CN117705115B - Route planning method and device based on label method, storage medium and terminal equipment - Google Patents
Route planning method and device based on label method, storage medium and terminal equipment Download PDFInfo
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Abstract
The invention discloses a route planning method, a device, a storage medium and terminal equipment based on a label method, comprising the following steps: obtaining route data and route limitation data, and generating a route network diagram according to the route data; generating a forbidden node limit set and a mandatory node limit set according to the route limit data; taking a starting node of the route network diagram as a current node set; screening the subsequent nodes of the current node set according to the forbidden node limit set to generate a node set to be expanded of the current node; generating a four-dimensional label for nodes in the node set to be expanded according to the route data, the forbidden node limit set and the necessary node limit set; and when all nodes in the node set to be expanded do not have the subsequent nodes, determining the shortest path according to the calculated four-dimensional labels. According to the method, the optimal solution is found efficiently by generating the four-dimensional labels and deleting partial paths corresponding to the bad four-dimensional labels.
Description
Technical Field
The invention relates to the technical field of civil aviation operation command, in particular to a method and a device for planning a route based on a label method, a storage medium and terminal equipment.
Background
Sailing plans are one of the files that are critical in flight execution. Among other things, routings are the core technology of flight planning systems. Before a flight is executed, the signer needs to comprehensively consider a plurality of factors, such as weather conditions, aircraft performances, air traffic and the like, to determine the optimal flight path and related data, including cargo load, fuel consumption, flight time and the like. This ensures the safety of the flight and optimizes the operating costs of the flight. The flight planning system plays a vital role in the operation of airlines' flights. Through reasonable route planning, accurate performance calculation and strict limit inspection, the method improves the operation efficiency and safety of flights, reduces the operation cost and further increases the overall benefit of airlines.
At present, a classical route searching algorithm, such as depth-first search, breadth-first search, dijkstra algorithm and A-algorithm, is mainly adopted for route planning, and although the algorithms can realize the shortest route planning from one vertex to other points, the shortest route meeting the route limiting condition is generally required to be selected from the shortest routes; obviously, the route related limit can not be processed in the traversal process of the classical algorithm, and the problems of more traversal times and low route planning efficiency in the route planning process exist.
Disclosure of Invention
The invention provides a route planning method based on a label method, which can effectively reduce the number of route traversal which does not meet the limiting condition by setting four-dimensional labels for route nodes, quickly find out a global optimal route which meets the limiting condition, and remarkably improve the route planning efficiency.
In order to solve the technical problems, the invention provides a route planning method based on a label method, which comprises the following steps:
Obtaining route data and route limitation data, and generating a route network diagram according to the route data;
Generating a forbidden node limit set and a mandatory node limit set according to the route limit data;
taking a starting node of the route network diagram as a current node set;
Screening the subsequent nodes of the current node set according to the forbidden node limit set to generate a node set to be expanded of the current node;
Generating a four-dimensional label for nodes in the node set to be expanded according to the route data, the forbidden node limit set and the necessary node set;
and when all nodes in the node set to be expanded do not have the subsequent nodes, determining the shortest path according to the calculated four-dimensional labels.
Preferably, the method further comprises: when at least one node in the node set to be expanded has a subsequent node, updating the node set to be expanded into a current node set, and generating the node set to be expanded for the updated current node set; and calculating four-dimensional labels of nodes of the node set to be expanded, and detecting whether all nodes in the node set to be expanded do not have the subsequent nodes until all nodes in the node set to be expanded do not have the subsequent nodes.
Preferably, the route data comprises a path weight, a starting node and a terminating node;
The route limit data comprises forbidden node pairs and must-pass node pairs;
The forbidden node pair is a node pair which cannot directly pass through or indirectly pass through the route limitation of the rear node after passing through the front node, and the path of the forbidden node pair is an illegal path;
the necessary node pair is a node pair which must directly pass through or indirectly pass through the route limitation of the rear node after passing through the front node;
All forbidden node pairs in the route limiting data form a forbidden node limiting set;
all the necessary node pairs in the route restriction data form a necessary node restriction set.
