CN102506849A - Method for optimizing shortest path with restraint - Google Patents
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- CN102506849A CN102506849A CN2011102943181A CN201110294318A CN102506849A CN 102506849 A CN102506849 A CN 102506849A CN 2011102943181 A CN2011102943181 A CN 2011102943181A CN 201110294318 A CN201110294318 A CN 201110294318A CN 102506849 A CN102506849 A CN 102506849A
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Abstract
The invention discloses a method for optimizing the shortest path with restraint. The shortest available path between an appointed start point and an end point can be optimized in a road network with the restraint. A road network is represented by a chart consisting of a plurality of nodes and a plurality of edges; and a forbidding rule that a user cannot pass b to reach c from a is represented by a three-element group (a, b and c) consisting of three nodes. According to the method, all paths at which each node possibly arrives are recorded during optimization of the path; and only the paths which obey the forbidding rule are selected when the next node is optimized; and the shortest path according with the restraint condition is optimized according to the selection of the nodes. According to the method, the problem that the forbidding restraint cannot be handled in the conventional shortest path optimizing method is solved; and actual requirements in the fields of intelligent traffics and the like are met.
Description
Technical field
The present invention relates to a kind of method of seeking shortest path, especially relate to a kind of method of seeking the shortest path of belt restraining.
Background technology
Seeking shortest path all has application in a lot of fields, like automobile navigation path computing in robot pathfinding, the intelligent transportation etc.Seek shortest path and in an abstract figure, carry out usually, figure is made up of limit and node, and wherein the limit can correspond to actual road, and node corresponds to the crossing that connects each road.
The method of traditional searching shortest path is just like the Dijkstra method, and the arbitrfary point is as the shortest path of terminal point in can seeking the appointment starting point and scheming, and its basic thought is exactly to seek from the off and the nearest node of node that has found, up to finding destination node.The Dijkstra method comes down to a kind of search of breadth-first; Usually seeking the path is to hope to find the shortest path of specifying between starting point and the terminal point; Yet the Dijkstra method is not utilized endpoint information; Just seek to all directions blindly from the off, so efficient is lower, before finding terminal point, need find starting point to arrive the shortest path of a lot of incoherent points earlier usually.Improvement to this has A* path finding method; This is a kind of method of didactic searching shortest path; Its method frame and Dijkstra method are similar; But in the process of seeking, utilized the information of terminal point, the nearest node of node of not only considering when searching node Yu having found has also been considered the distance of this point and terminal point.Owing to before finding terminal point and do not know the actual distance that these points are breasted the tape, therefore replace, become a heuristic parameter with air line distance.Because considered the distance of breasting the tape, A* path finding method can be advanced to the terminal point direction apace, and can worry about the direction of terminal point dorsad, thereby improved the efficient of path finding.
In the path computing of automobile navigation, road network is abstracted into figure, if starting point and terminal point all are junction nodes, can directly adopt A* path finding method to find a shortest path.But in the automobile navigation of reality, except the topological structure of road network itself, also need consider the extra constraint of traffic rules, forbid to certain direction turning etc. like one-way road, crossing.Wherein the one-way road only needs to represent that the graph structure of road network changes digraph into, still can directly adopt A* path finding method after removing those limits of forbidden direction.And the crossing no turn relates to three relations between the adjacent node; Can't this relation be described through the method for removing the original figure of modification such as limit; Need extra forbidden information, be called constraint, therefore seeking the figure that relates in the shortest path process is exactly the figure that has had constraint.
Summary of the invention
Be not supported in and have and in the figure of constraint of figure direct representation, to carry out path finding in order to overcome existing A* path finding method; The object of the present invention is to provide a kind of method of seeking the shortest path of belt restraining, can in a road network that has a constraint, seek and specify feasible shortest path between starting point and terminal point.
