# CN101162150B - Calculating method for searching multi-city multi-province route using framing data in networking vehicle mounted guidance apparatus - Google Patents

Calculating method for searching multi-city multi-province route using framing data in networking vehicle mounted guidance apparatus Download PDF

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CN101162150B
CN101162150B CN 200610135276 CN200610135276A CN101162150B CN 101162150 B CN101162150 B CN 101162150B CN 200610135276 CN200610135276 CN 200610135276 CN 200610135276 A CN200610135276 A CN 200610135276A CN 101162150 B CN101162150 B CN 101162150B
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map
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• 238000009432 framing Methods 0 title 1
• 230000015654 memory Effects 0 abstract 4
• 230000002829 reduced Effects 0 abstract 1
• 238000000926 separation method Methods 0 abstract 1

## Abstract

The invention provides a calculating method using sheet-dividing data to search route between cities and provinces in networked vehicle navigating device, wherein, a map is firstly cut into map sheets in a separation way, and then the data of the beginning map sheet and the end map sheet is loaded in a memory; by using a route calculating method based on Dijkstra, shortest routes between all routes are divergently calculated from beginning site to end site; during calculating, if the distance between the center of the new-loaded map sheet and the beginning site or the end site exceeds the preset value, only data of high-level road is loaded for calculating; if all the shortest routes between the beginning and all the sites in the road data of a certain map sheet are calculated, the navigating road data of the map sheet is unloaded from the memory; the invention only loads relative map sheet data for calculating and can dynamically load and unload data, thus, unnecessary space is reduced in the memory and the aim to calculate big data with small memory is attained.

## Description

[0001] 本发明一种将导航数据分割为多个小单元进行处理，以解决嵌入式车载导航设备因为内存空间的不足而无法处理大型导航数据，从而无法搜寻大范围的跨市跨省导航路径的方法。 [0001] The present invention is a method of navigation data processing is divided into a plurality of small units to address inter-provincial cross-market navigation path embedded vehicle navigation devices because of insufficient memory space can not handle large navigation data, and thus can not search a wide range of Methods.

[0002] 嵌入式车载导航设备应用已越来越广，但是，很多导航设备只提供某个城市或某个地区的导航功能，尚不能提供可以进行全国道路导航的功能。 [0002] embedded vehicle navigation devices have become an increasingly widespread application, but many only provide navigation equipment navigation function of a city or a region, yet does not provide functions can be national road navigation. 究其原因，是因为中国幅员辽阔，道路信息十分庞大，如果采用传统的方法处理，需要将全部的数据加载到内存中进行，这样，可能需要好几十兆甚至几百兆以上的内存，对于内存受限的嵌入式车载导航设备来说是不可行的。 The reason is because China is a vast, road information is very large, if the traditional method of treatment, you need to load all data into memory were so, it may take more than ten trillion or even several hundreds of megabytes of memory, for embedded vehicle navigation devices with limited memory is not feasible.

[0003] 本发明的目的在于提供一种联网车载导航设备中使用分幅数据搜寻跨市跨省路径的计算方法，可以将大型的道路数据划分为小单元数据块，需要时载入，不需要时卸载， 按需读取地理上相连的多个单元的数据块，从而完成路径计算。 [0003] The object of the present invention is to provide a networked vehicle navigation apparatus using data framing provinces path search method of calculating inter-city, a road can be divided into large blocks of data to the small unit, if desired load, does not require when unloading, on-demand read data block is connected to a plurality of cells geographically, thus completing the path calculation.

[0005] 根据《国家基本比例尺地形图分幅和编号》，选择1 ： 10万的分幅标准，即每隔经差7' 30"、纬差5'为1个分幅大小，将全国范围的矩形区域分隔为426行X 494列个图幅，并按照“自上而下，从左到右”的方式编号。 [0005] The "National basic scale topographic maps and numbering", Option 1: 100,000 framing standards, i.e., the difference by every 7 '30 "latitude difference 5' to the size of a sub-web, the nationwide the rectangular region 426 is partitioned into rows X 494 dpi column web, and in accordance with the "top-down, left to right" way number.

[0006] 所述的道路导航数据的文件格式为，在文件开头建立图幅数据索引区，索引区的图幅顺序按照编号顺序排列，索引区后即是各个图幅的道路导航数据区。 [0006] The road navigation data file format, establish frame data area at the beginning of the index file, index area Mapsheet arranged in the sequence number order, after the index area of ​​each map sheet is a road navigation data area.

