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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data
road
map sheet
web
map
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CN 200610135276
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CN101162150A (en
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彭勇
许宁
陈青溪
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厦门雅迅网络股份有限公司
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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

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 A networking vehicle navigation device used in framing Search inter-city inter-provincial route

的计算方法 Calculation method

技术领域 FIELD

[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.

背景技术 Background technique

[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.

发明内容 SUMMARY

[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.

[0004] 本发明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,首先将地图进行分幅切割,将起点或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,这样根据图幅编号规律,得到起点和终点所在图幅的编号, 从而得到该图幅的道路导航数据区地址;然后加载起点图幅和终点图幅的道路导航数据到内存中;使用基于Dijkstra的路径算法,从起点开始,发散式计算地图上各个路径点的最短路径,遇到图幅边界,根据邻接转向信息,加载对应的邻接图幅的导航道路数据继续计算,直到到达终点为止,在计算的过程中,如果新 [0004] The present invention is a networking vehicle navigation device used in framing Search calculated inter-provincial cross-market path, first maps framing cutting, longitude with maps of the country start or end point of the left edge of the leftmost map sheet subtracting longitude, obtained by dividing the difference between the width of the web of FIG., it can be calculated that the point is located in the country of FIG columns web, the upper boundary of the latitude of the latitude and the start or end of the uppermost national map of FIG web subtracting obtained the difference divided by the height map sheet, you can calculate the start or end point is located in the first few lines of the national map sheet, map sheet so according to the law of numbers, to get the start and end location map sheet numbers, resulting in the road navigation map sheet data area address; and then loads the starting web end in FIG road navigation map sheet data into memory; path using Dijkstra's algorithm, from the starting point, the shortest path to each point on the diverging path calculation map, experiencing FIG clip boundary, in accordance with navigation data of the neighboring road steering information, load the corresponding abutment web continues to calculate FIG until reach the end, in the calculation process, if a new 载的图幅中心点距离起点或终点的直线距离超过预设值,则仅加载高等级道路的数据参与计算;若某个图幅加载的道路数据中所有路径点都算出了从起点出发可以到达的最短路径,则将该图幅的导航道路数据从内存中卸载,并且记录标志,以免再次加载该图幅的数据计算,计算完成后,根据计算过程中的路径记录进行回溯,最后生成完整路径。 Straight-line distance from the center point load map sheet start or end point exceeds a preset value, the only high-grade road load data involved in the calculation; data if a road map sheet loaded in all the waypoints are calculated from the starting point can be reached shortest path, the road data the navigation map sheet unloaded from memory, and the recording mark, again in order to avoid loading the drawing web data calculates, after completion of the calculation, the path for recording back calculation process, and finally the full path .

[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

3主要内容包括邻接图幅编号和邻接道路在邻接图幅内部的编号。 3 main contents include adjoining map sheet number and the number in the adjacent road adjoining map sheet inside.

[0008] 采用本发明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,将全国导航道路数据分幅切割,加载起点图幅和终点图幅的道路导航数据到内存中;而在计算的过程中,仅加载计算时遇到的邻接图幅道路拓扑数据,不需要加载全部图幅的道路拓扑数据;并且在距离起点和终点较远的中间地区,可以只加载高等级道路进行计算; 计算过程中可以动态加载数据和动态卸载数据。 [0008] The present invention uses a networking vehicle navigation device used in framing Search calculation method of inter-provincial inter-city route, the national road navigation data framing cutting, loading map sheet starting point and end point of the road map sheet navigation data into memory ; and in calculation of the process, the web abuts FIG road topology data loading encountered when calculating only need to load data for all road topology of FIG web; and at the start and end distant from the intermediate area, can be loaded only high road grade is calculated; calculation process data can be loaded and unloaded dynamically moving data. 这样,提高了内存使用的效率,减少了内存的不必要占用,达到了使用小容量内存计算大型数据的目的。 Thus, improving the efficiency of memory use and reduces unnecessary occupation of memory, to achieve the purpose of using large computing small memory data.

附图说明 BRIEF DESCRIPTION

[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.

具体实施方式 Detailed ways

[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.

[0016] (1)导航道路数据的分幅切割 Framing cutting [0016] (1) navigation road data

[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.

[0020] ②邻接道路在邻接图幅内部的编号。 [0020] ② adjacent road number in the adjoining map sheet inside.