The step of the technical scheme that the present invention adopts is following:
1.1 on given road network, seek the shortest path of specifying starting point and terminal point, road network is made up of with the limit that expression is connected the road at crossing the node at expression crossing, the starting point of appointment and terminal point all are the nodes among the figure; Road network has extra forbidden rule constrain;
1.2 create two empty tables, be called OPEN and CLOSE respectively, the starting point in path is put into the OPEN table; The g attribute of path starting point is made as 0, and the h attribute is made as the air line distance of starting point and terminal point, the f attribute be made as g and h with, parent attribute and parent_set attribute are made as sky;
1.3, from the OPEN table, take out the wherein minimum node of f if OPEN table is not empty table, be expressed as v, if v be not terminal point then for operation below each node c that v has the limit to be communicated with carries out after v moved into CLOSE show:
1.3.1 if v is not a starting point; Then in the parent_set of v attribute, look for a node to arrive information gParent; The node attribute of gParent is represented this node, makes that arriving c from node through v allows, and the gParent that selects makes in all feasible nodes among the parent_set of v that be weak point from starting point to the path of c through v; If v is not starting point and can not find gParent and then abandon present node c, continue to handle next node;
1.3.2 if the existing path shorter of node c than the path of gParent; The parent_set that then node v is added c as one of c feasible arrival node; If there is the forbidden rule that does not allow to arrive through c other nodes from arbitrary node; Then might arrive through c through v this moment, therefore c added the OPEN table so that further upgrade the subsequent node of c;
1.3.3 if the path of gParent is shorter than the existing path of node c, or the existing path of c, then the parent with its c is made as v, the g attribute of c is made as the length in this path, and the h attribute of c is made as the air line distance that c breasts the tape, the f attribute of c be made as g and h and; If v is not a starting point, the node of then path of v and gParent being formed arrives information and adds the parent_set of c as the paths of c, otherwise directly v is put into parent_set, and puts into the OPEN table to c, so that further upgrade the path of the subsequent node of c;
1.4, seek failure if OPEN table is a sky shows then that desired path does not exist; If the node v that takes out in the OPEN table is that terminal point is then sought success, from the parent_set attribute of terminal point, find path to be shortest path from origin-to-destination corresponding to the parent attribute of terminal point.
2, each the node v among the figure of described expression road network has f, g, h, parent and parent_set attribute, and its meaning is:
2.1g the expression starting point is to the shortest path length that has found of node v;
2.2h the air line distance that expression node v breasts the tape;
2.3f be node v g and h with;
2.4parent_set attribute is a set, each is tlv triple (node, a len in the set; Path), be called node and arrive information, expression found from starting point through node node after directly to the paths of node v; This path is path, and length is len; Directly arrive and refer to that node just can arrive v through a limit;
2.5parent be the node in the tlv triple that len is the shortest among the parent_set of node v, i.e. the last node of node v v in the shortest path in all paths.
3, described forbidden rule list is shown the tlv triple be made up of three nodes (c), meaning is not allow to arrive node c from node a through node b for a, b; Guarantee that when seeking shortest path the path do not violate any one and carry out rule.
The process of 4, searching the gParent node in the parent_set attribute of described v is to arrive information p for each node among the parent_set of v, operation below carrying out:
Do not arrive the forbidden rule of c and shorter through the path that v arrives c if do not exist through v, then the current path of finding is made as this path, and gParent is made as p than the current path of finding from node from the node of p.
5, the node formed of described path with v and gParent arrives information and comprises following operation as the process that the paths of c adds the parent_set of c:
5.1 if comprised the node arrival information that node is v among the parent_set of c, then this node of deletion arrives information from parent_set;
Arrive the information tlv triple 5.2 create a new node, the node in the tlv triple is v, and len is len and the v of gParent, the length of side sum between the c, and path is that the path attribute of gParent adds the limit from v to c.
The present invention can seek in a road network that has a constraint and specify feasible shortest path between starting point and terminal point.Invention uses the figure that is made up of a plurality of nodes and limit to represent road network, and (c) expression can't arrive the forbidden rule of c from a to the tlv triple of forming with three nodes through b for a, b.The method of the shortest path of searching belt restraining disclosed by the invention is when seeking the path, to write down all paths that each node possibly arrive and the path of when seeking next node, only selecting not violate forbidden rule constrain.Finally search out the shortest path that satisfies constraint condition through selection to node.
