CN102175252B - Method for planning dynamic merging and united path of distributed multi-stage road network - Google Patents
Method for planning dynamic merging and united path of distributed multi-stage road network Download PDFInfo
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Abstract
The invention relates to a method for planning a dynamic merging and united path of a distributed multi-stage road network, and the method is used for effectively and fully using a road network data source distributed in the network, improving the service capacity and service quality of a navigation system. The method comprises the following steps: a hardware system structure, a software system structure, a road network hierarchical directory structure and algorithms. The method for planning the dynamic merging and united path of the distributed multi-stage road network in the invention is a novel implementation path for merging multi-source electronic map data in network environment. By utilizing the method, the defects of the traditional merging method oriented to the data are overcome; and the paths can be planned by using the road network of a plurality of data sources in the network on the premise of ensuring the independency and privacy of the data source, so that the service capacity and service quality of the navigation system are improved.
Description
One, technical field
The present invention relates to navigation Service, geospatial information system, particularly a kind of dynamic fusion of distributed multi-stage road net and associating paths planning method.
Two, background technology
Road net is a most important geographic element during intelligent transportation system and location-based service are used, and is the skeleton of whole map of navigation electronic.The master of map of navigation electronic is to accomplish path planning through road net with purposes, to the user navigation Service is provided on this basis.Path planning based on road net is the Core Feature of navigational system.Traditional navigational system is independently, and the ability of its navigation depends on the characteristic of the road net of itself, like overlay area, data precision and the quality of data etc.Along with the expansion of China's city size and the development of communication, road net is more and more huger.One independently navigational system be difficult to storage and contain all road net data of grades of big zone (like the whole nation).Under the network environment, possibly have the road net data source (form with database exists usually) that much is distributed in everywhere, these data sources adhere to different navigational system separately.If navigational system not only can be utilized the road net of oneself, also can utilize other road net on the network simultaneously, will improve the ability of navigation Service greatly, improve the quality of navigation Service.
To the utilization of a plurality of road net data sources, existing method generally is directly to obtain the total data of road net from each data source, and these data are merged, and generates a new road net, directly plans in the enterprising walking along the street of new road net afterwards.This be a kind of in advance, static data-oriented fusion method.There is following problem in this method: when the data volume of (1) and each data source more when data source was big, the data volume of the road net after merging can be very big, and navigational system possibly can't bear the heavy load; (2) after certain data source changes, merge again and just can reflect changes on the new road net, trend of the times property is not strong; Consider from the angle of commercial interest that (3) road net is as the resource of great commercial value, the cost that data are shared fully is too big.Therefore, the improvement of existing method is imperative.
Three, summary of the invention
To above-mentioned situation, for overcoming the defective of prior art, the present invention's purpose just provides a kind of dynamic fusion and associating paths planning method of distributed multi-stage road net.Can effectively solve and make full use of the road net data source that distributes on the network, improve the navigational system service ability, improve the problem of service quality.
The technical scheme that the present invention solves is; On network, select to participate in the road net of path planning in real time according to the request at navigation user terminal; Carry out local path planning respectively; And the result of path planning outwards is provided with the form of Web service, and carry out overall treatment to these local paths plannings result again, form complete route programming result.Owing to participate in the road net of path planning generally is that distribute, many grades, selection in real time; Therefore claim that this method is the dynamic fusion and associating path planning (abbreviating the associating path planning as) of distributed multi-stage road net; In view of the above; The present invention adopts following technical scheme: this method is that the step by hardware architecture, software architecture, road net hierarchical directory structure and algorithm constitutes; Hardware architecture is to be made up of the navigation user terminal, navigation server and the road net server that are distributed on the network, carries out alternately through the internet between navigation user terminal, navigation server and the road net server; Software architecture is made up of through the internet navigation user node, navigation Service node and road net service node; The navigation user node is corresponding to the navigation user terminal in the hardware architecture; The navigation Service node is corresponding to navigation server, and the road net service node is corresponding to the road net server; The road net hierarchical directory structure is confirmed according to the relation of inclusion between the overlay area of road net; The step of algorithm is; Find the overlay area to contain the road net of starting point and impact point (being called the top layer road net) simultaneously through the road net hierarchical directory structure; The initial road key element of search associating path planning in top layer road net and its underpass highway net; Promptly with the distance of starting point nearest road key element less than given threshold value; The target road key element of search associating path planning in top layer road net and its underpass highway net is promptly with the distance of the impact point nearest road key element less than given threshold value, afterwards; Start the path planning service of all road net service nodes on the acquisition track simultaneously; The input parameter of path planning service is the coupling road key element of nearest road key element in road net of previous road net in nearest road key element and the acquisition track of starting point in road net, and the route programming result with each road net service node merges at last, obtains the result of associating path planning.
