CN106651231A - Route planning method and route planning device - Google Patents

Abstract

The invention provides a route planning method and a route planning device. The route planning method comprises a parking lot and a distribution route of a planning vehicle of routes of a plurality of stations, and a plurality of stations comprise first stations having limitations on service time segments and second stations without the limitations on the service time segments. The route planning method is characterized in that a first route generating step is provided; various first stations of at least one first station waiting for joining in the distribution route and the parking lot are used to form a first temporary distribution route, and the first temporary distribution route, which is capable of satisfying the time segment limitations of the first stations and has minimum driving time, is used as a first route; when the first temporary distribution route satisfying the time segment limitations of the first stations does not exist, various second stations of at least one second station waiting for joining in the distribution route and the parking lot are used to form a second temporary distribution route, and the second temporary distribution route having the minimum driving time is used as the first route.

Description

Paths planning method and path planning apparatus

Technical field

The present invention relates to the paths planning method and path planning apparatus of the vehicle in logistics distribution, More particularly to consider customer rs site time period limit (there is also below referred to as " time restriction " Situation) paths planning method and path planning apparatus.

Background technology

In the prior art, the dispensing of ATM cash, automatic vending machine goods delivery, In the industry such as gas station's oil plant dispensing and garbage reclamation, distribution vehicle (also referred to as " is matched somebody with somebody from parking lot Send " center ") set out after, generally along certain driving path (also referred to as " travel route ") Jing Cross multiple clients (corresponding to " website " in the present invention) and return to parking lot afterwards.One car is generally born The dispensing of all websites on one driving path of duty.When above-mentioned driving path is planned, generally Certain restrictive condition is being met (such as route running time restriction, cargo amount, website institute Need the demand of goods, time window to limit etc.) in the case of, the driving path of vehicle is made as far as possible Most short, expense is minimum, the time is minimum, it is minimum etc. to dispense vehicle used.

Fig. 1 is the schematic diagram of the vehicle path planning for representing bicycle field multi-site.In FIG, Describe 1 parking lot, 10 websites and 4 dispensing vehicles.Wherein, evil mind circle (●) Parking lot is represented, empty circles (zero) represent website, the marking of carsRepresent that dispensing is used Vehicle, including the evil mind circle of " 0 " parking lot is also illustrated that, each numeral 1～10 in empty circles Represent different websites.

As shown in figure 1, the path planning by carrying out vehicle, parking lot → stand is responsible for by a car The dispensing of this driving path of 7 → parking lot of point 6 → website, 5 → website；Car is responsible for by second car The dispensing of this driving path of 4 → parking lot of field → website 1 → website, 3 → website, 2 → website；By 3rd car is responsible for parking lot → this driving path of 10 → parking lot of website 8 → website, 9 → website Dispensing.

In the vehicle route of actual bicycle field multi-site, except above-mentioned route time restriction, Cargo amount, website demand etc. are limited, and portions of client website is also to specific service time (that is, distribution time) is required, such as some clients's (that is, customer rs site) require vehicle Must in the morning 9:00-10:Reach between 00, also some customer requirement vehicles must be in the morning 8:30-10:00 reaches.

For the problem that customer rs site is required to specific service time, patent document CN103699982A proposes a kind of logistics distribution control method with weak rock mass mouth, the patent Optimal Operation Model is initially set up, so that freight cost is minimum object function, Ran Houli are set up Use heuritic approach path planning.

Patent document CN104036379A proposes a kind of solution with hard time window time-varying related compounds The method of stream haulage vehicle routing problem, the patent document is initially set up with hard time window constraint Time-varying associate the Mathematical Modeling of transport truck routing problem, then design a kind of taboo and search Rope algorithm is solved to problem.

The content of the invention

In patent document CN103699982A, from the point of view of content, do not require that vehicle must be Reach in client's stipulated time section, if vehicle does not have to be reached within the time period of regulation, give Give one penalty value of scheme in this path, the possibility selected to reduce the program.But in reality During the operation on border, if vehicle can not be reached within the time period of customer requirement, can shadow Ring the normal operation of client.For example with regard to cash in bank dispensing for, if Delivery Co., Ltd can not and When to bank match somebody with somebody paper money, then can affect the access of cash.

Although the invention of patent document CN104036379A disclosure satisfy that the time of customer rs site will Ask, but still there are the following problems.First, the invention needs to arrange many variable elements such as most How big iterations, the size of taboo list obtains original route, how to arrange taboo object How neighborhood solution etc. is obtained.This is meant that to obtain preferable solution, every time with The change of application scenarios, these parameters are required for change, and for no specialty background For people, the thing that these parameters substantially can not possibly be completed is adjusted, these factors just drop significantly The low universality of algorithm.Second, in delivery process, if distribution vehicle arrives at current visitor Earliest time window moment of the moment at family earlier than customer requirement, then vehicle needs to wait, and waits Time for existing customer time window moment and the chassis arrive at client moment difference.If Such case occurs, and the stand-by period is especially long, and this means that the distribution vehicle needs to look for To a local parking waiting, but some big cities are particularly in some cities, it is high stopping The peak phase, it is difficult to find a place stop, that is, allow to find where parking, sometimes It is also required to pay Parking Fee, so not only increases distribution cost, but also vehicle can be increased Invalid run time.3rd, if being not provided with the stand-by period, the method may be absorbed in not Convergence state is not being met the distribution project of all customer rs site time restrictions.

For the problems referred to above, the present invention provides a kind of parameter that need not arrange complexity, is easy to make With, and consider paths planning method and the path planning dress that the time period of customer rs site limits Put.

The paths planning method of one aspect of the present invention, comprising a parking lot and multiple websites Path in plan vehicle distribution route, the plurality of website includes restricted to service time section First kind website and do not have conditional Equations of The Second Kind website, the path planning side to service time section Method is characterised by, including：First route generation step, will wait the distribution route to be added At least one of each described first kind website in the first kind website respectively with the car Constitute the first interim distribution route, selection meet the first kind website time period limit and There is no satisfaction as the first route in the described first most short interim distribution route of running time In the case of the first interim distribution route that the time period of the first kind website limits, will wait Add each Equations of The Second Kind website at least one of the distribution route Equations of The Second Kind website Respectively the second interim distribution route is constituted with the parking lot, select running time most short by described the Two interim distribution routes are used as first route.

The paths planning method of a second aspect of the present invention is, in the path planning side of first aspect In method, including：Second Route Generation step, by etc. in the distribution route to be added at least Each described first kind website in one first kind website is separately added into first route End or constituted based on the end of the interim distribution route of first Route Generation the 3rd interim Distribution route, selection meets the time period restriction of the first kind website and running time is most short The 3rd interim distribution route meets the first kind website as the second route not existing Time period limit the 3rd interim distribution route in the case of, the dispensing road to be added will be waited Each Equations of The Second Kind website at least one of line Equations of The Second Kind website is separately added into described The end of one route is faced based on the end composition the 4th of the interim distribution route of the first Route Generation When distribution route, select most short the 4th interim distribution route of running time as described the Two routes.

The paths planning method of a third aspect of the present invention is, in the path planning side of first aspect In method, including：Second Route Generation step, by etc. in the distribution route to be added at least Each described first kind website in one first kind website is separately added into first route In last described first kind website after or matching somebody with somebody temporarily based on first Route Generation Send the 3rd interim distribution route (its of composition after last the described first kind website in route In, " after last the described first kind website in first route or based on described first After last described first kind website in the interim distribution route of Route Generation " refer to plus Enter the position of first kind website, specifically, including three kinds of positions, i.e. described in last Between first kind website and Equations of The Second Kind website, between each Equations of The Second Kind website and second Between class website and parking lot.), selection meets the time period restriction of the first kind website and travels Time most short the 3rd interim distribution route meets described as the second route not existing In the case of the 3rd interim distribution route that the time period of first kind website limits, will wait to be added Each Equations of The Second Kind website difference at least one of the distribution route Equations of The Second Kind website Add after last the described first kind website in first route or based on described first The 4th is constituted after last described first kind website in the interim distribution route of Route Generation Interim distribution route, selects most short the 4th interim distribution route of running time as described Second route.

The paths planning method of a fourth aspect of the present invention, comprising a parking lot and multiple websites Path in plan vehicle distribution route, the plurality of website includes restricted to service time section First kind website and do not have conditional Equations of The Second Kind website, the path planning side to service time section Method is characterised by, including：First route generation step, will wait the distribution route to be added At least one of each website of website centering for being made up of 2 first kind websites to point Not with the parking lot constitute the first interim distribution route, selection meet the first kind website when Between section limit and the described first maximum interim distribution route of saving value is used as the first route, not Presence meets the situation of the first interim distribution route that the time period of the first kind website limits Under, at least one of described distribution route to be added will be waited by 1 first kind website and 1 Each website for the website centering that the individual Equations of The Second Kind website is constituted is to constituting with the parking lot respectively Second interim distribution route, selection meets the time period restriction of the first kind website and saving value The described second maximum interim distribution route meets described as first route not existing In the case of the second interim distribution route that the time period of first kind website limits, will wait to be added The website centering that at least one of described distribution route is made up of 2 Equations of The Second Kind websites Each website selects saving value maximum to the parking lot constituting the 3rd interim distribution route respectively The 3rd interim distribution route as first route, wherein, the saving value is right 2 websites of website centering time altogether required when dispensing respectively with to the website pair In 2 websites time altogether required when dispensing together difference.

