CN102235873A - Processing method and device of navigation electronic map, navigator - Google Patents
Processing method and device of navigation electronic map, navigator Download PDFInfo
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- CN102235873A CN102235873A CN201010157659XA CN201010157659A CN102235873A CN 102235873 A CN102235873 A CN 102235873A CN 201010157659X A CN201010157659X A CN 201010157659XA CN 201010157659 A CN201010157659 A CN 201010157659A CN 102235873 A CN102235873 A CN 102235873A
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Abstract
The invention discloses a processing method and a device of a navigation electronic map, and a navigator, and the method comprises the following steps: dividing a navigation electronic map into a plurality of grids; for each grid of the plurality of grids, performing outward multi-start route extension of all boundary points of the grid to obtain an adjacent connected region of the grid, wherein grids passed through by the route extension are contained in the adjacent connected region, and the sum of the data quantity of each grid and the data quantity of the corresponding adjacent connected regions is less than a pre-determined value; for each boundary point of each grid, performing high-speed network road extension from the boundary point to the outside of the grid to obtain a high-speed network road, wherein the high-speed network road is used to connect the adjacent connected region of the grid with adjacent connected regions of other grids, and the adjacent connected regions connected by the high-speed network road do not intersect with each other, and the high-speed network road is located at a region outside the adjacent connected regions connected by the same. The searching data quantity during route programming between any two points on the map is controllable.
Description
Technical field
The present invention relates to the satellite navigation field, relate in particular to a kind of disposal route of map of navigation electronic and device, navigating instrument.
Background technology
At present, in map of navigation electronic, based on the multilevel hierarchy model of road physical feature, with the road in the real world road network and crossing abstract respectively be segmental arc and node.Because road traffic flow has directivity, therefore road network adopts the digraph model, wherein, segmental arc has write down the attribute information and the current restricted information of road, for example, attribute informations such as the length of road, width, category of roads, number of track-lines, maximum speed limit, nodes records the turning to restricted information and turn to cost information of crossing.
Consider the characteristics of road net, and, construct hierarchical model in conjunction with the characteristics that the driver more is ready to select comparatively broad major trunk roads driving.Urban road network comprises the topological characteristic in the geographic position of network own on the one hand, has also comprised a large amount of reflection road net knowledge characteristics on the other hand and has used relevant data.For example, the intercity road of China is divided into highway, national highway, provincial highway, county road, township road etc., and urban road is divided into city expressway, major trunk roads, subsidiary road, branch road etc.Divide with the road form, road has different attributes such as main road, bypass, turnout, ring road, roundabout, this knowledge feature of road net will be directly connected to the selection psychology of driver to the driving path, so the road stratum level can be given according to above road physical feature.
At present, the construction method of multistage road net is: road data according to species information, is made up multistage road net data model from high to low, and guarantee that the road net of each grade and the road net integral body of higher level are communicated with and can reach.Like this, when certain grade of road net data are not communicated with or do not seal,, just can make this grade network reach the requirement of connected sum sealing by low-grade road being upgraded to this rank.
But, when above-mentioned employing rank is carried out the road calculating of map of navigation electronic, because this scheme need be based on the multilevel hierarchy model (level model of road) of road physical feature, therefore, under this model, can't guarantee the optimality of result of calculation, cause existing between road actual calculation and program results and the optimal result bigger error; In addition, because the roading density difference in down town and suburb is bigger under the actual conditions, the network data amount skewness that therefore can cause map of navigation electronic, when carrying out roading, can cause the search volume in that amplitude of variation is excessive between urban and rural areas, not only can reduce the flatness of urban road and transition between rural causing, and because the processing resource-constrained of embedded device, and can't adjust the search volume size of comparatively intensive urban road in the planning process, therefore can further reduce the accuracy and the efficient of program results.
At present, at undesirable, the inefficient problem of roading result in the correlation technique, effective solution is not proposed as yet at present.
Summary of the invention
At undesirable, the inefficient problem of roading result in the correlation technique, the present invention proposes a kind of disposal route of map of navigation electronic, can improve treatment effeciency under the prerequisite of the accuracy that guarantees roading and result of calculation.
At undesirable, the inefficient problem of roading result in the correlation technique, the present invention proposes a kind for the treatment of apparatus of map of navigation electronic, can improve treatment effeciency under the prerequisite of the accuracy that guarantees roading and result of calculation.
At undesirable, the inefficient problem of roading result in the correlation technique, the present invention also proposes a kind of navigating instrument, can improve treatment effeciency under the prerequisite of the accuracy that guarantees roading and result of calculation.