The beneficial effect that the present invention has is:
Can seek shortest path having on the road network of forbidden rule constrain, solve the problem that the conventional shortest path finding method can't be handled forbidden constraint, satisfy the actual demand in fields such as intelligent transportation.
Description of drawings
Fig. 1 is a process flow diagram of seeking the shortest-path method of belt restraining.
Fig. 2 is the used road network of the embodiment in the embodiment; Be made up of node (open circles) and limit (line of connected node), node is represented the crossing, and the road at crossing is represented to connect in the limit; Sideband has arrow; Represent the current direction that corresponding road allows, the letter representation crossing numbering on the junction edge, the numeral on the roadside, road is the length of corresponding road.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described further.
The present invention is as shown in Figure 1:
1.1 on given road network, seek the shortest path of specifying starting point and terminal point, road network is made up of with the limit that expression is connected the road at crossing the node at expression crossing, the starting point of appointment and terminal point all are the nodes among the figure; Road network has extra forbidden rule constrain;
1.2 create two empty tables, be called OPEN and CLOSE respectively, the starting point in path is put into the OPEN table; The g attribute of path starting point is made as 0, and the h attribute is made as the air line distance of starting point and terminal point, the f attribute be made as g and h with, parent attribute and parent_set attribute are made as sky;
Whether show non-NULL 1.3 judge OPEN, if not, carry out 1.4 operation, if then carry out 1.5 operation;
Seek failure 1.4 judge shortest path, seek flow process and finish.
1.5 from the OPEN table, take out the wherein minimum node of f, be expressed as v; Afterwards according to 1.6 operations
1.6 whether be terminal point, if carry out 1.7 operation, carry out 1.8 operation if not if judging v;
Seeks successfully 1.7 judge shortest path, from the parent_set attribute of terminal point, find path corresponding to the parent attribute of terminal point as shortest path, the end of searching flow process from origin-to-destination.
1.8 whether judge v is starting point, perhaps whether v exists a gParent to make to arrive c from gParent through v and allows; If then according to 1.9 operations, if not then according to 1.13 operations;
1.9 whether decision node c has the path shorter than the path of gParent, if then according to 1.10 operations, if not then according to 1.12 operations;
1.10 with the parent_set of node v, afterwards according to 1.11 operations as one of c feasible arrival node adding c;
1.11 (*, c *), if then explanation might arrive through c through v this moment, therefore operate according to 1.16, if not then according to 1.13 operations to judge whether the existence rule;
1.12 the parent of c is made as v, and the g attribute of c is made as the length in this path, the h attribute of c is made as the air line distance that c breasts the tape, the f attribute of c be made as g and h with, and v and corresponding path added the parent_set attribute of c, afterwards according to 1.16 operations;
1.13 judge whether to also have the node c that directly links to each other with v that does not investigate,, then operate if not according to 1.15 if then operate according to 1.14;
1.14 in the path of the existing v of arrival, seek the feasible shortest path gParent that arrives c through v, afterwards according to 1.8 operations;
1.15 v is moved into the CLOSE table from the OPEN table, afterwards according to 1.3 operations;
1.16 c is added the OPEN table, afterwards according to 1.13 operations;
2, each the node v among the figure of described expression road network has f, g, h, parent and parent_set attribute, and its meaning is:
2.1g the expression starting point is to the shortest path length that has found of node v;
2.2h the air line distance that expression node v breasts the tape;
2.3f be node v g and h with;
2.4parent_set attribute is a set, each is tlv triple (node, a len in the set; Path), be called node and arrive information, expression found from starting point through node node after directly to the paths of node v; This path is path, and length is len; Directly arrive and refer to that node just can arrive v through a limit;
2.5parent be the node in the tlv triple that len is the shortest among the parent_set of node v, i.e. the last node of node v v in the shortest path in all paths.