The dynamic fusion of the distributed multi-stage road net that the present invention proposes is a kind of new realization approach of multi-source map of navigation electronic data fusion under the network environment with the associating paths planning method; Can effectively overcome the deficiency of traditional data-oriented fusion method; Under the prerequisite of independence that guarantees each data source and privacy; This method can utilize the road net of a plurality of data sources on the network to accomplish path planning fully, improves the service ability of navigational system greatly, improves service quality.
Four, description of drawings
Fig. 1 is a hardware architecture synoptic diagram of the present invention.
Fig. 2 is a software architecture synoptic diagram of the present invention.
Fig. 3 is the relation of inclusion exemplary plot of road net of the present invention overlay area.
Fig. 4 is road network layer subdirectory topology example figure of the present invention.
Fig. 5 is the relation of inclusion exemplary plot of complicated road net of the present invention overlay area.
Fig. 6 is complicated road network layer subdirectory topology example figure of the present invention.
Five, embodiment
Elaborate below in conjunction with concrete condition and embodiment specific embodiments of the invention.
By Fig. 1-shown in Figure 6, the present invention is that the step 4 aspect by hardware architecture, software architecture, road net hierarchical directory structure and algorithm constitutes in practical implementation, specifically:
(1) hardware architecture
Accomplish the associating path planning, need be distributed in navigation user terminal (PDA, portable computer, desktop computer, mobile phone etc.), navigation server and road net server fellowship on the network, they have constituted hardware architecture as shown in Figure 1.Carry out alternately through internet and navigation server at the navigation user terminal, and navigation server also carries out through internet and road net server alternately.
Navigation server is the place that the navigation user terminal provides the navigation Service that comprises the path planning service.Can there be a plurality of navigation servers to exist on the network.The navigation user terminal is used for the navigation server and sends services request and show service result to the user.For the path planning service, parameters such as the starting point of navigation user terminal navigation server transmit path planning and impact point.The road net server is meant the server of depositing the road net database.Can there be a plurality of road net servers to exist on the network.Road net server and navigation server can overlap on hardware, and promptly a server can be deposited the road net database simultaneously and navigation Service is provided.
(2) software architecture
Fig. 1 is the architecture that the angle from hardware provides, and sees then have architecture as shown in Figure 2 from software angle, is made up of through the internet navigation user node, navigation Service node and road net service node.Obviously, the navigation user node is corresponding to the navigation user terminal in the hardware architecture shown in Figure 1, and the navigation Service node is corresponding to navigation server, and the road net service node is corresponding to the road net server.
The road net service node is made up of road net database and the path planning service that on its basis, makes up, road service recently and road matching service.
The navigation Service node is the entrance and the practical implementation person of associating path planning service.The navigation Service node is from the starting point and the impact point demand parameter of the planning of navigation user node RX path; Participate in the road net service node of associating path planning through the road net directory services search; Start the path planning service of these road net service nodes; Service result is carried out overall treatment, and the result who forms final associating path planning returns to the navigation user node.
The navigation Service node must provide the road net registration service to the road net service node.Through the road net registration service, the road net service node is submitted to the navigation Service node with the road net metadata of oneself.Safeguard a road net hierarchical directory structure by the navigation Service node according to the road net metadata of participating in registration.
(3) road net hierarchical directory structure
The overlay area of road net is one of data item of road net metadata.According to whether there being relation of inclusion between the overlay area, can the road net of participating in registration be organized into hierarchical directory structure at the navigation Service node.
Fig. 3 is the example of the relation of inclusion of one group of road net overlay area; The overlay area of road net M1 comprises the overlay area of M2 and the overlay area of M3, and M2 comprises M4 and M5, and M3 comprises M6 and M7 ... Mn; N is a natural integer; According to the relation of inclusion of such overlay area, can road net M1, M2, M3, M4, M5, M6 and M7 be organized into road net hierarchical directory structure as shown in Figure 4, the arrow among the figure is represented relation of inclusion.
The relation of inclusion of road net overlay area shown in Figure 3 is a kind of desirable situation, and actual conditions maybe be complicated more, and more common situation is that the zone of identical (or approximate identical) exists two even a plurality of road net.For example, situation shown in Figure 5 has increased complexity on the basis of Fig. 3, specifically, has the road net M2 ' identical with the overlay area of road net M2, has the road net M6 ' identical with the overlay area of road net M6.M2 ' and M6 ' dot in Fig. 5.