[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

向1出弧ID所在图幅的ID)注、转向2出弧ID、转向2转向权值,......】,【道路弧2权 ID to an ID of a map sheet arc) injection, two arcs ID steering, steering the steering weights 2, ......], [2 arc right road

值、点个数、点集.· ·、转向个数、转向1出弧ID、转向1转向权值、转向2出弧ID、转向2转 Value, the number of points, point set. ·, The number of steering, steering an arc ID, steering a steering weights ID steering two arcs, the steering turn 2

向权值,......】,............,【道路弧η权值,点个数、点集...、转向个数、转向1出弧 The weight, ......], ............, [η arc path weights, the number of points, point set ..., the number of steering, steering an arc

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.

[0034] 如图4所示,与起点、终点附近的圆形区域有面积相交的图幅,可以加载全部的导航道路数据来计算,而2个圆形区域以外的图幅,则只需要加载高等级道路的导航数据。 [0034] As shown in FIG. 4, the start point, there is a circular area near the end of the web of FIG intersecting area, may be loaded all navigation data to calculate road, other than the web of FIG. 2 circular area, only needs to be loaded high-grade road navigation data. 实施时,在计算的过程中,如果新加载的图幅中心点距离起点或终点的直线距离超过预设值, 也就是圆形区域的半径(例如50km),则仅加载高等级道路的数据参与计算。 When implemented, the calculation of the process, if the linear distance from the center point in FIG web start or the end of the newly loaded exceeds a preset value, i.e. the radius of the circular area (e.g. 50km), the data is loaded only high-grade road participation calculation.

[0035] 如何做到仅加载高等级道路数据,即分级加载和计算的具体方式见下文。 [0035] How to do high-grade road load data only, i.e. DETAILED stage loading and calculations, see below.

[0036] (4)图幅内导航道路数据的分级加载和计算 [0036] (4) classifying the road navigation map sheet data and calculation load

[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.

为:50、100、200、500、800、50........现在要加载前3个级别的道路数据,则要加载的道路 As follows: 50,100,200,500,800,50 ........ now be loaded before the three-level road data, the road will have to be loaded

总数就是350条,读取了350条导航道路数据后就完成了加载,此时,加载的道路ID范围为1〜350,计算时若发现某条道路的转向出弧ID超过此范围,则将该转向信息屏蔽,这样,计算时就也只会转入已加载的高等级导航道路数据。 The total number is 350, the 350 reads the navigation data after the completion of the loading path, at this time, load in the range of 1~350 road ID, if found a certain road is calculated during steering of the arc ID exceeds this range, the the steering information shielded, so it will only turn on when calculating the high-grade road navigation data has been loaded.

[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.

[0043] 本发明路径计算时,先加载起点图幅的道路拓扑数据,从起点道路开始进行路径计算;当计算到图幅边界时,根据前文(2)中所述的邻接转向信息,得到邻接图幅的ID,然后加载邻接图幅道路拓扑数据(可能是只加载部分高等级导航道路数据),再以邻接道路为起始道路继续计算,一直到加载了终点图幅数据并找到到达终点的最短路径为止。 [0043] When the path of the present invention is calculated, to load the starting point of FIG web road topology data, from the beginning of the road starts path computation; when calculating the FIG clip boundary, steering information based on adjacent to the (2) hereinbefore, to give abutment FIG web ID, and then load the web abutting FIG road topology data (which may be only partially loaded road grade navigation data), and then starting a road adjacent to the road calculated to continue until the end of the loading frame data reach the end and find So far the shortest path. 这样, 在计算的过程中,只需要加载计算时遇到的邻接图幅道路拓扑数据,不需要加载全国所有图幅的道路拓扑数据。 Thus, in the calculation of the process, only need to load adjacent map sheets road topology data encountered calculation, no need to load all of the country road topology data map sheet.

[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.