Technical scheme of the present invention is achieved in that
The invention provides a kind of disposal route of map of navigation electronic.
Disposal route according to map of navigation electronic of the present invention comprises: map of navigation electronic is divided into a plurality of graticule mesh; For each graticule mesh in a plurality of graticule mesh, all frontier points of this graticule mesh are outwards carried out a lot of somes route expansions, obtain the contiguous connected region of this graticule mesh, wherein, comprise in the contiguous connected region route expansion by way of graticule mesh, and the data volume summation of the data volume of each graticule mesh and corresponding contiguous connected region is less than predetermined value; Each frontier point for each graticule mesh, beyond this graticule mesh, carry out the expansion of High Speed Network road from this frontier point, obtain the High Speed Network road, wherein, the High Speed Network road is used for the contiguous connected region of this graticule mesh is connected with the contiguous connected region of other graticule mesh, the vicinity that the High Speed Network road is communicated with mutually disjoints together with the zone, and the High Speed Network road is positioned at the contiguous connected region zone in addition of its connection.
This method also comprises: carry out the fracture node that the expansion of High Speed Network road obtains for each graticule mesh, this fracture node and other graticule mesh are carried out the fracture node that High Speed Network road expansion obtains to be communicated with, wherein, a side of fracture node is the High Speed Network road, and opposite side is non-High Speed Network road.
In addition, in the method, the data volume of each graticule mesh is in preset range in a plurality of graticule mesh.
The invention provides a kind for the treatment of apparatus of map of navigation electronic.
Treating apparatus according to map of navigation electronic of the present invention comprises:
Graticule mesh is cut apart module, is used for map of navigation electronic is divided into a plurality of graticule mesh;
The connected region determination module, be used for each graticule mesh to a plurality of graticule mesh, all frontier points of this graticule mesh are outwards carried out a lot of somes route expansions, obtain the contiguous connected region of this graticule mesh, wherein, comprise in the contiguous connected region route expansion institute by way of graticule mesh, and the data volume summation of the data volume of each graticule mesh and corresponding vicinity connected region is less than predetermined value;
High Speed Network road determination module, be used for each frontier point to each graticule mesh, beyond this graticule mesh, carry out the expansion of High Speed Network road from this frontier point, obtain the High Speed Network road, wherein, the High Speed Network road is used for the contiguous connected region of this graticule mesh is connected with the contiguous connected region of other graticule mesh, and the vicinity that the High Speed Network road is communicated with mutually disjoints together with the zone, and the High Speed Network road is positioned at the contiguous connected region zone in addition of its connection.
This device can also comprise:
Be communicated with processing module, being used for that each graticule mesh is carried out fracture node that High Speed Network road expansion obtains and other graticule mesh carries out the High Speed Network road and expands the fracture node that obtains and be communicated with, wherein, a side of fracture node is the High Speed Network road, and opposite side is non-High Speed Network road.
In addition, in above-mentioned a plurality of graticule mesh the data volume of each graticule mesh in preset range.
The invention provides a kind of navigating instrument.
Navigating instrument according to the present invention comprises the treating apparatus of above-mentioned map of navigation electronic, and wherein, the treating apparatus of this map of navigation electronic comprises:
Graticule mesh is cut apart module, is used for map of navigation electronic is divided into a plurality of graticule mesh;
The connected region determination module, be used for each graticule mesh to a plurality of graticule mesh, all frontier points of this graticule mesh are outwards carried out a lot of somes route expansions, obtain the contiguous connected region of this graticule mesh, wherein, comprise in the contiguous connected region route expansion institute by way of graticule mesh, and the data volume summation of the data volume of each graticule mesh and corresponding vicinity connected region is less than predetermined value;
High Speed Network road determination module, be used for each frontier point to each graticule mesh, beyond this graticule mesh, carry out the expansion of High Speed Network road from this frontier point, obtain the High Speed Network road, wherein, the High Speed Network road is used for the contiguous connected region of this graticule mesh is connected with the contiguous connected region of other graticule mesh, and the vicinity that the High Speed Network road is communicated with mutually disjoints together with the zone, and the High Speed Network road is positioned at the contiguous connected region zone in addition of its connection.
The treating apparatus of the map of navigation electronic in this navigating instrument can also comprise: be communicated with processing module, being used for that each graticule mesh is carried out fracture node that High Speed Network road expansion obtains and other graticule mesh carries out the High Speed Network road and expands the fracture node that obtains and be communicated with, wherein, one side of fracture node is the High Speed Network road, and opposite side is non-High Speed Network road.
In addition, in above-mentioned a plurality of graticule mesh the data volume of each graticule mesh in preset range.
