CN102062608A - Alternative path planning method and navigation terminal - Google Patents
Alternative path planning method and navigation terminal Download PDFInfo
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Abstract
The invention provides an alternative path planning method and a navigation terminal. The method comprises the following steps of: acquiring a selected topological object of a planned path; multiplying a damping coefficient of the selected topological object by an initial weight of the selected topological object to obtain a dynamic weight thereof; acquiring an alternative topological object which is connected with the selected topological object and has a distance within a threshold away from the selected topological object, and multiplying a damping coefficient of the alternative topological object by an initial weight of the alternative topological object while acquiring one alternative topological object so as to obtain a dynamic weight thereof; and calculating an alternative path through a shortest path algorithm according to the dynamic weights of the alternative topological object and the selected topological object forming the planned path, and weights of other topological objects in a road transport network. The invention also provides a navigation terminal. The provided technical scheme guarantees that the alternative path consists of most of topological objects which are not overlapped with the selected topological object, and the alternative path is more reasonably planned.
Description
Technical field
The present invention relates to the intelligent transport technology field, relate in particular to a kind of alternative path planing method and navigation terminal.
Background technology
Along with The development in society and economy, private car recoverable amount cumulative year after year, this has made things convenient for people's go off daily undoubtedly, but has also increased the weight of the load of city road network simultaneously, cause series of negative results such as traffic congestion is serious, traffic hazard takes place frequently, greatly influenced people's normal life.Therefore, how to alleviate traffic congestion the immense pressure that economy, environment and the energy produce is become a present research focus.
Intelligent transportation system (Intelligent Transportation Systems, what ITS) to be nineteen sixties at first proposed by the U.S. is that a system carries out integrated planning with vehicle, road synthetic, block up a kind of technical thought of problem of transport solution, this technical thought is once proposing just to be subjected to extensive concern.Along with fast development of information technology, people are able to advanced person's Automatic Measurement Technique, data communication technology, automatic control technology, Intelligent Information Processing and decision-making technic are merged effectively, and apply to whole traffic control system, can be thereby set up on a large scale, the comprehensive comprehensive traffic intelligent management system that plays a role, improve traffic effectively, improve conevying efficiency.
The traveler system is a subsystem in the intelligent transportation system, and it is guided out passerby and avoids the concentrated road of vehicle flowrate by the processing to Real-time Traffic Information, makes the driving of traveler more smooth and easy on the one hand, also plays the shunting action to wagon flow on the other hand.The GPS navigation system that existing vehicle uses is a comparatively elementary traveler system, it provides the path planning and the guiding function of detailed cartographic information, locating information and different modes, such as the shortest preferential path planning function of path planning function, high speed of distance, or the like.
The shortest path planning function of the described distance of preamble is meant that the shortest with distance is principle, the guidance path of planning vehicle from current present position to the destination, usually adopt dijkstra's algorithm now, A* (AStar) algorithm etc. calculates short-range missile bit path, consider that having the highway section in the short-range missile bit path can occur blocking up or inaccessible situation, actual should be in usefulness, also need to plan many alternative paths, the planning problem of alternative path can be called as multipath planning problem or K path planning problem.
In to prior art research and practice process, the inventor finds that there is following problem in existing alternative path planning technology scheme:
The mode that prior art adopts distance to increase progressively, produce the K paths, because the incremental change of distance is very little, make that (most of highway section of 1＜m＜=K) all overlaps for m paths and m+1 paths, have only certain a bit of path there are differences, therefore, many alternative paths of prior art planning are also unreasonable, can not satisfy the requirement of user to alternative path.
Summary of the invention
The technical matters that the embodiment of the invention will solve provides a kind of alternative path planing method and navigation terminal, can cook up rational alternative path.
For solving the problems of the technologies described above, the objective of the invention is to be achieved through the following technical solutions:
The embodiment of the invention provides a kind of alternative path planing method, and described method comprises:
Obtain of constituting path planning and selected topology objects;
With selecting the topology objects ratio of damping to multiply by the described initial weight that has selected topology objects, obtain its dynamic weights;
Obtaining with described has selected topology objects to be communicated with and to the described alternative topology objects of distance in threshold value that selected topology objects, and, whenever obtain alternative topology objects, then multiply by the initial weight of described alternative topology objects, obtain its dynamic weights with alternative topology objects ratio of damping;
If described path planning is to be made of the plural topology objects that selected, then repeat above-mentioned steps up to obtain all dynamic weights that selected topology objects and with select topology objects to be communicated with and apart from the dynamic weights of the alternative topology objects in threshold value; Otherwise, directly enter final step;
According to described alternative topology objects and described the formation dynamic weights that select topology objects of path planning, and the weights of other topology objects in the road traffic net, adopt shortest path first to calculate an alternative path; Wherein, ratio of damping is the number more than or equal to 1.