The paths planning method of a fifth aspect of the present invention is, in the path planning side of fourth aspect In method, including：Second Route Generation step, by etc. in the distribution route to be added at least Each described first kind website in one first kind website is separately added into first route End or constituted based on the end of the interim distribution route of first Route Generation the 4th interim Distribution route, selection meets the time period restriction of the first kind website and running time is most short The 4th interim distribution route meets the first kind website as the second route not existing Time period limit the 4th interim distribution route in the case of, the dispensing road to be added will be waited Each Equations of The Second Kind website at least one of line Equations of The Second Kind website is separately added into described The end of one route constitutes the based on the end of the interim distribution route of first Route Generation Five interim distribution routes, select most short the 5th interim distribution route of running time as institute State the second route.

The paths planning method of a sixth aspect of the present invention is, in the path planning side of fourth aspect In method, including：Second Route Generation step, by etc. in the distribution route to be added at least Each described first kind website in one first kind website is separately added into first route In last described first kind website after or matching somebody with somebody temporarily based on first Route Generation Send the 4th interim distribution route of composition after last the described first kind website in route, choosing Select and meet time period of the first kind website and limit and running time is most short described 4th interim Distribution route is limited as the second route there is no time period for meeting the first kind website The 4th interim distribution route in the case of, by etc. in the distribution route to be added at least one Each Equations of The Second Kind website in the individual Equations of The Second Kind website is separately added into first route most Interim distribution route after the latter first kind website or based on first Route Generation In last described first kind website after constitute the 5th interim distribution route, select traveling Time most short the 5th interim distribution route is used as second route.

The paths planning method of a seventh aspect of the present invention is, in appointing for the aspect of first aspect～6th In the paths planning method of one side, including：Running time acquisition step, in the first via Before line generation step, obtain between the parking lot and each described website and the plurality of station Running time between point, when the running time is used to calculate the traveling of the distribution route Between.

The paths planning method of a eighth aspect of the present invention is, in appointing for the aspect of first aspect～6th In the paths planning method of one side, including：Three-route generation step, on second tunnel After line generation step, the feelings of the first kind website in distribution route to be added such as only exist Under condition, on the premise of the time period for meeting the first kind website limits one or more are selected The first kind website constitutes three-route with the parking lot.

The paths planning method of a ninth aspect of the present invention is, in appointing for the aspect of first aspect～6th In the paths planning method of one side, the running time of first route and second route Less than running time limits value set in advance.

The paths planning method of a tenth aspect of the present invention is, in the path planning side of eighth aspect In method, the running time of the three-route is less than running time limits value set in advance.

A eleventh aspect of the present invention provides a kind of path planning apparatus, and it is comprising a parking lot With in the path of multiple websites plan vehicle distribution route, the plurality of website include to service when Between the conditional first kind website of section and do not have conditional Equations of The Second Kind website to service time section, should Path planning apparatus are characterised by, including：First route generation module, it will wait to be added Each described first kind website at least one of the distribution route first kind website Constitute the first interim distribution route with the parking lot respectively, selection meets the first kind website Time period limits and the described first most short interim distribution route of running time is used as the first route, In the feelings of the first interim distribution route that there is no the time period restriction for meeting the first kind website Under condition, by etc. it is each at least one of the distribution route to be added Equations of The Second Kind website The individual Equations of The Second Kind website constitutes the second interim distribution route with parking lot respectively, selects running time The described second most short interim distribution route is used as first route.

The path planning apparatus of a twelveth aspect of the present invention are advised in the path of the tenth one side In drawing device, including：Second Route Generation module, it will be waited in the distribution route to be added At least one described in each described first kind website in first kind website be separately added into described The end of one route constitutes the based on the end of the interim distribution route of first Route Generation Three interim distribution routes, selection meets the time period restriction of the first kind website and running time Most short the 3rd interim distribution route meets described first as the second route not existing In the case of the 3rd interim distribution route that the time period of class website limits, will wait to be added described Each described Equations of The Second Kind website difference at least one of distribution route Equations of The Second Kind website Add the end of first route or the interim distribution route based on first Route Generation End constitutes the 4th interim distribution route, the described 4th interim dispensing for selecting running time most short Route is used as second route.

The path planning apparatus of a thirteenth aspect of the present invention are advised in the path of the tenth one side In drawing device, including：Second Route Generation module, it will be waited in the distribution route to be added At least one described in each described first kind website in first kind website be separately added into described After last described first kind website in one route or based on first Route Generation The 3rd interim dispensing road is constituted after last described first kind website in interim distribution route Line, selection meets that the time period of the first kind website limits and running time is most short by described the There is no time for meeting the first kind website as the second route in three interim distribution routes In the case of the 3rd interim distribution route that section is limited, by etc. in the distribution route to be added Each Equations of The Second Kind website in Equations of The Second Kind website described at least one is separately added into first route In last described first kind website after or matching somebody with somebody temporarily based on first Route Generation Send the 4th interim distribution route of composition after last the described first kind website in route, choosing Most short the 4th interim distribution route of running time is selected as second route.

A fourteenth aspect of the present invention provides a kind of path planning apparatus, and it is comprising a parking lot With in the path of multiple websites plan vehicle distribution route, the plurality of website include to service when Between the conditional first kind website of section and do not have conditional Equations of The Second Kind website to service time section, should Path planning apparatus are characterised by, including：First route generation module, it will wait to be added The website centering that at least one of described distribution route is made up of 2 first kind websites each Website to respectively with the parking lot constitute the first interim distribution route, selection meet the first kind The time period of website limits and the described first maximum interim distribution route of saving value is used as the first via Line, in the first interim distribution route that there is no the time period restriction for meeting the first kind website In the case of, at least one of described distribution route to be added will be waited by 1 first kind Each website for the website centering that website and 1 Equations of The Second Kind website are constituted to respectively with it is described Parking lot constitutes the second interim distribution route, and selection meets the time period restriction of the first kind website And there is no satisfaction as the first route in the described second maximum interim distribution route of saving value In the case of the described second interim distribution route that the time period of the first kind website limits, will Etc. the station that at least one of described distribution route to be added is made up of 2 Equations of The Second Kind websites Point centering each website to respectively with the parking lot constitute the 3rd interim distribution route, select section About it is worth the 3rd interim distribution route of maximum as first route, wherein, the section About value be the time altogether required when 2 websites to the website centering are dispensed respectively with to institute The difference of 2 websites for stating website centering time altogether required when dispensing together.

The path planning apparatus of a fifteenth aspect of the present invention are advised in the path of fourteenth aspect In drawing device, including：Second Route Generation module, it will be waited in the distribution route to be added At least one described in each described first kind website in first kind website be separately added into described The end of one route constitutes the based on the end of the interim distribution route of first Route Generation Four interim distribution routes, selection meets the time period restriction of the first kind website and running time Most short the 4th interim distribution route meets described first as the second route not existing In the case of the 4th interim distribution route that the time period of class website limits, will wait to be added described Each Equations of The Second Kind website at least one of distribution route Equations of The Second Kind website is separately added into The end of first route or the end of the interim distribution route based on first Route Generation The 5th interim distribution route is constituted, the 5th interim distribution route for selecting running time most short As second route.

The path planning apparatus of a sixteenth aspect of the present invention are advised in the path of fourteenth aspect In drawing device, including：Second Route Generation module, it will be waited in the distribution route to be added At least one described in each described first kind website in first kind website be separately added into described After last described first kind website in one route or based on first Route Generation The 4th interim dispensing road is constituted after last described first kind website in interim distribution route Line, selection meets that the time period of the first kind website limits and running time is most short by described the There is no time for meeting the first kind website as the second route in four interim distribution routes In the case of the 4th interim distribution route that section is limited, by etc. in the distribution route to be added Each Equations of The Second Kind website in Equations of The Second Kind website described at least one is separately added into first route In last described first kind website after or matching somebody with somebody temporarily based on first Route Generation Send the 5th interim distribution route of composition after last the described first kind website in route, choosing Most short the 5th interim distribution route of running time is selected as second route.

The path planning apparatus of a seventeenth aspect of the present invention are, in the tenth one side～the 16th side In the path planning apparatus of the either side in face, including：Running time obtains module, and it is in institute State the first route generation module to generate before first route, obtain the parking lot and each Running time between the website and between the plurality of website, the running time is used for Calculate the running time of the distribution route.

The path planning apparatus of a eighteenth aspect of the present invention are, in the tenth one side～the 16th side In the path planning apparatus of the either side in face, including：Three-route generation module, it is in institute State the second Route Generation module to generate after second route, to be added described match somebody with somebody such as only exist In the case of sending the first kind website in route, in the time for meeting the first kind website Section selects one or more described first kind websites to constitute the 3rd tunnel with parking lot on the premise of limiting Line.

Technique effect

Paths planning method of the invention and path planning apparatus, are obtained in that as described below Beneficial technique effect：The planning of distribution route can be automatically performed, human cost is saved； The parameter of complexity need not be set, be easy to use；Disclosure satisfy that all visitors for having the time period to limit The dispensing demand of family website, it is ensured that the normal operation of customer rs site and the credit of lifting Delivery Co., Ltd； Due to the vehicle stand-by period need not be arranged, therefore stop off is not needed, reduce vehicle Invalid operation, reduces distribution cost.

