CN102506849B - Method for optimizing shortest path with restraint - Google Patents
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- CN102506849B CN102506849B CN 201110294318 CN201110294318A CN102506849B CN 102506849 B CN102506849 B CN 102506849B CN 201110294318 CN201110294318 CN 201110294318 CN 201110294318 A CN201110294318 A CN 201110294318A CN 102506849 B CN102506849 B CN 102506849B
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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 shortest path of searching belt constraint.
Background technology
Seeking shortest path has application in a lot of fields, such as automobile navigation path computing in robot pathfinding, the intelligent transportation etc.Seek shortest path and usually carry out in an abstract figure, figure is comprised 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, can seek to specify that the arbitrfary point is as the shortest path of terminal point among starting point and the figure, and its basic thought is exactly to seek from the off the node nearest with the node that has found, until find destination node.The Dijkstra method is in fact a kind of search of breadth-first, usually seeking the path is to wish 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, therefore efficient is lower, usually needs to find first starting point to arrive the shortest path of a lot of incoherent points before finding terminal point.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, not only consider the node nearest with the node that has found when searching node, also considered the distance of this point and terminal point.Owing to before finding terminal point and do not know that these points to the actual distance of terminal point, therefore replace with air line distance, become a heuristic parameter.Because considered the distance to terminal point, A* path finding method can advance to the terminal point direction rapidly, 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 to consider the extra constraint of traffic rules, forbid to certain direction turning etc. such as one-way road, crossing.Wherein the one-way road only need to change the graph structure of expression road network into digraph, 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 by 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 with the figure of constraint.
Summary of the invention
Be not supported in can't in the figure of the constraint of figure direct representation, carrying out path finding in order to overcome existing A* path finding method, the object of the present invention is to provide the method for the shortest path of a kind of searching belt constraint, can seek in constrained road network at one and specify feasible shortest path between starting point and terminal point.
The step of the technical solution used in the present invention is as follows:
1.1 seek the shortest path of specifying starting point and terminal point at given road network, road network is comprised of the node at the expression crossing limit with the road that is connected to connect the 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, the starting point in path is put into the OPEN table; The g attribute of path starting point is made as the air line distance that 0, h attribute is made as starting point and terminal point, the f attribute be made as g and h and, parent attribute and parent_set attribute are made as sky;
1.3 if OPEN table is not empty table, from the OPEN table, take out the wherein node of f minimum, be expressed as v, if v be not terminal point then for v is moved into CLOSE after each node c that v has the limit to be communicated with carries out following operation and shows:
1.3.1 if v is not starting point, then in the parent_set of v attribute, look for a node to arrive information gParent, the node attribute of gParent represents this node, allow so that arrive c from node through v, and the gParent that selects be among the parent_set of v in all feasible nodes so that lack most to the path of c through v from starting point, if v is not starting point and can not find gParent and then abandon present node c, continue to process next node;
If 1.3.2 the existing path shorter than the path of gParent of node c, 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 from arbitrary node other nodes, then might arrive through c by v this moment, therefore c be added the OPEN table in order to 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, the h attribute of c is made as c to the air line distance of terminal point, the f attribute of c be made as g and h with; If v is not starting point, the node that then path of v and gParent is formed arrives information and adds the parent_set of c as the paths of c, otherwise directly v is put into parent_set, and c is put into the OPEN table, in order to further upgrade the path of the subsequent node of c;
If show then that desired path does not exist 1.4 OPEN table is sky, seek unsuccessfully; If the node v that takes out in the OPEN table is that terminal point is then sought successfully, from the parent_set attribute of terminal point, find path corresponding to the parent attribute of terminal point to be shortest path from origin-to-destination.
2, each the node v among the figure of described expression road network is with 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 expression node v is to the air line distance of terminal point;
2.3f be the g of node v and h and;
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 Expression is the tlv triple (a, b, c) that is comprised of three nodes, and meaning is not allow to arrive node c from node a through node 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, carries out following operation:
Do not arrive the forbidden rule of c and shorter than the current path of finding through the path that v arrives c from node if do not exist from the node of p through v, then the current path of finding is made as this path, and gParent is made as p.