The embodiment of the invention also provides a kind of navigation terminal, and described navigation terminal comprises:
Selected the topology objects acquiring unit, obtained of constituting path planning and selected topology objects;
The first dynamic weight calculation unit is used for having selected the topology objects ratio of damping to multiply by the described initial weight that has selected topology objects, obtains its dynamic weights;
The second dynamic weight calculation unit, being used to obtain with described has selected topology objects to be communicated with and to the described alternative topology objects of distance in threshold value that selected topology objects, whenever obtain alternative topology objects, then multiply by the initial weight of described alternative topology objects, obtain its dynamic weights with alternative topology objects ratio of damping;
Judging unit, what be used to judge whether the also promising described path planning that obtains selects topology objects, if, then trigger the described topology objects acquiring unit that selected, otherwise, the alternative path planning unit triggered;
The alternative path planning unit is used for according to described alternative topology objects and described the formation dynamic weights that select topology objects of path planning, and the weights of other topology objects in the road traffic net, adopts shortest path first to calculate an alternative path; Wherein, ratio of damping is the number more than or equal to 1.
Technique scheme has following beneficial effect:
The alternative path planning technology scheme that the embodiment of the invention provides, obtained and select topology objects to be communicated with and to the alternative topology objects of the distance of selecting topology objects in threshold value, and multiply by initial weight with alternative topology objects with alternative topology objects ratio of damping, obtain the dynamic weights of alternative topology objects, with selecting the topology objects ratio of damping to multiply by and the initial weight that selects topology objects, the dynamic weights of topology objects have been selected.Because alternative/selected the topology objects ratio of damping for more than or equal to 1 number, make alternative/selected the weights of topology objects to be updated to the dynamic weights bigger than initial weight, when adopting shortest path first to calculate alternative path, alternative topology objects and the topology objects weight in shortest path calculates increases, thereby make shortest path first select alternative topology objects and the described probability of topology objects that selected to reduce, guaranteed that the alternative path that finally calculates is to be made of topology objects most and that selected topology objects and alternative topology objects not to overlap, the planning of alternative path is more reasonable.
Description of drawings
The alternative path planing method process flow diagram that Fig. 1 provides for the embodiment of the invention one;
The method flow diagram that obtains alternative topology objects in the threshold value that Fig. 2 provides for the embodiment of the invention;
Fig. 3 (a) for the embodiment of the invention provide alternative/selected topology objects ratio of damping normal distribution;
Fig. 3 (b) for the embodiment of the invention provide alternative/selected topology objects ratio of damping triangle distribution plan;
The synoptic diagram of path planning that Fig. 4 provides for the embodiment of the invention;
The legend of obtaining alternative topology objects in the threshold value that Fig. 5 provides for the embodiment of the invention;
Fig. 6 forms synoptic diagram for the navigation terminal that the embodiment of the invention provides.
Embodiment
For the purpose that makes the embodiment of the invention, technical scheme, and advantage clearer, below the technical scheme that the embodiment of the invention provides is elaborated with reference to accompanying drawing.
See also Fig. 1, be the alternative path planing method process flow diagram that the embodiment of the invention one provides, described method comprises:
Step 101: obtain of constituting path planning and selected topology objects;
In embodiments of the present invention, topology objects are represented a road in the real road network of communication lines, and topology objects have comprised out-degree, the in-degree information of corresponding road, and wherein, the road that can directly arrive through current road is called as the out-degree of current road; The road that can directly arrive current road is called as the in-degree of current road.Such as, in the road traffic net,, can directly arrive road B through road A, then road B is the out-degree of road A; Through road C, can directly arrive road A, then road C is called the in-degree of road A.
Step 102:, obtain its dynamic weights with selecting the topology objects ratio of damping to multiply by the described initial weight that has selected topology objects;
Step 103: obtain with described and selected topology objects to be communicated with and to the described alternative topology objects of distance in threshold value that selected topology objects, and, whenever obtain alternative topology objects, then multiply by the initial weight of described alternative topology objects, obtain its dynamic weights with alternative topology objects ratio of damping;
In actual applications, the satisfactory alternative topology objects that obtain of step 103 and dynamically weights can put into Hash table and preserve.
In embodiments of the present invention, described alternative topology objects comprise: with the topology objects that select topology objects directly to be communicated with, promptly as the topology objects that select the out-degree or the in-degree of topology objects, and, with the topology objects that select the topology objects indirect communication, just by other topology objects and the topology objects that select topology objects to be communicated with.
Select in embodiments of the present invention ,/ratio of damping of alternative topology objects is for more than or equal to 1 number (comprising integer and decimal).Described threshold value can be by the situation of the comprehensive real road network of communication lines of technician, and rule of thumb value is set.