Relation of inclusion according to the overlay area of road net shown in Figure 5 can be organized into hierarchical directory structure as shown in Figure 6.
(4) step of algorithm
The associating path planning algorithm is meant the algorithm that the navigation Service node begins to carry out after the path planning request of receiving the navigation user node, key step is following:
The first step: find the overlay area to contain the road net of starting point and impact point (or road net set) simultaneously through the road net hierarchical directory structure,,, choose a road net more successively according to attribute orderings such as the grade of road net, precision for road net set.
Second step: (the road key element is the expression of road in database in the real world to find the road key element nearest apart from starting point through the nearest road service of road net service node; Node by highway section and its two ends constitutes; Be the elementary cell that constitutes road net); If the distance between the two enough little (less than given threshold value), this road key element just can be used as the initial road key element of associating path planning so.Otherwise, the initial road key element that continues to search for the associating path planning in the underpass highway net in being included in current road net overlay area.From the underpass highway net, select a road net (being referred to as sub-road net); Find the coupling road key element of nearest road key element in sub-road net in the current road net through the road matching service of sub-road net service node, find the nearest road key element of sub-road net middle distance starting point through the nearest road service of sub-road net service node.Less than given threshold value, it just can be used as the initial road key element of associating path planning so like the distance of nearest road key element in the fruit road net and starting point.Otherwise; With sub-road net with other road nets of one deck in and continue in their following one deck road net to search element according to similar method; Up to finding and the distance of starting point nearest road key element, with its initial road key element as the associating path planning less than given threshold value.In the process of the initial road key element of searching for the associating path planning; Can form the acquisition track from top layer road net (its overlay area is contained the road net of starting point and impact point simultaneously) to initial road key element place road net, the node of acquisition track is the road net search node;
The 3rd step: find the nearest road key element of distance objective point through the nearest road service of road net service node; If the distance between the two enough little (less than given threshold value), this road key element just can be used as the target road key element of associating path planning so.Otherwise, the target road key element that continues to search for the associating path planning in the underpass highway net in being included in current road net overlay area.From the underpass highway net, select a road net (being referred to as sub-road net); Find the coupling road key element of nearest road key element in sub-road net in the current road net through the road matching service of sub-road net service node, find the nearest road key element of sub-road net mid-range objectives point through the nearest road service of sub-road net service node.Less than given threshold value, it just can be used as the target road key element of associating path planning so like the distance of nearest road key element in the fruit road net and impact point.Otherwise; With sub-road net with other road nets of one deck in and continue in their following one deck road net to search element according to similar method; Up to finding and the distance of impact point nearest road key element, with its target road key element as the associating path planning less than given threshold value.In the process of the target road key element of searching for the associating path planning, can form the acquisition track of place road net from the top layer road net to the target road key element.
The 4th step: after accomplishing search; Start the path planning service of all road net service nodes on the acquisition track simultaneously, the input parameter of path planning service is the coupling road key element of nearest road key element in road net of previous road net in nearest road key element and the acquisition track in the road net.Route programming result with each road net service node merges at last, obtains the result of associating path planning.
The present invention is in practical implementation, and alleged correlation technique is specifically provided by following: 1 road net data
(1) road net metadata
The road net service node is submitted the road net metadata of oneself to the road net service node through the road net registration service of navigation Service node.The general data item such as the following table of road net metadata:
| Data item | Explanation |
| Sign | The unique identification of road net data source |
| The overlay area | The overlay area of road net |
| The minimum scale chi | The minimum scale chi of map under the road net |
| The maximum ratio chi | The maximum ratio chi of map under the road net |
| Minimum category of roads | The function category of roads of minimum in the road net |
| Maximum category of roads | The function category of roads of maximum in the road net |
| Service node | The network of road net service node is quoted |
(2) road net search node
In the process of the initial road key element (target road key element) of searching for the associating path planning, can form the acquisition track of place road net from the top layer road net to initial road key element (target road key element).The node of acquisition track (being referred to as the road net search node) is made up of coupling road key element three parts of nearest road key element in road net of the road net of previous node in nearest road key element in road net of road net metadata, starting point, the acquisition track; In addition; Recall along acquisition track for ease, also need add road net search father node (being the previous node of road net search node in acquisition track).The structure of road net search node is as shown in the table:
The basic service of 2 road net service nodes
The road net service node is the encapsulation to the road net data source, in order to participate in the associating path planning, must be outwards with the form of Web service basic services such as path planning service, road service recently, road matching service be provided.
