CN105928535A - Vehicle routing planning method capable of avoiding road restrictions - Google Patents
Vehicle routing planning method capable of avoiding road restrictions Download PDFInfo
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- CN105928535A CN105928535A CN201610417936.3A CN201610417936A CN105928535A CN 105928535 A CN105928535 A CN 105928535A CN 201610417936 A CN201610417936 A CN 201610417936A CN 105928535 A CN105928535 A CN 105928535A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention provides a vehicle routing planning method capable of avoiding road restrictions. The vehicle routing planning method includes: inputting a destination, performing road network matching to determine a starting point set and a destination set, determining a road network expansion range and the final expansion tier, performing tier rising when a tier rising condition is satisfied, performing top tier bidirectional expansion, and backtracking routes to generate an optimal route. The vehicle routing planning method has the advantages that the complete route for navigation and displaying can be achieved; the expansion range is determined reasonably, data reading amount is lowered, internal memory consumption is lowered, file reading times are reduced, and the requirements of users using low-performance WINCE equipment can be satisfied; by the different processing of prohibition constraint data and restriction constraint data, roads closed to traffic can be avoided, the cost of restricted roads can be considered, and the route satisfying the requirements of the users can be planned.
Description
Technical field
The present invention relates to field, be specifically related to a kind of vehicle path planning method that road limits.
Background technology
In order to realize the paths planning method that this consideration road limits, occur in that a kind of method on the market, the method data according to the map and evade road section information and generate guidance path.Wherein, comprising the current data that limit, the vehicle parameter inputted by user in map datum, the current restriction data value corresponding with road data when planning compares, and then evades impassable road, pass through iteration, it is achieved the path of a P Passable.
There is following shortcoming in prior art: 1. the map basic data update cycle is longer, and it is short to limit the data update cycle, so can cause and use during this technology, faces real road and passes through the situation that condition is not inconsistent with restriction data in map.2., in actual driving conditions, there are some roads, but can pass through and comprise the situation of certain cost, and said method does not accounts for this situation.3. prior art is when planning, processes and limits the method for iteration that passing road uses, greatly reduces the efficiency of path planning, on the poor PND of disposal ability or mobile unit, is extremely difficult to the requirement of user.
Summary of the invention
Solve the technical problem that:It is an object of the invention to provide a kind of vehicle path planning method that road limits, to improve the practicality of the path planning generation route for automobile navigation application.
Technical scheme:In order to solve above-mentioned technical problem, the invention discloses a kind of vehicle path planning method that road limits, comprise the steps:
Step 101: obtain the beginning and end of user's input；
Step 102: the information according to 101 and road network frame choosing coupling, it is thus achieved that point set and the terminal collection of pathfinding；
Step 103: according to the position of beginning and end, obtains the block at place in each layer road network that beginning and end is corresponding, and adjacent block, is used for determining expansion scope and the highest level of expansion of each layer of road network；
Step 104: when beginning and end is expanded with layer, by same layer development mechanisms, it is achieved the expansion of node, map datum is pressed block and is read in, the most releasable after rising layer, and traffic restricted driving data press block reading equally, discharges after rising layer；
Step 105: in same layer is expanded, node uses A* development mechanisms to expand, and the node first obtaining Least-cost from expansion queue is expanded, and the next node expanding node can exist 4 kinds of situations, node not in the range of expanding, then stops present node and expands；Node was expanded, then stopping current expansion, node is not expanded, then according to the traffic restricted driving data read in, judge whether this node exists restriction data, if it does, according to the inherent parameters of current vehicle, it is judged that whether car can pass through, if, put in expansion queue and continue to expand, if it is not, then stop current expansion；Node is higher-level node, then according to a liter layer condition, if running into the node that can rise layer, this node is carried out a liter layer；
Step 106: the node of liter layer, by addition to expanding queue, inherits all properties of previous node, is stored in high one-level and expands in sequence；In high one-level road network, repeat step 105；
Step 107: when beginning and end all expand node be raised to top time, rise layer expansion to terminate, now set of node comprises starting point at the set of node of top road network and terminal at the set of node of top road network, then two-way expansion is carried out top, starting point set of node is expanded to terminal direction, peripheral node collection is expanded to starting point direction, and node development mechanisms uses A* development mechanisms；
Step 108: when satisfied stopping development mechanisms, stops expanding, and now expands work and completes；Stop actual cost that development mechanisms is the node currently just the expanded total cost more than optimum touch points, the node of total Least-cost in touch points when optimum touch points has been point set and terminal collection expands in opposite directions；
Step 109: begin through from top optimum touch points and search the mode of father node and carry out the backtracking in path, until father node is start point/end point, be now generated as a transitable complete path.