Description of the drawings

Fig. 1 is the schematic diagram of the vehicle path planning for representing bicycle field multi-site.

Fig. 2 is that the customer rs site in the application scenarios for represent the present invention is restricted to service time section Schematic diagram.

Fig. 3 is the flow chart of the paths planning method of the present invention.

Fig. 4 is by showing that the classification that each website is divided into first kind website and Equations of The Second Kind website is processed It is intended to.

Fig. 5 is to represent between parking lot and each website and all websites row between each other Sail the schematic diagram of time matrix.

Fig. 6 is the flow chart (embodiment 1) for generating initial distribution route.

Fig. 7 (a) is to represent that distribution vehicle arrives separately at each first kind in the stipulated time from parking lot The schematic diagram of candidate website and required time.Fig. 7 (b) is represented and is met time period restriction First kind website constitutes respectively the schematic diagram of interim original route with parking lot.Fig. 7 (c) is represented Exist in the first kind candidate website arrival time meet the time period restriction first kind website situation Under the original route that ultimately produces.

Fig. 8 (a) is represented in the stipulated time respectively from parking lot to each Equations of The Second Kind candidate station The schematic diagram of point.Fig. 8 (b) is to represent that each Equations of The Second Kind candidate website faces respectively with parking lot composition When original route schematic diagram.Fig. 8 (c) represents there is no arrival in first kind candidate website Time meets the original route that ultimately produces in the case of the first kind website of time period restriction.

Fig. 9 is the flow chart (embodiment 1) for generating a complete path.

Figure 10 (a)～Figure 10 (j) is the schematic diagram (embodiment 1) for generating a complete path.

Figure 11 represents all of complete path (embodiment 1) for ultimately generating.

Figure 12 (a)～Figure 12 (b) is the figure of the meaning for illustrating saving value.

Figure 13 is the flow chart (embodiment 2) for generating initial distribution route.

Figure 14 (a)～Figure 14 (d) is to represent the first kind candidate website for meeting time period restriction Pair with parking lot constitute original route schematic diagram (embodiment 2).

Figure 15 (a)～Figure 15 (e) is to represent a first kind candidate for meeting time period restriction The website pair of website and an Equations of The Second Kind candidate website composition constitutes the signal of original route with parking lot Figure (embodiment 2).

Figure 16 (a)～Figure 16 (c) represent any 2 Equations of The Second Kind candidates website respectively with parking lot Required running time and this 2 Equations of The Second Kind candidate websites and parking lot during composition distribution route Running time required during distribution route, initial road determined by Figure 16 (d) expressions are constituted together Line (embodiment 2).

Figure 17 (a) represents the feelings that candidate website is added in the original route shown in Figure 14 (d) Condition, Figure 17 (b) represents the feelings that candidate website is added in the original route shown in Figure 15 (e) Condition, Figure 17 (c) represents the feelings that candidate website is added in the original route shown in Figure 16 (d) Condition (embodiment 2).

Figure 18 is the flow chart (embodiment 2) for generating a complete path.

Figure 19 (a)～Figure 19 (e) is the schematic diagram that a complete path is generated in embodiment 2 One of ().

Figure 20 (a)～Figure 20 (e) is the schematic diagram that a complete path is generated in embodiment 2 (two).

Figure 21 represents all of complete path (embodiment 2) for ultimately generating.

Figure 22 is generated after complete distribution route for the path planning of first kind candidate website Flow chart.

Figure 23 (a), Figure 23 (b) are that a first kind candidate website and parking lot constitute dispensing road The schematic diagram of line.

The schematic diagram of the temporary route generated in the step of Figure 24 is the flow chart for representing Figure 22 55.

Specific embodiment

Hereinafter, to implementing preferred embodiment illustrating for the present invention.Wherein, below Embodiment is only illustration.The invention is not restricted to following embodiment.

Before the paths planning method of the explanation present invention, the multi-site dispensing of bicycle field is set first Application scenarios.Fig. 2 be represent the present invention application scenarios in customer rs site (hereinafter referred to as For " website ") to the conditional schematic diagram of service time section.

In FIG. 2, it is assumed that have 10 websites to need dispensing, wherein 4 websites are to service time The conditional requirement of section." sequence number " in Fig. 2 represents each website.For example, the table of sequence number 1 Show website 1, sequence number 2 represents website 2.As shown in Fig. 2 website 1 requires 8:00-9:00 phase Between service, website 5 requires 10:00-11:Service during 00, website 7 requires 11:30-12:00 phase Between service, website require 9:00-10:Service during 00.In fig. 2, "/" is represented to during service Between section it is unrestricted.

In this manual, the first kind will be referred to as to the website of the conditional requirement of service time section Website, by the website for not having conditional requirement to service time section Equations of The Second Kind website is referred to as, will etc. Website (that is, not also being added to the website in distribution route) in distribution route to be added claims For candidate website, the first kind website being added in distribution route, Equations of The Second Kind website point will be waited Have another name called as first kind candidate website, Equations of The Second Kind candidate website.

In the scene of the paths planning method of the present invention, restrictive condition is every distribution route Running time must not exceed 4 hours (240 minutes), i.e., vehicle follow to return to parking lot must not More than 4 hours.Certainly, those skilled in the art can also according to circumstances adjust restrictive condition, The running time for for example making every distribution route must not exceed 3.5 hours etc..In addition, the dress of vehicle Carrying capacity, the demand of each website, vehicle are in the service time of website and the congestion of traffic Etc. the situation that the running time in the paths planning method that there is also to the present invention makes a difference, it is The present invention is easier to understand, the impact of these factors is not considered in this manual.

In addition, in the scene of the paths planning method of the present invention, making distribution vehicle go out from parking lot The time sent out is 8:00.But actually distribution vehicle is not limited to from the time in parking lot 8:00, those skilled in the art can arbitrarily be arranged according to actual conditions, for example it can also be provided that 8:30、9:00 grade other times.

Application scenarios as above are mainly patrolling in the paths planning method for not affecting the present invention The simplified version scene arranged on the basis of volume, but the present invention is not limited only to this scene, can be with Suitable for other restrictive conditions scene for example cargo amount limit, website demand limit and The application scenarios of any combination of any of the above restriction.

Fig. 3 is the flow chart of the paths planning method of the present invention.First according to whether to during service Between section it is conditional requirement and each website is divided into first kind website as above and Equations of The Second Kind Website (step 1).Then, suitable website is selected to constitute original route (step 2) with parking lot. Then, on the premise of restrictive condition is met, other websites are added in original route and are constituted Complete path (step 3).Then judge whether that residue has first kind website to be not added to initially In route and complete path (step 4).If "Yes", then to remaining first kind website Path planning (step 5) is carried out, if "No", terminates path planning.

Whether Fig. 4 is according to service time section (that is, distribution time section) conditional requirement And each website is divided into the schematic diagram of the classification process of first kind website and Equations of The Second Kind website. Classification process in, using to the website of the conditional requirement of service time section as first kind website, Using the website for not having conditional requirement to service time section as Equations of The Second Kind website, and by first Class website is ranked up according to the earliest arrival time that website is required.

Sequence number 1,2,3,4,5,6,7,8,9,10 in Fig. 4 represents dispensing website, The website for wherein having time period restriction is 1,5,7,9, and website 1 requires 8:00-9:Match somebody with somebody during 00 Send, website 5 requires 10:00-11:Dispensing during 00, website 7 requires 11:30-12:Match somebody with somebody during 00 Send, website 9 requires 9:00-10:Dispensing, 2,3,4,6,8,10 pairs of distribution times during 00 No requirement (NR).According to the earliest arrival time that website is required, first kind website is ranked up successively For 1,9,5,7.

Before original route and complete path is generated, in addition it is also necessary to obtain parking lot and each website it Between and all websites running time between each other, by these ageings together and The matrix for obtaining is referred to as running time matrix.Fig. 5 be represent between parking lot and each website and The schematic diagram (unit is 10 minutes) of all websites running time matrix between each other. In Figure 5,0 represents departure track, 1～10 table among the numeral that lower left side dotted line frame is surrounded Illustrate and send out a website, 0 represents purpose parking lot (i.e., among the numeral that the dotted line frame of upper right side is surrounded Reach parking lot), 1～10 represents purpose website (that is, reaching website).It is according to Fig. 5, such as false If slave site 3 is set out, purpose website is 7, then running time is 30 minutes.Assume in dispensing Same day slave site 7 is set out, and purpose website is 3, then running time is 60 minutes.

In real life, due to by morning peak, evening peak, Changes in weather, traffic accident, The impact of the factor such as traffic control and large-scale activity, actually Vehicle Speed in dynamic change, The running time and speed in each section also correspondingly changes in so as to result in road network.But In this manual, in order that explanation is easy to understand, as shown in Figure 5, it is assumed that from parking lot to Running time between each website and each website was changeless in one day. For example, slave site 3 set out reach website 7 running time be 30 minutes in one day, slave station Put 7 running times for setting out arrival website 3 and be 60 minutes in one day.

Below with 1～3 pair of as described before of embodiment application scenarios driving path (also referred to as " travel route ") planing method illustrate.

Embodiment 1

Fig. 6 is that initial distribution route (hereinafter referred to as " original route ") is generated in embodiment 1 Flow chart.Obtain first from parking lot and reach time needed for each first kind candidate website (step It is rapid 11).

