CN101776457A - Navigation method and device - Google Patents
Navigation method and device Download PDFInfo
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- CN101776457A CN101776457A CN200910003009A CN200910003009A CN101776457A CN 101776457 A CN101776457 A CN 101776457A CN 200910003009 A CN200910003009 A CN 200910003009A CN 200910003009 A CN200910003009 A CN 200910003009A CN 101776457 A CN101776457 A CN 101776457A
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Abstract
The embodiment of the invention provides a navigation method and a device, solving the problem of low navigation efficiency in the prior art. The method comprises: a path from a source node to a target node on a hierarchical road network is determined, wherein the hierarchical road network is at least two layers of road network, which divides the whole road network according to the preset rule, i.e. a bottom layer road network and an upper layer road network; the bottom layer road network is a road network universal set; as for the adjacent two layers of network, the upper layer road network is the subset of the current road network; and navigation is carried out according to the determined path. The device comprises a determining unit and a navigation unit. According to the embodiment of the invention, the path from the source node to the target node on the hierarchical road network is determined; and because the data amount of the upper layer road network is much less than that of the bottom layer road network, calculation efficiency can be improved, which is convenient to navigate.
Description
Technical field
The present invention relates to a kind of airmanship, relate in particular to a kind of air navigation aid and device.
Background technology
In traditional navigation procedure, by GPS (Global Position System, GPS) obtains the current location of vehicle, the destination manually is set then, navigational system adopts path search algorithm on the backstage, as dijkstra's algorithm (Di Jiesite, Dutch scientist), find out one or several most economical route from the current location to the destination, the shortest or expense is minimum etc. as time cost.Above-mentioned method for searching path is all based on dijkstra's algorithm.Dijkstra's algorithm has comprised a digraph G that weight is arranged, and the source summit S among the G.We represent the set on all summits among the G with V.Limit among each figure all is that two summits are formed has order elements right.(u, v) representing has the path to link to each other from summit u to v.We suppose that E is the set on all limits, and the weight on limit is then defined by weighting function w:E → [0, ∞].Therefore, (u v) is exactly from the summit u non-negative cost value (cost) of v to the limit to w.The cost on limit can be imagined into two distances between the summit.Appointing the cost value of inter-two-point path, is exactly the cost value summation on all limits on this path.Summit s and t are arranged among the known V, and dijkstra's algorithm can find s to the minimum cost path of t (as, shortest path).This algorithm can find from a summit s in a figure takes office the what shortest path on his summit.
Existing dijstra algorithm is always regarded road network as an aspect.At search A, during shortest path between 2 of the B no matter how far they are at a distance of, always will calculate between between them and the shortest path of all nodes of periphery, if will there be following shortcoming in wide apart between 2: (a) the computational data amount is big, and committed memory is big.(b) computing time long, efficient is low.(c) except above-mentioned two shortcomings, because the quality of different roads has a great difference, although try to achieve shortest path, comprehensive factor in many ways, this shortest path often is not optimum, optimum line.Therefore, when using existing dijstra algorithm to navigate, the efficient that can cause navigating is not high, has reduced user's satisfaction.
Summary of the invention
Embodiments of the invention provide a kind of air navigation aid and device, can solve the lower problem of navigation efficient in the prior art.
Embodiments of the invention provide a kind of air navigation aid, comprise: determining on the layering road network that source node is to path between the destination node, described layering road network is the two-layer at least road network of whole road network being divided according to pre-defined rule, be called bottom road network and upper strata road network, wherein, the bottom road network is the road network complete or collected works, and for the adjacent two layers network, the last layer road network is the subclass of current road network; According to the path navigation of determining.
The embodiment of the invention also discloses a kind of guider, comprise: determining unit, be used for determining on the layering road network that source node is to path between the destination node, described layering road network is the two-layer at least road network of whole road network being divided according to pre-defined rule, be called bottom road network and upper strata road network, wherein, the bottom road network is the road network complete or collected works, for the adjacent two layers network, the last layer road network is the subclass of current road network; Navigation elements is used for according to the path navigation of determining.
