CN109238270A - Intelligent navigation method based on improved A star algorithm - Google Patents
Intelligent navigation method based on improved A star algorithm Download PDFInfo
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- CN109238270A CN109238270A CN201811226939.4A CN201811226939A CN109238270A CN 109238270 A CN109238270 A CN 109238270A CN 201811226939 A CN201811226939 A CN 201811226939A CN 109238270 A CN109238270 A CN 109238270A
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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
- G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
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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
- G01C21/20—Instruments for performing navigational calculations
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Abstract
The invention discloses a kind of intelligent navigation method based on improved A star algorithm, include the following steps: that on the basis of the corresponding steering in each lane in road network section and journey time, any two points are as beginning and end in given road network topology structure；It is turned to using A star algorithm combination road network lane topology and finds next step path road-net node together；Road-net node will have been selected to be together in series to form guidance path.The present invention has the efficiency and flexibility for improving path navigation algorithm；It fully considers the real-time congestion level of road section traffic volume, keeps the guidance path total travel time of planning most short, allow the characteristics of driver is fastest to destination is reached.
Description
Technical field
The present invention relates to intelligent navigation path planning field technical fields, are calculated more particularly, to one kind based on improved A star
The intelligent navigation method of method.
Background technique
With social economy's fast development, the car ownership of big and medium-sized cities is higher and higher, urban transportation increasingly congestion,
People are caused to need to take more time for commuting, the commuter time is elongated to increase fuel draining, brings to environment
Certain pollution, therefore the reduction commuter time can be reduced transport cost, alleviate environmental pollution.In recent years, information technology, control
The fast development of technology, so that information and control technology and the continuous effective integration of traffic system.They are in continuous adjustment and integrate
Middle generation intelligent transportation system.Intelligent transportation system improves Traffic Systems quality using various advanced technologies.And intelligence is led
Boat is pith in intelligent transportation, and intelligent navigation plans efficient navigation path according to existing traffic information.
A star algorithm is a kind of classical heuristic searching algorithm, is the evolution of dijkstra's algorithm, is widely used in path
Planning field.Its unique distinction is to introduce global information when checking each possible node in shortest path, to current road
The distance of mouthful node from home makes estimation, and the measurement of possibility on minimal path is in as the evaluation node.But A star
Algorithm cannot be applied directly in path navigation, need that road network section added turning lane is combined to consider to select next node traveling together
Path.
Summary of the invention
Goal of the invention of the invention is to overcome A star algorithm in the prior art that cannot directly apply in path navigation
Deficiency, provide a kind of intelligent navigation method based on improved A star algorithm.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of intelligent navigation method based on improved A star algorithm, includes the following steps:
(1-1) gives any in road network topology structure on the basis of the corresponding steering in each lane in road network section and journey time
Two o'clock is as beginning and end；
(1-2) is turned to using A star algorithm combination road network lane topology and is found next step path road-net node together；
(1-3) will select road-net node to be together in series to form guidance path.With for by global navigation path planning with
Road network section added turning lane combines, and completes the navigation of vehicle real-time route.
Preferably, step (1-1) includes the following steps:
The known each lane in road network section corresponds to steering, each lane journey time, gives starting point crossing node O and terminal crossing
Node D；
Creation, which is used to save, has generated still not used junction node set open list, and creation is used to save
Junction node set close list through using, sets current junction node for starting point.
Preferably, step (1-2) includes the following steps:
(3-1) is screened within the scope of the longitude and latitude of O and D and crossing is used as candidate junction node set outside range in 2 kilometers
Alllist, all candidate's junction nodes are selected from all list；
It is D that (3-2), which detects current junction node, then corresponds to father node recursion outlet node road according to each junction node
Diameter exports the path planning node from O to D；If current junction node is O, section is expanded into three kinds of steerings of the four direction of O
Open list is added in point, and O to each journey time for expanding node and each expansion node are estimated journey time h to D
(x) open list is added；If current junction node is not O and is not D, by three kinds of a steering of current junction node
It turns to and expands node addition open list, by current junction node to each journey time and each expansion for expanding node
Open list, h (x)=current junction node to D linear distance/system-wide network speed is added in the estimation journey time h (x) of node to D
Degree；Wherein, four direction is respectively due south, due north, due west, due east, and it is respectively straight trip that three kinds, which turn to, turns left and turns right；One
It turns to as any one in straight trip, left-hand rotation and right-hand rotation.