By means of technique scheme of the present invention, by map of navigation electronic is divided into grid model, and be the initial planning of carrying out road with the frontier point of each graticule mesh, planning mode than foundation road natural characteristic, can effectively improve the accuracy of map of navigation electronic path planning, and the search data amount in the time of can making on the map path planning of point-to-point transmission arbitrarily is controlled, has avoided owing to data volume skewness on the map causes route searching the worst search volume index error and the low problem of treatment effeciency; In addition,, road can be carried out layering, can reduce the number of nodes of required consideration, help when follow-up route is searched for, to improve the efficient of search, reduce the burden of search terminal by determining the contiguous connected region of graticule mesh.
Description of drawings
Fig. 1 is the process flow diagram according to the disposal route of the map of navigation electronic of the embodiment of the invention;
Fig. 2 is the synoptic diagram according to the High Speed Network road of the embodiment of the invention;
Fig. 3 is the processing synoptic diagram that adopts the High Speed Network road to search for according in the disposal route of the map of navigation electronic of the embodiment of the invention;
Fig. 4 is the processing flow chart of single graticule mesh being handled respectively according in the disposal route of the map of navigation electronic of the embodiment of the invention;
Fig. 5 be according in the disposal route of the map of navigation electronic of the embodiment of the invention to the integration of normal grid and the processing flow chart of cutting apart;
Fig. 6 makes the process flow diagram of processing according to route in the graticule mesh in the disposal route of the map of navigation electronic of the embodiment of the invention;
Fig. 7 is the process flow diagram of handling according to the contiguous connected region of calculating graticule mesh in the disposal route of the map of navigation electronic of the embodiment of the invention;
Fig. 8 is according to setting the process flow diagram that the High Speed Network road relevant with this graticule mesh handled in the disposal route of the map of navigation electronic of the embodiment of the invention;
Fig. 9 treats the processing synoptic diagram that the expansion segmental arc is expanded in the disposal route according to the map of navigation electronic of the embodiment of the invention;
Figure 10 is the process flow diagram of handling according to connection according to the disposal route high speed netting index of the map of navigation electronic of the embodiment of the invention;
Figure 11 is according to the disposal route high speed netting index of the map of navigation electronic of the embodiment of the invention process flow diagram according to abstract processing;
Figure 12 is the process flow diagram according to graticule mesh boundary node and High Speed Network topology association process in the disposal route of the map of navigation electronic of the embodiment of the invention;
Figure 13 is the composition structural drawing according to the treating apparatus of the map of navigation electronic of the embodiment of the invention.
Embodiment
Because the road network data amount of map of navigation electronic is very huge in the real world applications, and the hardware environment of navigation application is limited (that is to say that the processing power of navigating instrument is limited usually), is unpractical if data are all read in internal memory.Therefore, the present invention proposes based on graticule mesh road network is carried out subregion, specific practice is that a bigger geographic area is divided into a plurality of different parts by the density of geographic position or road network, each part (is for example carried out independent processing, carrying out independent I/O handles and the relevant processing of roading follow-up and map of navigation electronic), divide each subregion that obtains and can be called graticule mesh.For the graticule mesh data, can set a benchmark size and come deal with data for unit.In addition, when data volume is too much or very few, also can further processing further on average be cut apart or be merged to each graticule mesh, form and cut apart graticule mesh and integration graticule mesh.
Like this, in the intensive urban area of road, the division of graticule mesh is equally comparatively intensive, and in the comparatively sparse rural areas of road, the distribution of graticule mesh is also less, thereby the data volume that can guarantee each graticule mesh is more reasonable, making that the data of each graticule mesh all can access in roading and computation process takes into full account, avoid roading and computation process only to depend on the physical feature of road, solved that transitions smooth is poor between the city and countryside in the correlation technique, roading efficient is low, the inaccurate problem of result.
Fig. 1 is the disposal route according to the map of navigation electronic of the embodiment of the invention, and as shown in Figure 1, this method comprises:
Step S101 is divided into a plurality of graticule mesh with map of navigation electronic;
Step S103, for each graticule mesh in a plurality of graticule mesh, all frontier points of this graticule mesh are outwards carried out a lot of somes route expansions (be that is to say, for each graticule mesh, get all frontier points and think that as root node this graticule mesh expands outward, promptly, can be understood as and carry out the expansion of a lot of somes route trees), obtain the contiguous connected region of this graticule mesh, wherein, comprise in the contiguous connected region route expansion institute by way of graticule mesh, and the data volume summation of the data volume of each graticule mesh and corresponding vicinity connected region is less than predetermined value;
Step S105, each frontier point for each graticule mesh, beyond this graticule mesh, carry out the expansion of High Speed Network road from this frontier point, obtain the High Speed Network road, wherein, the High Speed Network road is used for the contiguous connected region of this graticule mesh is connected with the contiguous connected region of other graticule mesh, and the vicinity that the High Speed Network road is communicated with mutually disjoints together with the zone, and the High Speed Network road is positioned at the contiguous connected region zone in addition of its connection.