Step 104: judge whether that the topology objects that select that constitute described path planning in addition do not obtain, if, then return step 101, otherwise, step 105 entered;
Step 105: according to described alternative topology objects and described the formation dynamic weights that select topology objects of path planning, and the weights (dynamically weights and/or initial weight) of other topology objects in the road traffic net, adopt shortest path first to calculate an alternative path;
In embodiments of the present invention, the shortest path first of employing comprises: dijkstra's algorithm, A* (AStar) algorithm, Floyd algorithm etc.
More than the alternative path planing method that provides for the embodiment of the invention, this method has been obtained and has been selected topology objects to be communicated with and to the alternative topology objects of the distance of selecting topology objects in certain threshold value, and multiply by initial weight with described alternative topology objects with alternative topology objects ratio of damping, obtain the dynamic weights of described alternative topology objects, with selecting the topology objects ratio of damping to multiply by and the described initial weight that has selected topology objects, obtain the described dynamic weights that selected topology objects.Because alternative topology objects and selected the topology objects ratio of damping to be number more than or equal to 1, make alternative topology objects and selected the weights of topology objects to be updated to the dynamic weights bigger than initial weight, when adopting shortest path first to calculate alternative path, alternative topology objects and selected the weight of topology objects in shortest path calculates to increase, thereby make shortest path first select described alternative topology objects and the described probability of topology objects that selected to reduce, guaranteed that the alternative path that finally calculates is to be made of topology objects most and that selected topology objects and alternative topology objects not to overlap, makes alternative path planning more reasonable.
It should be noted that in the method that the embodiment of the invention provides, behind dynamic weights, initial weight is not made amendment, keep it constant all the time according to alternative topology objects.
For the described step 103 of obtaining alternative topology objects and dynamic weights thereof of preamble, in actual applications, can adopt implementation method shown in Figure 2:
Step 10301: from the out-degree or in-degree of selecting topology objects that step 101 is obtained, obtain one to the described alternative topology objects of distance in threshold value that selected topology objects;
In actual applications, the alternative topology objects that step 10301 is obtained equal to the described distance of topology objects of having selected: the length with described alternative topology objects multiply by scale-up factor k1,0＜k1≤1, and k1 can adjust according to the size of threshold value.Such as, when threshold value was set to 300 meters, k1 got 0.5, and when threshold value was set to 350 meters, k1 got 1, etc.
Step 10302: the initial weight that multiply by the alternative topology objects that step 10301 obtains with alternative topology objects ratio of damping;
Step 10303: obtain the alternative topology objects that obtain by step 10301 and describedly selected the topology objects indirect communication and to the described alternative topology objects of distance in threshold value that selected topology objects, whenever obtain the alternative topology objects of an indirect communication, multiply by the initial weight of the alternative topology objects of described indirect communication with alternative topology objects ratio of damping, obtain its dynamic weights;
Up to having obtained alternative topology objects and the described topology objects indirect communication of having selected that all obtain by step 10301, and to the described dynamic weights that selected the alternative topology objects of distance in threshold value of topology objects;
In actual applications, the alternative topology objects that step 10303 is obtained equal to the distance of selecting topology objects: the length with the current alternative topology objects that obtain multiply by scale-up factor k1, add with the current alternative topology objects that obtain to have the length of the alternative topology objects that obtained of incidence relation, obtain the current alternative topology objects that obtain to the distance of selecting topology objects;
Below illustrate the alternative topology objects that obtained that the described and current alternative topology objects that obtain have incidence relation.
(length a) to suppose step 10301 to have obtained a satisfactory alternative topology objects A, from the out-degree of alternative topology objects A, find alternative topology objects B (length b), then alternative topology objects B equals to the distance of selecting topology objects: k1*b+a, alternative topology objects A is the alternative topology objects that have incidence relation with alternative topology objects B, if alternative topology objects B meets the requirements, then continue from the out-degree of alternative topology objects B, to search alternative topology objects C (length c), then alternative topology objects C equals to the distance of selecting topology objects: k1*c+b+a, alternative topology objects B and A are the alternative topology objects that have incidence relation with alternative topology objects C, and the like.
Step 10304: judge whether that the described out-degree of topology objects or the in-degree selected do not read, if then return step 10301, otherwise return step 101.
More than for the embodiment of the invention one provides a kind of alternative path planing method, further, in actual applications, select/alternative topology objects ratio of damping, can adopt different value mode, comprising:
Select/alternative topology objects ratio of damping is the fixed value that presets, select/value of alternative topology objects ratio of damping is normal distribution shown in Fig. 3 (a), and perhaps triangle shown in Fig. 3 (b) distributes, etc.Facts have proved, if select/value of alternative topology objects ratio of damping is normal distribution shown in Fig. 3 (a), can makes invention produce better effect compared to other two kinds of value mode.
