CN108332768A - A kind of method for searching path for no road network information region - Google Patents
A kind of method for searching path for no road network information region Download PDFInfo
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- CN108332768A CN108332768A CN201810137906.6A CN201810137906A CN108332768A CN 108332768 A CN108332768 A CN 108332768A CN 201810137906 A CN201810137906 A CN 201810137906A CN 108332768 A CN108332768 A CN 108332768A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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Abstract
The invention discloses a kind of method for searching path for no road network information region, include the following steps：(1) starting point, terminal, step-size factor, primary iteration step number are set；(2) current iteration step number is updated, determines the node of current iteration step；(3) the first reference point and the second reference point of current iteration step are calculated；(4) region of search of current iteration step is calculated, and based on the road network of satellite image extraction current iteration step；(5) node of following iteration step is calculated, and searches for the path of current iteration step；(6) judge whether present node is terminal；If so, then terminating to search for and export global optimum path；Otherwise, into next iteration.The present invention has easy to implement and lower-cost advantageous effect by the way that the big zone routing search mission for lacking road network information to be converted into the iterative process of zonule route searching tasks a series of.
Description
Technical field
The present invention relates to Path Planning Technique fields, and in particular to a kind of to be searched without road network information path based on navigation device
Suo Fangfa.
Background technology
In the key areas such as scientific research, national defence, the disaster relief, for execution task usually need to lack road network information region into
Walking along the street path search.And the road network information of mission area not yet acquires, such as wild environment；Or this region Nei Daoluyin natural calamities
It is damaged and is not updated and in road network information.Legacy paths searching method relies on road net data, i.e.,：It will contain in detail
The map of thin road network information prestores, and optimal path between initial point and terminating point is calculated by existing route searching method.
The case where such method is for lacking road network information, is then difficult to be applicable in.
Region to lacking road network information carries out optimum route search, it is necessary first to solve the problems, such as to be the effective road of structure
Net information.By having characteristics of image identification technology, the road information in extract real-time region in high-resolution satellite image is
A kind of common geographic information database construction method.However, such road network information construction method is applied directly to no road network
The route searching of information area, there are still obstacles.It is the cost problem of high-resolution satellite image, the face with region of search first
Product is directly proportional, i.e., directly proportional to path air line distance square.Secondly, to the satellite image that region of search directly acquires, Ke Nengyin
It is under-exposed or over-exposed caused by each intensity of light source difference, and be difficult to effectively extract road network information therein.Accordingly, for
Route searching problem without road network information region and relatively long distance, the difficult point of solution are to take into account reality while ensureing validity
Apply cost.
Invention content
The purpose of the present invention is to provide a kind of easy to implement and tool explicit costs advantage method for searching path, to solve
Optimum route search problem without relatively long distance in road network information region.
The present invention provides a kind of method for searching path for no road network information region, include the following steps：
(1) starting point, terminal, step-size factor, primary iteration step number are set；
(2) current iteration step number is updated, determines the node of current iteration step；
(3) the first reference point and the second reference point of current iteration step are calculated；
(4) region of search of current iteration step is calculated, and extracts the road network of current iteration step；
(5) node of following iteration step is calculated, and searches for the path of current iteration step；
(6) judge whether following iteration step node is terminal；If so, terminating to search for and exporting global optimum path；If not, weight
Multiple (2)-(6) step.
Specifically, the starting point, terminal, node, the first reference point, the second reference point are location point, including institute is in place
The longitude information and latitude information set.
Specifically, starting point described in step (1) is specified homeposition, write asS, the terminal is the arrival position specified
It sets, is write asT；The step-length is each iteration step straight-line travelling distance specified, and can be write asD；The iterative steps are expressed ask,
Primary iteration step number isk=0。
Specifically, current iteration step number described in step (2) isk:=k+1；The node of the current iteration step can be write asX (k)；WhenkWhen=1,X (1)For starting point, i.e.,X (1)= S。
Specifically, current iteration described in step (3) walks the first reference point（It is denoted asP (k)）, it is inX (k)With terminalTCompany
On line, and withX (k)Distance be min (D,L (k))；Wherein, min expressions are minimized,L (k)It indicatesX (k)WithTBetween straight line away from
From.Whenk>When 1, the current iteration walks the second reference point（It is denoted asQ (k)）, node is walked in preceding iterationX (k-1)With current iteration
Walk nodeX (k)Extension line on, and withX (k)Distance beD；WhenkWhen=1, becauseX (k-1)It is not present, ifQ (1)=P (1)。
Specifically, working ask>When 1, the region of search of the step of current iteration described in step (4) is a border circular areas, and the center of circle isX (k)、P (k)AndQ (k)The triangle centre of form；WhenkWhen=1, because having setQ (1)=P (1), the center of circle of the border circular areas isX (1)
WithP (1)The midpoint of line；The radius of the border circular areas isD；The road network of the current iteration step currently changes by the way that acquisition is described
Ride instead of walk region of search satellite image and carry out road Identification and obtain, can be denoted asR (k)。
Specifically, following iteration described in step (5) step node be inR (k)In and withQ (k)Air line distance is nearest
Point, is denoted asX (k+1)；The path of the current iteration step is based on by existing route searching methodR (k)It obtains.