(1) path planning service
Path planning is meant at the optimal path that finds under the support of road net between starting point (or initial road key element) and the impact point (or target road key element).The navigation Service node itself is the ability that does not have path planning, and what it can be done is to select the road net service node, calls their path planning service.Therefore, the path planning service of road net service node is the basis of the associating path planning service of navigation Service node.
The input parameter of path planning service: starting point (or initial road key element), impact point (or target road key element) etc.
The output parameter of path planning service: as the set of the road key element of route programming result.
The algorithm of path planning is very ripe, and commonly used have classic algorithm such as dijkstra's algorithm, A* algorithm, can directly utilize.
(2) road service recently
Road service recently is meant searches in road net from the nearest road key element of given position.So-called " recently " is meant that generally the vertical range of given position and road key element is nearest.Recently the ideal situation of road be given position just on road, perhaps have adjacency with road, promptly the distance of the two is zero, this has realistic meaning.Such as, in the vehicle mounted guidance, the current location of vehicle (as the starting point of path planning) is certainly on certain bar road.And for example, the point of interest in the location-based service (as the impact point of path planning) is usually located on the roadside.
The input parameter of road service recently: position.Location parameter generally is a latitude and longitude coordinates, also can be a key element, line feature or face key element.
The output parameter of road service recently: from the nearest road key element of given position.
(3) road matching service
The road matching service is the road key element in the given road net, in another road net, searches the road key element of representing the same link entity with this road key element.When the navigation Service node is selected the road net service node of participating in the associating path planning, need call the foundation of road matching service as decision-making; Meanwhile, the result of road matching service also is the navigation Service node carries out overall treatment to the path planning service result of each road net service node basis.
The input parameter of road matching service: road key element to be matched (from the road net of outside).
The output parameter of road matching service: the road key element of in road net, mating with the road key element of input.
The matching algorithm of using always is divided into 3 big types: the topology coupling is to measure as the coupling foundation through the topological relation of calculated candidate entity of the same name; Geometric match is the coupling of carrying out entity of the same name through the computational geometry similarity; Semantic matches is to accomplish coupling through the semantic information that compares candidate's entity of the same name.
3 road net directory services
The road net directory service is searched the road net set that the overlay area comprises two positions (or key element) simultaneously in all road nets of registering or in the underpass highway net of given road net on the basis of road net hierarchical directory structure.
(1) road net covers service
In all road nets of registering, search the road net set that the overlay area comprises two positions (or key element) simultaneously.
The input parameter that road net covers service mainly contains: position 1 (key element 1), position 2 (key element 2).
Road net covers the output parameter of service: the overlay area comprises the road net collection of metadata of two positions (or key element) simultaneously.
(2) sub-road net covers service
In the underpass highway net of given road net, search the road net set that the overlay area comprises two positions (or key element) simultaneously.
The input parameter that sub-road net covers service mainly contains: given road net metadata, position 1 (key element 1), position 2 (key element 2).
Sub-road net covers the output parameter of service: the overlay area comprises the sub-road net collection of metadata of the given road net of two positions (or key element) simultaneously.
4 associating path planning algorithms
Particularly, the associating path planning algorithm is made up of associating path planning master algorithm, road net search subalgorithm and associating path planning execution subalgorithm.Called road net search subalgorithm in the associating path planning master algorithm and carried out subalgorithm with the associating path planning.
4.1 associating path planning master algorithm
The input parameter of algorithm: starting point, impact point
The output parameter of algorithm: the result of the associating path planning of representing with the road elements combination
The preset parameter that algorithm relies on: the distance threshold (abbreviating initiation threshold as) of starting point and nearest road, the distance threshold (abbreviating targets threshold as) of impact point and nearest road
The step of algorithm:
(1) is that input parameter calls road net covering service with starting point and impact point, finds the overlay area to comprise the top layer road net collection of metadata of starting point and impact point simultaneously.
(2) to the ordering of top layer road net collection of metadata, the rule of ordering can be determined on a case-by-case basis.A kind of possible ordering rule is according to the ascending arrangement of the area of overlay area.Also possibly take into account the category of roads of road net.
(3) from top layer road net collection of metadata, take out each top layer road net metadata, carry out following cycling:
(3.1) be that input parameter calls road net search subalgorithm (seeing 4.2 trifles) with top layer road net metadata, starting point, initiation threshold, obtain starting point road net search node.If starting point road net search node is empty, then finish the epicycle circulation, get into the next round circulation.
