavy snow, traffic faces the danger of paralysis again.
Dynamic route is selected an important application as intelligent transportation, topological relation and Real-time Traffic Information according to highway section in the urban road network are the optimum trip strategy of traveler planning, thereby can reduce the delay of vehicle in road network, maximally utilise path resource.On the other hand, the dynamic route selection also is the important step in the traffic programme model, by simulating passerby's travel route choice behavior, analyzes the spatial and temporal distributions of traffic trip in road network, thereby traffic programme, policy are carried out effective predicting and evaluating.Therefore, dynamic route system of selection to vehicle driving in the city is furtherd investigate, accurately calculate the rational routing set that generates under certain city road network structure and the outside environment, the navigation of traveler dynamic route, Urban Traffic Planning analytical model are had huge theory significance and actual application value.
The Generating Problems of path collection has obtained the generation of more research, especially shortest path in computer science, obtained more deep analysis in graph theory.From the angle of history, the most classical shortest path generating algorithm undoubtedly is Dijkstra (1959), is used for solving the single-source shortest path in the non-negative network G (N, E) of weight.It should be noted that and adopt different data structure and Priority Queues implementation, can be so that dijkstra's algorithm reaches different counting yielies.Based on dijkstra's algorithm some mutation are arranged, so that be used under the application scenarios.The label of extended network node is mainly passed through in the mutation of dijkstra's algorithm, record path arrives the information such as the number of turns, crossing number of a certain node, thereby by the weighted comprehensive effect of each node label, according to deviser's requirement, generate the shortest path that meets the utility function optimum.But these path search algorithms often are applicable to the simple freeway net of topological structure, and when being used for city road network, often its Search Results is not the desirable conventional driving path that can use of in other words driver.
On the other hand, after generating shortest path, in order to generate a preferably path collection, ensuing groundwork is to continue to generate time short circuit, the 3rd short circuit, until altogether generate n bar road (n is the predefined shortest path threshold values of modeling personnel).Than shortest path algorithm, what path collection generating algorithm was paid close attention to is how to take full advantage of calculated shortest path collection, further obtains new shortest path.In view of selecting all to be difficult to search rational driving path according to the shortest path of different time road conditions in the city road network, it is more difficult further to generate rational routing set.
Tradition shortest path or many road algorithms are based on point of theory more, guarantee the optimum understood and acyclic, and can't guarantee " rationality " in path.Can here " rationality " refer in path, contain the true driving path of selecting of various human.The road network in each city has the static nature of self, and simple shortest path or the fastest road can not be embodied " rationality " well.
Therefore, for better traveler dynamic route navigation Service is provided, for the vehicle driving behavior of more reasonable exactly simcity to support decision-assisting analysis work, urgently need the suitable method of research and development, to be implemented in the city road network, starting point and terminal point under given any departure time, the driving set of paths of generation " rationally " reflects exactly true driver for the judgement in trip path as far as possible or proposes more reliable path planning suggestion.In view of this, the inventor is actively studied and is innovated, and finally develops a kind of multipath system of selection based on key hierarchy of road network, to address the above problem.
Summary of the invention
In order to solve the above-mentioned problems in the prior art, the invention provides a kind of multipath system of selection based on key hierarchy of road network, to be implemented in the city road network, starting point and terminal point under given any departure time, generate and reasonably drive set of paths, reflect exactly true driver for the judgement in trip path as far as possible or propose more reliable path planning suggestion.
In order to solve the problems of the technologies described above, the present invention has adopted following technical scheme:
Multipath system of selection based on key hierarchy of road network comprises the steps:
A. extract the key road network in the city road network, and key road network viaduct district is connected the simplification processing;
B. to given terminus to calculating the air line distance between the trip terminus, and the size of the distances travelled threshold value of the air line distance between the comparison terminus and setting, if the air line distance between terminus less than the distances travelled threshold value, then generates short range path collection according to step c; If the air line distance between terminus more than or equal to the distances travelled threshold value, then generates the remote path collection according to steps d;
C. with the weighted sum of turning quantity and the hourage short range aggreggate utility U as the path
1, and with short range aggreggate utility U
1Minimum the shortest calculating of distance that replaces in the Dijkstra searching algorithm, thus short range path collection generated;
D. advance internodal aggreggate utility U as starting point to key road network with the weighted sum of turning quantity and hourage
2, and with this aggreggate utility U
2Minimum the shortest calculating of distance that replaces in the Dijkstra searching algorithm, thus obtain advancing set of node into node path collection and corresponding key road network; With the weighted sum of turning quantity and travel distance as key road network egress to the aggreggate utility U between terminal point
3, and with this aggreggate utility U
3Minimum the shortest calculating of distance that replaces in the Dijkstra searching algorithm, thus egress path collection and corresponding key road network egress collection obtained; Search for every group of the fastest path that advances between node and the egress on the key road network with the Dijkstra searching algorithm after will advancing node and egress combination pairing, obtain key path collection; Advance node path, key path and egress combination of paths and obtain the remote path collection.