Fig. 7 (a) is to represent that distribution vehicle (is herein 8 in the stipulated time:00) distinguish from parking lot Reach the schematic diagram of each first kind candidate website and required time.As shown in Fig. 7 (a), Distribution vehicle reached website 1 from parking lot 0 after 30 minutes, and distribution vehicle is 8:00 from Sets out the website 5 that reached after 60 minutes in parking lot 0, and distribution vehicle is from parking lot 7s through 40 Website 7 is reached after minute, distribution vehicle reached website 9 from parking lot 0 after 110 minutes. Wherein, can be obtained according to running time matrix from the time needed for parking lot 0 to each website 1.

Then judge whether deposited in above-mentioned first kind candidate website (that is, website 1,5,7,9) Meet the website (step 12) of time period restriction in arrival time.Each has been recorded in table 1 below The arrival time of first kind website and the time period for each first kind website limit and (also can claim For " limiting the time period ").

[table 1]

As shown in Table 1 above, the time (8 of website 1 is reached:30) time period is limited in it (8:00-9:00) in the range of, the time (9 of website 9 is reached:50) it is also at its restriction time Section (9:00-10:00) in the range of, and the time of website 5,7 is reached in the restriction time period Outside.Therefore judge to exist in first kind candidate website that arrival time meets that the time period limits the One class website 1,9.

Exist in first kind candidate website is judged arrival time meet the time period restriction the first kind It is in the case of website, the first kind website for meeting time period restriction is interim with parking lot composition respectively Original route (step 13).Fig. 7 (b) is to represent the first kind website for meeting time period restriction Constitute the schematic diagram of interim original route with parking lot respectively.

As shown in Fig. 7 (b), in the interim original route of website 1 and the composition of parking lot 0, match somebody with somebody Vehicle is sent in the stipulated time (8:00) website 1 was reached after 30 minutes from parking lot 0, Again slave site 1 set out Jing after 60 minutes return parking lot 0, total traveling of the interim original route Time is 90 minutes.In the interim original route of website 9 and the composition of parking lot 0, distribution vehicle In the stipulated time (8:00) website 9, then slave station were reached after 110 minutes from parking lot 0 Point 9 setting out in parking lot 0 of return Jing after 70 minutes, and total running time of the interim original route is 180 minutes (refer to table 2 below).

[table 2]

Because the running time of interim original route (0 → 1 → 0) is most short, therefore the traveling is selected Time most short route is used as original route (step 14).Fig. 7 (c) is represented and waited in the first kind Mend website in exist arrival time meet the time period restriction first kind website in the case of finally give birth to Into original route.

Be explained above exist in the first kind candidate website arrival time meet the time period restriction The method that original route is generated in the case of first kind website.Then in first kind candidate website In do not exist arrival time meet the time period restriction first kind website in the case of generate initial road The method of line is illustrated.

Do not exist in the first kind candidate website arrival time meet the time period restriction first kind station In the case of point, each Equations of The Second Kind candidate website is constituted into respectively interim original route (step with parking lot It is rapid 15).Fig. 8 (a) was represented in the stipulated time (8:00) respectively from parking lot to each The schematic diagram of two class candidate websites.Fig. 8 (b) be represent each Equations of The Second Kind candidate website respectively with Parking lot constitutes the schematic diagram of interim original route.

As shown in Fig. 8 (b), in the interim original route of website 2 and the composition of parking lot 0, match somebody with somebody Vehicle is sent to reach website 2 after 60 minutes from parking lot 0, then slave site 2 is set out Jing 70 Parking lot 0 is returned to after minute, total running time of the interim original route (0 → 2 → 0) is 130 Minute.Equally, the running time of interim original route (0 → 3 → 0) is 100 minutes；Temporarily The running time of original route (0 → 4 → 0) is 120 minutes；Interim original route (0 → 6 → 0) Running time be 70 minutes；The running time of interim original route (0 → 8 → 0) is 180 Minute；The running time of interim original route (0 → 10 → 0) is (to refer to down for 170 minutes Table 3).

[table 3]

Because the running time of interim original route (0 → 6 → 0) is most short, therefore the traveling is selected Time most short route is used as original route (step 16).Fig. 8 (c) is represented and waited in the first kind Mend and there is no arrival time in website and meet last in the case of the first kind website of time period restriction The original route of generation.

The method for generating a complete path is illustrated below with Fig. 9～Figure 11.Fig. 9 It is the flow chart for generating a complete path.Figure 10 (a)～Figure 10 (j) is to generate one completely The schematic diagram of route.Figure 11 represents all of complete path for ultimately generating.

First, it is determined that with the presence or absence of the website without time period restriction not being added in distribution route, That is, it is judged that Equations of The Second Kind candidate website (step 21) being added to the presence or absence of wait in distribution route. In the case where there is Equations of The Second Kind candidate website, the mode according to step 11～15 is generated just Beginning route (step 22).In the case where there is no Equations of The Second Kind candidate website, terminate complete path Generation.

After step 22, it is determined that interim distribution route, each first kind candidate website is distinguished It is added to the end of the interim distribution route (that is, after the website in the interim distribution route) (step It is rapid 23), constitute variation route.When determining interim distribution route in step 23, step is initially selected Rapid 22 original routes for generating are used as interim distribution route.For example, it is in original route 0 → 1 → 0, and when a first kind candidate website 5 is added into the end of the original route, structure Into variation route be 0 → 1 → 5 → 0.It is 0 → 6 → 0 in original route, and by a first kind When candidate website 5 is added to the end of the original route, the variation route of composition is 0 → 6 → 5 → 0. Determine interim distribution route step 23 is back to after aftermentioned step 26 or step 29 When, select to meet the route of restrictive condition as interim distribution route in step 26 or step 29.

In the present embodiment, original route is made to be 0 → 1 → 0 as shown in Figure 10 (a), then upper State in step 23 and be separately added into each first kind candidate website 5,7,9 after website 1, point Not Gou Cheng variation route 0 → 1 → 5 → 0,0 → 1 → 7 → 0,0 → 1 → 9 → 0 (such as Figure 10 (b) It is shown).In addition, in Figure 10 (b), in order that diagram is simple, eliminating the figure in parking lot 0 Show, each variation route 0 → 1 → 5 → 0,0 → 1 → 7 → 0,0 → 1 → 9 → 0 is respectively illustrated as 1 → 5,1 → 7,1 → 9.In explanation after, same situation is there is also.

Then judge to whether there is in above-mentioned first kind candidate website (that is, website 5,7,9) and arrive Meet the website (step 24) of time period restriction up to the time.

There is in first kind candidate website is judged the website that arrival time meets time period restriction In the case of, the first kind website for meeting time period restriction is constituted into new temporary route with parking lot respectively, The new temporary route (step 25) for selecting running time most short.Then the new temporary route is judged Whether running time meets restrictive condition (being herein 240 minutes), i.e. judge the new interim road Whether the running time of line exceedes 240 minutes (step 26) as restrictive condition.In step Judge that the running time of the route selected in step 25 meets restrictive condition and (that is, is less than in 26 240 minutes) in the case of, step 23 is back to, add other first kind candidate websites to step The most short route of the running time of selection in rapid 25.In addition, restrictive condition can be according to actual feelings Condition decision, is not limited to 240 minutes, or other times length..

The arrival time of each first kind website is recorded in Figure 10 (b) in table 4 below and has been directed to The time period of each first kind website limits.

[table 4]

Website	9	5	7
				Arrival time	10:10	9:00	9:40
Time period limits	9:00-10:00	10:00-11:00	10:00-11:00

As shown in upper table 4,8:30 slave sites 1 are set out and reach the time (10 of website 9:10) The time period (9 is limited in it:00-10:00) outside scope, the time of website 5,7 is reached It is also at outside the restriction time period.Therefore judge in step 24 not deposited in first kind candidate website Meet the first kind website of time period restriction in arrival time.

In the case where the judged result of step 24 is "No", such as shown in Figure 10 (c), will Equations of The Second Kind candidate website (that is, the Equations of The Second Kind website not being added in distribution route) is separately added into The end of the interim distribution route determined in step 23, constitutes variation route (step 27).

In the present embodiment, the end of route is added to mean candidate website：By candidate station Point is added between last website in route and parking lot.

In the present embodiment, because the route for selecting in step 22 is 0 → 1 → 0, therefore Be separately added into after website 1 in step 27 each Equations of The Second Kind candidate website 2,3,4,6,8, 10, respectively constitute variation route 0 → 1 → 2 → 0,0 → 1 → 3 → 0,0 → 1 → 4 → 0, 0 → 1 → 6 → 0,0 → 1 → 8 → 0,0 → 1 → 10 → 0 (as shown in Figure 10 (c)).In addition, In Figure 10 (c), in order that diagram is simple, the diagram in parking lot 0 is eliminated, by each new road Line 0 → 1 → 2 → 0,0 → 1 → 3 → 0,0 → 1 → 4 → 0,0 → 1 → 6 → 0,0 → 1 → 8 → 0, 0 → 1 → 10 → 0 has been respectively illustrated as 1 → 2,1 → 3,1 → 4,1 → 6,1 → 8,1 → 10.

The running time of each variation route for then being formed in calculation procedure 27, selects the variation route The most short route (step 28) of middle running time.Table 5 below schematically describes shape in step 27 Into each variation route running time.Due to the running time (110 of route 0 → 1 → 8 → 0 Minute) most short, therefore as shown in Figure 10 (d), the route selected in step 28 is 0 → 1 → 8 → 0.