Specifically, judging whether following iteration step node is that the criterion of terminal is described in step (6)：X (k+1)WithTIt is straight
Linear distance is less thanD/100；The global optimum path is obtained by the combination of paths of all iteration steps.
Compared to the prior art, the method for searching path provided by the invention for no road network information region has with following
Beneficial effect：The big zone routing search mission for lacking road network information is converted into a series of iteration of zonule route searching tasks
Process.In each iteration step, it is only necessary to the road Identification based on satellite image is carried out to a smaller area, to effectively reduce structure
Build the difficulty for obtaining road network information；Also, the sum of area of zonule satellite image of all iteration steps is believed much smaller than no road network
The entire area in region is ceased, the cost that institute's extracting method of the present invention obtains satellite image has obviously advantage.
Description of the drawings
Fig. 1 shows a kind of method for searching path flow chart for no road network information region of the present invention；
Fig. 2 shows the first iteration step route searching flows；
Fig. 3 shows secondary iteration step path search flow.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, by taking a specific application as an example, is done to the method for the present invention
It is described in further detail.
It is a kind of method for searching path flow chart for no road network information region of the present invention, including following step such as Fig. 1
Suddenly：
S1., starting point, terminal, step-size factor, primary iteration step number are set；
S2. current iteration step number is updated, determines the node of current iteration step；
S3. the first reference point and the second reference point of current iteration step are calculated；
S4. the region of search of current iteration step is calculated, and extracts the road network of current iteration step；
S5. the node of following iteration step is calculated, and searches for the path of current iteration step；
S6. judge whether following iteration step node is terminal；If so, terminating to search for and exporting global optimum path；If not, weight
Multiple S2-S6 steps.
Specifically, the starting point, terminal, node, the first reference point, the second reference point are location point, including institute is in place
The longitude information and latitude information set.
Specifically, starting point described in step (1) is specified homeposition, write asS, the terminal is the arrival position specified
It sets, is write asT；The step-lengthDFor specified each iteration step straight-line travelling distance, ifD=6km；The iterative steps are expressed ask,
Primary iteration step number isk=0。
Specifically, as shown in Fig. 2, current iteration step number is in the step S2 of the first iteration stepk=1, nodeX (1)For starting point,
I.e.X (1)=S.Current iteration walks the first reference point in the step S3 of first iteration stepP (1), it is inX (1)With terminalTLine on, and
WithX (1)Distance be min (D,L (1))；Wherein, min expressions are minimized,L (1)It indicatesX (1)WithTBetween air line distance；CauseL (1)It is more thanD, therefore min (D,L (1))=D.If the second reference point of the first iteration stepQ (1)=P (1).It is searched in the step S4 of first iteration step
Rope region is a border circular areas, and the center of circle isX (1)WithP (1)The midpoint of line, radius areD.The road network of first iteration stepR (1)It is logical
It crosses acquisition described search regional satellite image and carries out road Identification and obtain.Following iteration walks in the step S5 of first iteration step
NodeX (2)To be inR (1)In and withP (1)The nearest point of air line distance；The path of first iteration stepf (1)Pass through existing route
Searching method is based onR (1)It obtains.Judge in the step S6 of first iteration stepX (2)WithTAir line distance be more thanD/ 100, then enter
Second of iteration.
Specifically, as shown in figure 3, current iteration step number is in the step S2 of second of iterationk=2, the section of current iteration step
It puts and isX (2).Current iteration walks the first reference point in the step S3 of secondary iteration stepP (2), it is inX (2)With terminalTLine on, and
WithX (2)Distance be min (D,L (2))；CauseL (2)It is more thanD, therefore min (D,L (2))=D.The current iteration walks the second reference pointQ (2), node is walked in preceding iterationX (1)Node is walked with current iterationX (2)Extension line on, and withX (2)Distance beD.Second changes
The region of search of the step of current iteration described in the step S4 to ride instead of walk is a border circular areas, and the center of circle isX (2)、P (2)AndQ (2)It is constituted
The centre of form of triangle, radius areD；The road network of the current iteration stepR (2)By the satellite image for obtaining described search region
And it carries out road Identification and obtains.The node that following iteration walks in the step S5 of secondary iteration stepX (3)To be inR (2)In and withQ (2)
The nearest point of air line distance；The path of the secondary iteration stepf (2)It is based on by existing route searching methodR (2)It obtains.Second
Judge in the step S6 of iteration stepX (3)WithTAir line distance be more thanD/ 100, then enter third time iteration.