Further, among the described step a:
Extracting key road network comprises: a1. is to the processing of encoding of city road network data, each node assignment unique number wherein, each highway section assignment unique number, clear and definite highway section start and end node serial number; A2. according to the urban road grade and with reference to the functional importance of the concrete road in city, extract the city strategic road network, form independent key road network layer data.
Further, the connection in the key road network viaduct district among the described step a is reduced to, and the a3. generating virtual connects ring road, makes a direction enter the highway section of rolling away from that the highway section is directly connected to other direction.
Further, among the described step c, described short range aggreggate utility U
1Obtain by following formula: U
1=β
1* number of turns+β
2* hourage, wherein β
1, β
2Be respectively the short range routing the turning coefficient and hourage coefficient.
Further, among the described step c, with short range aggreggate utility U
1The shortest calculating of distance in the minimum Dijkstra of the replacement searching algorithm obtains short range aggreggate utility U between terminus
1Minimum path L
1, to path L
1In the highway section interrupt one by one, and respectively with short range aggreggate utility U
1Minimum the shortest calculating of distance that replaces in the Dijkstra searching algorithm, the starting point of the air exercise section of opening circuit is carried out route searching to terminal between D, thus acquisition interrupts the short range aggreggate utility U between the origin-to-destination in highway section
1Minimum path, and respectively with path L
1Starting point obtains starting point path L to terminal to the original route combination that interrupts the highway section starting point
2-L
n, path L
1-L
nForm short range path collection.
Further, among the described step c, to path L
2-L
nMiddle short range aggreggate utility U
1Minimum path L
iRepeat path L
1Operation, thereby way to acquire L
N+1-L
mConcentrate the number in path to increase the short range path.
Further, the path of concentrating, described short range path is according to separately short range aggreggate utility U
1Value is ordering from small to large.
Further, in the described steps d, U
2=β
3* number of turns+β
4* hourage; U
3=β
3* number of turns+β
5* travel distance; β wherein
3, β
4And β
5Be respectively turning coefficient that remote path selects, hourage coefficient and travel distance coefficient.
Further, each path that key path in the described steps d is concentrated is handled as follows respectively to increase the path number that concentrate in key path: each highway section in each path is interrupted successively, and search for the starting point that interrupts the highway section on the key road network to the shortest path hourage between the corresponding egress with the Dijkstra searching algorithm respectively, and the path that new search is obtained with enter node to the path of interrupting the path composition between the starting point of highway section and add key path collection.
The path of further, remote path being concentrated by separately system-wide through aggreggate utility U
4Value sort from small to large U
4=β
3* number of turns+β
4* hourage+β
6* backbone network mileage ratio, wherein β
3, β
4And β
6Be respectively turning coefficient that remote path selects, hourage coefficient and backbone network mileage scale-up factor.
Further, the city road network vector data that possess connective and directivity topology rule of city road network described in the step a for having handled well.
Further, described number of turns refers to left-hand bend in this path, the total degree of turning right and reversing end for end; Be according to the different departure times described hourage, according to this path required travelling duration of each highway section in this real-time or historical reference travelling speed calculating constantly; Described travel distance refers to the physical length in this path.
Further, described Dijkstra searching algorithm is the single source of typical Dijkstra shortest path first.
Further, described backbone network mileage ratio refers to that the mileage on backbone network in this path accounts for the ratio of path total kilometrage.
Compared with prior art, beneficial effect of the present invention is:
Multipath system of selection based on key hierarchy of road network of the present invention is implemented in the city road network, starting point and terminal point under given any departure time, generate and reasonably drive set of paths, reflect exactly true driver for the judgement in trip path as far as possible or propose more reliable path planning suggestion.