Preferably, judging whether open list is empty, if open list is sky, illustrate path disruption, calculating knot
Beam；If open list is not sky, it regard the total cost function minimum point f (x) in open list as current junction node,
Current junction node is moved to close list from open list, and records its father node, step (3-1) is transferred to, until working as
Preceding junction node be D, the topological relation figure of each node is drawn according to close list, using topological relation figure from D to O and in
Intermediate node carries out backstepping, obtains unique guidance path of O to D.
Preferably, f (x)=g (x)+a*h (x), wherein x is current junction node, and f (x) is total cost function, g (x)
It is Actual path cost time of the O to current junction node, a is adjustable parameter.
Therefore, the invention has the following beneficial effects: do not need to calculate all steerings of four direction using tradition A star algorithm
Total cost function f (x) value, it is only necessary to according to current path point V0 father node and its steering, can be automatic referring to topological structure
Know next path node V1, and calculate and turn to corresponding total cost function f (x) value for three kinds from V0 to V1, improves path navigation
The efficiency and flexibility of algorithm；
It is the Link Travel Time data for crossing vehicle based on real-time bayonet, fully considers the real-time congestion level of road section traffic volume, make
The guidance path total travel time of planning is most short, allows driver fastest to up to destination, alleviates city to a certain extent
Traffic congestion.
Detailed description of the invention
Fig. 1 is a kind of overview flow chart of the invention；
Fig. 2 is a kind of A star algorithm neighborhood search figure of the invention；
Fig. 3 is a modification of the present invention A star algorithm neighborhood search figure；
Fig. 4 is a modification of the present invention A star algorithm route result figure.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and detailed description.
As shown in Figs 1-4, a kind of based on the intelligent navigation method for improving A star algorithm, include the following steps:
1. the corresponding steering in each lane in road network section known to, each lane journey time, give starting point crossing node O and terminal road
Mouth node D forms section between adjacent road as being that 5 row, 6 column road forms whole road network in figure；
2. initialization operation, creation, which is used to save, has generated still not used junction node set open list, wound
It builds for saving the junction node set close list used, sets current junction node for starting point O；
3. screening within the scope of the longitude and latitude of O and D and crossing being used as candidate junction node set outside range in 2 kilometers
Alllist, all candidate's junction nodes are selected from alllist；
4. detecting current junction node is D, then father node recursion outlet node path is corresponded to according to each junction node, it is defeated
Path planning node from O to D out；If current junction node is O, node is expanded into three kinds of steerings of the four direction of O and is added
Enter open list, O to each journey time for expanding node and each expansion node are added to D estimation journey time h (x)
Enter open list；If current junction node is not O and is not D, three kinds of steerings of a steering of current junction node are opened up
It opens up node and open list is added, by current junction node to the journey time of each expansion node and each expansion node to D
Estimation journey time h (x) open list, h (x)=current junction node to D linear distance/system-wide net spee is added；Its
In, four direction is respectively due south, due north, due west, due east, and it is respectively straight trip that three kinds, which turn to, turns left and turns right；One steering is
Straight trip, turn left and turn right in any one.
Step 4 specific embodiment is as follows:
4.1 such as Fig. 2, are current junction node from starting point crossing node O, O, calculate the g of four direction three steerings
(x), the h (x) of four direction corresponding node A, B, C, D calculates all f (x), and all f (x) information of A, B, C, D node are deposited
Enter open list, find the corresponding direction of wherein minimum value and turn to be O in the east, O-C straight trip, and by O-C keep straight on information from
Open list is moved to close list；
4.2 such as Fig. 3, current junction node is C known to 4.1, and is not terminal crossing node, straight from junction node O-C
The corresponding next junction node of row is E, calculates three g (x), the h (x) of E to terminal from O to E, obtains corresponding three f of E
(x), f (x) information is stored in open list, finds the smallest f (x) from open list again at this time, corresponding turn to is C-E
Straight trip, and C-E straight trip information is moved to close list from open list；
5. judging whether open list is sky, if it is sky, illustrates that path disruption, algorithm terminate；It, will if being not sky
Calculating in open list total cost function minimum point f (x) is current junction node, by current junction node from open
List is moved to close list, and records its father node, then keep straight on step 4, until current junction node be peripheral node,
Export the guidance path of OD；Similarly obtain G, H and inode；
6. such as Fig. 4, the guidance path of final OD are as follows: O-C-E-G-H-I- terminal D；
F (x)=g (x)+a*h (x), wherein x is current junction node, and f (x) is total cost function, and g (x) is starting point to working as
The Actual path cost time of preceding junction node, a is adjustable parameter.