5, the node that forms 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 the len of gParent and the length of side sum between v, the c, and path is that the path attribute of gParent adds the limit from v to c.
The present invention can seek specify feasible shortest path between starting point and terminal point in constrained road network at one.Invention uses the figure that is comprised of a plurality of nodes and limit to represent road network, can't be from the forbidden rule of a through b arrival c with tlv triple (a, b, the c) expression that three nodes form.The method of the shortest path of searching belt constraint disclosed by the invention is to record all paths that each node may arrive and the path of only selecting not violate forbidden rule constrain when seeking next node when seeking the path.Finally search out the shortest path that satisfies constraint condition by the selection to node.
The beneficial effect that the present invention has is:
Can seek shortest path at the road network with forbidden rule constrain, solve the problem that the conventional shortest path finding method can't be processed forbidden constraint, satisfy the actual demand in the fields such as intelligent transportation.
Description of drawings
Fig. 1 is the process flow diagram of the shortest-path method of searching belt constraint.
Fig. 2 is the used road network of the embodiment in the embodiment, formed by node (open circles) and limit (line of connected node), node represents the crossing, the limit represents to connect the road at crossing, 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
The invention will be further described below in conjunction with drawings and Examples.
The present invention is as shown in Figure 1:
1.1 seek the shortest path of specifying starting point and terminal point at given road network, road network is comprised of the node at the expression crossing limit with the road that is connected to connect the 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, the starting point in path is put into the OPEN table; The g attribute of path starting point is made as the air line distance that 0, h attribute is made as starting point and terminal point, the f attribute be made as g and h and, 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 unsuccessfully 1.4 judge shortest path, seek flow process and finish.
1.5 from the OPEN table, take out the wherein node of f minimum, be expressed as v; Afterwards according to 1.6 operations
1.6 whether be terminal point, if carry out 1.7 operation, carry out if not 1.8 operation 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 the shortest path from origin-to-destination, the end of searching flow process.
1.8 whether judge v is starting point, perhaps whether v exists a gParent so that allow through v arrival c from gParent; 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 as one of c feasible arrival node adding c, afterwards according to 1.11 operations;
1.11 judge whether to have rule (*, c, *), if then explanation might arrive through c by v this moment, therefore according to 1.16 operations, if not then according to 1.13 operations;
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 c to the air line distance of terminal point, the f attribute of c be made as g and h and, 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, if then operate according to 1.14, then operate according to 1.15 if not;
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 is with 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 expression node v is to the air line distance of terminal point;
2.3f be the g of node v and h and;
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 Expression is the tlv triple (a, b, c) that is comprised of three nodes, and meaning is not allow to arrive node c from node a through node 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, carries out following operation:
Do not arrive the forbidden rule of c and shorter than the current path of finding through the path that v arrives c from node if do not exist from the node of p through v, then the current path of finding is made as this path, and gParent is made as p.
5, the node that forms 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 the len of gParent and the length of side sum between v, the c, and path is that the path attribute of gParent adds the limit from v to c.
Below illustrate specific implementation process of the present invention, give an example employed road network as shown in Figure 2, and also have an extra forbidden rule, (A, B, H) namely do not allow to arrive node H from node A through Node B.Target is the shortest path of seeking from crossing A to crossing H.
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, h attribute is made as A this obtains apart from the calculation of longitude ﹠ latitude by A and H to the air line distance 12.2(of 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 only have A therefore to take out A in the OPEN table because A is not 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 as follows to the operation of B, D, F:
For B, because A is 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, namely 7, the h of B is made as B to the air line distance of H, and namely 10, the f of B is made as h+g namely 17, with tlv triple (A, 7, A-B) put into the parent_set of B, and B put into the OPEN table.
For D, because A is 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, namely 15, the h of D is made as D to the air line distance of H, and namely 19.2, the f of D is made as h+g namely 34.2, with tlv triple (A, 15, A-D) put into the parent_set of D, and D put into the OPEN table.