3, described forbidden rule list is shown the tlv triple be made up of three nodes (c), meaning is not allow to arrive node c from node a through node b for a, b; Guarantee that when seeking shortest path the path do not violate any one and carry out rule.
The process of 4, searching the gParent node in the parent_set attribute of described v is to arrive information p for each node among the parent_set of v, operation below carrying out:
Do not arrive the forbidden rule of c and shorter through the path that v arrives c if do not exist through v, then the current path of finding is made as this path, and gParent is made as p than the current path of finding from node from the node of p.
5, the node formed of described path with v and gParent arrives information and comprises following operation as the process that the paths of c adds the parent_set of c:
5.1 if comprised the node arrival information that node is v among the parent_set of c, then this node of deletion arrives information from parent_set;
Arrive the information tlv triple 5.2 create a new node, the node in the tlv triple is v, and len is len and the v of gParent, the length of side sum between the c, and path is that the path attribute of gParent adds the limit from v to c.
Below illustrate practical implementation process of the present invention, the employed road network of giving an example is as shown in Figure 2, and also has an extra forbidden rule, and (A, B H), promptly do not allow to arrive node H from node A through Node B.Target is to seek the shortest path of A H to the crossing from the crossing.
Initialization: at first create two empty table OPEN and CLOSE, deposit starting point A in the OPEN table, the g attribute of A is made as 0, the h attribute is made as the air line distance 12.2 (this apart from longitude and latitude through A and H calculate) of A to H.Parent attribute and the parent_set attribute of A are made as sky, and the f attribute is that h+g is 12.2.
Iteration 1: this moment, OPEN table was not empty table owing to have only A therefore to take out A in the OPEN table because A is not a terminal point, so to each node executable operations that A has the limit to be communicated with after A put into CLOSE show.A has the limit to be communicated with B, D, F, and is following to the operation of B, D, F:
For B, because A is a starting point, therefore the parent with B is made as A, and the g of B is made as the path from starting point A to B; Promptly 7, the h of B is made as the air line distance of B to H, and promptly 10, the f of B is made as h+g promptly 17; With tlv triple (A, 7, A-B) put into the parent_set of B, and put into the OPEN table to B.
For D, because A is a starting point, therefore the parent with D is made as A, and the g of D is made as the path from starting point A to D; Promptly 15, the h of D is made as the air line distance of D to H, and promptly 19.2, the f of D is made as h+g promptly 34.2; With tlv triple (A, 15, A-D) put into the parent_set of D, and put into the OPEN table to D.
For F, because A is a starting point, therefore the parent with F is made as A, and the g of F is made as the path 4 from starting point A to F; Promptly 7, the h of F is made as the air line distance of F to H, and promptly 14.9, the f of F is made as h+g promptly 21.9; With tlv triple (A, 4, A-F) put into the parent_set of F, and put into the OPEN table to F.
Iteration 2: have B, D, F three nodes in the OPEN table this moment, and wherein the minimum node of f is B, therefore from the OPEN table, takes out B and deposit the CLOSE table in, operates as follows for the node A that links to each other with B, H, C:
For node A because B is not a starting point, in the parent_set of B, look for gParent, gParent be (A, 7, therefore A-B), (A), it is feasible arriving A from A through B for A, B owing to there is not forbidden rule.Because the existing path (length be 0) shorter of A than A-B-A, will (B, 14, the A-B-A) parent_set of adding A, do not meet owing to not existing (*, A, forbidden rule *), A can not be reentered into the OPEN table.
For node H because B is not a starting point, in the parent_set of B, look for gParent be (A, 7, A-B), carry out rule (H), thereby node H can not arrive at present, continues to handle next node C for A, B owing to exist.
For node C because B is not a starting point, in the parent_set of B, look for gParent be (A, 7, therefore A-B), (C), it is feasible arriving C from A through B for A, B owing to there is not forbidden rule.Owing to the existing path of C, therefore the parent attribute with C is made as B, and the g attribute of C is made as 16, and the h attribute of C is made as 19, and the f attribute of C is that h+g is 35, will (B, 16, the A-B-C) parent_set of adding C puts into the OPEN table with C again.