Preferably, the filtering the subsequent nodes of the current node set according to the forbidden node limit set, to generate a node set to be expanded of the current node, includes:
generating a subsequent node set according to the subsequent nodes of the current node set;
When a partial path is extended by a current node, nodes which cannot form forbidden node pairs with nodes on the partial path in the subsequent node set are screened according to the forbidden node limit set, and the nodes are added into a node set to be extended.
Preferably, the generating a four-dimensional label for the node in the node set to be expanded according to the route data, the forbidden limit set and the necessary node set includes:
Generating total weight according to the sum of paths from the initial node to the node to be expanded;
Screening the successor nodes of the node to be expanded according to the forbidden node limit set, and generating the successor nodes meeting the forbidden node limit;
generating a successor node meeting the constraint of the necessary node according to the constraint set of the necessary node and the successor node of the node to be expanded;
generating a passed node set according to the node limit set and the nodes to be expanded;
Generating the four-dimensional label for the node to be expanded by the total weight, the successor node meeting the forbidden node limit, the successor node meeting the must-pass node limit and the passed must-pass node set; each node to be expanded at least generates one four-dimensional label;
when one node to be expanded generates a plurality of four-dimensional labels, the four-dimensional labels are compared in a dominance mode, and bad four-dimensional labels are deleted.
Preferably, the performing the priority comparison on the four-dimensional labels to each other, and deleting the bad four-dimensional labels includes:
When the two four-dimensional labels meet a first limiting condition, taking the four-dimensional label with smaller total path weight as the dominant four-dimensional label, wherein the first limiting condition is that the limiting condition triggered by the four-dimensional label with smaller total path weight is not more than that of the other four-dimensional label, and the past passing node set of the four-dimensional label with the minimum total path weight comprises or is equal to that of the other four-dimensional label;
When the two four-dimensional labels meet a second limiting condition, taking the four-dimensional label with fewer triggering limiting conditions as the dominant four-dimensional label, wherein the second limiting condition is that the total path weight of the four-dimensional label with fewer triggering limiting conditions is not higher than that of the other four-dimensional label, and the past passing node set contains or is equal to that of the other four-dimensional label;
When the two four-dimensional labels meet a third limiting condition, taking the four-dimensional label of the past passing node set containing the other four-dimensional label as the dominant four-dimensional label, wherein the third limiting condition is that the total weight of the path of the four-dimensional label of the past passing node set containing the other four-dimensional label is not higher than the total weight of the path of the other four-dimensional label, and the triggering limiting condition is not more than the other four-dimensional label;
And ending the dominance comparison when the first constraint is not met and the second constraint is not met and the third constraint is not met.
Preferably, the determining the shortest path according to the calculated four-dimensional label includes: the shortest path is output according to the four-dimensional label that the total weight of the termination node is minimum and the must-pass node set is equal to the must-pass node set.
The invention provides a route planning method based on a label method, which comprises the steps of obtaining route data and route limitation data, and generating a route network diagram according to the route data and the route limitation data; generating a forbidden node limit set and a mandatory node limit set according to the route limit data; taking a starting node of the route network diagram as a current node set; screening the successor nodes of the nodes in the current node set according to the forbidden node limit set to generate a node set to be expanded of the current node; generating a four-dimensional label for nodes in the node set to be expanded according to the route data, the forbidden node limit set and the necessary node set; and when all nodes in the node set to be expanded do not have the subsequent nodes, determining the shortest path according to the calculated four-dimensional labels. By setting the four-dimensional labels for the nodes, the extended paths are ensured to meet the navigation path limiting conditions in the path optimizing process, and partial worse paths are deleted, so that optimizing times are effectively reduced, and optimizing efficiency is greatly improved.