[table 5]

In addition, have selected in a step 28 after the most short route of running time, judge selected Whether the running time of the route meets restrictive condition (240 minutes) (step 29).Meeting In the case of restrictive condition, step 23 is back to, such as shown in Figure 10 (e), is added respectively each The most short route of running time that individual first kind candidate website is selected into step 28 The end of (0 → 1 → 8 → 0).

Then in step 24 judges above-mentioned first kind candidate website (that is, website 5,7,9) Meet the website of time period restriction with the presence or absence of arrival time.Recorded in table 6 below each The arrival time of one class website and the time period for each first kind website limit.

[table 6]

As shown in upper table 6, exist in first kind candidate website (that is, website 5,7,9) and arrive Meet the website 5 of time period restriction up to the time, and only one website (website 5) meets restriction Condition, therefore as shown in Figure 10 (f), with the addition of the route 0 → 1 → 8 → 5 → 0 of website 5 just It is the most short route (step 25) of running time to be selected in step 25.In addition, following table 7 running times for describing route 0 → 1 → 8 → 5 → 0.

[table 7]

Travel route	Running time (minute)
		0→1→8→5→0	220

Step 26 is subsequently entered, the row of the route 0 → 1 → 8 → 5 → 0 of selection in step 25 is judged Sail whether the time meets restrictive condition.As shown in table 7, due to route 0 → 1 → 8 → 5 → 0 Running time is not above 240 minutes for 220 minutes, meets restrictive condition, then again returns to To step 23, such as shown in Figure 10 (g), each first kind candidate website (7,9) is added respectively To the end of the most short route (0 → 1 → 8 → 5 → 0) of the nearest running time for selecting.Table 8 below Describe each first kind candidate website and add arriving to the end of route 0 → 1 → 8 → 5 → 0 Limit up to the time and for the time period of each first kind website.

[table 8]

Website	9	7
			Arrival time	11:50	11:10
Time period limits	9:00-10:00	10:00-11:00

As shown in table 8, because the arrival time of website 7,9 is outside the time period is limited, because This judges there is no arrival time symbol in first kind candidate website (website 7,9) in step 24 Close the website of time period restriction.Subsequently into step 27, such as shown in Figure 10 (h), by second Class candidate website (2,3,4,6,10) is added separately to route (0 → 1 → 8 → 5 → 0) End, constitutes variation route.Table 9 below describes running time corresponding with each variation route.

[table 9]

In each route shown in table 9, during the traveling of route (0 → 1 → 8 → 5 → 10 → 0) Between it is most short, therefore in a step 28, as shown in Figure 10 (i), select route (0 → 1 → 8 → 5 → 10 → 0) is used as time most short circuit.Again due to the traveling of this route Time is 300 minutes, therefore judges that the running time of the route exceedes as limit in step 29 240 minutes of condition processed, are unsatisfactory for restrictive condition.Then as shown in Figure 10 (j), road is selected Route 0 → 1 → 8 → 5 → 0 before line 0 → 1 → 8 → 5 → 10 → 0 complete is matched somebody with somebody as one Send route (step 30).Step 21 is then back to, another complete distribution route of beginning Generate.Table 10 below represents each station in the complete distribution route that step 30 is generated The arrival time of point and the time period for each first kind website limit.

[table 10]

In the route 0 → 1 → 8 → 5 → 0 shown in table 10, because parking lot 0 is starting point, because The arrival time (8 in the parking lot 0 shown in this black surround:00) it is substantially the departure time.Hereinafter illustrate Also it is identical.

Figure 11 represents the whole complete path generated according to the flow process shown in Fig. 9.In this enforcement In example 1, according to the flow process symbiosis shown in Fig. 9 into 3 complete paths, i.e. 0 → 1 → 8 → 5 → 0, 0 → 10 → 6 → 7 → 0 and 0 → 2 → 9 → 4 → 3 → 0.Table 11 below, table 12 represent respectively after 2 The arrival time of each website in individual route and the time period for each first kind website limit System.

[table 11]

Website	0	10	6	7	0
						Arrival time	8:00	8:30	9:20	11:40	12:00
Time period limits	/	/	/	11:30-12:00	/

[table 12]

Website

0

2

9

4

3

0

Arrival time

8:00

8:40

9:30

10:20

11:20

12:00

Time period limits

/

/

9:00-10:00

/

/

/

According to the paths planning method of the present embodiment, beneficial technology as described below is obtained in that Effect：The planning of distribution route can be automatically performed, human cost is saved；Need not arrange multiple Miscellaneous parameter, is easy to use；Due to the vehicle stand-by period need not be arranged, therefore in not needing Way is stopped, and reduces the invalid operation of vehicle, reduces distribution cost.

Embodiment 2

In example 2, original route is generated using saving value.Below with Figure 12 (a) and Figure 12 (b) is illustrated to the meaning of saving value.

As shown in Figure 12 (a), if individually dispensed to i websites, the time used is：T1+t2, The time used is if individually dispensing to j websites：T3+t4, if to i, j is dispensed together then Time used is：T1+t5+t4, then saving value be：T1+t2+t3+t4-(t1+t5+t4)= t2+t3–t5。

As shown in Figure 12 (b), by taking website 1,2 as an example, if individually dispensing to website 1 Time used is：60+70=130 minutes, the time used is if individually dispensing to website 2： 80+40=120 minutes, the time used is if dispensing together to website 1,2：60+90+ 40=190 minutes, when the independent dispensing total time+website 2 of saving value=website 1 individually dispenses total M- website 1,2 dispenses together total time=130+120-190=60 minutes.

Method according to Figure 12 (a)～(b), can calculate any 2 websites together Time (that is, saving value) during dispensing than saving during individually dispensing.

Figure 13 is that initial distribution route (hereinafter referred to as " original route ") is generated in embodiment 2 Flow chart.Obtain first from parking lot and reach required between each website and each website Running time (step 31).Next, it is determined whether existing equal with during the composition distribution route of parking lot The first kind candidate website of time period restriction is met to (step 32).Tie in the judgement of step 32 Fruit in the case of "Yes", calculate all of such first kind candidate website to respectively with car Saving value (step 33) during the composition distribution route of field.Then the maximum dispensing road of saving value is selected Line is used as original route (step 34).

Figure 14 (a)～Figure 14 (d) is to represent the first kind candidate website for meeting time period restriction Pair with parking lot constitute original route schematic diagram.

Figure 14 (a) diagrams have parking lot 0 and 10 websites.As shown in table 13,10 websites In have 4 websites (that is, website 1,5,7,9) to be first kind website.

[table 13]

Website	1	9	5	7
					Time period limits	8:00-9:00	9:00-10:00	10:00-11:00	11:30-12:00

Assume only have 2 pairs of first kind candidate websites to (website 1,5), (website 1,9) with Time period restriction is satisfied by during the composition distribution route of parking lot 0.Wherein, website 1,5 and parking lot 0 The arrival time of each website in the distribution route 0 → 1 → 5 → 0 of composition, first kind candidate station The time period of point 1,5 limits and the saving value of the route is recorded in table 14 below.Figure 14 (b) Situation and required of left side when representing that website 1,5 constitutes respectively distribution route with parking lot 0 Running time, the right side of Figure 14 (b) represents that website 1,5 constitutes dispensing road together with parking lot 0 Situation and required running time during line.

[table 14]

Each website in the distribution route 0 → 1 → 9 → 0 that website 1,9 is constituted with parking lot 0 Arrival time, the time period of first kind candidate website 1,9 limit and the saving value of the route is remembered It is provided in the table below in 15.The left side of Figure 14 (c) represents that website 1,9 is constituted respectively with parking lot 0 and matches somebody with somebody Situation and required running time when sending route, the right side of Figure 14 (c) represent website 1, 9 situations and required running time together with parking lot 0 during composition distribution route.

[table 15]

As shown in table 14,15, due to the saving value maximum of route 0 → 1 → 9 → 0, therefore such as Shown in Figure 14 (d), route 0 → 1 → 9 → 0 is selected in step 34 as original route.

In the case where the judged result of step 32 is "No", a first kind candidate station is selected Point and an Equations of The Second Kind candidate website constitute website pair, generate all of such website to (step It is rapid 35).Then judge that the website centering generated in step 35 whether there is to dispense with parking lot composition The website of time period restriction is met during route to (step 36).It is in the judged result of step 36 In the case of "Yes", all of such website is calculated to parking lot constituting distribution route respectively When saving value (step 37).Then the maximum distribution route of saving value is selected as original route (step 38).

Figure 15 (a)～Figure 15 (e) is to represent a first kind candidate for meeting time period restriction The website pair of website and an Equations of The Second Kind candidate website composition constitutes the signal of original route with parking lot Figure.

In order that explanation is readily appreciated, it is assumed that when judging to have 4 websites to meeting in step 36 Between section limit, i.e. (website 1,2), (website 1,3), (website 2,9), (website 4,9). In this 4 websites pair, website 1,9 is first kind website, and website 2,3,4 is Equations of The Second Kind Website.

Each website in the distribution route 0 → 1 → 2 → 0 that website 1,2 is constituted with parking lot 0 Arrival time, the time period of first kind website 1 limit and the saving value of the route is recorded in down In table 16.The left side of Figure 15 (a) represents that website 1,2 constitutes distribution route with parking lot 0 respectively When situation and required running time, the right side of Figure 15 (a) represents website 1,2 and car 0 situation when constituting distribution route together and required running time.