Iteration 3: have D, F, C three nodes in the OPEN table this moment, and wherein the minimum node of f is F, therefore from the OPEN table, takes out F and put into the CLOSE table, and the node A, G, the E that link to each other for F operate as follows:
For node A because F is not a starting point, in the parent_set of F, look for gParent be (A, 4, therefore A-F), (A), it is feasible arriving A from A through F for A, F owing to there is not forbidden rule.Because the existing path (length be 0) shorter of A than A-F-A, will (F, 8, the A-F-A) parent_set of adding A, do not meet owing to not existing (*, A, forbidden rule *), A can not be reentered into the OPEN table.
For node G because F is not a starting point, in the parent_set of F, look for gParent be (A, 4, therefore A-F), (G), it is feasible arriving G from A through F for A, F owing to there is not forbidden rule.Owing to the existing path of G, therefore the parent attribute with G is made as F, and the g attribute of G is made as 10, and the h attribute of G is made as 8.9, and the f attribute of G is that h+g is 18.9, will (F, 10, the A-F-G) parent_set of adding G puts into the OPEN table with G again.
For node E because F is not a starting point, in the parent_set of F, look for gParent be (A, 4, therefore A-F), (E), it is feasible arriving E from A through F for A, F owing to there is not forbidden rule.Owing to the existing path of E, therefore the parent attribute with E is made as F, and the g attribute of E is made as 13, and the h attribute of E is made as 22, and it is 35 that the f attribute is made as h+g, will (F, 13, the A-F-E) parent_set of adding E puts into the OPEN table with E again.
Iteration 4: have D, C, G, E four nodes in the OPEN table this moment, and wherein the minimum node of f is G, therefore from the OPEN table, takes out G and put into the CLOSE table, and the node H, the F that link to each other for G operate as follows:
For node H because G is not a starting point, in the parent_set of G, look for gParent be (F, 10, A-F-G); Because (H), it is feasible therefore arriving H from F through G for F, G, because the not existing path of H not have forbidden rule; Therefore the parent attribute with H is made as G, and the g attribute of H is made as 18, and the h attribute of H is made as 0, and the f attribute of H is that h+g is 18; Will (G, 17, the A-F-G-H) parent_set of adding H is putting into H in the OPEN table.
For node F because G is not a starting point, in the parent_set of G, look for gParent be (F, 10, A-F-G); Because (F), it is feasible therefore arriving F from F through G for F, G not have forbidden rule; Because the F existing route is shorter than A-F-G-F, therefore with (G, 16, the A-F-G-F) parent_set of adding F; Do not meet owing to not existing (*, F, forbidden rule *), F can not be reentered into the OPEN table.
Search for successfully: have D, C, E, H four nodes in the OPEN table this moment; Wherein the minimum node of f is H, H is taken out from the OPEN table, and H is a terminal point; Then path finding success, from the parent_set of H, finding parent corresponding to H is that path A-F-G-H of G is required path.
Though length be path A-B-H of 17 than length is that path A-F-G-H of 18 is shorter in the last example, (A, B H), are not therefore selected for use, and the method that the present invention proposes has correctly been selected shortest path A-F-G-H in addition because there is forbidden rule for it.