The invention also provides a route planning device based on the label method, which comprises:
The data processing module is used for acquiring the route data and the route limiting data and generating a route network diagram according to the route data and the route limiting data;
The path limiting module is used for generating a forbidden node limiting set and a necessary node limiting set according to the route limiting data;
The initialization module is used for taking the initial node of the route network diagram as a current node set;
the path expansion module is used for screening the subsequent nodes of the nodes in the current node set according to the forbidden node limit set to generate a node set to be expanded of the current node;
the label generation module is used for generating a four-dimensional label for the node set to be expanded according to the route data, the forbidden node limit set and the necessary node set;
and the path output module is used for determining the shortest path according to the calculated four-dimensional label when all nodes in the node set to be expanded do not have the subsequent nodes.
Preferably, the apparatus further comprises: the circulation module is used for updating the node set to be expanded into the current node set when at least one node in the node set to be expanded has a subsequent node, and generating the node set to be expanded for the updated current node set; and calculating four-dimensional labels of nodes of the node set to be expanded, and detecting whether all nodes in the node set to be expanded do not have the subsequent nodes until all nodes in the node set to be expanded do not have the subsequent nodes.
Preferably, the route data comprises a path weight, a starting node and a terminating node;
The route limit data comprises forbidden node pairs and must-pass node pairs;
The forbidden node pair is a node pair which cannot directly pass through or indirectly pass through the route limitation of the rear node after passing through the front node, and the path of the forbidden node pair is an illegal path;
the necessary node pair is a node pair which must directly pass through or indirectly pass through the route limitation of the rear node after passing through the front node;
All forbidden node pairs in the route limiting data form a forbidden node limiting set;
all the necessary node pairs in the route restriction data form a necessary node restriction set.
Preferably, the filtering the subsequent nodes of the current node set according to the forbidden node limit set, to generate a node set to be expanded of the current node, includes:
generating a subsequent node set according to the subsequent nodes of the current node set;
When a partial path is extended by a current node, nodes which cannot form forbidden node pairs with nodes on the partial path in the subsequent node set are screened according to the forbidden node limit set, and the nodes are added into a node set to be extended.
Preferably, the generating a four-dimensional label for the node in the node set to be expanded according to the route data, the forbidden limit set and the necessary node set includes:
Generating total weight according to the sum of paths from the initial node to the node to be expanded;
Screening the successor nodes of the node to be expanded according to the forbidden node limit set, and generating the successor nodes meeting the forbidden node limit;
generating a successor node meeting the constraint of the necessary node according to the constraint set of the necessary node and the successor node of the node to be expanded;
generating a passed node set according to the node limit set and the nodes to be expanded;
Generating the four-dimensional label for the node to be expanded by the total weight, the successor node meeting the forbidden node limit, the successor node meeting the must-pass node limit and the passed must-pass node set; each node to be expanded at least generates one four-dimensional label;
when one node to be expanded generates a plurality of four-dimensional labels, the four-dimensional labels are compared in a dominance mode, and bad four-dimensional labels are deleted.
Preferably, the performing the priority comparison on the four-dimensional labels to each other, and deleting the bad four-dimensional labels includes:
When the two four-dimensional labels meet a first limiting condition, taking the four-dimensional label with smaller total path weight as the dominant four-dimensional label, wherein the first limiting condition is that the limiting condition triggered by the four-dimensional label with smaller total path weight is not more than that of the other four-dimensional label, and the past passing node set of the four-dimensional label with the minimum total path weight comprises or is equal to that of the other four-dimensional label;
When the two four-dimensional labels meet a second limiting condition, taking the four-dimensional label with fewer triggering limiting conditions as the dominant four-dimensional label, wherein the second limiting condition is that the total path weight of the four-dimensional label with fewer triggering limiting conditions is not higher than that of the other four-dimensional label, and the past passing node set contains or is equal to that of the other four-dimensional label;
When the two four-dimensional labels meet a third limiting condition, taking the four-dimensional label of the past passing node set containing the other four-dimensional label as the dominant four-dimensional label, wherein the third limiting condition is that the total weight of the path of the four-dimensional label of the past passing node set containing the other four-dimensional label is not higher than the total weight of the path of the other four-dimensional label, and the triggering limiting condition is not more than the other four-dimensional label;
And ending the dominance comparison when the first constraint is not met and the second constraint is not met and the third constraint is not met.