When select/value of alternative topology objects ratio of damping be Fig. 3 (a) or (b) shown in distribution mode the time, the embodiment of the invention two also provides a kind of alternative path planing method, this method need set in advance and select/alternative topology objects ratio of damping collection, and, the alternative path planing method that the embodiment of the invention two provides further comprised before step 102 shown in Figure 1 except the step that comprises embodiment one:
Concentrate at the topology objects ratio of damping that selects that presets, search and select the topology objects ratio of damping;
Concentrate at the alternative topology objects ratio of damping that presets, search alternative topology objects ratio of damping.
Further, in the method that embodiment one and embodiment two provide, described path planning can be before step 101, adopt in advance shortest path first (such as, dijkstra's algorithm, the A* algorithm, Floyd algorithm etc.), an optimal path from the starting point to the destination that calculates, it also can be an alternative path of described optimal path, this alternative path can be the alternative path that adopts the embodiment of the invention one or the planning of example two provider's methods, also can be the alternative path that adopts additive method planning, not influence the realization of the embodiment of the invention.
When described path planning is when adopting the alternative path of the alternative path planing method planning that the embodiment of the invention two provides, in order to make program results more reasonable, the method that the embodiment of the invention two provides is after searching alternative and having selected the topology objects ratio of damping, calculate alternative and selected before the dynamic weights of topology objects, can further include:
Judge whether to have found alternative and selected the topology objects ratio of damping, if have, then more current find alternative and selected topology objects ratio of damping and found alternative and selected the size of topology objects ratio of damping, in follow-up dynamic weights computation process, adopt bigger choosing/alternative topology objects ratio of damping to multiply by respectively and select/alternative topological initial weight; Otherwise, in subsequent dynamic weights computation process, with current find alternative/to have selected the topology objects ratio of damping to multiply by respectively alternative/selected the initial weight of topology objects.
Increase above-mentioned steps and can guarantee to adopt all the time bigger ratio of damping to multiply by initial weight, obtain bigger dynamic weights, thereby reduce this alternative or selected topology objects to be selected probability, guarantee that the alternative path of cooking up is more reasonable by the shortest path computing method.
Further, in actual applications, select/alternative topology objects ratio of damping collection if preserve with array in advance, then described search to select with alternative topology objects ratio of damping specifically comprise:
Multiply by the length of selecting topology objects with scale-up factor k2, add the above the starting point of path planning obtain distance L, 0＜k2≤1 to the described distance of having selected the topology objects starting point;
As shown in Figure 4, be a path planning from starting point A to destination I, suppose scale-up factor k2=0.5, be that (length is a) time to road AB, distance L=a/2 then when selecting topology objects; When selecting topology objects to be road CD (length is c), distance L=a+b (road BD length)+(c/2); ...; When selecting topology objects to be road HI (length h), distance L=a+b+c+d (road DE length)+e (road EF length)+f (road FG length)+g (road GH length)+(h/2), other have selected distance calculation that topology objects arrive starting point by that analogy, repeat no more herein.
With distance L substitution X=(L*N)/M, obtain array index X;
Selecting in the topology objects ratio of damping array of presetting, that searches array index and be X selects the topology objects ratio of damping;
In the alternative topology objects ratio of damping array that presets, searching array index is the alternative topological ratio of damping of X;
Wherein, N is the number of element in the ratio of damping array, and M is the length of described path planning.
By above-mentioned alternative topology objects ratio of damping search procedure as can be known, it is same that to have selected the alternative topology objects ratio of damping of the alternative topology objects of topology objects be identical value, therefore, for the same different alternative topology objects that selected topology objects, only need the once alternative topology objects ratio of damping of inquiry.
Such as, alternative topology objects ratio of damping array H[N] can adopt following value:
H[18]＝{1，1.1，1.2，1.3，2，3，8，6.3，8.8，9.8，9.8，8.8，6.3，3.8，2，1.3，1.2，1.1，1}；
Selected topology objects ratio of damping array Q[N] can adopt following value:
Q[18]＝{1，1.1，1.2，1.5，2.2，4，6.5，9，10，10，9，6.5，4，2.2，1.5，1.2，1.1，1}。
By above-mentioned for example as can be known, selected the value of topology objects ratio of damping preferably to be slightly larger than the value of alternative topology objects ratio of damping.
For obtaining of making that the embodiment of the invention provides with select topology objects to be communicated with and clearer to the alternative topology objects flow process of the distance of selecting topology objects in threshold value, below in conjunction with example shown in Figure 5 this flow process is introduced.