Preferably, in described step 102, playing all outlet ports and gateway that point set comprises the crossing matched, terminal collection comprises all entrances and the gateway at the crossing matched.
Preferably, described step 102 Road screen frame selects coupling to be to be selected by map road network frame, obtain centered by start point/end point, the length of side is all sections in the square-shaped frame of r and crossing, then section or the crossing of start point/end point coupling is obtained according to nearby principle, again by conversion, the section after coupling or crossing changing into the form of entrance, outlet and gateway, be generated as pathfinding plays point set and terminal collection.
Preferably, in described step 103, each layer road network is according to function path grade, and whole map road network is divided into multilamellar, and each layer is divided into not of uniform size multiple pieces according to block；Adjacent block refers to the block of the periphery adjacent with current block.
Preferably, in described step 104, traffic restricted driving data include limit for height, freight weight limit and forbidden.
Preferably, rising layer condition in described step 105 is that present node has superior node, and the superior node of correspondence is in the range of expanding.
Beneficial effect:The vehicle path planning method that the consideration road of the present invention limits passes through above step, it is achieved that one can be used for guiding and the fullpath of display.Utilize step 103, reasonably determine the scope of expansion, reduce the read volume of data, and then reduce memory consumption, decrease the read-write number of times of file, it is possible to meet the demand of the user of the WINCE equipment of degraded performance.Utilize step 104, map datum to press block to read in and the method read in by block of traffic bound data so that the utilization rate of the data of reading is greatly promoted, it is to avoid the reading of unnecessary data, and avoid a difficult problem for the disposably big internal memory of application.Utilize step 104, by forbidding bound data and the different disposal of restriction data, it is possible to evade the road that no through traffic, can consider again to limit the cost of passing road, cook up the route meeting user's request.
Accompanying drawing explanation
Fig. 1 is a kind of step schematic diagram considering vehicle path planning method that road limits；
Fig. 2 is same layer development mechanisms schematic diagram.
Detailed description of the invention
Embodiment 1
A kind of vehicle path planning method that road limits, comprises the steps:
Step 101: obtain the beginning and end of user's input；
Step 102: the information according to 101 and road network frame choosing coupling, it is thus achieved that point set and the terminal collection of pathfinding；
Step 103: according to the position of beginning and end, obtains the block at place in each layer road network that beginning and end is corresponding, and adjacent block, is used for determining expansion scope and the highest level of expansion of each layer of road network；
Step 104: when beginning and end is expanded with layer, by same layer development mechanisms, it is achieved the expansion of node, map datum is pressed block and is read in, the most releasable after rising layer, and traffic restricted driving data press block reading equally, discharges after rising layer；
Step 105: in same layer is expanded, node uses A* development mechanisms to expand, and the node first obtaining Least-cost from expansion queue is expanded, and the next node expanding node can exist 4 kinds of situations, node not in the range of expanding, then stops present node and expands；Node was expanded, then stopping current expansion, node is not expanded, then according to the traffic restricted driving data read in, judge whether this node exists restriction data, if it does, according to the inherent parameters of current vehicle, it is judged that whether car can pass through, if, put in expansion queue and continue to expand, if it is not, then stop current expansion；Node is higher-level node, then according to a liter layer condition, if running into the node that can rise layer, this node is carried out a liter layer；
Step 106: the node of liter layer, by addition to expanding queue, inherits all properties of previous node, is stored in high one-level and expands in sequence；In high one-level road network, repeat step 105；
Step 107: when beginning and end all expand node be raised to top time, rise layer expansion to terminate, now set of node comprises starting point at the set of node of top road network and terminal at the set of node of top road network, then two-way expansion is carried out top, starting point set of node is expanded to terminal direction, peripheral node collection is expanded to starting point direction, and node development mechanisms uses A* development mechanisms；
Step 108: when satisfied stopping development mechanisms, stops expanding, and now expands work and completes；Stop actual cost that development mechanisms is the node currently just the expanded total cost more than optimum touch points, the node of total Least-cost in touch points when optimum touch points has been point set and terminal collection expands in opposite directions；
Step 109: begin through from top optimum touch points and search the mode of father node and carry out the backtracking in path, until father node is start point/end point, be now generated as a transitable complete path.