Preferably, the determining the shortest path according to the calculated four-dimensional label includes:
The shortest path is output according to the four-dimensional label that the total weight of the termination node is minimum and the must-pass node set is equal to the must-pass node set.
The present invention also provides a computer-readable storage medium comprising a stored computer program; wherein the computer program, when run, controls a device in which the computer readable storage medium resides to perform the label-based route planning method of any one of the above.
The invention also provides a terminal device comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the label-based route planning method of any one of the above when executing the computer program.
Compared with the prior art, the invention provides a route planning method, a device, a storage medium and terminal equipment based on a label method, which are used for obtaining route data and route limitation data and generating a route network diagram according to the route data and the route limitation data; generating a forbidden node limit set of forbidden paths and a must-pass node limit set of must-pass paths according to the route limit data; taking a starting node of the route network diagram as a current node set; screening the subsequent nodes of the current node set according to the forbidden node limit set and the necessary node limit set to generate a node set to be expanded of the current node; generating a four-dimensional label for the node set to be expanded according to the route data, the forbidden node limit set and the necessary node set; and when all nodes in the node set to be expanded do not have the subsequent nodes, determining the shortest path according to the calculated four-dimensional labels. By setting four-dimensional labels for the extension nodes, only paths which meet the route restriction and are dominant are extended, and in the path optimizing process, the optimizing times can be effectively reduced, and the optimizing efficiency is greatly improved.
Drawings
Fig. 1 is a schematic flow chart of a routing method based on a label method according to an embodiment of the present invention in a first embodiment.
FIG. 2 is a directed acyclic graph of an airway network provided by an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a routing device based on a label method according to an embodiment of the present invention.
Fig. 4 is a block diagram of a terminal device according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the invention provides a route planning method based on a label method, and referring to fig. 1, the route planning method based on the label method provided by the embodiment of the invention is a schematic flow diagram in a first embodiment, and the method comprises steps S10 to S15:
s10, obtaining route data and route limitation data, and generating a route network diagram according to the route data;
s11, generating a forbidden node limit set and a necessary node limit set according to the route limit data;
step S12, taking the initial node of the route network diagram as a current node set;
Step S13, screening the subsequent nodes of the current node set according to the forbidden node limit set to generate a node set to be expanded of the current node;
step S14, generating a four-dimensional label for the nodes in the node set to be expanded according to the route data, the forbidden node limit set and the necessary node set;
Step S15, when all nodes in the node set to be expanded do not have the subsequent nodes, determining the shortest path according to the calculated four-dimensional labels;
When the embodiment is implemented, firstly, loading route data and route limitation data to generate a route network diagram G, wherein the route network diagram G is a directed acyclic diagram, a starting node is marked as S, and a termination node is marked as T; the forbidden node limit set and the mandatory node limit set in the graph G are represented by two sets F and M, the set F and the set M are generated according to the route limit data and the graph G, and the constituent elements of the set F and the set M are node pairs; for example, forbidden node limit set f= { (V 1,V2),(V3,V4),.., Must go through node constraint set m= { (C 1,V2),(V3,V4),.. } is must go through type path constraint, node pair (V 1,V2) in M represents must go through V 2 after V 1. The above restricted node pairs are ordered, e.g., (V 1,V2) ε F is restricted to only pass V 1 but not pass V 2, but is allowed to pass V 2 and then pass V 1. And the limited node pairs are not necessarily directly connected, for example, if (V 1,V2) e F exists, the limitation is violated by passing V 1, passing a plurality of other nodes and then connecting with V 2. Then, screening the subsequent nodes of the current node set according to the forbidden node limit set and the necessary node limit set to generate a node set to be expanded of the current node S; Defining a four-dimensional label L k＝(wk,SFk,SCk,SPk for the node set to be expanded to represent a partial path from the start point to the node to be expanded, it should be noted that, one four-dimensional label corresponds to a partial path from the start point to the current node, and one node may generate a plurality of four-dimensional labels to represent that the start point can reach the current node through a plurality of paths. The first dimension w k of the four-dimensional label is the total weight corresponding to the partial path from the starting point to the k point, and the last three items are a forbidden node set SF k, a must-pass node set SC k and a must-pass point set SP k which are maintained for each partial path for processing the path limitation; When all nodes in the node set to be expanded have no successor node, the node to be expanded is the termination node, and after expansion is finished, the shortest path is directly output according to the four-dimensional label of the termination node.