It should be understood that this embodiment is only used to illustrate the invention but not to limit the scope of the invention.In addition, it should also be understood that,
After having read the content of the invention lectured, those skilled in the art can make various modifications or changes to the present invention, these etc.
Valence form is also fallen within the scope of the appended claims of the present application.
Claims (5)
1. a kind of intelligent navigation method based on improved A star algorithm, characterized in that include the following steps:
(1-1) gives any two points in road network topology structure on the basis of the corresponding steering in each lane in road network section and journey time
As beginning and end；
(1-2) is turned to using A star algorithm combination road network lane topology and is found next step path road-net node together；
(1-3) will select road-net node to be together in series to form guidance path.
2. the intelligent navigation method according to claim 1 based on improved A star algorithm, characterized in that step (1-1) packet
Include following steps:
The known each lane in road network section corresponds to steering, each lane journey time, gives starting point crossing node O and terminal crossing node
D；
Creation, which is used to save, has generated still not used junction node set open list, and creation is used to save to have made
Junction node set close list, sets current junction node for starting point.
3. the intelligent navigation method according to claim 1 based on improved A star algorithm, characterized in that step (1-2) packet
Include following steps:
(3-1) is screened within the scope of the longitude and latitude of O and D and crossing is used as candidate junction node set outside range in 2 kilometers
Alllist, all candidate's junction nodes are selected from all list；
It is D that (3-2), which detects current junction node, then corresponds to father node recursion outlet node path according to each junction node, defeated
Path planning node from O to D out；If current junction node is O, node is expanded into three kinds of steerings of the four direction of O and is added
Enter open list, O to each journey time for expanding node and each expansion node are added to D estimation journey time h (x)
Enter open list；If current junction node is not O and is not D, three kinds of steerings of a steering of current junction node are opened up
It opens up node and open list is added, by current junction node to the journey time of each expansion node and each expansion node to D
Estimation journey time h (x) open list, h (x)=current junction node to D linear distance/system-wide net spee is added；Its
In, four direction is respectively due south, due north, due west, due east, and it is respectively straight trip that three kinds, which turn to, turns left and turns right；One steering is
Straight trip, turn left and turn right in any one.
4. the intelligent navigation method according to claim 3 based on improved A star algorithm, characterized in that judge open
List whether be it is empty, if open list is sky, illustrate path disruption, calculating terminates；If open list is not sky, will
Total cost function minimum point f (x) in open list is used as current junction node, by current junction node from open list
It is moved to close list, and records its father node, is transferred to step (3-1), until current junction node is D, according to close
List draws the topological relation figure of each node, using topological relation figure from D to O and intermediate node carry out backstepping, obtain O to D
Unique guidance path.
5. the intelligent navigation method according to claim 4 based on improved A star algorithm, characterized in that f (x)=g (x)+
A*h (x), wherein x is current junction node, and f (x) is total cost function, and g (x) is Actual path of the O to current junction node
Cost time, a are adjustable parameters.
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Cited By (4)
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|---|---|---|---|---|
| CN111380557A (en) * | 2020-03-24 | 2020-07-07 | 李子月 | Unmanned vehicle global path planning method and device |
| CN111428910A (en) * | 2020-02-28 | 2020-07-17 | 西安电子科技大学 | Vehicle shortest-time traffic path processing method based on time delay Petri network |
| CN111830957A (en) * | 2019-04-19 | 2020-10-27 | 北京京东尚科信息技术有限公司 | Path planning method and device |
| CN115547087A (en) * | 2022-09-21 | 2022-12-30 | 合肥工业大学 | Urban road network shortest path acquisition method based on two-stage method and direction induction and application |
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| Publication number | Priority date | Publication date | Assignee | Title |
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Application publication date: 20190118 |