In described step 102, playing all outlet ports and gateway that point set comprises the crossing matched, terminal collection comprises all entrances and the gateway at the crossing matched.
Described step 102 Road screen frame selects coupling to be to be selected by map road network frame, obtain centered by start point/end point, the length of side is all sections in the square-shaped frame of r and crossing, then section or the crossing of start point/end point coupling is obtained according to nearby principle, again by conversion, section after coupling or crossing change into the form of entrance, outlet and gateway, and be generated as pathfinding plays point set and terminal collection.
In described step 103, each layer road network is according to function path grade, and whole map road network is divided into multilamellar, and each layer is divided into not of uniform size multiple pieces according to block；Adjacent block refers to the block of the periphery adjacent with current block.
In described step 104, traffic restricted driving data include limit for height, freight weight limit and forbidden.
Rising layer condition in described step 105 is that present node has superior node, and the superior node of correspondence is in the range of expanding.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention, should be included within the scope of the present invention.
Claims (6)
1. the vehicle path planning method that a road limits, it is characterised in that comprise the steps:
Step 101: obtain the beginning and end of user's input；
Step 102: the information according to 101 and road network frame choosing coupling, it is thus achieved that point set and the terminal collection of pathfinding；
Step 103: according to the position of beginning and end, obtains the block at place in each layer road network that beginning and end is corresponding, and adjacent block, is used for determining expansion scope and the highest level of expansion of each layer of road network；
Step 104: when beginning and end is expanded with layer, by same layer development mechanisms, it is achieved the expansion of node, map datum is pressed block and is read in, the most releasable after rising layer, and traffic restricted driving data press block reading equally, discharges after rising layer；
Step 105: in same layer is expanded, node uses A* development mechanisms to expand, and the node first obtaining Least-cost from expansion queue is expanded, and the next node expanding node can exist 4 kinds of situations, node not in the range of expanding, then stops present node and expands；Node was expanded, then stopping current expansion, node is not expanded, then according to the traffic restricted driving data read in, judge whether this node exists restriction data, if it does, according to the inherent parameters of current vehicle, it is judged that whether car can pass through, if, put in expansion queue and continue to expand, if it is not, then stop current expansion；Node is higher-level node, then according to a liter layer condition, if running into the node that can rise layer, this node is carried out a liter layer；
Step 106: the node of liter layer, by addition to expanding queue, inherits all properties of previous node, is stored in high one-level and expands in sequence；In high one-level road network, repeat step 105；
Step 107: when beginning and end all expand node be raised to top time, rise layer expansion to terminate, now set of node comprises starting point at the set of node of top road network and terminal at the set of node of top road network, then two-way expansion is carried out top, starting point set of node is expanded to terminal direction, peripheral node collection is expanded to starting point direction, and node development mechanisms uses A* development mechanisms；
Step 108: when satisfied stopping development mechanisms, stops expanding, and now expands work and completes；Stop actual cost that development mechanisms is the node currently just the expanded total cost more than optimum touch points, the node of total Least-cost in touch points when optimum touch points has been point set and terminal collection expands in opposite directions；
Step 109: begin through from top optimum touch points and search the mode of father node and carry out the backtracking in path, until father node is start point/end point, be now generated as a transitable complete path.
The vehicle path planning method that a kind of road the most according to claim 1 limits, it is characterized in that, in described step 102, playing all outlet ports and gateway that point set comprises the crossing matched, terminal collection comprises all entrances and the gateway at the crossing matched.