The invention provides a route planning method based on a label method, which comprises the steps of obtaining route data and route limitation data, and generating a route network diagram according to the route data and the route limitation data; generating a forbidden node limit set of forbidden paths and a must-pass node limit set of must-pass paths according to the route limit data; taking a starting node of the route network diagram as a current node set; screening the subsequent nodes of the current node set according to the forbidden node limit set and the necessary node limit set to generate a node set to be expanded of the current node; generating a four-dimensional label for the node set to be expanded according to the route data, the forbidden node limit set and the necessary node set; and when all nodes in the node set to be expanded do not have the subsequent nodes, determining the shortest path according to the calculated four-dimensional labels. By setting the four-dimensional labels for the nodes, the optimized paths are ensured to meet the navigation path limiting conditions in the path optimizing process, part of worse paths are deleted, and only the occupied paths are expanded, so that optimizing times are effectively reduced, and optimizing efficiency is greatly improved.
In an alternative embodiment, the method further comprises: when at least one node in the node set to be expanded has a subsequent node, updating the node set to be expanded into a current node set, and generating the node set to be expanded for the updated current node set; and calculating a four-dimensional label of the node set to be expanded, and detecting whether all nodes in the node set to be expanded do not have the subsequent nodes until all nodes in the node set to be expanded do not have the subsequent nodes.
When the embodiment is implemented, the node set to be expanded generated by the starting node is not usually the termination node set, and at the moment, we need to continue expanding the node to be expanded until the node to be expanded reaches the termination node, so that the optimal path can be obtained; Firstly, taking the node to be expanded generated by the starting node as the current node set, calculating four-dimensional labels of nodes in the node set to be expanded according to the calculation mode of the embodiment, then generating a new node set to be expanded according to the four-dimensional labels of the nodes to be expanded and the subsequent nodes, for example, the current node V 1 generates the node to be expanded as V 2、V4, firstly expanding the node V 2 according to the four-dimensional labels of the current node V 1, Assuming that the four-dimensional label of node V 1 corresponds to a partial path of S-V 0-V1, the successor nodes of node V 2 are V 5、V6 and V 7, If there is a node pair (V 0,V7) in the prohibited node limit set, the successor node V 7 of the node V 2 is added as a prohibited node limit to the prohibited node set of the four-dimensional tag of the node V 2, And node V 7 cannot be the node to be expanded of node V 2; the successor nodes of the re-expansion node V 4,V4 are V 5、V7、V8 and V 9, the forbidden node restriction set presence element (V 0,V8), The element (V 0,V4)、(V1,V9) must exist through the node constraint set, then the partial path is not extendable from node V 4 to the successor node V 8, node V 8 is added to the forbidden node set of the four-dimensional labels of node V 4, Adding the node V 9 into the necessary node set of the four-dimensional label of the node V 4, and adding the node V 4 into the past necessary node set of the four-dimensional label of the node V 4; V 5、V7 and V 9 are taken as the node set to be expanded of the node V 4. According to the embodiment, the situations that the number of path nodes is large and the path nodes are complex are considered, four-dimensional labels are combined when the intermediate nodes are expanded, the problem of low optimizing efficiency under the condition that the paths are complex can be effectively solved by reducing the number of expanded paths, and efficiency improvement is more remarkable under the conditions that the number of path nodes is large and the route limit is large.