[table 16]

Each website in the distribution route 0 → 1 → 3 → 0 that website 1,3 is constituted with parking lot 0 Arrival time, the time period of first kind candidate website 1 limit and the saving value of the route is recorded In table 17 below.The left side of Figure 15 (b) represents that website 1,3 is constituted respectively with parking lot 0 and dispenses Situation and required running time during route, the right side of Figure 15 (b) represents website 1,3 Situation and required running time together with parking lot 0 during composition distribution route.

[table 17]

Each website in the distribution route 0 → 2 → 9 → 0 that website 2,9 is constituted with parking lot 0 Arrival time, the time period of first kind website 9 limit and the saving value of the route is recorded in down In table 18.The left side of Figure 15 (c) represents that website 2,9 constitutes distribution route with parking lot 0 respectively When situation and required running time, the right side of Figure 15 (c) represents website 2,9 and car 0 situation when constituting distribution route together and required running time.

[table 18]

Each website in the distribution route 0 → 4 → 9 → 0 that website 4,9 is constituted with parking lot 0 Arrival time, the time period of first kind website 9 limit and the saving value of the route is recorded in down In table 19.The left side of Figure 15 (d) represents that website 4,9 constitutes distribution route with parking lot 0 respectively When situation and required running time, the right side of Figure 15 (d) represents website 4,9 and car 0 situation when constituting distribution route together and required running time.

[table 19]

It is maximum because the saving value of route 0 → 2 → 9 → 0 is 80 as shown in table 16～19, because This selects route 0 → 2 → 9 → 0 as original route as shown in Figure 15 (e), in step 38.

In the case where the judged result of step 36 is "No", any 2 Equations of The Second Kind are selected to wait Website composition website pair is mended, all of such website is generated to (step 39).Then institute is calculated By such website to constituting with parking lot saving value (step 40) during distribution route respectively.So The maximum distribution route of saving value is selected afterwards as original route (step 41).

Figure 16 (a)～Figure 16 (c) represent any 2 Equations of The Second Kind candidates website respectively with parking lot Required running time and this 2 Equations of The Second Kind candidate websites and parking lot during composition distribution route Running time required during distribution route is constituted together, and Figure 16 (d) is represented and determined in step 41 Original route.

[table 20]

Website pair	2、3	2、4	2、6	……	i、j
						Saving value	40	60	100	……	n

Table 20 have recorded step 39 generation all of website pair and these websites to respectively with Parking lot 0 constitutes saving value during distribution route.Wherein, i, j represent Equations of The Second Kind candidate website pair, N represents saving value, and the unit of saving value is minute.

It is assumed that saving value maximum in table 20 is 100 minutes, corresponding website to being (website 2, 6) distribution route 0 → 2 → 6 → 0 that the website pair is constituted with parking lot 0, is then selected as initial road Line (as shown in Figure 16 (d)).

In order on the basis of the original route shown in Figure 14 (d), Figure 15 (e) or Figure 16 (d) It is upper to generate complete distribution route, need further to add candidate website in original route.Figure 17 (a) is to represent the situation that candidate website is added in the original route shown in Figure 14 (d), Figure 17 (b) is to represent the situation that candidate website is added in the original route shown in Figure 15 (e), Figure 17 (c) is to represent the situation that candidate website is added in the original route shown in Figure 16 (d). Wherein, for convenience of description, here it is assumed that the original route shown in Figure 15 (e) is 0 → 1 → 2 → 0.

In the original route shown in Figure 14 (d) and Figure 15 (e), having one or 2 has The first kind website that time period limits.When candidate website is added in such route, in order to Avoid newly adding website to affect the first kind website in route, it is desirable at the position of new addition website After last first kind website.

For example in Figure 17 (a), because website 1,9 is first kind website, with the time Section is limited, thus it is new add website n need to be located at after website 9 (that is, positioned at website 9 with Between parking lot 0).In Figure 17 (b), only website 1 is first kind website, therefore new addition Website n may be located between website 1 and website 2 or between website 2 and parking lot 0.In figure In 17 (c), website 2,6 is Equations of The Second Kind website, is limited without the time period, therefore is newly added Enter website n to may be located between website 2,6 or between parking lot and website 2,6.

The method for generating a complete path is illustrated below with Figure 18～Figure 21.Figure 18 It is the flow chart for generating a complete path.For step identical with Fig. 9 in Figure 18, mark Note identical sequence number, description is omitted.

It is assumed that the original route for being generated is 0 → 1 → 2 → 0, wherein, website 1 is first kind station Point, website 2 is Equations of The Second Kind website.To wait be added to first kind website 5 in distribution route, 7th, 9 it is separately added into after last first kind website 1 in original route 0 → 1 → 2 → 0 (that is, be added separately between website 1 and website 2, between website 2 and parking lot 0) is constituted New distribution route (step 43).As shown in table 21 below, table 22, it is assumed that sentence in step 24 Disconnected only 0 → 1 → 9 → 2 → 0,0 → 1 → 2 → 5 → 0 this 2 articles of routes meet the in the route The restriction time period of one class website, other new distribution routes constituted in step 43 are unsatisfactory for the The restriction time period of one class website.

[table 21]

[table 22]

Then as shown in Figure 19 (b), the most short road of running time is selected in 2 routes more than Line 0 → 1 → 9 → 2 → 0 (step 25).Because the running time of the route is not above as limit 240 minutes (corresponding to step 26) of condition processed, therefore return to step 43, such as Figure 19 (c) It is shown, continue to add to after last first kind website 9 of route 0 → 1 → 9 → 2 → 0 First kind website.

It is as shown in table 23 below, it is assumed that judge in step 24 only 0 → 1 → 9 → 2 → 5 → 0 this 1 route meets the time period restriction of the first kind website in the route.Then such as Figure 19 (d) It is shown to select the route as the most short route of running time in step 25, root in step 26 Judge that the route meets restrictive condition (240 minutes) according to table 23.

[table 23]

Because the running time of the route shown in table 23 is not above 240 points as restrictive condition Clock (corresponds to step 26), therefore again returns to step 43, such as shown in Figure 19 (e), continues Add first kind station to after last first kind website 5 of route 0 → 1 → 9 → 2 → 5 → 0 Point 7, forms variation route 0 → 1 → 9 → 2 → 5 → 7 → 0.

It is as shown in table 24 below, because website 7 is arrived in variation route 0 → 1 → 9 → 2 → 5 → 7 → 0 It is located at up to the time and limits outside the time period, i.e. the variation route is unsatisfactory for the time of first kind website Section is limited, therefore judges do not exist after addition route 0 → 1 → 9 → 2 → 5 → 0 in step 24 Meet the first kind website of time period restriction.

[table 24]

Because the judged result of step 24 is "No", hence into step 47, such as Figure 20 (a) It is shown, to after last first kind website 5 in route 0 → 1 → 9 → 2 → 5 → 0 ( It is between website 5 and parking lot 0 under the case for this embodiment) it is separately added into each Equations of The Second Kind time Mend website (3,4,6,8,10).Then it is as shown in table 25 below, calculate add each second The running time of the variation route formed after class candidate website, shown in such as Figure 20 (b), selects traveling Time most short variation route 0 → 1 → 9 → 2 → 5 → 3 → 0 (step 28).

[table 25]

As shown in Table 25, because the running time of route 0 → 1 → 9 → 2 → 5 → 3 → 0 is 220 Minute, 240 minutes as restrictive condition are not above, therefore judge to meet limit in step 29 Condition processed, is back to step 43, such as shown in Figure 20 (c), continues to route Add first kind website after 0 → 1 → 9 → 2 → 5 → 3 → 0 last first kind website 5 7, route 0 → 1 → 9 → 2 → 5 → 3 → 7 → 0,0 → 1 → 9 → 2 → 5 → 7 → 3 → 0 is formed respectively. Arrival time of this 2 routes, time period limit and running time be recorded in respectively table 26 below, Table 27.

[table 26]

[table 27]

According to table 26, the record of table 27, judge there is no addition route in step 24 The first kind website of the time period restriction of first kind website is met after 0 → 1 → 9 → 2 → 5 → 3 → 0. Then step 47 is entered, such as shown in Figure 20 (d), to route 0 → 1 → 9 → 2 → 5 → 3 → 0 Last first kind website 5 after add Equations of The Second Kind website 4,6,8,10 respectively.Formed Route and the running time of the route be recorded in table 28 below." ... " on the left of table 28 below Expression eliminates the record of a part of route, and " ... " on right side represents and eliminate a part of route Running time record.

[table 28]

Distribution route	Running time (minute)
		0→1→9→2→5→3→4→0	260
0→1→9→2→5→6→3→0	270
		0→1→9→2→5→3→6→0	280
0→1→9→2→5→3→8→0	290
		0→1→9→2→5→10→3→0	300
……	……

The most short distribution route of running time in table 28 is selected in a step 28 0 → 1 → 9 → 2 → 5 → 3 → 4 → 0,260 points of the running time of the route is judged in step 29 Clock exceedes 240 minutes as restrictive condition, therefore as shown in Figure 20 (e), in step 30 Middle determination route 0 → 1 → 9 → 2 → 5 → 3 → 0 is a complete distribution route.It is then back to Step 21 carries out the generation of new distribution route.