For F, because A is 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, namely 7, the h of F is made as F to the air line distance of H, and namely 14.9, the f of F is made as h+g namely 21.9, with tlv triple (A, 4, A-F) put into the parent_set of F, and F put into the OPEN table.
Iteration 2: this moment, OPEN had B, D, three nodes of F in showing, and wherein the node of f minimum is B, therefore takes out B and deposit the CLOSE table in from the OPEN table, operated as follows for the node A, the H that link to each other with B, C:
For node A because B is not starting point, in the parent_set of B, look for gParent, gParent be (A, 7, A-B), owing to there is not a forbidden rule (A, B, A), it is feasible therefore arriving A from A through B.Because the existing path (length be 0) shorter than A-B-A of A, will (B, 14, A-B-A) add the parent_set of A, owing to do not exist the forbidden rule that meets (*, A, *), A can not be reentered into the OPEN table.
For node H because B is not starting point, in the parent_set of B, look for gParent be (A, 7, A-B), carry out rule (A, B, H) owing to exist, thereby node H can not arrive at present, continue to process next node C.
For node C because B is not starting point, in the parent_set of B, look for gParent be (A, 7, A-B), owing to there is not a forbidden rule (A, B, C), it is feasible therefore arriving C from A through B.Because the existing path of C, therefore the parent attribute with C is made as B, and the f attribute that the h attribute that the g attribute of C is made as 16, C is made as 19, C is h+g namely 35, will (B, 16, A-B-C) add the parent_set of C, again C is put into the OPEN table.
Iteration 3: have D, F, C three nodes in the OPEN table this moment, and wherein the node of f minimum is F, therefore takes out F and put into the CLOSE table from the OPEN table, as follows for node A, G, E operation that F links to each other:
For node A because F is not starting point, in the parent_set of F, look for gParent be (A, 4, A-F), owing to there is not a forbidden rule (A, F, A), it is feasible therefore arriving A from A through F.Because the existing path (length be 0) shorter than A-F-A of A, will (F, 8, A-F-A) add the parent_set of A, owing to do not exist the forbidden rule that meets (*, A, *), A can not be reentered into the OPEN table.
For node G because F is not starting point, in the parent_set of F, look for gParent be (A, 4, A-F), owing to there is not a forbidden rule (A, F, G), it is feasible therefore arriving G from A through F.Because the existing path of G, therefore the parent attribute with G is made as F, and the f attribute that the h attribute that the g attribute of G is made as 10, G is made as 8.9, G is h+g namely 18.9, will (F, 10, A-F-G) add the parent_set of G, again G is put into the OPEN table.
For node E because F is not starting point, in the parent_set of F, look for gParent be (A, 4, A-F), owing to there is not a forbidden rule (A, F, E), it is feasible therefore arriving E from A through F.Owing to the existing path of E, therefore the parent attribute with E is made as F, and the h attribute that the g attribute of E is made as 13, 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 E the OPEN table again.
Iteration 4: have D, C, G, E four nodes in the OPEN table this moment, and wherein the node of f minimum is G, therefore takes out G and put into the CLOSE table from the OPEN table, as follows for node H, the F operation that G links to each other:
For node H, because G is not starting point, looking for gParent in the parent_set of G is (F, 10, A-F-G), owing to there is not forbidden rule (F, G, H), it is feasible therefore arriving H from F through G, because the not existing path of H, therefore the parent attribute with H is made as G, and the g attribute of H is made as 18, the f attribute that the h attribute of H is made as 0, H is that h+g is 18, with (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 starting point, looking for gParent in the parent_set of G is (F, 10, A-F-G), owing to there is not forbidden rule (F, G, F), it is feasible therefore arriving F from F through G, because the F existing route is shorter than A-F-G-F, therefore with (G, 16, A-F-G-F) add the parent_set of F, do not meet (*, F owing to do not exist, *) 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 node of f minimum is H, H is taken out from the OPEN table, and H is terminal point, then path finding success, finding parent corresponding to H from the parent_set of H is that path A-F-G-H of G is required path.