By means of technique scheme of the present invention, by map of navigation electronic is divided into grid model, and be the initial planning of carrying out road with the frontier point of each graticule mesh, planning mode than foundation road natural characteristic, can effectively improve the accuracy of map of navigation electronic path planning, and the search data amount in the time of can making on the map path planning of point-to-point transmission arbitrarily is controlled, has avoided owing to data volume skewness on the map causes route searching the worst search volume index error and the low problem of treatment effeciency; In addition,, road can be carried out layering, can reduce the number of nodes of required consideration, help when follow-up route is searched for, to improve the efficient of search, reduce the burden of search terminal by determining the contiguous connected region of graticule mesh.
In above processing, the data volume of each graticule mesh should be in preset range in a plurality of graticule mesh.
And, carry out the fracture node that the expansion of High Speed Network road obtains for each graticule mesh, this fracture node and other graticule mesh are carried out the fracture node that High Speed Network road expansion obtains to be communicated with, wherein, because the fracture node is to carry out the node that expansion is interrupted in the process of High Speed Network road expansion, therefore, a side of fracture node is the High Speed Network road, and opposite side is non-High Speed Network road.
Preferably, in the middle of practical application, can travel through the frontier point of all fractures, make that the route between any two fracture frontier points is connected, thereby guarantee the connectedness of whole map.
In above-mentioned processing, for carrying out the useless false node of road search, then can directly delete, thereby reduced unnecessary data search (handling) thereby can reduce such as the relevant roading of data I/O, the speed that can accelerate to search for can further improve the efficient of road search in the roading process.
Below in conjunction with instantiation, describe processing procedure in detail according to map of navigation electronic of the present invention.
Based on the map of navigation electronic that is divided into a plurality of graticule mesh, the present invention proposes the notion of contiguous connected region, wherein, be meant the topological connected region of data volume summation within predetermined value with the contiguous connected region of graticule mesh from these all frontier points of graticule mesh, this zone is made of the graticule mesh that shortest path tree covered, and forward and reverse two types are arranged, be defined as follows:
If G=is (E, V) be the network of dividing based on graticule mesh, all boundary nodes with certain graticule mesh are root, the structure shortest path tree, in expansion process, if expansion arrives the graticule mesh border, and read graticule mesh data volume and this new graticule mesh data volume sum less than contiguous connected region data volume controlling value M (M is the contiguous connected region data volume threshold value that sets in advance) situation under, continue to read new graticule mesh data and expand with continuation; Reading under graticule mesh data volume and the situation of this new graticule mesh data volume sum, then terminate in the expansion of this frontier point more than or equal to M.Whole grid tick with the shortest path tree process after expansion process is all over are the contiguous connected region of this graticule mesh.
In network, specify the contiguous connected region of graticule mesh can be divided into contiguous connected region of forward and reverse contiguous connected region for one, wherein, the contiguous connected region of the forward of graticule mesh is: all boundary nodes with this appointment graticule mesh are root, the shortest path tree that constitutes along the expansion of border segmental arc positive dirction covers graticule mesh, the graticule mesh total amount of data that is read in expansion process allows extended amount of data (promptly less than predetermined maximum, less than M), these graticule mesh that read in expansion process constitute the contiguous connected region of forward of this graticule mesh; The reverse contiguous connected region of graticule mesh is: all boundary nodes with this appointment graticule mesh are root, the shortest path tree that constitutes along the contrary direction expansion of border segmental arc covers graticule mesh, and, the graticule mesh total amount of data that is read in expansion process allows extended amount of data less than predetermined maximum, and these graticule mesh that read in expansion process constitute the reverse contiguous connected region of this graticule mesh.
With the contiguous connected region of the forward of graticule mesh is example, and the planning and the computation process of road are as follows:
Extended amount of data is initialized as the data volume M0 of this appointment graticule mesh;
With all boundary nodes of this graticule mesh (v1, v2 ... be root vn), construct initial cost and be 0 the shortest path tree of sending out node that has more;
The shortest path tree expansion is carried out in circulation.In the process of expansion, run into new graticule mesh frontier point as expansion, and, current M0 of extended amount of data and new graticule mesh data volume sum allow extended amount of data Mmax (promptly less than maximum, above-mentioned threshold value M), then reads new graticule mesh, and upgrade extended amount of data M0, M0 after upgrading is used for the judgement of subsequent expansion, otherwise stops to expand this frontier point;
When the shortest path tree expansion finishes, be the contiguous connected region of forward of graticule mesh with all grid tick that read, thereby finished the planning and the computation process of the road of the contiguous connected region of forward.The planning and the computation process of the road of reverse contiguous connected region are similar, no longer repeat here.