[0054] 总之,本发明的核心内容在于:将地图进行分幅切割,将起点或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,这样根据图幅编号规律,得到起点和终点所在图幅的编号,从而得到该图幅的道路导航数据区地址,然后加载起点图幅和终点图幅的道路导航数据到内存中;使用基于Dijkstra的路径算法,从起点开始,发散式计算地图上各个路径点的最短路径,遇到图幅边界,根据邻接索引信息,加载对应的邻接图幅的导航道路数据继续计算,直到到达终点为止,在计算的过程中,如果新加载的图幅中心点距离起点或终点的直线距离超过预 [0054] In summary, the present invention is that the core of: cutting the web map is divided, the longitude and the national map the start or end of the left edge of the leftmost in FIG web longitude subtracting the resulting difference is divided by FIG web width, can calculate the point is the first of several ranks the map sheet, the start or end point on the boundary latitude latitude and maps of the country uppermost map sheet subtract the resulting difference divided pieces of height map, you can calculate the start or end point the first few lines in the country's map sheet, so based on Sheet numbers law, to get the start and end location map sheet numbers, resulting in road navigation data area address of the map sheet, and then load the starting point of view frame and end map sheet road navigation data into memory; path using Dijkstra's algorithm on, from the starting point, the shortest path to each point on the diverging path calculation map, experiencing FIG clip boundary, based on the adjacent index information, navigation road data corresponding to adjacent load continues to FIG web computing, until it reaches the end, the process of calculating the linear distance from the center point of the web of FIG. If the start or end of the newly loaded exceeds a predetermined 值,则仅加载高等级道路的数据参与计算;若某个图幅加载的道路数据中所有路径点都算出了从起点出发可以到达的最短路径, 则将该图幅的导航道路数据从内存中卸载,并且记录标志,以免再次加载该图幅的数据计算。 Value, high-grade road load only the data involved in the calculation; data if a road map sheet loaded all the waypoints are starting to calculate the shortest path from the starting point that can be reached, then the navigation road map sheet data from memory uninstall, and recording marks, so as not to load the data to calculate the map sheet again. 计算完成后,根据计算过程中的路径记录进行回溯,最后生成完整路径。 After completion of the calculation, the path backtracking calculation process of recording, the last full path.

7 7

Claims (4)

1. 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:首先将地图进行分幅切割,将起点或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,这样根据图幅编号规律,得到起点和终点所在图幅的编号,从而得到该图幅的道路导航数据区地址;然后加载起点图幅和终点图幅的道路导航数据到内存中;使用基于DijkStra的路径算法,从起点开始,发散式计算地图上各个路径点的最短路径,遇到图幅边界,根据邻接转向信息,加载对应的邻接图幅的导航道路数据继续计算,直到到达终点为止,在计算的过程中,如果 A networked-vehicle navigation device used in framing Search calculated inter-provincial cross-market path, characterized in that: firstly framing cutting maps, maps of the country will be left with longitude start or end point of the leftmost map sheet subtracting the longitude boundaries, resulting difference is divided by FIG web width, can be calculated from the columns of FIG point located in the web, the upper boundary of the latitude of the latitude and the start or end of the uppermost national map of FIG web subtracted to give the difference is divided by the height map sheet, you can calculate the start or end point is located in the first few lines of the national map sheet, map sheet so according to the law of numbers, to get the start and end location map sheet numbers, resulting in the road navigation map sheet data area address; and then load the map sheet starting point and end point of the road map sheet navigation data into memory; using a path algorithm DijkStra based, from the starting point, the shortest path to each point on the path divergent computing map, map sheet border encounters, continues to calculate the navigation data of the neighboring road steering information, load the corresponding abutment web of FIG until reach the end, in the calculation, if 加载的图幅中心点距离起点或终点的直线距离超过预设值,则仅加载高等级道路的数据参与计算;若某个图幅加载的道路数据中所有路径点都算出了从起点出发可以到达的最短路径,则将该图幅的导航道路数据从内存中卸载,并且记录标志,以免再次加载该图幅的数据计算,计算完成后,根据计算过程中的路径记录进行回溯,最后生成完整路径。 Straight-line distance from the center point of the map sheet the start or end of the load exceeds a preset value, the only high-grade road load data involved in the calculation; data if a road map sheet loaded in all the waypoints are calculated from the starting point can be reached shortest path, the road data the navigation map sheet unloaded from memory, and the recording mark, again in order to avoid loading the drawing web data calculates, after completion of the calculation, the path for recording back calculation process, and finally the full path .
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.
4.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: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, 邻接转向信息的主要内容包括邻接图幅编号和邻接道路在邻接图幅内部的编号。 A networking The vehicle navigation apparatus of claim 1 using data framing provinces search path calculation method as claimed in claim inter-city, wherein: for a road link between the web of FIG. FIG web, steering information adjacency recording, turning the adjacent main content of information include adjoining map sheet number and the adjoining road numbers inside the adjoining map sheet.
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