As shown in Figure 5, suppose that A representative constitutes of path planning and selected topology objects, alternative topology objects of other each digitized representations, then obtain and be communicated with A and specifically comprise to the alternative topology objects of distance in threshold value of A:
From the out-degree of A, obtain alternative topology objects 1 (length s1), the distance of alternative topology objects 1 to A equals k1*s1, judges to obtain distance in threshold value (less than threshold value), then multiply by the initial weight of alternative topology objects 1, obtain its dynamic weights with alternative topology objects ratio of damping;
From the out-degree of alternative topology objects 1, obtain alternative topology objects 13 (length s13), the distance of alternative topology objects 13 to A equals s13*k1+s1, judge and obtain distance in threshold value, then multiply by the initial weight of alternative topology objects 13, obtain its dynamic weights with alternative topology objects ratio of damping;
From the out-degree of alternative topology objects 13, obtain alternative topology objects, because the alternative topology objects that obtain are to the distance of A all outside threshold value (greater than threshold value), then
Continuation is from the out-degree of alternative topology objects 1, obtain alternative topology objects 4 (length s4), the distance of alternative topology objects 4 to A equals s4*k1+s1, judge and obtain distance in threshold value, then multiply by the initial weight of alternative topology objects 4, obtain its dynamic weights with alternative topology objects ratio of damping;
From the out-degree of alternative topology objects 4, obtain alternative topology objects 11 (length s11), alternative topology objects 11 to A apart from s11*k1+s4+s1, judge and obtain distance in threshold value, then multiply by the initial weight of alternative topology objects 11, obtain its dynamic weights with alternative topology objects ratio of damping;
From the out-degree of alternative topology objects 11, obtain alternative topology objects 10 (length s10), the distance of alternative topology objects 10 to A equals s10*k1+s11+s4+s1, judge and obtain distance in threshold value, then multiply by the initial weight of alternative topology objects 10, obtain its dynamic weights with alternative topology objects ratio of damping;
From the out-degree of alternative topology objects 10, obtain alternative topology objects, because the alternative topology objects that obtain are to the distance of A all outside threshold value (greater than threshold value), then
Continuation is from the out-degree of alternative topology objects 11, obtain alternative topology objects 12 (length s12), the distance of alternative topology objects 12 to A equals s12*k1+s11+s4+s1, judge and obtain distance in threshold value, then multiply by the initial weight of alternative topology objects 12, obtain its dynamic weights with alternative topology objects ratio of damping;
From the out-degree of alternative topology objects 12, obtain alternative topology objects, because the alternative topology objects that obtain are to the distance of A all outside threshold value (greater than threshold value), then
Continuation is from the out-degree of alternative topology objects 11, obtain alternative topology objects 2 (length s2), the distance of alternative topology objects 2 to A equals s2*k1+s11+s4+s1, judge and obtain distance in threshold value, then multiply by the initial weight of alternative topology objects 2, obtain its dynamic weights with alternative topology objects ratio of damping;
From the out-degree of alternative topology objects 2, obtain alternative topology objects 3 (length s3), the distance of alternative topology objects 3 to A equals s3*k1+s2+s11+s4+s1, judge and obtain distance in threshold value, then multiply by the initial weight of alternative topology objects 3, obtain its dynamic weights with alternative topology objects ratio of damping;
Because select topology objects A and alternative topology objects as alternative topology objects 2 out-degree be provided with dynamically weights, then no longer continued to obtain from the out-degree of alternative topology objects 2 alternative topology objects, but
Continuation is from the out-degree of alternative topology objects 1, obtain alternative topology objects 5 (length s5), the distance of alternative topology objects 5 to A equals s5*k1+s1, judge and obtain distance in threshold value, then multiply by the initial weight of alternative topology objects 5, obtain its dynamic weights with alternative topology objects ratio of damping;
From the out-degree of alternative topology objects 5, obtain alternative topology objects 14 (length s14), the distance of alternative topology objects 14 to A equals s14*k1+s5+s1, judge and obtain distance in threshold value, then multiply by the initial weight of alternative topology objects 14, obtain its dynamic weights with alternative topology objects ratio of damping;
From the out-degree of alternative topology objects 14, obtain alternative topology objects, because the alternative topology objects that obtain are to the distance of A all outside threshold value (greater than threshold value), then
Continuation is from the out-degree of alternative topology objects 5, obtain alternative topology objects 6 (length s6), the distance of alternative topology objects 6 to A equals s6*k1+s5+s1, judge and obtain distance in threshold value, then multiply by the initial weight of alternative topology objects 6, obtain its dynamic weights with alternative topology objects ratio of damping;
From the out-degree of alternative topology objects 6, obtain alternative topology objects 7 (length s7), the distance of alternative topology objects 7 to A equals s7*k1+s6+s5+s1, judge and obtain distance in threshold value, then multiply by the initial weight of alternative topology objects 7, obtain its dynamic weights with alternative topology objects ratio of damping;
From the out-degree of alternative topology objects 7, obtain alternative topology objects, because the alternative topology objects that obtain are to the distance of A all outside threshold value (greater than threshold value), then
Continuation is from the out-degree of alternative topology objects 6, obtain alternative topology objects 8 (length s8), the distance of alternative topology objects 8 to A equals s8*k1+s6+s5+s1, judge and obtain distance in threshold value, then multiply by the initial weight of alternative topology objects 8, obtain its dynamic weights with alternative topology objects ratio of damping;
From the out-degree of alternative topology objects 8, obtain alternative topology objects 9 (length s9), the distance of alternative topology objects 9 to A equals s9*k1+s8+s6+s5+s1, judge and obtain distance in threshold value, then multiply by the initial weight of alternative topology objects 9, obtain its dynamic weights with alternative topology objects ratio of damping;
From the out-degree of alternative topology objects 9, continue to obtain alternative topology objects, judge obtain the alternative topology objects that from the out-degree of alternative topology objects 9, obtain to the distance of A all outside threshold value, then stop search;
Judge to have selected topology objects whether the dynamically out-degree of weights was not set in addition, because conduct shown in Figure 4 has selected the alternative topology objects 2 and 3 of topology objects A out-degree that dynamically weights all had been set, then no longer from selecting the out-degree of topology objects A, obtain alternative topology objects, but according to described from selecting the out-degree of topology objects with preamble, obtain the identical flow process of alternative topology objects that meets the requirements, from selecting the in-degree of topology objects A, obtain satisfactory alternative topology objects, repeat no more herein in order to save space.