In addition, in implementation procedure of the present invention, the planning for the ease of remote road can also define the High Speed Network road.Wherein, in embodiments of the present invention, the High Speed Network road is meant in the required segmental arc of passing through of network mid span area search.For example, certain segmental arc A appears in certain bar optimal path, and the path of this High Speed Network road is departure place and destination with segmental arc s and segmental arc t respectively, as shown in Figure 2.
Part shown in solid line among Fig. 2, meet following condition as the path, the segmental arc in this path can be set at the High Speed Network road: this segmental arc does not belong to segmental arc S and begins not belong to along segmental arc t simultaneously yet and oppositely date back to the reverse contiguous connected region part that enters t place graticule mesh for the last time to the contiguous connected region part of the forward that expands for the first time this graticule mesh.
In network, the High Speed Network road can adopt said method to extract from whole roads, and the High Speed Network road that extracts can be mapped to a subclass of all road networks, so that be applied to remote path planning and calculating.
After obtaining whole High Speed Network road datas, the whole graticule mesh of these roads in related map datum scope need be merged, promptly, false node is carried out abstract back obtain the level of abstraction network, carrying out global storage then, that is, is hierarchical model with the network storage.As can be seen, hierarchical model has been deleted the false node of part, reduced the unnecessary search (handling thereby can reduce such as the relevant roading of data I/O) of data, the speed that can accelerate to search for can further improve the efficient of road search in the roading process.
Can implement better in order to guarantee roading scheme of the present invention, can also further define remote zone and be defined as among the present invention, this remote zone is meant: in path planning, this zone neither belongs to the contiguous connected region of forward of place, departure place graticule mesh, does not also belong to the scope of the reverse contiguous connected region of place, destination graticule mesh.
Definition based on remote zone, when at the path planning that carries out between departure place and the destination arbitrarily, if when the reverse contiguous connected region of the contiguous connected region of forward of contiguous connected region of the forward of place, departure place graticule mesh and place, destination graticule mesh is not overlapping, the hierarchical search algorithm can be divided into following three parts:
First is the contiguous connected region of the forward of place, departure place graticule mesh, uses whole road search;
Second portion is a remote zone, the search of use High Speed Network, wherein, by aforementioned High Speed Network road building method as seen, be positioned at the part of remote zone in any optimal path, must in road stratum assignment procedure, be set at the High Speed Network road, therefore, as shown in Figure 3, when this range searching, can ignore non-High Speed Network road;
Third part is the reverse contiguous connected region of place, destination graticule mesh, uses whole road search.
When physical planning, the data volume of supposing High Speed Network is C
High, simultaneously, no matter forward or reverse contiguous connected region, its data volume all is not more than " the maximum extended amount of data that the allows " M in the contiguous connected region manufacturing process
Max, so the data volume of using in any inter-two-point path planning among the present invention is not more than C
High+ 2*M
Max
And described before use maximum amount of data plans that the reverse contiguous connected region that can be suitable for the contiguous connected region of forward of the contiguous connected region of forward of place, departure place graticule mesh and place, destination graticule mesh with calculation mode has overlapping situation.
In actual applications, can dispose corresponding thread to each graticule mesh, thereby realize the expansion of corresponding graticule mesh by thread as the expansion root node.As shown in Figure 4, at first need to resolve configuration file, need to judge whether to finish the traversal of all graticule mesh afterwards,, then single graticule mesh is handled if do not finish; If finished the traversal to all graticule mesh, then processing finishes.
To be that example is described in detail below with processing procedure to single graticule mesh.
In actual applications, should travel through all graticule mesh in the full road network scope, detailed process is as follows:
The integration of step (1) normal grid and dividing processing (corresponding to above-mentioned steps S101);
Route is made processing in step (2) graticule mesh;
Step (3) is calculated the contiguous connected region of graticule mesh and is handled (corresponding to above-mentioned steps S103);
Step (4) is set the High Speed Network road relevant with this graticule mesh and is handled (corresponding to above-mentioned steps S105);
Step (5) High Speed Network data are communicated with to be handled;
Step (6) High Speed Network data abstraction is handled (this step is an optional step);
Step (7) graticule mesh boundary node and High Speed Network topology association process.