(3.2) be that input parameter calls road net search subalgorithm (seeing 4.2 trifles) with top layer road net metadata, impact point and targets threshold, obtain impact point road net search node.If impact point road net search node is empty, then finish the epicycle circulation, get into the next round circulation.
(3.3) be that input parameter calls associating path planning execution algorithm (seeing 4.3 trifles), return path program results with top layer road net metadata, starting point road net search node and impact point road net search node.Algorithm finishes.
4.2 road net search subalgorithm
The input parameter of algorithm: top layer road net metadata, given position (starting point or impact point), the distance threshold (abbreviation threshold value) of given position and nearest road key element
The output parameter of algorithm: road net search node (last node on the acquisition track)
The preset parameter that algorithm relies on: one is the stack of element with the road net search node
The step of algorithm:
(1) constructs initial search node
Obtaining the quoting of service node of top layer road net metadata, is that input parameter calls its nearest road service with the given position, obtains the nearest road key element of top layer road net.
Construct initial search node, its road net metadata is a top layer road net metadata, and the road key element is the nearest road key element of top layer road net recently, and coupling road key element is empty, and father node is empty.
Initial search node is pressed into stack.
(2) completion is to the search of all road nets in the bibliographic structure, record searching track.Following steps are carried out in circulation:
(2.1) if stack is empty, search finishes, and returns null value.
(2.2) from stack, take out stack top element.Distance between the nearest road key element of calculated for given position and stack top element is if distance is then returned stack top element less than threshold value.
(2.3) nearest road key element and the given position with stack top element is that input parameter calls sub-road net covering service, obtains sub-road net collection of metadata.From sub-road net collection of metadata, take out each sub-road net metadata, carry out following cycling:
Be the road matching service of the input parameter service node that calls sub-road net metadata (2.3.1), obtain the coupling road key element of nearest road key element in sub-road net of stack top element with the nearest road key element of stack top element.If coupling road key element is empty, the coupling failure then finishes the epicycle circulation, gets into the next round circulation.
Be the nearest road service of the input parameter service node that calls sub-road net metadata with the given position (2.3.2), obtain in the sub-road net from the nearest road key element of given position.
(2.3.3) structure road net search node; Its road net metadata is sub-road net metadata; The road key element is from the nearest road key element of given position in the sub-road net recently; Coupling road key element is the coupling road key element of nearest road key element in sub-road net of stack top element, and road net search father node is a stack top element.
(2.3.4) the road net search node is pressed in the stack.
4.3 the associating path planning is carried out subalgorithm
The input parameter of algorithm: top layer road net metadata, starting point road net search node, impact point road net search node
The output parameter of algorithm: the result of the associating path planning of representing with the road elements combination
The step of algorithm:
(1) begins to recall from starting point road net search node, accomplish the path planning of its corresponding road net respectively, and consequent road elements combination is merged from the nearest road key element of search node to coupling road key element along its search father node.Concrete step is following:
(1.1) the empty road elements combination (called after " starting point road elements combination ") of structure.
(1.2) give variable (called after " current search node 1 ") with starting point road net search node assignment.Carry out following circulation, the round-robin condition is that the road net search father node of " current search node 1 " is not empty, and promptly there is father node in " current search node 1 ":
(1.2.1) the nearest road key element with " current search node 1 " is the path planning service that input parameter calls the service node of " current search node 1 " with coupling road key element.
(1.2.2) result with above-mentioned path planning joins " starting point road elements combination ".
(1.2.3) give " current search node 1 " with the road net search father node assignment of " current search node 1 ".
(2) begin to recall from impact point road net search node, accomplish the path planning of its corresponding road net respectively, and consequent road elements combination is merged from the coupling road key element of search node to nearest road key element along its search father node.Concrete step is following:
(2.1) the empty road elements combination (called after " impact point road elements combination ") of structure.
(2.2) give variable (called after " current search node 2 ") with impact point road net search node assignment.Carry out following circulation, the round-robin condition is that the road net search father node of " current search node 2 " is not empty, and promptly there is father node in " current search node 2 ":
(2.2.1) the coupling road key element with " current search node 2 " is the path planning service that input parameter calls the service node of " current search node 2 " with nearest road key element.
(2.2.2) result with above-mentioned path planning joins " impact point road elements combination ".
(2.2.3) give " current search node 2 " with the road net search father node assignment of " current search node 2 ".