The vehicle path planning method that a kind of road the most according to claim 1 limits, it is characterized in that, described step 102 Road screen frame selects coupling to be to be selected by map road network frame, obtain centered by start point/end point, the length of side is all sections in the square-shaped frame of r and crossing, then section or the crossing of start point/end point coupling is obtained according to nearby principle, again by conversion, section after coupling or crossing change into the form of entrance, outlet and gateway, and be generated as pathfinding plays point set and terminal collection.
The vehicle path planning method that a kind of road the most according to claim 1 limits, it is characterized in that, in described step 103, each layer road network is according to function path grade, and whole map road network is divided into multilamellar, and each layer is divided into not of uniform size multiple pieces according to block；Adjacent block refers to the block of the periphery adjacent with current block.
The vehicle path planning method that a kind of road the most according to claim 1 limits, it is characterised in that in described step 104, traffic restricted driving data include limit for height, freight weight limit and forbidden.
The vehicle path planning method that a kind of road the most according to claim 1 limits, it is characterised in that rising layer condition in described step 105 is that present node has superior node, and the superior node of correspondence is in the range of expanding.
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| CN107389079A (en) * | 2017-07-04 | 2017-11-24 | 广州海格星航信息科技有限公司 | High-precision paths planning method and system |
| CN108627163A (en) * | 2017-03-22 | 2018-10-09 | 高德信息技术有限公司 | Weights listing maintenance, device and navigation route planning method, apparatus |
| CN110595497A (en) * | 2019-09-11 | 2019-12-20 | 邓昌伟 | Navigation path generation method and device, storage medium and electronic equipment |
| CN111158903A (en) * | 2019-12-12 | 2020-05-15 | 中国科学院深圳先进技术研究院 | Dynamic data planning method |
| CN111536986A (en) * | 2020-05-12 | 2020-08-14 | 苏州清研捷运信息科技有限公司 | Combined limiting condition data preprocessing method in truck path planning |
| CN111879307A (en) * | 2020-06-22 | 2020-11-03 | 国网河北省电力有限公司信息通信分公司 | Vehicle path planning method based on vehicle body parameters and engineering construction information |
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| CN112729323A (en) * | 2019-10-28 | 2021-04-30 | 北京四维图新科技股份有限公司 | Path planning method and device |
| CN114089927A (en) * | 2022-01-24 | 2022-02-25 | 清研捷运(天津)智能科技有限公司 | Path planning preprocessing data compression method |
| CN115204466A (en) * | 2022-06-20 | 2022-10-18 | 中国南方航空股份有限公司 | International airline route planning method with traffic limitation |
| CN116698074A (en) * | 2023-07-27 | 2023-09-05 | 高德软件有限公司 | Path planning method, path planning device, electronic equipment and storage medium |
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| CN111536986B (en) * | 2020-05-12 | 2023-06-27 | 苏州清研捷运信息科技有限公司 | Combined limiting condition data preprocessing method in truck path planning |
| CN111879307A (en) * | 2020-06-22 | 2020-11-03 | 国网河北省电力有限公司信息通信分公司 | Vehicle path planning method based on vehicle body parameters and engineering construction information |
| CN111879329A (en) * | 2020-07-30 | 2020-11-03 | 郑州天迈科技股份有限公司 | Customized public transport passable shortest path calculation method based on A-x algorithm |
| CN111879329B (en) * | 2020-07-30 | 2022-02-22 | 郑州天迈科技股份有限公司 | Customized public transport passable shortest path calculation method based on A-x algorithm |
| CN114089927A (en) * | 2022-01-24 | 2022-02-25 | 清研捷运(天津)智能科技有限公司 | Path planning preprocessing data compression method |
| CN115204466A (en) * | 2022-06-20 | 2022-10-18 | 中国南方航空股份有限公司 | International airline route planning method with traffic limitation |
| CN115204466B (en) * | 2022-06-20 | 2024-02-20 | 中国南方航空股份有限公司 | International route planning method with band-pass restriction |
| CN116698074A (en) * | 2023-07-27 | 2023-09-05 | 高德软件有限公司 | Path planning method, path planning device, electronic equipment and storage medium |
| CN116698074B (en) * | 2023-07-27 | 2023-11-17 | 高德软件有限公司 | Path planning method, path planning device, electronic equipment and storage medium |
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