More than describe the alternative path planing method that the embodiment of the invention provides in detail, the navigation terminal that possesses above-mentioned path planning function that provides below in conjunction with the accompanying drawing embodiment of the invention describes in detail.
See also Fig. 6, be a kind of navigation terminal that the embodiment of the invention one provides, this navigation terminal comprises:
Selected topology objects acquiring unit 601, obtained of constituting path planning and selected topology objects;
The first dynamic weight calculation unit 602 is used for having selected the topology objects ratio of damping to multiply by the described initial weight that has selected topology objects, obtains its dynamic weights;
The second dynamic weight calculation unit 603, being used to obtain with described has selected topology objects to be communicated with and to the described alternative topology objects of distance in threshold value that selected topology objects, whenever obtain alternative topology objects, then multiply by the initial weight of described alternative topology objects, obtain its dynamic weights with alternative topology objects ratio of damping;
Judging unit 604, what be used to judge whether the also promising described path planning that obtains selects topology objects, if, then trigger and selected topology objects acquiring unit 601, otherwise, alternative path planning unit 605 triggered;
Alternative path planning unit 605 is used for according to described alternative topology objects and described the formation dynamic weights that select topology objects of path planning, and the weights of other topology objects in the road traffic net, adopts shortest path first to calculate an alternative path; Wherein, ratio of damping is the number more than or equal to 1.
More than a kind of navigation terminal of providing for the embodiment of the invention one, as can be known described by preamble, in actual applications, select/alternative topology objects ratio of damping, can adopt different value mode, when alternative and when having selected the span of topology objects ratio of damping to constitute set shown in Figure 3, the embodiment of the invention two also provides a kind of navigation terminal, this navigation terminal had both comprised unit shown in Figure 6, also further comprised:
Ratio of damping is searched the unit, is used for concentrating at the topology objects ratio of damping that selects that presets, and searches and selects the topology objects ratio of damping, concentrates at the alternative topology objects ratio of damping that presets, and searches alternative topology objects ratio of damping.
The navigation terminal that provides when the embodiment of the invention two needs according to planning alternative topological path, and when planning new alternative path, more reasonable for the program results that guarantees alternative path, this navigation terminal also needs further to comprise:
The ratio of damping comparing unit, be used to judge whether to have found alternative and selected the topology objects ratio of damping, if have, then more current find alternative and selected topology objects ratio of damping and found alternative and selected the size of topology objects ratio of damping;
And first, second dynamic weight calculation unit multiply by respectively and selects/alternative topological initial weight with bigger choosing/alternative topology objects ratio of damping.
In actual applications, if alternative and selected the centralized procurement of alternative topology objects ratio of damping to preserve with array, then described ratio of damping is searched the unit and is specifically comprised:
Metrics calculation unit is used for multiply by the length of selecting topology objects with scale-up factor k2, adds the distance of the above starting point of having selected topology objects to the described starting point of path planning, obtains distance L, 0＜k2≤1;
The array index computing unit is used for distance L substitution X=(L*N)/M is obtained array index X;
Selected topological damping to search the unit, be used for concentrating at the topology objects ratio of damping that selects that presets, that searches array index and be X selects the topology objects ratio of damping;
The unit is searched in alternative topological damping, is used for concentrating at the alternative topology objects ratio of damping that presets, and searching array index is the alternative topology objects ratio of damping of X;
Wherein, N is the number of array element, and M is the length of described path planning.