[0007] 对于图幅与图幅之间的联通道路，采用邻接转向信息进行记录，邻接转向信息的 [0007] For the road link between the map sheets and map sheet, a steering adjacency information is recorded, the information of the adjacent turn

[0009] 图1为本发明中全国地图分幅切割示意图； [0009] FIG. 1 in the present invention, a schematic cut framing national map;

[0010] 图2为本发明中全国地图分幅数据编号示意图； [0010] FIG. 2 is a schematic view of the invention No. web national map data points;

[0011] 图3为本发明中分幅存放的导航拓扑数据的存储示意图； [0011] Fig 3 a schematic view of a navigation store topology data store web equatorial present invention;

[0012] 图4为本发明中路径计算时导航拓扑数据的分幅加载示意图； [0012] FIG. 4 of the present invention, the navigation subdivision schematic view of topology data loading path computation;

[0013] 图5为本发明中图幅内导航拓扑数据的分级存储示意图； [0013] FIG. 5 is a schematic view of the invention within the hierarchical storage FIG topology web navigation data;

[0014] 图6为本发明中用于路径回溯的路径计算中间记录——图幅路径表数组示意图。 Path [0014] FIG. 6 of the present invention for calculating intermediate recording path backtracking - schematic FIG web path table array.

[0015] 本发明是一种联网车载导航设备中使用分幅数据搜寻跨市跨省路径的计算方法， 其中该路径计算的方法，仍然是以经典的Dijkstra单源最短路径算法为基础。 [0015] The present invention is a networking vehicle navigation device used in framing Search calculated inter-provincial cross-market path, the path of which method of calculation, is still a classic Dijkstra's single-source shortest-path algorithm. 中华人民共和国国家标准《国家基本比例尺地形图分幅和编号——GB/T 13989-92》，为本发明提供了划分单元数据块的参考依据。 People's Republic of China national standard "national basic scale topographic maps and numbering --GB / T 13989-92", oriented to provide a reference data block division unit of the present invention.

[0017] 参照国标《国家基本比例尺地形图分幅和编号》的内容，选择一个分幅标准作为道路数据分块单元的大小。 [0017] Referring to the national standard "national basic scale topographic maps and numbering" content, selecting a subdivision criteria as the road data block size of the cell. 例如选择1 ： 10万地形图的分幅大小，即每隔经差7' 30"、纬差5'为1个分幅大小（也可以选择其他分幅单位，但是分幅单位不能太大或者太小，太大则每次加载需要的内存还是偏大，太小则要增加图幅读取的次数影响效率，本发明在实施时采用的是上述的分幅大小），这样，覆盖全国的可导航地图区域就可以分割成426行X 494 列个图幅。 For example Option 1: 100,000 topographic map of the framing size, i.e. every 7 by the difference between '30', the difference between the weft 5 'is a size of a sub-web (framing may choose other units, but the unit is not too large or framing is too small, too large, or each loading requires larger memory, will have to increase the number of small pieces of FIG affect the efficiency of the read, the present invention is employed in the above-described embodiment framing size), so, nationwide navigable map area can be divided into 426 rows X 494 dpi column web.

[0018] 将全国道路数据按照分幅大小进行切割，并且对切割后的图幅进行有规律的编号(比如自上而下、再从左到右这样编号），在各个图幅内的道路数据进行独立的编号，这样， 对于图幅与图幅之间的联通道路，可采用邻接转向信息进行记录。 [0018] in accordance with the national road data framing cutting size, and the web of FIG dicing a regular number (for example from top to bottom, left to right and then this number), the road data in each of the web of FIG. independent numbers such that, for a road link between the web of FIG. FIG web, adjacent the steering information can be recorded. 邻接转向信息的主要内容是（具体内容，见下文⑵中所述）： The main content is adjacent to the steering information (for details, see below in the ⑵):

[0019] ①邻接图幅编号。 [0019] ① ID web abutting FIG.

[0021] 这样，如图1所示，覆盖全国的矩形区域的经度范围是73. 375°〜135. 125°，纬度范围是18. 0833333°〜53. 58343°。 [0021] Thus, as shown in Figure 1, covers the longitudinal extent of the rectangular region of the country is 73. 375 ° ~135. 125 °, latitude is 18. 0833333 ° ~53. 58343 °. 本发明具体实施时，根据《国家基本比例尺地形图分幅和编号》，选择1 ： 10万的分幅标准（经差7' 30"、纬差5')，将全国范围的矩形区域分隔为426行X 494列个图幅，并按照“自上而下，从左到右”的方式编号，如图2所示。 The specific embodiments of the present invention, in accordance with the "National basic scale topographic maps and numbering", Option 1: 100,000 framing standard (by differential 7 '30 "latitude difference 5'), the rectangular area is separated nationwide 426 rows X 494 dpi column web, and in accordance with the "top-down, left to right" way number, as shown in FIG.