Description of drawings
Fig. 1 is the process flow diagram of the multipath system of selection based on key hierarchy of road network of the present invention;
Fig. 2 is the key hierarchy of road network synoptic diagram in heart of Beijing city among the embodiment;
Fig. 3 is that the complicated ring road in viaduct district connects the short-cut method synoptic diagram;
Fig. 4 is that Beijing is based on the city integrated optimal utility Dynamic Multi-Pathing selective system surface chart of backbone network layering;
Fig. 5 A-Fig. 5 D is high moral guidance path result, the self-driving guidance path result of Google and the inventive method result's path profile.
Embodiment
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail, but not as a limitation of the invention.
Among the present invention, the city road network vector data that possesses connective and directivity topology rule that city road network refers to have handled well.
Number of turns refers to left-hand bend in this path, the total degree of turning right and reversing end for end.
Be according to the different departure times hourage, according to this path required travelling duration of each highway section in this real-time or historical reference travelling speed calculating constantly.
Travel distance refers to the physical length in this path.
Backbone network mileage ratio refers to that the mileage on backbone network in this path accounts for the ratio of path total kilometrage.
The Dijkstra searching algorithm refers to the single source of typical Dijkstra shortest path first.
The road network structure of urban area of Beijing adds radioactive ray as main take rectangular ring, and road is many as support, parallel net distribution with warp and weft.Successively rely on Urban Expansion, built two, three, four, five and the sixth ring road.Total length Beijing above 500 kilometers new " seven loops " has formed semicircle.Many the highways such as whole city's viaduct number has 381, and hold in Beijing-Harbin, Shen, capital, the Beijing-Tianjin pool, Beijing-to-Shijiazhuang, Badaling, capital, open in capital Beijing of flowing through.Beijing vehicle guaranteeding organic quantity is broken through 5,000,000, and urban transportation faces more test.
Heart of Beijing city area is 1085 square kilometres at present, 263 kilometers of through street mileages, 861 kilometers of trunk roads mileages, 629 kilometers of secondary distributor road mileages, 6258 kilometers of road total kilometrages.Beijing's city road network is intensive, complex structure, and each bar expressway, city expressway and part major trunk roads all are provided with main and side road, the frequent up and down main and side road of vehicle driving cross grade separation, and Beijing blocks up seriously, early during evening peak for avoiding seriously blocking up the highway section, the path that often detours is more suitable.On the other hand, Beijing is the international metropolis, the region area is wide again, often there are very many communication paths in resident's go off daily distance between terminus, these actual conditions are all so that in Beijing's city road network, to starting point and the terminal point under given any departure time, generate the driving set of paths of " rationally ", reflect exactly true driver for the judgement in trip path as far as possible or propose more reliable path planning suggestion, have suitable difficulty.
Be that take Beijing example, Fig. 1 are the process flow diagram of the multipath system of selection based on key hierarchy of road network of the present invention.As shown in Figure 1, the multipath system of selection based on key hierarchy of road network comprises the steps:
Step a, the city road network layering is processed, extracted the key road network in heart of Beijing city, and finish the connection in viaduct district simplified and process.It is specific as follows to extract key road network:
A1. to the road net data processing of encoding, each node assignment unique number, each highway section assignment unique number, clear and definite each highway section start and end node serial number;
A2. according to the road present situation grade in city and with reference to the functional importance of some concrete road, extract the strategic road network of inner city, form independent key road network layer data; Referring to as 2, Fig. 2 is the key hierarchy of road network synoptic diagram in heart of Beijing city; Thick lines among the figure are the key road network of the inner city that extracts.
It is as follows that processing is simplified in the connection in viaduct district:
A3. the complicated ring road connection in the viaduct district in the key road network layer data is simplified, generating virtual connects ring road, thereby a direction is entered the highway section of rolling away from that the highway section is directly connected to other direction; A direction enters the highway section of rolling away from that the highway section generally connects three or more direction.Referring to such as Fig. 3 A, Fig. 3 B and Fig. 3 C, Fig. 3 A, Fig. 3 B are connected emerging bridge west-north, Xi-Nan Hexi-Dong with Fig. 3 C the complicated ring road in viaduct district connects the short-cut method synoptic diagram.Heavy line among the figure is actual connection ring road, and dotted line is the virtual link ring road.