In actual applications, the preamble described second dynamic weight calculation unit 603 can adopt following implementation, comprising:
Directly be communicated with the object acquisition unit, be used for out-degree or the in-degree of having selected topology objects from described, obtain one, trigger dynamic weights computation subunit to the described alternative topology objects of distance in threshold value that selected topology objects;
Dynamic weights computation subunit is used for multiply by with alternative topology objects ratio of damping the initial weight of described alternative topology objects, obtains its dynamic weights;
Indirect communication object acquisition unit, be used to obtain by described alternative topology objects and the described topology objects indirect communication of having selected, and to the described alternative topology objects of distance in threshold value that selected topology objects, whenever obtain the alternative topology objects of an indirect communication, with triggering described dynamic weights computation subunit, up to having obtained by described alternative topology objects and the described topology objects indirect communication of having selected, and to the described dynamic weights that selected the alternative topology objects of distance all in threshold value of topology objects;
Discrepancy information judging unit is used to judge whether that the described out-degree of topology objects or the in-degree selected do not read, if then trigger described direct connection object acquisition unit.
More than a kind of alternative path planing method provided by the present invention and navigation terminal are described in detail, for one of ordinary skill in the art, thought according to the embodiment of the invention, part in specific embodiments and applications all can change, in sum, this description should not be construed as limitation of the present invention.
Claims (11)
1. an alternative path planing method is characterized in that, described method comprises:
Obtain of constituting path planning and selected topology objects;
With selecting the topology objects ratio of damping to multiply by the described initial weight that has selected topology objects, obtain its dynamic weights;
Obtaining with described has selected topology objects to be communicated with and to the described alternative topology objects of distance in threshold value that selected topology objects, and, whenever obtain alternative topology objects, then multiply by the initial weight of described alternative topology objects, obtain its dynamic weights with alternative topology objects ratio of damping;
If described path planning is to be made of the plural topology objects that selected, then repeat above-mentioned steps up to obtain all dynamic weights that selected topology objects and with select topology objects to be communicated with and apart from the dynamic weights of the alternative topology objects in threshold value; Otherwise, directly enter final step;
According to described alternative topology objects and described the formation dynamic weights that select topology objects of path planning, and the weights of other topology objects in the road traffic net, adopt shortest path first to calculate an alternative path; Wherein, ratio of damping is the number more than or equal to 1.
2. the method for claim 1 is characterized in that, if alternative and selected the value of topology objects ratio of damping to constitute a set respectively, then before the dynamic weights of calculating, described method further comprises:
Concentrate at the topology objects ratio of damping that selects that presets, search and select the topology objects ratio of damping;
Concentrate at the alternative topology objects ratio of damping that presets, search alternative topology objects ratio of damping.
3. method as claimed in claim 2 is characterized in that, if described path planning is to have planned alternative topological path, then described method further comprises:
Judge whether to have found alternative and selected the topology objects ratio of damping, if having, then more current find alternative and selected topology objects ratio of damping and found alternative and selected the size of topology objects ratio of damping;
With select/alternative topology objects ratio of damping multiply by respectively and selects/initial weight of alternative topology objects is specially:
Multiply by respectively and select/alternative topological initial weight with bigger choosing/alternative topology objects ratio of damping.
4. as claim 2 or 3 described methods, it is characterized in that, if alternative and selected the centralized procurement of alternative topology objects ratio of damping to preserve, then search alternative and selected the topology objects ratio of damping specifically to comprise with array:
Multiply by the length of selecting topology objects with scale-up factor k2, add the above the starting point of path planning obtain distance L, 0＜k2≤1 to the described distance of having selected the topology objects starting point;
With distance L substitution X=(L*N)/M, obtain array index X;
Concentrate at the topology objects ratio of damping that selects that presets, that searches array index and be X selects the topology objects ratio of damping;
Concentrate at the alternative topology objects ratio of damping that presets, searching array index is the alternative topology objects ratio of damping of X;
Wherein, N is the number of array element, and M is the length of described path planning.
5. as the described method of each claim in the claim 1 to 3, it is characterized in that, obtain with described selected topology objects to be communicated with and distance in threshold value alternative topology objects and dynamically weights specifically comprise:
From the described out-degree or in-degree of having selected topology objects, obtain one to the described alternative topology objects of distance in threshold value that selected topology objects;
Multiply by the initial weight of described alternative topology objects with alternative topology objects ratio of damping;
Obtain by described alternative topology objects and the described topology objects indirect communication of having selected, and to the described alternative topology objects of distance in threshold value that selected topology objects, whenever obtain the alternative topology objects of an indirect communication, multiply by the initial weight of the alternative topology objects of described indirect communication with alternative topology objects ratio of damping, obtain its dynamic weights, up to having obtained by described alternative topology objects and the described topology objects indirect communication of having selected, and to the described dynamic weights that selected the alternative topology objects of distance all in threshold value of topology objects;
Judge whether that the described out-degree of topology objects or the in-degree selected do not read, if then repeat above-mentioned steps.