According to the embodiment of the invention, by determining source node on the layering road network to path between the destination node, because the data volume of upper strata road network is far smaller than the data volume of bottom road network node, thus can improve counting yield, thus convenient navigation.
Description of drawings
Fig. 1 illustrates the level of the embodiment of the invention one road net network;
Fig. 2 shows the air navigation aid of the embodiment of the invention one;
Fig. 3 shows the guider of the embodiment of the invention two.
Embodiment
Understand and realization the present invention the existing embodiments of the invention of describing in conjunction with the accompanying drawings for the ease of persons skilled in the art.
Embodiment one
In order to realize the present invention, at first determining on the layering road network that source node to path between the destination node, then navigates on the path of determining.Determining on the layering road network that source node to the path between the destination node, at first carries out layering to road network.Described layering road network is the two-layer at least road network of whole road network being divided according to pre-defined rule, be called bottom road network and upper strata road network, wherein, the bottom road network is the road network complete or collected works, for the adjacent two layers network, the last layer road network is the subclass of current road network.
A complexity and the big road network of data volume are constructed a plurality of space layer according to some principle.Make that the topological relation of network of each layer is separate.The upper strata road network is the subclass of underpass highway network always.Wherein, lowermost layer road network (being also referred to as the bottom road network) is the complete or collected works of road network data, and high-rise road network is the subclass of low layer road network.Fig. 1 shows road network level of the present invention, its can be divided into bottom road network, ground floor road network ..., n layer road network.Level can be divided according to factors such as category of roads, network forming importance, the magnitude of traffic flow or road speeds.For example, suppose road network is divided into three layers, when aspect the importance of tectonic network, carrying out the level division according to category of roads and highway section, top road network is made up of advanced road, the road network in middle layer is made up of subsidiary road and top road network, and lowermost layer is made up of whole roads.
For every layer of road network, be divided into several regions respectively, calculate with convenient.To the upper strata transition, accelerate the efficient in path between definite 2 for more easily, for the road network in areal zone, the segmentation of the always high-level area road network of low level area road network.The basic operation unit that each zone of dividing can be calculated as road like this, just.Each zone can be divided according to data volume.Remain on about 1000 as the highway section in each zone, this depends primarily on computing time.The shape in zone is unrestricted, but considers that the convenience of making often gets rectangle or approximate rectangular, and it is more reasonable to demarcate with the higher road of grade in the border in zone.Do not require with each area size and the shape of layer identical, as long as keep segmentation to top area.
Realize the data link by nodal community between the layer, whether this attribute characterization is present on the higher road network at present node, the top number of plies that this node of the value representation of this attribute can reach.The node that the higher level that adjoins on same position still occurs is same node.When running into same node in the computation process on lower level, the node that means this position also is the node of higher level road net.When carrying out navigation calculating, can rise to the last layer road network from this same node and continue to calculate.Because the high more data volume of level is few more, therefore, when when high-rise road network calculates, can accelerates computing velocity greatly, and can obtain more optimal way, thereby make things convenient for navigation widely.
As shown in Figure 2, describe below and determining on the layering road network that source node to route method between the destination node, comprises the steps:
Because result path is by the path sum that draws respectively on each layer.Wherein except bottom, node may have been eliminated in the path of other layers, thereby has covered the crossing feature between the highway section.In order to obtain detailed path, need this result path to be reduced into the highway section form of lowermost layer.Like this, just can navigate according to the path that said method is determined.
Embodiment two
As shown in Figure 3, present embodiment discloses a kind of guider, comprising:
Determining unit 31, be used for determining on the layering road network that source node is to path between the destination node, described layering road network is the two-layer at least road network of whole road network being divided according to pre-defined rule, be called bottom road network and upper strata road network, wherein, the bottom road network is the road network complete or collected works, and for the adjacent two layers network, the last layer road network is the subclass of current road network; Navigation elements 32 is used for according to the path navigation of determining; Division unit 33 is used for according to pre-defined rule whole road network being divided into two-layer at least road network; Reduction unit 34 is used for after obtaining connecting the path, is the path of lowermost layer road network with described path restore.