Figure 21 shows schematically the whole complete path generated according to the flow process shown in Figure 18. In the present embodiment 2, according to the flow process symbiosis shown in Figure 18 into 2 complete paths, i.e. 0 → 1 → 9 → 2 → 5 → 3 → 0 and 0 → 1 → 9 → 2 → 5 → 3 → 0.

According to the paths planning method of the present embodiment, beneficial technology as described below is obtained in that Effect：The planning of distribution route can be automatically performed, human cost is saved；Need not arrange multiple Miscellaneous parameter, is easy to use；Due to the vehicle stand-by period need not be arranged, therefore in not needing Way is stopped, and reduces the invalid operation of vehicle, reduces distribution cost.

Embodiment 3

In embodiment 3, the generation method of its original route is using the initial road in embodiment 1 The generation method of line, the generation method of complete distribution route adopts complete in embodiment 2 The generation method of distribution route.In order that this specification is succinct, eliminate to the first of embodiment 3 The explanation of the generation method of beginning route and complete distribution route.

In addition, the generation method of the distribution route of embodiment 3 can also be：The life of original route Into method using the original route in embodiment 2 generation method, the life of complete distribution route The generation method of the complete distribution route in embodiment 1 is adopted into method.

According to embodiment 3, it is also possible to obtain and the same technique effect of embodiment 1,2.

Figure 22 is to generate (that is, do not add distribution route for remaining after complete distribution route ) flow chart of the path planning of first kind candidate website.Assume to generate complete distribution route Remaining first kind candidate website 5,7 afterwards, wherein, it is 10 that the time period of website 5 limits:00-11:00, It is 11 that the time period of website 7 limits:30-12:00.

It is first determined whether there is first kind candidate website (step 51).It is "Yes" in judged result In the case of, the first kind candidate website for selecting arrival time earliest constitutes original route with parking lot (step 52).Figure 23 (a) is represented and is selected a first kind candidate website 5 to constitute with parking lot 0 The situation of distribution route 0 → 5 → 0, Figure 23 (b) is represented and is selected a first kind candidate website 7 With the situation that parking lot 0 constitutes distribution route 0 → 7 → 0.Then according to first kind candidate website Service time calculates vehicle from parking lot 0 with from the running time needed for parking lot to the website Time (step 53).

Table 29 below, table 30 describe respectively in route 0 → 5 → 0, route 0 → 7 → 0 vehicle from Time and the first kind of time (arrival time), arrival website and parking lot that parking lot 0 is set out The time period of candidate website limits.

[table 29]

Parking lot/website	0	5	0
				Arrival time	9:00	10:00	10:40
Time period limits	/	10:00-11:00	/

[table 30]

Parking lot/website	0	7	0
				Arrival time	10:10	11:30	12:20
Time period limits	/	11:30-12:00	/

As shown in table 29, website 5 requires that the time that distribution vehicle is reached (that is, service) is earliest It is 10:00, therefore, in step 52, route 0 → 5 → 0 is selected as original route.And And, such as shown in Figure 23 (a), the running time from parking lot 0 to website 5 is 60 minutes, because This, wants vehicle 10:00 reaches website 5, needs 9:00 from parking lot 0.But and Do not require that distribution vehicle is reached in earliest time, reach in the range of the time period of website 5 limits Both may be used.For example, distribution vehicle only need to be 10:00-11:Website 5 is reached in 00, in this feelings Under condition, vehicle is needed 9:00-10:From parking lot 0 during 00.

Route 0 → 5 → 0 is selected in step 52 as original route, and is fallen into a trap in step 53 Calculate vehicle and judge whether also there is first kind candidate website from after the time of parking lot 0, then (step 54).In the case where there is first kind candidate website (being herein website 7), it is determined that Interim distribution route, by each first kind candidate website the interim distribution route is added separately to End, generates new temporary route (step 55).Wherein, interim dispensing is determined in step 55 During route, the original route generated in step 52 is initially selected as interim distribution route, in Jing Cross after step 58 when being back to step 54 and then reaching step 55, select full in step 58 The route of sufficient restrictive condition is used as interim distribution route.After step 55, judgement is added to faces When distribution route above-mentioned first kind candidate website in the presence or absence of arrival time meet the time period limit The website (step 56) of system.

In the present embodiment, wait due to outside route 0 → 5 → 0, only existing a first kind Website 7 is mended, therefore, new temporary route 0 → 5 → 7 → 0 is generated in step 55, in step 56 In, whether the arrival time for judging the website 7 in the new temporary route meets time period restriction.

Figure 24 is the schematic diagram for representing the new temporary route 0 → 5 → 7 → 0 generated in step 55. Table 3 below 1 represents each website in the new temporary route 0 → 5 → 7 → 0 that step 55 is generated Arrival time and the time period for each first kind website 5,7 limit.

[table 31]

Website	0	5	7	0
					Arrival time	9:00	10:00	10:40	11:30
Time period limits	/	10:00-11:00	11:30-12:00

There is in first kind candidate website is judged the website that arrival time meets time period restriction In the case of, the first kind website for meeting time period restriction is constituted into new temporary route with parking lot respectively, The new temporary route (step 57) for selecting running time most short.Then the new temporary route is judged Whether running time meets restrictive condition (being herein 240 minutes), i.e. judge the new interim road Whether the running time of line exceedes 240 minutes (step 58) as restrictive condition.In step Judge that the running time of the route selected in step 57 meets restrictive condition and (that is, is less than in 58 240 minutes) in the case of, it is back to step 54.

It can be seen from table 31, the arrival time of first kind candidate website 7 does not meet time period restriction, Then the judged result of step 58 be do not exist arrival time meet the time period restriction first kind station Point, then advances to step 59, in step 59, the interim dispensing that will be determined in step 55 Route (being herein 0 → 5 → 0) is used as a complete distribution route.It is then return to step 51, start the generation of new complete distribution route, until the judged result of step 51 is not surplus Remaining first kind candidate website, and then terminate the path planning for remaining first kind candidate website.

In addition, in the flow chart of Figure 22, step 53 can not also be in step 52 and step 54 Between carry out, and step 53 is moved to after other steps (such as step 59) to be carried out.Example Such as, in the case where being moved to step 53 and being carried out after step 59, complete matching somebody with somebody is being generated After sending route, the service time of first first kind candidate website in the distribution route Time of the vehicle from parking lot 0 is calculated with from the running time needed for parking lot to the website.

In addition, in this manual, between parking lot and each website and each website each other Between running time be only to illustrate, in order that the paths planning method of the present invention is easy to understand, There is the situation of appropriate change.

Paths planning method of the invention, is obtained in that beneficial technology effect as described below Really：The planning of distribution route can be automatically performed, human cost is saved；Complexity need not be set Parameter, be easy to use；Disclosure satisfy that the dispensing of all customer rs sites for having the time period to limit needs Ask, it is ensured that the normal operation of customer rs site and the credit of lifting Delivery Co., Ltd；Due to setting Put the vehicle stand-by period, therefore do not need stop off, reduce the invalid operation of vehicle, drop Low distribution cost.

Claims (18)

1. a kind of paths planning method, plans in the path comprising a parking lot and multiple websites The distribution route of vehicle, the plurality of website includes first kind website conditional to service time section With do not have conditional Equations of The Second Kind website to service time section, the paths planning method is characterised by, Including：

First route generation step, will wait at least one of described distribution route to be added described Each described first kind website in first kind website constitutes first and matches somebody with somebody temporarily with the parking lot respectively Route, selection is sent to meet the time period restriction of the first kind website and the most short institute of running time The first interim distribution route is stated as the first route, not existing the first kind website is met In the case of the first interim distribution route that time period limits, the distribution route to be added will be waited At least one of each described Equations of The Second Kind website in the Equations of The Second Kind website respectively with the car Field constitutes the second interim distribution route, the described second interim dispensing road for selecting running time most short Line is used as first route.

2. paths planning method as claimed in claim 1, it is characterised in that include：

Second Route Generation step, will wait at least one of described distribution route to be added described Each described first kind website in first kind website be separately added into the end of first route or 3rd interim dispensing road is constituted based on the end of the interim distribution route of first Route Generation Line, selection meets that the time period of the first kind website limits and running time is most short by described the There is no time for meeting the first kind website as the second route in three interim distribution routes In the case of the 3rd interim distribution route that section is limited, by etc. in the distribution route to be added Each Equations of The Second Kind website in Equations of The Second Kind website described at least one is separately added into first route End or the 4th interim dispensing is constituted based on the end of the interim distribution route of the first Route Generation Route, selects most short the 4th interim distribution route of running time as second route.

3. paths planning method as claimed in claim 1, it is characterised in that include：

Second Route Generation step, will wait at least one of described distribution route to be added described Each described first kind website in first kind website is separately added into last in first route In interim distribution route after one first kind website or based on first Route Generation Last described first kind website after constitute the 3rd interim distribution route, selection meet institute The time period for stating first kind website limits and most short the 3rd interim distribution route of running time As the second route, face in there is no the time period restriction for meeting the first kind website the 3rd When distribution route in the case of, at least one of the distribution route to be added described will be waited Each Equations of The Second Kind website in two class websites is separately added into last institute in first route State last in the interim distribution route after first kind website or based on first Route Generation The 4th interim distribution route is constituted after one first kind website, selects running time most short The 4th interim distribution route as second route.