Although length be path A-B-H of 17 than length is that path A-F-G-H of 18 is shorter in the upper example, it is because exist forbidden rule (A, B, H), therefore do not have selected, the method selecting properly that the present invention proposes shortest path A-F-G-H in addition.
Claims (5)
1. the method for the shortest path of searching belt constraint is characterized in that the step of the method is as follows:
1.1, seek the shortest path of specifying starting point and terminal point at given road network, road network is comprised of the node at the expression crossing limit with the road that is connected to connect the 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, the starting point in path is put into the OPEN table; The g attribute of path starting point is made as the air line distance that 0, h attribute is made as starting point and terminal point, the f attribute be made as g and h and, parent attribute and parent_set attribute are made as sky;
1.3 if OPEN table is not empty table, from the OPEN table, take out the wherein node of f minimum, be expressed as v, if v be not terminal point then for v is moved into CLOSE after each node c that v has the limit to be communicated with carries out following operation and shows:
1.3.1 if v is not starting point, then in the parent_set of v attribute, look for a node to arrive information gParent, the node attribute of gParent represents this node, allow so that arrive c from node through v, and the gParent that selects be among the parent_set of v in all feasible nodes so that lack most to the path of c through v from starting point, if v is not starting point and can not find gParent and then abandon present node c, continue to process next node;
If 1.3.2 the existing path shorter than the path of gParent of node c, 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 from arbitrary node other nodes, then might arrive through c by v this moment, therefore c be added the OPEN table in order to 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, the h attribute of c is made as c to the air line distance of terminal point, the f attribute of c be made as g and h with; If v is not starting point, the node that then path of v and gParent is formed arrives information and adds the parent_set of c as the paths of c, otherwise directly v is put into parent_set, and c is put into the OPEN table, in order to further upgrade the path of the subsequent node of c;
If show then that desired path does not exist 1.4 OPEN table is sky, seek unsuccessfully; If the node v that takes out in the OPEN table is that terminal point is then sought successfully, from the parent_set attribute of terminal point, find path corresponding to the parent attribute of terminal point to be shortest path from origin-to-destination.
2. the method for the shortest path of a kind of searching belt constraint according to claim 1, it is characterized in that: each the node v among the figure of described expression road network is with f, g, h, parent and parent_set attribute, and its meaning is:
2.1, g represents that starting point is to the shortest path length that has found of node v;
2.2, h represents that node v is to the air line distance of terminal point;
2.3, f be node v g and h's and;
2.4, the parent_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. the method for the shortest path of a kind of searching belt constraint according to claim 1, it is characterized in that: the tlv triple (a, b, c) of described forbidden Rule Expression for being comprised of three nodes, meaning are not allow from node a through node b arrival node c; Guarantee that when seeking shortest path the path do not violate any one and carry out rule.
4. the method for the shortest path of a kind of searching belt constraint 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, carries out following operation:
Do not arrive the forbidden rule of c and shorter than the current path of finding through the path that v arrives c from node if do not exist from the node of p through v, then the current path of finding is made as this path, and gParent is made as p.
5. the method for the shortest path of a kind of searching belt constraint according to claim 1 is characterized in that: the described node that the path of 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:
If 5.1 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;
5.2, create a new node and arrive the information tlv triple, the node in the tlv triple is v, len is the len of gParent and the length of side sum between v, the c, path is that the path attribute of gParent adds the limit from v to c.
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| CN1360268A (en) * | 2002-01-15 | 2002-07-24 | 清华大学 | Over-all wiring method for standard units based on optimized time delay and key network techniques |
| CN1480867A (en) * | 2002-10-16 | 2004-03-10 | 黄珏华 | Method for preparing electronic maps and display method |
| EP1724553A2 (en) * | 2005-05-17 | 2006-11-22 | Bury Sp.z.o.o | Combined navigation and communication device |
| CN1734238A (en) * | 2005-09-15 | 2006-02-15 | 北京工业大学 | Two-step multi-path optimization method for central controlled vehicle information system |
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