[0022] 然后，建立道路导航数据文件，在文件开头，建立图幅数据索引区，索引区的图幅顺序按照图幅编号顺序排列，索引区后即是各个图幅的道路导航数据区。 [0022] Then, the establishment of road navigation data files, at the beginning of the file, the index to establish frame data area, Mapsheet index area arranged in the order of FIG amplitude sequence of numbers, after the index area of ​​each map sheet is a road navigation data area.

[0023] (2)分幅数据的存储方式和内容 [0023] The storage (2) framing and data content

[0024] 虽然全国数据是分幅的，但是可将所有图幅的数据组合在一个导航拓扑文件中， 这样的话，为了快速的跳转到各个图幅数据进行读取，还在文件头增加了各图幅索引信息。 [0024] While national data framing, but may be combinations of all the data in a navigation map sheet topology file, in this case, in order to quickly jump to the respective frame data read, also increases the file header each map sheet index information. 导航拓扑文件的基本格式如图3所示，说明如下： The basic topology of the navigation file format shown in Figure 3, as follows:

[0025] 各图幅数据的快速索引，即各图幅的导航拓扑数据在文件中的起始地址。 [0025] The rapid indexing each frame data, i.e. the topology data of each navigation map sheet starting address in the file.

[0026] 图幅内的导航拓扑详细数据，主要包括：各等级道路个数（高等级在前）、所有道路弧的权值信息和转向信息，组织方式如图5所示，说明如下： [0026] Detailed navigation data in the topology map sheet, including: the number of different level road (first grade), all arcs on road information and steering information values, organized as shown in FIG. 5, as follows:

[0027] 等级1道路个数、等级2道路个数.......，等级m道路个数； Road Number 1 [0027] level, level number 2 ....... road, road number m of levels;

[0028]【道路弧1权值、点个数、点集...、转向个数、转向1出弧ID、转向1转向权值、(转 [0028] [1 arc path weights, the number of points, point set ..., the number of steering, steering an arc ID, steering a steering weights (rpm

ID、转向1转向权值、转向2出弧ID、转向2转向权值......】 ID, steering a steering weights, two arcs ID steering, steering the steering weights ...... 2]

[0029] 道路弧数据的排列顺序，按照道路级别顺序排列，即高等级道路在前，低等级道路在后，相同等级道路的排列顺序则是随机的。 [0029] The order in which the data arc road, follow the road rank order, i.e., the front road grade, low-grade road, the same level of the road in the order is random. 这种分级组织的方式，在跨城市跨省计算时为数据的分级加载奠定了基础，后文将进行说明。 This way hierarchically organized, when cross-city inter-provincial data load rating is calculated as the foundation, which will be described later.

[0030] 并且，如果转向出弧是其他图幅内的道路弧，用特殊的方式进行表示，例如，若以4 个字节无符号整数表示道路弧ID，则实际上ID的最大值不会超过0x7fffffff，即ID的二进制最高位肯定为0，若转向出弧是邻接图幅内的ID，则将该ID的二进制最高位置为1，以表示转向出弧是邻接图幅内的道路弧，使用时只要重新将该ID的二进制最高位置为0即可还原为真实的ID，该ID是邻接道路弧在邻接图幅内的ID。 [0030] Further, if the steering arc is an arc inside a road other map sheet, be represented in a special way, for example, if the 4-byte unsigned integer arc path ID, the ID is not in fact the maximum 0x7FFFFFFF over, i.e., the highest bit binary 0 is a positive ID, if the ID is within the arc of the turn adjacent to FIGS web, the ID of the highest position of the binary 1 to indicate a shift in the arc of the arc adjacent to the road map sheet, binary highest position just re-use of the ID is reduced to 0 to the real ID, which is adjacent to a road adjacent to the arc in FIG web's ID.

[0031] 注：括号内的数据，例如“（道路弧1转向1出弧ID所在图幅的ID) ”，只有在转出的道路弧是在邻接图幅中时才会出现，即邻接转向信息中才出现。 [0031] Note: The data in brackets, e.g., "(a road steering arc Arc 1 ID of a web of FIG. ID)", only the arc is transferred out of the way when the adjacent appear in FIG web, i.e., adjacent to the steering information to appear.