(3) the empty road elements combination (called after " top layer road elements combination ") of structure; Nearest road key element with the nearest road key element of " current search node 1 " and " current search node 2 " is the path planning service that input parameter calls the service node of top layer road net metadata, gives " top layer road elements combination " with assignment as a result.
(4) union of " starting point road elements combination ", " top layer road elements combination " and " impact point road elements combination " is as a result of returned.This is the net result of associating path planning.
The dynamic fusion of the distributed multi-stage road net that the present invention proposes is a kind of new realization approach of multi-source map of navigation electronic road net data fusion under the network environment with the associating paths planning method; Through practice; Can effectively overcome the deficiency of traditional data-oriented fusion method; Be embodied in: (1) road net DATA DISTRIBUTION formula is stored, and has effectively alleviated the storage pressure of single navigational system; (2) variation of any road net data source of participation path planning all can be reflected on the final service result at once, has improved the trend of the times property of navigation Service data; (3) result of service is provisional data slot each time, has kept the privacy of whole data, has protected data source holder's commercial interest, has also reduced the threshold of data sharing simultaneously.
Claims (8)
1. the dynamic fusion of a distributed multi-stage road net and associating paths planning method is characterized in that, this method is made up of the step 4 aspect of hardware architecture, software architecture, road net hierarchical directory structure and associating path planning algorithm:
(1) hardware architecture
Accomplish the associating path planning; Navigation user terminal, navigation server and the road net server fellowship that need constitute by the PDA, portable computer, desktop computer, the mobile phone that are distributed on the network; Constitute hardware architecture, carry out alternately through the internet between navigation user terminal, navigation server and the road net server three;
Navigation server is the place that the navigation user terminal provides the navigation Service that comprises the path planning service; There are a plurality of navigation servers to exist on the network; The navigation user terminal is used for the navigation server sends services request and shows service result to the user, for the path planning service, and the starting point and the impact point parameter of the planning of navigation user terminal navigation server transmit path; The road net server is meant the server of depositing the road net database; Have a plurality of road net servers to exist on the network, road net server and navigation server overlap on hardware, and promptly a server is deposited the road net database simultaneously and navigation Service is provided;
(2) software architecture
Constitute through the internet by navigation user node, navigation Service node and road net service node; The navigation user node is corresponding to the navigation user terminal in the hardware architecture; The navigation Service node is corresponding to navigation server, and the road net service node is corresponding to the road net server;
The road net service node is made up of road net database and the path planning service that on its basis, makes up, road service recently and road matching service;
The navigation Service node is the entrance and the practical implementation person of associating path planning service; The navigation Service node is from the starting point and the impact point parameter of the planning of navigation user node RX path; Participate in the road net service node of associating path planning through the road net directory services search; Start the path planning service of these road net service nodes, service result is carried out overall treatment, the result who forms final associating path planning returns to the navigation user node;
The navigation Service node provides the road net registration service to the road net service node; Through the road net registration service; The road net service node is submitted to the navigation Service node with the road net metadata of oneself, safeguards a road net hierarchical directory structure by the navigation Service node according to the road net metadata of participating in registration;
(3) road net hierarchical directory structure
The overlay area of road net is one of data item of road net metadata, and according to whether there being relation of inclusion between the overlay area, the road net that will participate in registration at the navigation Service node is organized into hierarchical directory structure;
(4) step of associating path planning algorithm
The first step: find the overlay area to contain the road net of starting point and impact point simultaneously through the road net hierarchical directory structure, or the road net set, for the road net set,, choose a road net more successively according to grade, the precision attribute ordering of road net;
Second step: find the road key element nearest apart from starting point through the nearest road service of road net service node; The road key element is the expression of road in database in the real world; Node by highway section and its two ends constitutes; Be the elementary cell that constitutes road net, if the distance between the two less than given threshold value, this road key element is just as the initial road key element of associating path planning so; Otherwise; Continue the initial road key element of search associating path planning in the underpass highway net in being included in current road net overlay area, from the underpass highway net, select a sub-road net, find the coupling road key element of nearest road key element in sub-road net in the current road net through the road matching service of sub-road net service node; Find the nearest road key element of sub-road net middle distance starting point through the nearest road service of sub-road net service node; Less than given threshold value, it is just as the initial road key element of associating path planning so like the distance of nearest road key element in the fruit road net and starting point, otherwise; With sub-road net with other road nets of one deck in and continue in their following one deck road net to search element according to similar method; Up to finding and the distance of starting point nearest road key element, with its initial road key element, in the process of the initial road key element of search associating path planning as the associating path planning less than given threshold value; Can form the acquisition track from the top layer road net to initial road key element place road net, the node of acquisition track is the road net search node;
The 3rd step: find the nearest road key element of distance objective point through the nearest road service of road net service node; If the distance between the two is less than given threshold value; This road key element is just as the target road key element of uniting path planning so; Otherwise the target road key element that continues to search for the associating path planning in the underpass highway net in being included in current road net overlay area is selected a sub-road net from the underpass highway net; Find the coupling road key element of nearest road key element in sub-road net in the current road net through the road matching service of sub-road net service node; Find the nearest road key element of sub-road net mid-range objectives point through the nearest road service of sub-road net service node, less than given threshold value, it is just as the target road key element of associating path planning so like the distance of nearest road key element in the fruit road net and impact point; Otherwise; With sub-road net with other road nets of one deck in and continue in their following one deck road net to search element according to similar method, up to finding and the distance of impact point nearest road key element, with its target road key element as the associating path planning less than given threshold value; In the process of the target road key element of searching for the associating path planning, can form the acquisition track of place road net from the top layer road net to the target road key element;
The 4th step: after accomplishing search; Start the path planning service of all road net service nodes on the acquisition track simultaneously; The input parameter of path planning service is the coupling road key element of nearest road key element in road net of previous road net in nearest road key element and the acquisition track in the road net; Route programming result with each road net service node merges at last, obtains the result of associating path planning.