Wherein, as shown in Figure 5, in step (1), can further comprise the steps:
With the graticule mesh is that unit reads raw data, carries out graticule mesh and generates; Afterwards, according to the graticule mesh data volume, do not cut apart, on average cut apart or integration (can be understood as merging) processing, form normal grid respectively, cut apart graticule mesh and integration graticule mesh, and repeat this processing, until all graticule mesh of output.
And as shown in Figure 6, in step (2), can further comprise the steps: needs path exploration workspace in the initialization graticule mesh in route is made in graticule mesh the processing procedure; Find out the borderline any a pair of frontier point of graticule mesh; Only consider road network data in the graticule mesh, for setting out and arriving node, plan optimal path with the node that finds; If there is optimal path in the graticule mesh, then this optimal path is recorded as route in the graticule mesh, and store serial segmental arc and the node that this route comprises, it is right to continue to search frontier point afterwards, up to the borderline node of graticule mesh the process that whole traversals finish is all finished dealing with.
As shown in Figure 7, in step (3), the processing of calculating the contiguous connected region of graticule mesh can further comprise the steps: with graticule mesh all boundary nodes (v1, v2 ... be root vn), construct initial cost and be 0 the shortest path tree that has more a node; The shortest path tree expansion process must be not more than predetermined maximum in the graticule mesh total amount of data that is read and allow extended amount of data M
MaxCarry out under the condition, otherwise should stop expansion; These graticule mesh that read in forward shortest path tree expansion process constitute the contiguous connected region of forward of graticule mesh, and obtain the tabulation of forward synthetic fiber towel connected region graticule mesh according to spreading result.Afterwards, can repeat the treatment scheme of above-mentioned steps with reverse expansion shortest path tree method, obtain specifying the reverse contiguous connected region of graticule mesh, detailed process is as follows:
With all boundary nodes of this graticule mesh (v1, v2 ... be root vn), construct initial cost and be 0 the shortest path tree of sending out node that has more; Carry out reverse route expansion afterwards, obtain reverse contiguous connected region.
As shown in Figure 8, in above-mentioned steps (4), the detailed process of setting the High Speed Network road processing relevant with this graticule mesh is as follows:
In processing shown in Figure 8, each the leaf node route r in the path tree if meet the following conditions, can stop the expansion of route r: the graticule mesh at condition (1) route r place is different from this graticule mesh; Condition (2) has a route v at least in the optimal path of s to r, neither belong to the contiguous connected region of forward of this graticule mesh, does not also belong to the reverse contiguous connected region of route r place graticule mesh.
After the leaf node route that with S is the shortest path tree of starting point all stops expansion, the path to all from S to leaf node route t, with reference to High Speed Network road setting principle mark High Speed Network road.
As shown in figure 10, in above-mentioned steps (5), it is as follows that the High Speed Network data are communicated with the detailed process of handling:
That is to say that in above-mentioned processing, for the boundary node of graticule mesh, if segmental arc is the High Speed Network road in the graticule mesh that this node connects, and graticule mesh is non-High Speed Network road, then should be communicated with processing outward.With this node S is that the initial cost of joint structure of setting out is the shortest path tree of route expansion in 0 the use graticule mesh, to each the leaf node route r in the search tree, if r connects the High Speed Network road, then can stop the expansion of route r.After the leaf node route that with S is the shortest path tree of starting point all stops expansion, travel through the leaf node route r that all connect the High Speed Network roads, will from S to the path of r upgrade to the High Speed Network road.
As shown in figure 11, in above-mentioned steps (6), can further comprise the steps:
Step 1101 on the primitive network basis, extracts the network that High Speed Network road segmental arc constitutes, and preferably, can extract the highest grade of the sensible degree of graticule mesh segmental arc and constitute network;
Step 1102 is found out the node in the network;
Step 1103, whether decision node travels through end, if judged result is for being then processing end; Otherwise execution in step 1104;
Step 1104 judges whether this node is false node, if judged result is for being that then execution in step 1105; Otherwise execution in step 1102 continues to find out the node in the network;
Step 1105 is deleted false node, and execution in step 1106;
Step 1106 directly merges the segmental arc of false node both sides.
On the primitive network basis, extract the highest grade of the sensible degree of graticule mesh segmental arc and constitute network; False node in 602 pairs of these networks (the false node of deletion, promptly segmental arc merges) carry out abstract after, obtain abstract network.
By the processing of the false node of above-mentioned deletion, can reach the purpose of network reduction, reduce the number of times of handling, improve treatment effeciency, and can be called the process of the node direct correlation of false node both sides abstract.