Step b, to given terminus to (O, D) calculate the air line distance of going on a journey between terminus, and the size of the distances travelled threshold value of the air line distance between the comparison terminus and setting, if the air line distance between terminus less than the distances travelled threshold value, then generates short range path collection according to step c; If the air line distance between terminus more than or equal to the distances travelled threshold value, then generates the remote path collection according to steps d; The actual conditions such as the set basis city size of distances travelled threshold value are determined.Beijing is 4 kilometers with the distances travelled Threshold.
Step c, with the weighted sum of turning quantity and the hourage short range aggreggate utility U as the path
1, and with short range aggreggate utility U
1Minimum the shortest calculating of distance that replaces in the Dijkstra searching algorithm, thus short range path collection generated, specific as follows:
C1. short range aggreggate utility U
1Obtain by following formula: U
1=β
1* number of turns+β
2* hourage, wherein β
1Be the turning coefficient of short range routing, β
2Coefficient hourage for the short range routing; Other coefficients among above-mentioned coefficient and the present invention can be according to Urban Traffic routing enquiry data calibration result is determined.Value for the above-mentioned coefficient in Beijing is: β
1=-0.2, β
2=-0.7.
C2. with short range aggreggate utility U
1The shortest calculating of distance in the minimum Dijkstra of the replacement searching algorithm obtains short range aggreggate utility U between terminus
1Minimum path L
1
C3. to path L
1In the highway section interrupt one by one, and with short range aggreggate utility U
1Minimum replace the distance in the Dijkstra searching algorithm the shortest, the starting point of the air exercise section of opening circuit is carried out route searching to terminal between D, thereby acquisition interrupts the short range aggreggate utility U between the origin-to-destination in highway section
1Minimum path, and respectively with path L
1Starting point obtains starting point path L to terminal to the original route combination that interrupts the highway section starting point
2-L
n, path L
1-L
nForm short range path collection.
C4. above-mentioned L
1-L
nForm short range path collection and namely consist of this short range terminus to the feasible path collection between (O, D).
C5. concentrate the quantity in path in order to increase the short range path, can be to L
2-L
nIn short range aggreggate utility U
1Minimum path L
iContinue among the step c3 path L
1Operation namely interrupts path L successively
iEach highway section, again with the search of Dijkstra searching algorithm, obtain the short range aggreggate utility U from the starting point that interrupts the highway section to terminal point D
1Minimum path L
N+1-L
m, with path L
N+1-L
mAdd short range path collection to increase the number of feasible path.
C6. above-mentioned all path L
1-L
nWith path L
N+1-L
mBe altogether this short range terminus to the optional short range path collection between (O, D); Can set the short range path and concentrate the number in path, when the short range path concentrates the number in path to reach the number of setting, stop search, to reduce unnecessary calculating, raise the efficiency.Take Beijing as example, can be set as 50.
C7. calculate the short range aggreggate utility U that every paths is concentrated in the short range path
1Value, and from small to large ordering provides former paths to wait user selections to get final product for drivers.Short range aggreggate utility U generally is provided
1Front 5 paths of value minimum get final product.
Steps d, advance internodal aggreggate utility U as starting point to key road network with the weighted sum of turning quantity and hourage
2, and with this aggreggate utility U
2Minimum the shortest calculating of distance that replaces in the Dijkstra searching algorithm, thus obtain advancing set of node into node path collection and corresponding key road network; With the weighted sum of turning quantity and travel distance as key road network egress to the aggreggate utility U between terminal point
3, and with this aggreggate utility U
3Minimum the shortest calculating of distance that replaces in the Dijkstra searching algorithm, thus egress path collection and corresponding key road network egress collection obtained; Search for every group of the fastest path that advances between node and the egress on the key road network with the Dijkstra searching algorithm after will advancing node and egress combination pairing, obtain key path collection; Advance node path, key path and egress combination of paths and obtain the remote path collection.Specific as follows:
D1. starting point O advances internodal aggreggate utility U to key road network
2Obtain U by following formula
2=β
3* number of turns+β
4* hourage, wherein β
3Be the turning coefficient that remote path is selected, β
4Coefficient hourage for the remote path selection; Above-mentioned coefficient for the value of Beijing is: β
3=-0.3, β
4=-0.5;
D2. key road network egress is to the aggreggate utility U between terminal point D
3Obtain U by following formula
3=β
3* number of turns+β
5* travel distance, wherein β
3Be the turning coefficient that remote path is selected, β
5Be the travel distance coefficient that remote path is selected, above-mentioned coefficient for the value of Beijing is: β
3=-0.3, β
5=-0.001;
D3. use this aggreggate utility U
2Minimum the shortest calculating of distance that replaces in the Dijkstra searching algorithm obtains starting point O and advances internodal aggreggate utility U to key road network
2Minimum path consists of into the node path collection, enters path that node path concentrates and advances accordingly node and consist of key road network and advance set of node E
O1-E
OpCan arrange into number of nodes p, when reaching into number of nodes p, stop search, calculate in order to reduce, raise the efficiency.For the value p=5 of Beijing, thus in the present embodiment when obtain advance nodes and reach 5 the time, stop search, find this moment advances node E
O1-E
O5Consist of key road network and advance set of node.