2. the dynamic fusion of distributed multi-stage road net according to claim 1 and associating paths planning method; It is characterized in that; The road net registration service of described road net service node through the navigation Service node submitted own road net metadata to the road net service node, and this road net metadata comprises the function category of roads of maximum in function category of roads minimum in the maximum ratio chi, road net of map under the minimum scale chi, road net of map under the overlay area, road net of unique identification, the road net of road net data source, the road net and the network reference data item of road net service node.
3. the dynamic fusion of distributed multi-stage road net according to claim 1 and associating paths planning method; It is characterized in that; Described road net search node is that coupling road key element and the road net search father node of nearest road key element in road net by the road net of previous node in nearest road key element in road net of road net metadata, starting point, the acquisition track constitutes.
4. the dynamic fusion of distributed multi-stage road net according to claim 1 and associating paths planning method; It is characterized in that; Described path planning service; Be meant in the service of finding the optimal path between starting point or initial road key element and impact point or the target road key element under the support of road net; The input parameter of path planning service is starting point or initial road key element and impact point or target road key element, and the output parameter of path planning service is the set as the road key element of route programming result.
5. the dynamic fusion of distributed multi-stage road net according to claim 1 and associating paths planning method; It is characterized in that; Described nearest road service; Be meant and in road net, search that so-called " recently " is meant that the vertical range of given position and road key element is nearest from the nearest road key element of given position; The input position parameter of road service recently is latitude and longitude coordinates, some key element, line feature or face key element, and the output parameter of road service recently is from the nearest road key element of given position.
6. the dynamic fusion of distributed multi-stage road net according to claim 1 and associating paths planning method; It is characterized in that; Described road matching service; It is the road key element in the given road net; In another road net, search the road key element of representing the same link entity with this road key element, the input parameter of road matching service is from the road net of outside road key element to be matched, and the output parameter of road matching service is the road key element of in road net, mating with the road key element of input.
7. the dynamic fusion of distributed multi-stage road net according to claim 1 and associating paths planning method; It is characterized in that; Described road net directory service; Be meant on the basis of road net hierarchical directory structure; In all road nets of registering or in the underpass highway net of given road net, search the road net set that the overlay area comprises two positions or key element simultaneously, comprise that road net covers service and sub-road net covers service, the input parameter that road net covers service is position 1, position 2; The output parameter that road net covers service is the road net collection of metadata that the overlay area comprises two positions simultaneously; The service of covering of sub-road net is meant searches the road net set that the overlay area comprises two positions simultaneously in the underpass highway net of given road net, its input parameter is given road net metadata, position 1, position 2, and output parameter is the sub-road net collection of metadata of the overlay area given road net that comprises two positions simultaneously.