As shown in figure 12, in above-mentioned steps (7), the concrete processing procedure of graticule mesh boundary node and High Speed Network road topology association process is as follows:
Step 1201 is found out the intersection point on graticule mesh border, sets up the related of other layering and High Speed Network;
Step 1202 judges whether to have traveled through all boundary nodes; If judged result is for being then processing end; Otherwise execution in step 1203;
Step 1203 judges whether this node is High Speed Network road circuit node; If judged result is for being that then execution in step 1204; Otherwise execution in step 1201;
Step 1204 is mated the High Speed Network road segmental arc of this node correspondence and execution in step 1205;
Step 1205 is a cut-point with this node, and the High Speed Network segmental arc of correspondence is divided into two supposition segmental arcs, and execution in step 1206;
Step 1206 writes down the relating attribute (for example, be divided into two supposition segmental arcs etc.) of this node and High Speed Network.
Because in step (7), these graticule mesh frontier points in High Speed Network by abstract.Therefore, by the processing shown in Figure 12, just can set up High Speed Network road segmental arc node and High Speed Network related on the graticule mesh border, thereby in network search procedure, realize the level switching, and can guarantee path computing result's rationality.
Figure 13 is the treating apparatus according to the map of navigation electronic of the embodiment of the invention, and as shown in figure 13, this device comprises:
Graticule mesh is cut apart module 131, is used for map of navigation electronic is divided into a plurality of graticule mesh;
Connected region determination module 132, be used for each graticule mesh to a plurality of graticule mesh, all frontier points of this graticule mesh are outwards carried out a lot of somes route expansions, obtain the contiguous connected region of this graticule mesh, wherein, comprise in the contiguous connected region route expansion institute by way of graticule mesh, and the data volume summation of the data volume of each graticule mesh and corresponding vicinity connected region is less than predetermined value;
High Speed Network road determination module 133, be used for each frontier point to each graticule mesh, beyond this graticule mesh, carry out the expansion of High Speed Network road from this frontier point, obtain the High Speed Network road, wherein, the High Speed Network road is used for the contiguous connected region of this graticule mesh is connected with the contiguous connected region of other graticule mesh, and the vicinity that the High Speed Network road is communicated with mutually disjoints together with the zone, and the High Speed Network road is positioned at the contiguous connected region zone in addition of its connection.
This device can also also comprise:
Be communicated with processing module 134, being used for that each graticule mesh is carried out fracture node that High Speed Network road expansion obtains and other graticule mesh carries out the High Speed Network road and expands the fracture node that obtains and be communicated with, wherein, because the fracture node is the interruption node of High Speed Network road expansion, therefore, one side of fracture node is the High Speed Network road, and opposite side is non-High Speed Network road.
Wherein, in above-mentioned a plurality of graticule mesh the data volume of each graticule mesh in preset range.
The present invention also provides a kind of navigating instrument, comprises the treating apparatus of map of navigation electronic as shown in figure 13.
According to the processing shown in equally can execution graph 1,4,5,6,7,8,9,10,11 and 12 of the treating apparatus of navigating instrument of the present invention and map of navigation electronic, describe before the detailed process, no longer repeat here.
By above-mentioned processing, because the High Speed Network road is defined in the required road that passes through of network mid span area search, therefore, when roading and calculating, can analyze from the meaning directly perceived of High Speed Network road, the high more expression of grade is led to by the path of this road can be strong more, big more to long contribution apart from the road search.In addition,, can solve the problem of the significance level that how to define road, that is,, determine its topological grade in multistage network according to the practical function of road in the route searching process from mathematics by means of the layering grid model; In addition, because the data that path planning algorithm is used are divided into three parts, first is near the search of rising the departure place, second portion is the top layer search, third part is near the search that descends the destination, and the search volume of path planning overall process is three part search volume sums, and because highest network (top layer) data volume is definite when data compilation, simultaneously, first and the predetermined value determined when being no more than data compilation of the data volume of third part, therefore, can make that the path planning search data amount of any point-to-point transmission is controlled.In the road net level of path planning algorithm when high level switches, can be because of the optimality of the reduction of search volume being destroyed route programming result; And, because the search volume reduced effect more by force, can delete the false node that to consider, therefore can in the optimality that guarantees the road Search Results, improve counting yield, solve the inefficient problem of multilevel hierarchy Model Calculation based on the road physical feature.