D4. use this aggreggate utility U
3Minimum the shortest calculating of distance that replaces in the Dijkstra searching algorithm obtains key road network egress to the aggreggate utility U between terminal point D
3Minimum path consists of egress path collection, and the corresponding egress in path that concentrate in the egress path consists of key road network egress collection E
D1-E
DqCan arrange into number of nodes q, when reaching into number of nodes q, stop search, calculate in order to reduce, raise the efficiency.For the value q=5 of Beijing, so in the present embodiment when the egress number that obtains reaches 5, stop search, the egress E that find this moment
D1-E
D5Consist of key road network egress collection.
D5. node will be advanced and egress makes up pairing: (E
O1-E
D1), (E
O1-E
D2) ... (E
O5-E
D5), totally 25 groups, the shortest calculating of distance with in the shortest replacement hourage Dijkstra searching algorithm obtains advancing the fastest path L between node and egress to every group on the key road network
I1-L
I25, obtain key path collection.
Interrupt successively in each highway section in each path of d6. above-mentioned key path being concentrated, and respectively with the Dijkstra searching algorithm search for interrupt the highway section on the key road network starting point to the shortest path L hourage between the egress of correspondence
Ii1-L
Iin, and the path that new search is obtained and advance node and add key path collection to the path that the path of interrupting between the starting point of highway section forms, the path number of concentrating to increase key path.
D7. above-mentionedly advance node path, key path and egress combination of paths and obtain terminus to the remote path collection between (O, D).
If d8. the number of paths concentrated of remote path not enough can be to L
Ii1-L
IinBetween middle key road network turnover node hourage the shortest path L
sContinue the operation in the steps d 5, namely interrupt successively L
sEach highway section on key road network, and search for the starting point that interrupts the highway section on the key road network to the fastest path L between the corresponding egress with the Dijkstra searching algorithm respectively
S1-L
Sm, and the path that new search is obtained and enter node to the path that the path of interrupting between the starting point of highway section forms and add key path collection.
D9. can set and generate the path number that long-range terminus is concentrated the remote path between (O, D), reach when setting number, stop search, to reduce calculated amount, raise the efficiency.Beijing's remote path is concentrated and to be comprised the path and reach 200 and stop search.
D10. obtain the complete trails aggreggate utility U in the concentrated path of remote path by following formula
4, U
4=β
3* number of turns+β
4* hourage+β
6* backbone network mileage ratio is calculated respectively the aggreggate utility U that remote path is concentrated every paths
4Value, and the path pressed U
4Value sort from small to large, provide former for user selections.β
6For the backbone network mileage scale-up factor of remote path selection, to Beijing value: β
6=1.0.The selective number of path of general setting is 10 and gets final product.
Dijkstra searching algorithm among the present invention refers to the single source of typical Dijkstra shortest path first.But in the present invention with minimum the shortest calculating of distance that replaces point-to-point transmission of the aggreggate utility value of point-to-point transmission.With minimum simple the shortest search of distance, the actual road conditions so that fit in the path that provides of replacing of aggreggate utility.
By the Beijing that finishes by the inventive method based on the city integrated optimal utility Dynamic Multi-Pathing selective system interface of backbone network layering as shown in Figure 4.System can be arbitrarily from scheming the terminus of upper selection trip, select the departure time, with hourage of each bar road of average corresponding time period of historical data as being worth hourage, according to the city integrated optimal utility Dynamic Multi-Pathing system of selection algorithm based on the backbone network layering, each paths result of calculating of display system successively.