[0032] (3)跨城市跨省计算时对数据加载的取舍——分级调用道路数据 [0032] (3) When the calculation of the inter-city inter-provincial data loading of choice - call road classification data

[0033] 计算跨城市、跨省的两地间的路径时，需要调用起点和终点中间地区的许多图幅数据，如果起点-终点之间的距离很远，可以在接近起点和接近终点的图幅上读取全部的数据，而中间地区的图幅只要读取部分高等级道路数据（高速公路、城市快速路、城市主干道、国道、省道等）即可，因为实际上车辆在距离起点或终点很远的时候一般选择大路行驶。 [0033] computing across town, when the path between the two provinces, the need to call a lot of frame data the start and end of the middle area, if the starting point - the distance between the far end, you can be close to the start and near the end of the map read all the data on the web, while the middle area of ​​the map sheet as long as the reading portion of the high-grade road data (highways, urban expressways, urban roads, state and provincial roads, etc.) can be, because in fact the starting point of the vehicle at a distance or when the end of the road very far generally opt for travel.

[0037] 如前文（2)中所述，为了在计算时能够很方便的只加载高等级道路数据，对于图幅内导航道路数据的组织，采用按等级排序的方式，同时，建立了各个等级道路的个数信息，如图5所示。 [0037] As previously described (2), in the calculation order can be easily loaded only high-grade road data for the road tissue Mapsheet navigation data using the ranking by the way, at the same time, the establishment of various levels the number of road information, as shown in FIG.

5[0038] 这样，先读取各等级道路的道路个数信息，然后，根据要加载的级别个数，计算要加载的道路总数，加载了该总数的道路数据后即停止加载。 5 [0038] Thus, to read the number of different level road road information, and then, according to the number of the level to be loaded, to calculate the total number of road load, road data loaded stop after the total load. 例如，某图幅的各等级道路个数 For example, the number of levels of a road web of FIG.

[0039] (5)起点、终点所在图幅的确定 [0039] determined (5) start, end where the web of FIG.

[0040] 将起点（终点）的经度与全国地图最左边图幅的左边界经度相减，得到的差值除以图幅宽度，则可以算出该点位于全国图幅的第几列，将起点或终点的纬度与全国地图最上边图幅的上边界纬度相减，得到的差值除以图幅高度，则可以算出该起点或终点位于全国图幅的第几行，这样根据图2中的图幅编号规律，可以推断出该点所处图幅的编号，再根据图3中各图幅数据的存储位置索引，就可以加载该点所处图幅的导航拓扑数据了。 [0040] The starting point (end point) with the national map longitude FIG leftmost left border web longitude subtracting the resulting difference is divided by FIG web width, you can calculate the point is located in the country of FIG columns web, the start point or the end of the boundary with the latitude Lat national map of FIG uppermost web subtracting the resulting difference is divided by the web height map can be calculated from the start or end point is located in the first few lines of FIG National web, so that in accordance with FIG. 2 Sheet numbers law, it can be inferred that the point in which the web of FIG number, then according to the storage location index in each of FIG. 3 of the frame data, can load the topology data of the navigation point is located a web of FIG.

[0041] (6)分幅法进行路径计算 [0041] (6) Method for path computation subdivision

[0042] 本发明的路径计算的算法是基于经典的Dijkstra算法的。 Path computation algorithms invention [0042] This is based on the classic Dijkstra algorithm.

[0044] 如果某个图幅中所有的路径点都计算出了最短路径，则可以将计算时加载的该图幅道路拓扑数据卸载出内存，以节约空间。 [0044] If a Mapsheet all waypoints are calculated the shortest path, can be loaded when the calculated road Mapsheet unload the topology data memory to save space.

[0045] 对于距离起点（终点）都较远的图幅在加载时，因为实际上车辆在距离起点或终点很远的时候一般选择大路行驶，所以可以只加载高等级道路进行计算，这样就起到了节约内存空间的作用。 [0045] For all far from the starting point (end) map sheet at load time, because in fact vehicles are generally selected road when traveling very far away from the start or end point, so you can load only the high-grade road is calculated, so that from to the role of saving memory space.

[0046] 在计算的过程中，已经算出路径的中间数据，要进行记录，以便最后进行路径的回溯，形成完整的路径。 [0046] In the process of calculation, intermediate data path has been calculated, to be recorded, and finally back to the path to form a complete path. 中间路径数据的记录，即可以保存在内存中，也可以暂时保存在临时文件中。 Recording the intermediate path data, i.e., can be stored in memory, you may be temporarily stored in a temporary file. 以保存在内存中的数据形式为例，如图6所示。 In the form of data stored in memory as an example, as shown in FIG.