The above only is preferred embodiment of the present invention, and is in order to restriction the present invention, within the spirit and principles in the present invention not all, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. the disposal route of a map of navigation electronic is characterized in that, comprising:
Map of navigation electronic is divided into a plurality of graticule mesh;
For each graticule mesh in described a plurality of graticule mesh, all frontier points of this graticule mesh are outwards carried out a lot of somes route expansions, obtain the contiguous connected region of this graticule mesh, wherein, comprise in the described contiguous connected region route expansion by way of graticule mesh, and the data volume summation of the data volume of each graticule mesh and corresponding contiguous connected region is less than predetermined value;
Each frontier point for each graticule mesh, beyond this graticule mesh, carry out the expansion of High Speed Network road from this frontier point, obtain the High Speed Network road, wherein, described High Speed Network road is used for the contiguous connected region of this graticule mesh is connected with the contiguous connected region of other graticule mesh, the vicinity that described High Speed Network road is communicated with mutually disjoints together with the zone, and described High Speed Network road is positioned at the contiguous connected region zone in addition of its connection.
2. disposal route according to claim 1 is characterized in that, also comprises:
Carry out the fracture node that the expansion of High Speed Network road obtains for described each graticule mesh, this fracture node and other graticule mesh are carried out the fracture node that High Speed Network road expansion obtains to be communicated with, wherein, a side of described fracture node is the High Speed Network road, and opposite side is non-High Speed Network road.
3. disposal route according to claim 1 and 2 is characterized in that, the data volume of each graticule mesh is in preset range in described a plurality of graticule mesh.
4. the treating apparatus of a map of navigation electronic is characterized in that, comprising:
Graticule mesh is cut apart module, is used for map of navigation electronic is divided into a plurality of graticule mesh;
The connected region determination module, be used for each graticule mesh to described a plurality of graticule mesh, all frontier points of this graticule mesh are outwards carried out a lot of somes route expansions, obtain the contiguous connected region of this graticule mesh, wherein, comprise in the described contiguous connected region route expansion institute by way of graticule mesh, and, the data volume of each graticule mesh be close to the data volume summation of connected region accordingly less than predetermined value;
High Speed Network road determination module, be used for each frontier point to described each graticule mesh, beyond this graticule mesh, carry out the expansion of High Speed Network road from this frontier point, obtain the High Speed Network road, wherein, described High Speed Network road is used for the contiguous connected region of this graticule mesh is connected with the contiguous connected region of other graticule mesh, and the vicinity that described High Speed Network road is communicated with mutually disjoints together with the zone, and described High Speed Network road is positioned at the contiguous connected region zone in addition of its connection.
5. treating apparatus according to claim 4 is characterized in that, also comprises:
Be communicated with processing module, being used for that described each graticule mesh is carried out fracture node that High Speed Network road expansion obtains and other graticule mesh carries out the High Speed Network road and expands the fracture node that obtains and be communicated with, wherein, a side of fracture node is the High Speed Network road, and opposite side is non-High Speed Network road.
6. according to claim 4 or 5 described treating apparatus, it is characterized in that the data volume of each graticule mesh is in preset range in described a plurality of graticule mesh.
7. a navigating instrument is characterized in that, comprises the treating apparatus of map of navigation electronic, and wherein, the treating apparatus of described map of navigation electronic comprises:
Graticule mesh is cut apart module, is used for map of navigation electronic is divided into a plurality of graticule mesh;
The connected region determination module, be used for each graticule mesh to described a plurality of graticule mesh, all frontier points of this graticule mesh are outwards carried out a lot of somes route expansions, obtain the contiguous connected region of this graticule mesh, wherein, comprise in the described contiguous connected region route expansion institute by way of graticule mesh, and, the data volume of each graticule mesh be close to the data volume summation of connected region accordingly less than predetermined value;
High Speed Network road determination module, be used for each frontier point to each graticule mesh, beyond this graticule mesh, carry out the expansion of High Speed Network road from this frontier point, obtain the High Speed Network road, wherein, described High Speed Network road is used for the contiguous connected region of this graticule mesh is connected with the contiguous connected region of other graticule mesh, and the vicinity that described High Speed Network road is communicated with mutually disjoints together with the zone, and described High Speed Network road is positioned at the contiguous connected region zone in addition of its connection.
8. navigating instrument according to claim 7 is characterized in that, the treating apparatus of described map of navigation electronic also comprises:
Be communicated with processing module, being used for that described each graticule mesh is carried out fracture node that High Speed Network road expansion obtains and other graticule mesh carries out the High Speed Network road and expands the fracture node that obtains and be communicated with, wherein, a side of fracture node is the High Speed Network road, and opposite side is non-High Speed Network road.
9. according to claim 7 or 8 described navigating instruments, it is characterized in that the data volume of each graticule mesh is in preset range in described a plurality of graticule mesh.
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