For feasibility and the actual motion effect of verifying said method, the below utilizes from typical terminus (from the Hua Weiqiao of Beijing east-coach station, Liuli Flyover), contrasted respectively the result of high moral guidance path result, the self-driving guidance path result of Google and system of selection of the present invention, the path profile of selection is shown in Fig. 5 A to Fig. 5 d:
(1) Fig. 5 A is the optimal path that the navigation software search of Gao De company obtains, and is shown as directly upper three rings, goes out three rings around the South 3rd Ring Road to the Liuli Flyover and arrives the destination, and high moral navigation software was unifiedly calculated regardless of the departure time;
(2) Fig. 5 B1 and Fig. 5 B2 are the two schemes of Google Maps self driving path planning, Google Maps self driving path planning is according to the different departure times, consider the congestion in road situation and carry out path planning calculating, in the situation that morning peak 8:30 sets out, path planning shows 2 kinds of recommendations for selections: referring to Fig. 5 B1, a kind of or directly go up three rings, go out three ring arrival destinations to the Liuli Flyover around the South 3rd Ring Road; Referring to Fig. 5 B2, another kind is upper South 2nd Ring Road, go in a westward direction the through street, West Lianhuachi Road to the West 3rd Ring Road, again along the West 3rd Ring Road southward the wraparound Liuli Flyover go out three rings and arrive destinations, during its reason is morning peak, it is very serious to block up to the highway section toward the south orientation north, West 3rd Ring Road in north through the Liuli Flyover from beautiful damp bridge, so path planning can have a mind to get around this direction highway section;
(3) Fig. 5 C is the routing result that the inventive method calculated the different departure times with Fig. 5 D.Fig. 5 C1 and Fig. 5 C2 are two kinds of the most front path plannings of rank in the routing result of calculation in the complete unimpeded situation of 3:00 AM, and referring to Fig. 5 C1, scheme one or directly go up three rings goes out three around the South 3rd Ring Road to the Liuli Flyover and encircles the arrival destinations; Referring to Fig. 5 C2, scheme two is that the South 3rd Ring Road meets Li Zelu to the West 3rd Ring Road to the destination, substantially all is the urban expressing system shortest path; Fig. 5 D1 and Fig. 5 D2 are two kinds of the most front path plannings of rank in the routing result of calculation in the morning peak 8:30 situation of setting out, referring to Fig. 5 D1, scheme one is around the South 3rd Ring Road, to the south orientation northwest (NW) three loop sections (direction of arrow indication among the figure) that the most stifled beautiful damp bridge begins, selected to walk around the most stifled section and arrive the destination from the beautiful damp bridge Wan Fenglu that goes in a westward direction; Referring to Fig. 5 D2, secondly scheme two is only directly and arrives the destination along three rings.
According to the actual driving in Pekinese, the South 3rd Ring Road is walked exactly then from the beautiful damp bridge Liuli Flyover of detouring westerly in best path during morning peak, and best path is directly to arrive the destination along three rings in the fully unimpeded situation, from the actual search situation, Beijing can obtain best path computing result based on the city integrated optimal utility Dynamic Multi-Pathing selective system of backbone network layering.This algorithm comparison of computational results is desirable.
Above embodiment is exemplary embodiment of the present invention only, is not used in restriction the present invention, and protection scope of the present invention is defined by the claims.Those skilled in the art can make various modifications or be equal to replacement the present invention in essence of the present invention and protection domain, this modification or be equal to replacement and also should be considered as dropping in protection scope of the present invention.