[0047] (7)回溯生成路径结果 [0047] (7) generating a back path results

[0048] 分幅法计算路径的过程中，要保存图幅路径表数组以便最后回溯生成路径。 [0048] The process of calculating the path framing process, to save the routing table in FIG web to final traceback array generation path. 如图6所示，每个图幅都有自己的图幅路径表，路径表的内容是： 6, each has its own web FIGS FIG web path table, the contents of the path table is:

[0049] ①参与计算的道路个数 The number of road [0049] ① involved in the calculation

[0050] ②路径信息数组指针 [0050] ② path information array pointer

[0051] 初始时，道路个数为0，数组指针是NULL，一旦加载了该图幅的道路拓扑数据后， 生成该图幅的路径信息数组并填充该图幅的路径表内容。 [0051] Initially, the way for a number of 0, the array pointer is NULL, once loaded the web of FIG road topology data, the drawing generation path information array and filled web path table of contents of the web of FIG. 各图幅的路径表按照图幅编号的顺序组织为一个数组结构，计算前进行初始化，计算中填充内容，计算后再清除各图幅路径表的内容，释放路径表所指向的路径信息数组。 Each map sheet path table organized in numbered sequence diagram of a web structure array, is initialized before the calculation, the calculation filling contents, and then clear the contents of each calculation map sheet path table, the path release information array pointed path table.

[0052] 各图幅的路径信息数组，记录的是图幅内各条道路弧的路径上的前一道路弧信息，前一道路弧可能是本图幅上的，也可能是邻接图幅上的。 [0052] The route information array of each map sheet, recorded before a road arc information on the path in FIG web the roads arc, before a road arc may be on this map sheet, it may be a contiguous FIG web of. 路径信息数组初始化时，各道 When the route information array initialization, each track

6路弧的前弧ID置为-1，表示还未计算出路径；计算过程中，随时填充道路的前弧信息，例如，若计算中确定了弧A- >弧B的路径，则弧B的前弧就是弧A。 6 the fore-arc arc path ID is set to -1, indicating that the path has not been calculated; calculation process, at any time before the arc filled road information, e.g., it is determined if the calculated arc A-> B of the arc path, the arc B the arc is the arc before A.

[0053] 计算结束后，根据路径信息数组，以到达终点的那条道路弧开始，往前回溯，生成路径。 After the [0053] calculated, based on the path information array, in order to reach the end of that road arc start, back forward, generation path. 回溯时，若某道路的前弧是邻接图幅内的，则根据该道路前弧所在图幅的路径表指针，读取邻接图幅的路径表，然后从其前弧开始继续回溯；当遇到起点发出的道路时，回溯结束。 When the back, if the road is a front arc, the arc in accordance with the road before the web is located adjacent to the path table pointer FIG FIG web, adjacent to the read path table of FIG web, and then resumes its front arc back; when the case of when issued to the starting point of the road, back end.

7 7

## Claims (4)

2.根据权利要求1所述的一种联网车载导航设备中使用分幅数据搜寻跨市跨省路径的计算方法，其特征在于：根据《国家基本比例尺地形图分幅和编号》，选择1 ： 10万的分幅标准，即每隔经差7' 30"、纬差5'为1个分幅大小，将全国范围的矩形区域分隔为426494%个图幅，并按照“自上而下，从左到右”的方式编号。 A networking The vehicle navigation apparatus of claim 1 using calculation method of framing data search path inter-city provinces claim, wherein: in accordance with "national basic scale topographic maps and numbering", select 1: 100,000 framing standards, i.e., the difference by every 7 '30 "latitude difference 5' is a framing size, the rectangular area is separated nationwide 426,494% dpi web, and in accordance with the" top-down, From left to right "way number.
3.根据权利要求1所述的一种联网车载导航设备中使用分幅数据搜寻跨市跨省路径的计算方法，其特征在于：所述的道路导航数据的文件格式为，在文件开头建立图幅数据索引区，索引区的图幅顺序按照编号顺序排列，索引区后即是各个图幅的道路导航数据区。 A networking The vehicle navigation apparatus of claim 1 using data framing provinces search path calculation method as claimed in claim inter-city, wherein: the road data of the navigation file format is established in the beginning of the file of FIG. web data index area, Mapsheet sequence index area arranged in sequential order, after the index area of ​​each map sheet is a road navigation data area.
CN 200610135276 2006-11-30 2006-11-30 Calculating method for searching multi-city multi-province route using framing data in networking vehicle mounted guidance apparatus CN101162150B (en)

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