4. a kind of paths planning method, plans in the path comprising a parking lot and multiple websites The distribution route of vehicle, the plurality of website includes first kind website conditional to service time section With do not have conditional Equations of The Second Kind website to service time section, the paths planning method is characterised by, Including：

First route generation step, will wait at least one of described distribution route to be added by 2 Each website for the website centering that the individual first kind website is constituted is to constituting with the parking lot respectively First interim distribution route, selection meets the time period restriction of the first kind website and saving value The described first maximum interim distribution route meets described first as the first route not existing In the case of the first interim distribution route that the time period of class website limits, will wait to be added described At least one of distribution route is by 1 first kind website and 1 Equations of The Second Kind website Each website of the website centering of composition dispenses road temporarily to constituting second with the parking lot respectively Line, selection meets maximum described second of the time period restriction of the first kind website and saving value Interim distribution route as first route, do not exist meet the first kind website when Between section limit the second interim distribution route in the case of, during the distribution route to be added will be waited At least one website centering being made up of 2 Equations of The Second Kind websites each website to respectively The 3rd interim distribution route is constituted with the parking lot, select saving value maximum the described 3rd is interim Distribution route as first route,

Wherein, the saving value be when 2 websites to the website centering are dispensed respectively altogether Time altogether required when dispensing together with 2 websites to the website centering required time Difference.

5. paths planning method as claimed in claim 4, it is characterised in that include：

Second Route Generation step, will wait at least one of described distribution route to be added described Each described first kind website in first kind website be separately added into the end of first route or 4th interim dispensing road is constituted based on the end of the interim distribution route of first Route Generation Line, selection meets that the time period of the first kind website limits and running time is most short by described the There is no time for meeting the first kind website as the second route in four interim distribution routes In the case of the 4th interim distribution route that section is limited, by etc. in the distribution route to be added Each Equations of The Second Kind website in Equations of The Second Kind website described at least one is separately added into first route End or constituted based on the end of the interim distribution route of first Route Generation the 5th interim Distribution route, selects most short the 5th interim distribution route of running time as described second Route.

6. paths planning method as claimed in claim 4, it is characterised in that include：

Second Route Generation step, will wait at least one of described distribution route to be added described Each described first kind website in first kind website is separately added into last in first route In interim distribution route after one first kind website or based on first Route Generation Last described first kind website after constitute the 4th interim distribution route, selection meet institute The time period for stating first kind website limits and most short the 4th interim distribution route of running time As the second route, face in there is no the time period restriction for meeting the first kind website the 4th When distribution route in the case of, at least one of the distribution route to be added described will be waited Each Equations of The Second Kind website in two class websites is separately added into last institute in first route State last in the interim distribution route after first kind website or based on first Route Generation The 5th interim distribution route is constituted after one first kind website, selects running time most short The 5th interim distribution route as second route.

7. the paths planning method as any one of claim 1～6, it is characterised in that Including：

Running time acquisition step, before the first route generation step, obtains described Running time between parking lot and each described website and between the plurality of website, the row The time is sailed for calculating the running time of the distribution route.

8. the paths planning method as any one of claim 1～6, it is characterised in that Including：

Three-route generation step, after the second Route Generation step, only exists wait In the case of adding the first kind website in distribution route, the first kind website is being met Time period limit on the premise of select one or more described first kind websites and the parking lot structure Into three-route.

9. the paths planning method as any one of claim 1～6, it is characterised in that：

When the running time of first route and second route is less than traveling set in advance Between limits value.

10. paths planning method as claimed in claim 8, it is characterised in that：

The running time of the three-route is less than running time limits value set in advance.

A kind of 11. path planning apparatus, it is advised in the path comprising a parking lot and multiple websites The distribution route of vehicle is drawn, the plurality of website includes first kind station conditional to service time section Point and the feature for not having conditional Equations of The Second Kind website, the path planning apparatus to service time section exist In, including：

First route generation module, it will wait at least one of the distribution route to be added institute Each the described first kind website stated in first kind website is interim with parking lot composition first respectively Distribution route, selection meets the time period restriction of the first kind website and running time is most short The first interim distribution route meets the first kind website as the first route not existing Time period limit the first interim distribution route in the case of, the dispensing road to be added will be waited Each described Equations of The Second Kind website at least one of line Equations of The Second Kind website respectively with parking lot The second interim distribution route is constituted, the described second interim distribution route for selecting running time most short As first route.

12. path planning apparatus as claimed in claim 11, it is characterised in that include：

Second Route Generation module, it will wait at least one of the distribution route to be added institute State the end that each the described first kind website in first kind website is separately added into first route Or the 3rd interim dispensing road is constituted based on the end of the interim distribution route of first Route Generation Line, selection meets that the time period of the first kind website limits and running time is most short by described the There is no time for meeting the first kind website as the second route in three interim distribution routes In the case of the 3rd interim distribution route that section is limited, by etc. in the distribution route to be added Each described Equations of The Second Kind website in Equations of The Second Kind website described at least one is separately added into described first The end of route constitutes the 4th based on the end of the interim distribution route of first Route Generation Interim distribution route, selects most short the 4th interim distribution route of running time as described Second route.

13. path planning apparatus as claimed in claim 11, it is characterised in that include：

Second Route Generation module, it will wait at least one of the distribution route to be added institute Each the described first kind website stated in first kind website is separately added into first route most Interim distribution route after the latter first kind website or based on first Route Generation In last described first kind website after constitute the 3rd interim distribution route, select meet The time period of the first kind website limits and the described 3rd most short interim dispensing road of running time Line as the second route, in do not have that time period for meeting the first kind website limits the 3rd In the case of interim distribution route, at least one of described distribution route to be added will be waited described Each Equations of The Second Kind website in Equations of The Second Kind website is separately added into last in first route In interim distribution route after the first kind website or based on first Route Generation most The 4th interim distribution route is constituted after the latter first kind website, running time is selected most Short the 4th interim distribution route is used as second route.

A kind of 14. path planning apparatus, it is advised in the path comprising a parking lot and multiple websites The distribution route of vehicle is drawn, the plurality of website includes first kind station conditional to service time section Point and the feature for not having conditional Equations of The Second Kind website, the path planning apparatus to service time section exist In, including：

First route generation module, it will wait at least one of described distribution route to be added by 2 Each website for the website centering that individual first kind website is constituted to the parking lot constituting first respectively Interim distribution route, selection meets the time period restriction of the first kind website and saving value is maximum The described first interim distribution route as the first route, meet the first kind station not existing In the case of the first interim distribution route that the time period of point limits, the dispensing to be added will be waited At least one of route is made up of 1 first kind website and 1 Equations of The Second Kind website Website centering each website to respectively with the parking lot constitute the second interim distribution route, choosing Select and meet time period of the first kind website and limit and saving value is maximum described second matches somebody with somebody temporarily Route is sent as the first route, does not there is what time period for meeting the first kind website limited In the case of the second interim distribution route, by etc. in the distribution route to be added at least Each website of one website centering being made up of 2 Equations of The Second Kind websites to respectively with it is described Parking lot constitutes the 3rd interim distribution route, the interim dispensing road of select saving value maximum the described 3rd Line as first route,

Wherein, the saving value be when 2 websites to the website centering are dispensed respectively altogether Time altogether required when dispensing together with 2 websites to the website centering required time Difference.

15. path planning apparatus as claimed in claim 14, it is characterised in that include：

Second Route Generation module, it will wait at least one of the distribution route to be added institute State the end that each the described first kind website in first kind website is separately added into first route Or the 4th interim dispensing road is constituted based on the end of the interim distribution route of first Route Generation Line, selection meets that the time period of the first kind website limits and running time is most short by described the There is no time for meeting the first kind website as the second route in four interim distribution routes In the case of the 4th interim distribution route that section is limited, by etc. in the distribution route to be added Each Equations of The Second Kind website in Equations of The Second Kind website described at least one is separately added into first route End or constituted based on the end of the interim distribution route of first Route Generation the 5th interim Distribution route, selects most short the 5th interim distribution route of running time as described second Route.

16. path planning apparatus as claimed in claim 14, it is characterised in that include：

Second Route Generation module, it will wait at least one of the distribution route to be added institute Each the described first kind website stated in first kind website is separately added into first route most Interim distribution route after the latter first kind website or based on first Route Generation In last described first kind website after constitute the 4th interim distribution route, select meet The time period of the first kind website limits and the described 4th most short interim dispensing road of running time Line as the second route, in do not have that time period for meeting the first kind website limits the 4th In the case of interim distribution route, at least one of described distribution route to be added will be waited described Each Equations of The Second Kind website in Equations of The Second Kind website is separately added into last in first route In interim distribution route after the first kind website or based on first Route Generation most The 5th interim distribution route is constituted after the latter first kind website, running time is selected most Short the 5th interim distribution route is used as second route.

17. path planning apparatus as any one of claim 11～16, its feature exists In, including：

Running time obtains module, and it generates the first via in the first route generation module Before line, obtain between the parking lot and each described website and the plurality of website each other it Between running time, the running time is used to calculate the running time of the distribution route.

18. path planning apparatus as any one of claim 11～16, its feature exists In, including：

Three-route generation module, it generates second tunnel in the second Route Generation module After line, in the case of the first kind website in the distribution route to be added such as only existing, Select on the premise of the time period for meeting the first kind website limits one or more described the One class website constitutes three-route with parking lot.