Claims (10)
1. based on the multipath system of selection of key hierarchy of road network, it is characterized in that, comprise the steps:
A. extract the key road network in the city road network, and key road network viaduct district is connected the simplification processing;
B. to given terminus to calculating the air line distance between the trip terminus, and the size of the distances travelled threshold value of the air line distance between the comparison terminus and setting, if the air line distance between terminus less than the distances travelled threshold value, then generates short range path collection according to step c; If the air line distance between terminus more than or equal to the distances travelled threshold value, then generates the remote path collection according to steps d;
C. with the weighted sum of turning quantity and the hourage short range aggreggate utility U as the path
1, and with short range aggreggate utility U
1Minimum the shortest calculating of distance that replaces in the Dijkstra searching algorithm, thus short range path collection generated;
D. advance internodal aggreggate utility U as starting point to key road network with the weighted sum of turning quantity and hourage
2, and with this aggreggate utility U
2Minimum the shortest calculating of distance that replaces in the Dijkstra searching algorithm, thus obtain advancing set of node into node path collection and corresponding key road network; With the weighted sum of turning quantity and travel distance as key road network egress to the aggreggate utility U between terminal point
3, and with this aggreggate utility U
3Minimum the shortest calculating of distance that replaces in the Dijkstra searching algorithm, thus egress path collection and corresponding key road network egress collection obtained; Search for every group of the fastest path that advances between node and the egress on the key road network with the Dijkstra searching algorithm after will advancing node and egress combination pairing, obtain key path collection; Advance node path, key path and egress combination of paths and obtain the remote path collection.
2. the multipath system of selection based on key hierarchy of road network according to claim 1 is characterized in that, among the described step a:
Extracting key road network comprises: a1. is to the processing of encoding of city road network data, each node assignment unique number wherein, each highway section assignment unique number, clear and definite highway section start and end node serial number; A2. according to the urban road grade and with reference to the functional importance of the concrete road in city, extract the city strategic road network, form independent key road network layer data.
3. the multipath system of selection based on key hierarchy of road network according to claim 1, it is characterized in that, the connection in the key road network viaduct district among the described step a is reduced to, and the a3. generating virtual connects ring road, makes a direction enter the highway section of rolling away from that the highway section is directly connected to other direction.
4. the multipath system of selection based on key hierarchy of road network according to claim 1 is characterized in that, among the described step c, and described short range aggreggate utility U
1Obtain by following formula: U
1=β
1* number of turns+β
2* hourage, wherein β
1, β
2Be respectively the short range routing the turning coefficient and hourage coefficient.
5. the multipath system of selection based on key hierarchy of road network according to claim 1 is characterized in that, among the described step c, with short range aggreggate utility U
1The shortest calculating of distance in the minimum Dijkstra of the replacement searching algorithm obtains short range aggreggate utility U between terminus
1Minimum path L
1, to path L
1In the highway section interrupt one by one, and respectively with short range aggreggate utility U
1Minimum the shortest calculating of distance that replaces in the Dijkstra searching algorithm, the starting point of the air exercise section of opening circuit is carried out route searching to terminal between D, thus acquisition interrupts the short range aggreggate utility U between the origin-to-destination in highway section
1Minimum path, and respectively with path L
1Starting point obtains starting point path L to terminal to the original route combination that interrupts the highway section starting point
2-L
n, path L
1-L
nForm short range path collection.
6. the multipath system of selection based on key hierarchy of road network according to claim 5 is characterized in that, to path L
2-L
nMiddle short range aggreggate utility U
1Minimum path L
iRepeat path L
1Operation, thereby way to acquire L
N+1-L
mConcentrate the number in path to increase the short range path.
7. the multipath system of selection based on key hierarchy of road network according to claim 1 is characterized in that, the path that concentrate in described short range path is according to separately short range aggreggate utility U
1Value is ordering from small to large.
8. the multipath system of selection based on key hierarchy of road network according to claim 1 is characterized in that, in the described steps d, and U
2=β
3* number of turns+β
4* hourage; U
3=β
3* number of turns+β
5* travel distance; β wherein
3, β
4And β
5Be respectively turning coefficient that remote path selects, hourage coefficient and travel distance coefficient.
9. the multipath system of selection based on key hierarchy of road network according to claim 1, it is characterized in that, each path that key path in the described steps d is concentrated is handled as follows respectively to increase the path number that concentrate in key path: each highway section in each path is interrupted successively, and search for the starting point that interrupts the highway section on the key road network to the shortest path hourage between the corresponding egress with the Dijkstra searching algorithm respectively, and the path that new search is obtained with enter node to the path of interrupting the path composition between the starting point of highway section and add key path collection.
10. the multipath system of selection based on key hierarchy of road network according to claim 1 is characterized in that, the path that remote path is concentrated by separately system-wide through aggreggate utility U
4Value sort from small to large U
4=β
3* number of turns+β
4* hourage+β
6* backbone network mileage ratio, wherein β
3, β
4And β
6Be respectively turning coefficient that remote path selects, hourage coefficient and backbone network mileage scale-up factor.
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