In an alternative embodiment, in which the forbidden node limit set and the must-pass node limit set are described in greater detail, if the forbidden node limit set F = { (V 1,V2),(V3,V4),..} is forbidden to pass through the type path limit, node pair (V 1,V2) in F indicates that V 2 cannot pass through after V 1, Must go through node constraint set m= { (V 1,V2),(V3,V4),.. } is must go through type path constraint, node pair in M (V 1,V2) represents must go through V 2 after V 1. The above restricted node pairs are ordered, e.g., (V 1,V2) ε F, which is restricted to only point V 1 and then cannot pass through point V 2, but is allowed to pass through point V 2 and then through point V 1. And the limited node pairs are not necessarily directly connected, for example, if (V 1,V2) e F exists, the limitation is violated by passing V 1, passing a plurality of other nodes and then connecting with V 2. The forbidden node pair and the necessary node pair are both obtained by route restriction data; The method comprises the steps of prohibiting paths of node pairs from being illegal paths; the set of necessary nodes corresponding to the four-dimensional labels of the full path from the starting node to the ending node is not equal to the set of necessary nodes which have been passed, and the full path is an illegal path, that is, the set of necessary nodes equal to the set of necessary nodes for the complete path indicates that all necessary nodes have been passed, meets the limitation of the necessary nodes, otherwise, does not meet the limitation of the necessary nodes, cannot be used as an optimal path even if the total weight of the path is small, and is marked as an illegal path.
In an optional embodiment, generating a node set to be expanded of the current node is described in more detail as each four-dimensional label corresponding path, if the corresponding path includes a start node and a stop node, the corresponding path is marked as a complete path, if the corresponding path does not include a stop node, the corresponding path is marked as a partial path, the partial path indicates that the incomplete expansion needs to be continuously expanded, and the node set to be expanded needs to be generated for the current node; the node set to be expanded is a successor node which does not violate the forbidden node limit in the current node, for example, the successor node set of the current node d is { e, g, k, p }, the four-dimensional labels of the current node are (17, { g, k }, { a, b }, as can be seen from the description of the four-dimensional labels, 17 represents the total weight of the path from the starting node to the corresponding part of the current node d, { g, k } represents the forbidden node set, { a, b } represents the must-pass node set, then the node g and the node k in the successor node cannot be used as the nodes to be expanded, and the node e and the node p can be used as the nodes to be expanded; that is, the subsequent nodes may be screened according to the forbidden node set in the current node four-dimensional label, where the forbidden node constraint set indicates a node whose meaning is that the path corresponding to the four-dimensional label is forbidden to expand, and it should be noted that, as long as the node pair formed by the subsequent node of the current node and any node on a part of the paths is a forbidden node pair, the subsequent node is added to the forbidden node set of the four-dimensional label. By prohibiting the setting of the node set, the expansion which does not accord with the restriction can be reduced in the node expansion process, and the generation of illegal paths can be reduced.
In an alternative embodiment, referring to FIG. 2, a directed acyclic graph of a routing network is provided in accordance with an embodiment of the present invention. Take the directed graph G in fig. 2 as an example. Assuming that there are restrictions in the directed acyclic graph G that f= { (a, d) } and m= { (b, e) } cannot pass through the node d after passing through the node a, and that the node e must pass through the node b. Initializing a node set V= { s } to be expanded from a starting point s, and initializing the label of the s point asThe set of successor nodes to the s-point is { a, c, b }. a is not in the corresponding forbidden node set and can be extended from the s point to node a. Because a is a limited front node in F, adding the corresponding rear node d into the forbidden node set, and updating the label of a to be/>Similarly, extend from s to b and update the tag to/>Expanding from s to c, updating the tag to/>When one node has more than 1 label, the super-label comparison is performed, the super-label is deleted, the scratched label in fig. 2 is the super-label, and the representative part of the path is not extended continuously. And continuously expanding according to the steps until the subsequent node of the current node is empty. The four-dimensional labels can more intuitively judge the paths which can be expanded by the current node, and the dominant comparison can delete bad paths which cannot be on the optimal paths under the condition of considering the path related restrictions during expansion, so that the comparison of the paths can be effectively reduced.