Described determining unit 31 comprises: obtain unit 311, be used to obtain source node and destination node; Setup unit 312, be used for the bottom road network of layering road network is made as current road network, described layering road network is the two-layer at least road network of whole road network being divided according to pre-defined rule, be called bottom road network and upper strata road network, wherein, the bottom road network is the road network complete or collected works, and for the adjacent two layers network, the last layer road network is the subclass of current road network; Computing unit 313, being used for is the center with source node and destination node respectively, calculates at current road network, and starts judging unit; Judging unit 314 is used to judge whether to satisfy level and stops design conditions or obtain connecting the path, if satisfying level stops design conditions, then the last layer road network with current road network is set at current road network, and starts computing unit; If obtaining connecting the path then stops, otherwise start computing unit.The principle of work of each unit can be with reference to the content of describing among the embodiment one in the present embodiment.
According to the embodiment of the invention, by determining source node on the layering road network to path between the destination node, because the data volume of upper strata road network is far smaller than the data volume of bottom road network node, thus can improve counting yield, thus convenient navigation.
Though described the present invention by embodiment, those of ordinary skills know, without departing from the spirit and substance in the present invention, just can make the present invention that many distortion and variation are arranged, and scope of the present invention is limited to the appended claims.
Claims (11)
1. an air navigation aid is characterized in that, comprising:
Determining on the layering road network that source node is to path between the destination node, described layering road network is the two-layer at least road network of whole road network being divided according to pre-defined rule, be called bottom road network and upper strata road network, wherein, the bottom road network is the road network complete or collected works, for the adjacent two layers network, the last layer road network is the subclass of current road network;
According to the path navigation of determining.
2. method according to claim 1 is characterized in that, is describedly determining on the layering road network that source node to path between the destination node specifically comprises:
Obtain source node and destination node, and with the bottom road network as current road network;
Be the center with source node and destination node respectively, calculate at current road network;
Judge whether to satisfy level and stop design conditions or obtain connecting the path, if satisfying level stops design conditions, then the last layer road network at current road network calculates, and repeats this step; Then return if obtain connecting the path; Otherwise, then calculate the duplicate step of laying equal stress at current road network.
3. method according to claim 2 is characterized in that, described calculating at road net is specially: adopt the Di Jiesite algorithm to calculate.
4. method according to claim 2 is characterized in that, before described last layer road network at current road network calculates, goes back execution in step: the attribute according to node obtains the inferior same node of last layer; Be the center at source node and destination node respectively then, calculate at the last layer road network of current road network.
5. method according to claim 2, it is characterized in that, carrying out described acquisition source node and destination node, and with the bottom road network as before the current road network, also each layer is divided into a plurality of zones, wherein, for the road network in areal zone, each zone of lower floor is the segmentation of top area.
6. method according to claim 2 is characterized in that, the described two-layer at least road network of whole road network being divided according to pre-defined rule specifically comprises: carry out layering by different categories of roads.
7. according to one of them described method of claim 2 to 5, it is characterized in that, after obtaining connecting the path, is the path of lowermost layer road network with described path restore.
8. a guider is characterized in that, comprising:
Determining unit, be used for determining on the layering road network that source node is to path between the destination node, described layering road network is the two-layer at least road network of whole road network being divided according to pre-defined rule, be called bottom road network and upper strata road network, wherein, the bottom road network is the road network complete or collected works, and for the adjacent two layers network, the last layer road network is the subclass of current road network;
Navigation elements is used for according to the path navigation of determining.