Specifically, each iteration step repeating said steps S2-S6, untilkWhen=8X (k)WithTAir line distance be less thanD/
100；Export global optimum pathf *= f (1)+ f (2)+…+ f (8)。
Compared to the prior art, the method for searching path provided by the invention for no road network information region has with following
Beneficial effect：The big zone routing search mission for lacking road network information is converted into a series of zonules（Totally 8）Route searching is appointed
The iterative process of business.In each iteration step, it is only necessary to the road Identification based on satellite image is carried out to a smaller area, to effectively
Reduce the difficulty that structure obtains road network information；Also, the sum of the area of the zonule satellite image of all iteration steps is much smaller than
Entire area without road network information region, the cost that institute's extracting method of the present invention obtains satellite image have obviously advantage.
Claims (8)
1. a kind of method for searching path for no road network information region includes the following steps：
(1) starting point, terminal, step-size factor, primary iteration step number are set；
(2) current iteration step number is updated, determines the node of current iteration step；
(3) the first reference point and the second reference point of current iteration step are calculated；
(4) region of search of current iteration step is calculated, and extracts the road network of current iteration step；
(5) node of following iteration step is calculated, and searches for the path of current iteration step；
(6) judge whether following iteration step node is terminal；If so, terminating to search for and exporting global optimum path；If not, weight
Multiple (2)-(6) step.
2. according to a kind of method for searching path for no road network information region described in claim 1, it is characterised in that：
The starting point, terminal, node, the first reference point, the second reference point are location point, include the longitude information of position
And latitude information.
3. according to a kind of method for searching path for no road network information region described in claim 1, it is characterised in that：
Starting point described in step (1) is the homeposition specified, and is write asS, the terminal is the in-position specified, and is write asT；Institute
Each iteration step straight-line travelling distance that step-length is specified is stated, can be write asD；The iterative steps are expressed ask, primary iteration step number
Fork=0。
4. according to a kind of method for searching path for no road network information region described in claim 1, it is characterised in that：
Current iteration step number is described in step (2)k:=k+1；The node of the current iteration step can be write asX (k)；WhenkWhen=1,X (1)For starting point, i.e.,X (1)= S。
5. according to a kind of method for searching path for no road network information region described in claim 1, it is characterised in that：
Current iteration described in step (3) walks the first reference point（It is denoted asP (k)）, it is inX (k)With terminalTLine on, and withX (k)
Distance be min (D,L (k))；Wherein, min expressions are minimized,L (k)It indicatesX (k)WithTBetween air line distance；Whenk>When 1,
The current iteration walks the second reference point（It is denoted asQ (k)）, node is walked in preceding iterationX (k-1)Node is walked with current iterationX (k)'s
On extension line, and withX (k)Distance beD；WhenkWhen=1, becauseX (k-1)It is not present, ifQ (1)=P (1)。
6. according to a kind of method for searching path for no road network information region described in claim 1, it is characterised in that：
Whenk>When 1, the region of search of the step of current iteration described in step (4) is a border circular areas, and the center of circle isX (k)、P (k)AndQ (k)The triangle centre of form；WhenkWhen=1, because having setQ (1)=P (1), the center of circle of the border circular areas isX (1)WithP (1)Line
Midpoint；The radius of the border circular areas isD；The road network of the current iteration step walks region of search by obtaining the current iteration
Satellite image and carry out road Identification and obtain, can be denoted asR (k)。
7. according to a kind of method for searching path for no road network information region described in claim 1, it is characterised in that：
Following iteration described in step (5) step node be inR (k)In and withQ (k)The nearest point of air line distance, is denoted asX (k+1)；
The path of the current iteration step is based on by existing route searching methodR (k)It obtains.
8. according to a kind of method for searching path for no road network information region described in claim 1, it is characterised in that：
Judge whether following iteration step node is that the criterion of terminal is described in step (6)：X (k+1)WithTAir line distance be less thanD/
100；The global optimum path is obtained by the combination of paths of all iteration steps.
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