Claims (5)
1. method of seeking the shortest path of belt restraining is characterized in that the step of this method is following:
1.1 on given road network, seek the shortest path of specifying starting point and terminal point, road network is made up of with the limit that expression is connected the road at crossing the node at expression crossing, the starting point of appointment and terminal point all are the nodes among the figure; Road network has extra forbidden rule constrain;
1.2 create two empty tables, be called OPEN and CLOSE respectively, the starting point in path is put into the OPEN table; The g attribute of path starting point is made as 0, and the h attribute is made as the air line distance of starting point and terminal point, the f attribute be made as g and h with, parent attribute and parent_set attribute are made as sky;
1.3, from the OPEN table, take out the wherein minimum node of f if OPEN table is not empty table, be expressed as v, if v be not terminal point then for operation below each node c that v has the limit to be communicated with carries out after v moved into CLOSE show:
1.3.1 if v is not a starting point; Then in the parent_set of v attribute, look for a node to arrive information gParent; The node attribute of gParent is represented this node, makes that arriving c from node through v allows, and the gParent that selects makes in all feasible nodes among the parent_set of v that be weak point from starting point to the path of c through v; If v is not starting point and can not find gParent and then abandon present node c, continue to handle next node;
1.3.2 if the existing path shorter of node c than the path of gParent; The parent_set that then node v is added c as one of c feasible arrival node; If there is the forbidden rule that does not allow to arrive through c other nodes from arbitrary node; Then might arrive through c through v this moment, therefore c added the OPEN table so that further upgrade the subsequent node of c;
1.3.3 if the path of gParent is shorter than the existing path of node c, or the existing path of c, then the parent with its c is made as v, the g attribute of c is made as the length in this path, and the h attribute of c is made as the air line distance that c breasts the tape, the f attribute of c be made as g and h and; If v is not a starting point, the node of then path of v and gParent being formed arrives information and adds the parent_set of c as the paths of c, otherwise directly v is put into parent_set, and puts into the OPEN table to c, so that further upgrade the path of the subsequent node of c;
1.4, seek failure if OPEN table is a sky shows then that desired path does not exist; If the node v that takes out in the OPEN table is that terminal point is then sought success, from the parent_set attribute of terminal point, find path to be shortest path from origin-to-destination corresponding to the parent attribute of terminal point.
2. a kind of method of seeking the shortest path of belt restraining according to claim 1 is characterized in that: each the node v among the figure of described expression road network has f, g, h, parent and parent_set attribute, and its meaning is:
2.1g the expression starting point is to the shortest path length that has found of node v;
2.2h the air line distance that expression node v breasts the tape;
2.3f be node v g and h with;
2.4parent_set attribute is a set, each is tlv triple (node, a len in the set; Path), be called node and arrive information, expression found from starting point through node node after directly to the paths of node v; This path is path, and length is len; Directly arrive and refer to that node just can arrive v through a limit;
2.5parent be the node in the tlv triple that len is the shortest among the parent_set of node v, i.e. the last node of node v v in the shortest path in all paths.
3. a kind of method of seeking the shortest path of belt restraining according to claim 1 is characterized in that: described forbidden rule list is shown the tlv triple of being made up of three nodes, and (c), meaning is not allow to arrive node c from node a through node b for a, b; Guarantee that when seeking shortest path the path do not violate any one and carry out rule.
4. a kind of method of seeking the shortest path of belt restraining according to claim 1; It is characterized in that: the process of searching the gParent node in the parent_set attribute of described v is to arrive information p for each node among the parent_set of v, operation below carrying out:
Do not arrive the forbidden rule of c and shorter through the path that v arrives c if do not exist through v, then the current path of finding is made as this path, and gParent is made as p than the current path of finding from node from the node of p.
5. a kind of method of seeking the shortest path of belt restraining according to claim 1 is characterized in that: the node that described path with v and gParent is formed arrives information and comprises following operation as the process that the paths of c adds the parent_set of c:
5.1 if comprised the node arrival information that node is v among the parent_set of c, then this node of deletion arrives information from parent_set;
Arrive the information tlv triple 5.2 create a new node, the node in the tlv triple is v, and len is len and the v of gParent, the length of side sum between the c, and path is that the path attribute of gParent adds the limit from v to c.
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| CN111369052A (en) * | 2020-03-03 | 2020-07-03 | 中铁工程设计咨询集团有限公司 | Simplified road network KSP optimization algorithm |
| CN112556717A (en) * | 2021-02-20 | 2021-03-26 | 腾讯科技（深圳）有限公司 | Travel mode screening method and travel route recommending method and device |
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