8. the dynamic fusion of distributed multi-stage road net according to claim 1 and associating paths planning method; It is characterized in that; Described associating path planning algorithm comprises associating path planning master algorithm, road net search subalgorithm and associating path planning execution subalgorithm, and concrete steps are:
(1) associating path planning master algorithm the steps include:
(1) is that input parameter calls road net covering service with starting point and impact point, finds the overlay area to comprise the top layer road net collection of metadata of starting point and impact point simultaneously;
(2) to the ordering of top layer road net collection of metadata, the rule of ordering is according to the ascending arrangement of the area of overlay area, takes into account the category of roads of road net;
(3) from top layer road net collection of metadata, take out each top layer road net metadata, carry out following cycling:
(3.1) be that input parameter calls road net search subalgorithm with top layer road net metadata, starting point, initiation threshold, obtain starting point road net search node,, then finish the epicycle circulation, get into the next round circulation if starting point road net search node is empty;
(3.2) be that input parameter calls road net search subalgorithm with top layer road net metadata, impact point and targets threshold, obtain impact point road net search node,, then finish the epicycle circulation, get into the next round circulation if impact point road net search node is empty;
(3.3) be that input parameter calls associating path planning execution algorithm with top layer road net metadata, starting point road net search node and impact point road net search node, the return path program results, algorithm finishes;
(2) road net search subalgorithm the steps include:
(1) constructs initial search node
Obtaining the quoting of service node of top layer road net metadata, is that input parameter calls its nearest road service with the given position, obtains the nearest road key element of top layer road net;
Construct initial search node, its road net metadata is a top layer road net metadata, and the road key element is the nearest road key element of top layer road net recently, and coupling road key element is empty, and father node is empty;
Initial search node is pressed into stack;
(2) accomplish search to all road nets in the bibliographic structure, the record searching track, following steps are carried out in circulation:
(2.1) if stack is empty, search finishes, and returns null value;
(2.2) from stack, take out stack top element, the distance between the nearest road key element of calculated for given position and stack top element is if distance is then returned stack top element less than threshold value;
(2.3) nearest road key element and the given position with stack top unit rope is that input parameter calls sub-road net covering service, obtains sub-road net collection of metadata, from sub-road net collection of metadata, takes out each sub-road net metadata, carries out following cycling:
(2.3.1) with the nearest road key element of stack top element be the road matching service of the input parameter service node that calls sub-road net metadata; Obtain the coupling road key element of nearest road key element in sub-road net of stack top element; If coupling road key element is empty; The coupling failure then finishes the epicycle circulation, gets into the next round circulation;
Be the nearest road service of the input parameter service node that calls sub-road net metadata with the given position (2.3.2), obtain in the sub-road net from the nearest road key element of given position;
(2.3.3) structure road net search node; Its road net metadata is sub-road net metadata; The road key element is from the nearest road key element of given position in the sub-road net recently; Coupling road key element is the coupling road key element of nearest road key element in sub-road net of stack top element, and road net search father node is a stack top element;
(2.3.4) the road net search node is pressed in the stack;
(3) the associating path planning is carried out subalgorithm, the steps include:
(1) begins to recall from starting point road net search node along its search father node; Accomplish the path planning of its corresponding road net respectively from the nearest road key element of search node to coupling road key element; And with consequent road elements combination merging, concrete step is following:
(1.1) the empty road elements combination of structure;
(1.2) give variable with starting point road net search node assignment, carry out circulation as follows, the round-robin condition is that the road net search father node of " current search node 1 " is not empty, and promptly there is father node in " current search node 1 ":
(1.2.1) the nearest road key element with " current search node 1 " is the path planning service that input parameter calls the service node of " current search node 1 " with coupling road key element;
(1.2.2) result with above-mentioned path planning joins " starting point road elements combination ";
(1.2.3) give " current search node 1 " with the road net search father node assignment of " current search node 1 ";
(2) begin to recall from impact point road net search node along its search father node; Accomplish the path planning of its corresponding road net respectively from the coupling road key element of search node to nearest road key element; And with consequent road elements combination merging, concrete step is following:
(2.1) the empty road elements combination of structure;
(2.2) give variable with impact point road net search node assignment, carry out circulation as follows, the round-robin condition is that the road net search father node of " current search node 2 " is not empty, and promptly there is father node in " current search node 2 ":
(2.2.1) the coupling road key element with " current search node 2 " is the path planning service that input parameter calls the service node of " current search node 2 " with nearest road key element;
(2.2.2) result with above-mentioned path planning joins " impact point road elements combination ";
(2.2.3) give " current search node 2 " with the road net search father node assignment of " current search node 2 ";
(3) the empty road elements combination of structure; Nearest road key element with the nearest road key element of " current search node 1 " and " current search node 2 " is the path planning service that input parameter calls the service node of top layer road net metadata, gives " top layer road elements combination " with assignment as a result;
(4) union of " starting point road elements combination ", " top layer road elements combination " and " impact point road elements combination " is as a result of returned, this is the net result of associating path planning.
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