6. method as claimed in claim 5 is characterized in that, if alternative topology objects are to obtain from the out-degree of selecting topology objects or in-degree, then calculate described alternative topology objects and specifically comprises to the distance of selecting topology objects:
Length with described alternative topology objects multiply by scale-up factor k1, obtains described alternative topology objects to the described distance of having selected topology objects, 0＜k1≤1;
If alternative topology objects are to obtain from an out-degree of having obtained alternative topology objects or in-degree, then calculate described alternative topology objects and specifically comprise to the distance of selecting topology objects:
Length with the current alternative topology objects that obtain multiply by scale-up factor k1, add with the current alternative topology objects that obtain to have the length of the alternative topology objects that obtained of incidence relation, obtain the current alternative topology objects that obtain to the distance of selecting topology objects.
7. a navigation terminal is characterized in that, described navigation terminal comprises:
Selected the topology objects acquiring unit, obtained of constituting path planning and selected topology objects;
The first dynamic weight calculation unit is used for having selected the topology objects ratio of damping to multiply by the described initial weight that has selected topology objects, obtains its dynamic weights;
The second dynamic weight calculation unit, being used to obtain with described has selected topology objects to be communicated with and to the described alternative topology objects of distance in threshold value that selected topology objects, whenever obtain alternative topology objects, then multiply by the initial weight of described alternative topology objects, obtain its dynamic weights with alternative topology objects ratio of damping;
Judging unit, what be used to judge whether the also promising described path planning that obtains selects topology objects, if, then trigger the described topology objects acquiring unit that selected, otherwise, the alternative path planning unit triggered;
The alternative path planning unit is used for according to described alternative topology objects and described the formation dynamic weights that select topology objects of path planning, and the weights of other topology objects in the road traffic net, adopts shortest path first to calculate an alternative path; Wherein, ratio of damping is the number more than or equal to 1.
8. navigation terminal as claimed in claim 7 is characterized in that, if alternative and selected the value of topology objects ratio of damping to constitute a set respectively, then described navigation terminal further comprises:
Ratio of damping is searched the unit, is used for concentrating at the topology objects ratio of damping that selects that presets, and searches and selects the topology objects ratio of damping, concentrates at the alternative topology objects ratio of damping that presets, and searches alternative topology objects ratio of damping.
9. navigation terminal as claimed in claim 8 is characterized in that, if described path planning is to have planned alternative topological path, then described navigation terminal further comprises:
The ratio of damping comparing unit, be used to judge whether to have found alternative and selected the topology objects ratio of damping, if have, then more current find alternative and selected topology objects ratio of damping and found alternative and selected the size of topology objects ratio of damping;
Described first, second dynamic weight calculation unit multiply by respectively and selects/alternative topological initial weight with bigger choosing/alternative topology objects ratio of damping.
10. navigation terminal as claimed in claim 8 or 9 is characterized in that, if alternative and selected the centralized procurement of alternative topology objects ratio of damping to preserve with array, then described ratio of damping is searched the unit and specifically comprised:
Metrics calculation unit is used for multiply by the length of selecting topology objects with scale-up factor k2, adds the distance of the above starting point of having selected topology objects to the described starting point of path planning, obtains distance L, 0＜k2≤1;
The array index computing unit is used for distance L substitution X=(L*N)/M is obtained array index X;
Selected topological damping to search the unit, be used for concentrating at the topology objects ratio of damping that selects that presets, that searches array index and be X selects the topology objects ratio of damping;
The unit is searched in alternative topological damping, is used for concentrating at the alternative topology objects ratio of damping that presets, and searching array index is the alternative topology objects ratio of damping of X;
Wherein, N is the number of array element, and M is the length of described path planning.
11., it is characterized in that the described second dynamic weight calculation unit specifically comprises as the described navigation terminal of each claim in the claim 7 to 9:
Directly be communicated with the object acquisition unit, be used for out-degree or the in-degree of having selected topology objects from described, obtain one, trigger dynamic weights computation subunit to the described alternative topology objects of distance in threshold value that selected topology objects;
Dynamic weights computation subunit is used for multiply by with alternative topology objects ratio of damping the initial weight of described alternative topology objects, obtains its dynamic weights;
Indirect communication object acquisition unit, be used to obtain by described alternative topology objects and the described topology objects indirect communication of having selected, and to the described alternative topology objects of distance in threshold value that selected topology objects, whenever obtain the alternative topology objects of an indirect communication, with triggering described dynamic weights computation subunit, up to having obtained by described alternative topology objects and the described topology objects indirect communication of having selected, and to the described dynamic weights that selected the alternative topology objects of distance all in threshold value of topology objects;
Discrepancy information judging unit is used to judge whether that the described out-degree of topology objects or the in-degree selected do not read, if then trigger described direct connection object acquisition unit.
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| CN105588573A (en) * | 2014-11-06 | 2016-05-18 | 高德软件有限公司 | Determination method and determination apparatus for alternative navigation route |
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