9. device according to claim 8 is characterized in that, described determining unit comprises:
Obtain the unit, be used to obtain source node and destination node;
Setup unit, be used for the bottom road network of layering road network is made as current road network, described layering road network is the two-layer at least road network of whole road network being divided according to pre-defined rule, be called bottom road network and upper strata road network, wherein, the bottom road network is the road network complete or collected works, and for the adjacent two layers network, the last layer road network is the subclass of current road network;
Computing unit, being used for is the center with source node and destination node respectively, calculates at current road network, and starts judging unit;
Judging unit is used to judge whether to satisfy level and stops design conditions or obtain connecting the path, if satisfying level stops design conditions, then the last layer road network with current road network is set at current road network, and starts computing unit; If obtaining connecting the path then stops, otherwise start computing unit.
10. according to Claim 8 or 9 described devices, it is characterized in that described device also comprises division unit, be used for whole road network being divided into two-layer at least road network according to pre-defined rule.
11. according to Claim 8 or 9 described devices, it is characterized in that described device also comprises reduction unit, be used for after obtaining connecting the path, is the path of lowermost layer road network with described path restore.
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| CN 200910003009 CN101776457B (en) | 2009-01-08 | 2009-01-08 | Navigation method and device |
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| CN102435200A (en) * | 2011-09-05 | 2012-05-02 | 广东东纳软件科技有限公司 | Rapid path planning method |
| CN103258043A (en) * | 2013-05-23 | 2013-08-21 | 南京师范大学 | POI simplifying parallel computing method based on road mesh hierarchical structure division |
| CN104239965A (en) * | 2014-08-27 | 2014-12-24 | 浙江工业大学 | Large-scale road network double-layer routing method based on overlap community partitioning |
| CN109323703A (en) * | 2017-08-01 | 2019-02-12 | 北京亿阳信通科技有限公司 | A kind of road traffic air navigation aid and device |
| CN109670236A (en) * | 2018-12-17 | 2019-04-23 | 中国地质大学（武汉） | A kind of Road Subdivision method based on road check off structure and visual saliency |
| CN110530391A (en) * | 2019-09-29 | 2019-12-03 | 武汉中海庭数据技术有限公司 | A kind of paths planning method and device based on hierarchical road network |
| CN112665601A (en) * | 2020-12-11 | 2021-04-16 | 杭州安恒信息技术股份有限公司 | Path planning method and device, electronic equipment and readable storage medium |
| CN114580796A (en) * | 2022-05-09 | 2022-06-03 | 北京建筑大学 | Tour attribute path planning method |
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| CN104239965A (en) * | 2014-08-27 | 2014-12-24 | 浙江工业大学 | Large-scale road network double-layer routing method based on overlap community partitioning |
| CN104239965B (en) * | 2014-08-27 | 2017-06-30 | 浙江工业大学 | A kind of extensive road network bilayer method for routing divided based on overlap corporations |
| CN109323703A (en) * | 2017-08-01 | 2019-02-12 | 北京亿阳信通科技有限公司 | A kind of road traffic air navigation aid and device |
| CN109670236A (en) * | 2018-12-17 | 2019-04-23 | 中国地质大学（武汉） | A kind of Road Subdivision method based on road check off structure and visual saliency |
| CN110530391A (en) * | 2019-09-29 | 2019-12-03 | 武汉中海庭数据技术有限公司 | A kind of paths planning method and device based on hierarchical road network |
| CN112665601A (en) * | 2020-12-11 | 2021-04-16 | 杭州安恒信息技术股份有限公司 | Path planning method and device, electronic equipment and readable storage medium |
| CN114580796A (en) * | 2022-05-09 | 2022-06-03 | 北京建筑大学 | Tour attribute path planning method |
| CN114580796B (en) * | 2022-05-09 | 2022-07-15 | 北京建筑大学 | Tour attribute path planning method and system |
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Effective date of registration: 20200518 Address after: 310052 room 508, floor 5, building 4, No. 699, Wangshang Road, Changhe street, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Alibaba (China) Co.,Ltd. Address before: 59 No. 701, 361008, hope road, Xiamen Software Park, Fujian, China Patentee before: AUTONAVI SOFTWARE Co.,Ltd. |