In an alternative embodiment, for example, if the number of generated four-dimensional labels of the node i to be expanded is greater than 1, comparing the dominant labels, and deleting the superior labels; the definition of you Chao (dominate) is as follows: if there are two partial paths L 1 and L 2 from the start point to the point of node i to be expanded, L 1 is the dominant label and L 2 is superior when the following conditions are satisfied and at least one of the following conditions is strict:
Where SF k is the set of nodes after the partial path is triggered and prohibited from being passed through when the partial path continues to expand, SC k is the set of nodes after the partial path is triggered and must be passed through when the partial path continues to expand, SP k is the set of nodes after the partial path has been passed through, and 1 and 2 in the upper right corner represent the corresponding partial paths L 1 and L 2.
On the premise of simultaneously satisfying the four formulas, when the formula (1) satisfiesEquation (2) satisfiesEquation (3) satisfies/>Or formula (4) satisfies/>The corresponding formula is called strict. For example, when there are two partial paths 1 and 2 from the start point s to the node i, corresponding to the labels L 1 and L 2, the formula (1) ensures that the current total weight of the partial path 1 is less than or equal to the total weight of the partial path 2, the formula (2) ensures that the prohibited-passing type path limit triggered by the current partial path 1 is not more than the prohibited-passing type path limit triggered by the partial path 2, the formula (3) ensures that the must-passing type path limit triggered by the current partial path 1 is not more than the must-passing type path limit triggered by the partial path 2, and the formula (4) ensures that the must-passing type path limit that the partial path 1 has satisfied is not less than the partial path 2. It should be noted that the four-dimensional labels with less limitation represent at least one of the forbidden node set and the must-pass node set as a proper subset of the corresponding set of the other four-dimensional label, not just how much is the relation in the number of set elements.
As described in more detail above, if the above condition is satisfied and the formula (1) is strict, i.e., the first constraint is satisfied,It indicates that the current total weight of the partial path 1 is smaller, and the path-related constraint imposed by the partial path 1 when continuing to expand is not more than that of the partial path 2, and the necessary nodes that have passed through the partial path 1 include or are equal to the necessary nodes that have passed through the partial path 2, so that the partial path 1 is better, and the four-dimensional label corresponding to the partial path 2 can be deleted. If the above conditions are satisfied and at least one of the formulas (2) or (3) is strict, that is, if the second constraint condition is satisfied, it means that the current total weight of the partial path 1 is not greater than that of the partial path 2, and the path correlation constraint is less when the expansion is continued, and the set of necessary nodes that the partial path 1 has passed contains or is equal to the set of necessary nodes that the partial path 2 has passed, so that the partial path 1 is better, and the four-dimensional label corresponding to the partial path 2 can be deleted; more specifically, when the formula (2) is strict, the total current weight of the part path 1 is not greater than that of the part path 2, the forbidden node set of the part path 1 corresponding to the four-dimensional label is a proper subset of the forbidden node set of the part path 2 corresponding to the four-dimensional label, the must-pass node set of the part path 1 corresponding to the four-dimensional label is contained in or equal to the must-pass node set of the part path 2 corresponding to the four-dimensional label, and the must-pass node set of the part path 1 contains or equal to the must-pass node set of the part path 2, so that the forbidden pass type path limitation suffered by the continued expansion is less, the part path 1 is better, and the four-dimensional label corresponding to the part path 2 can be deleted; when formula (3) is strict, the current total weight of the part path 1 is not larger than that of the part path 2, the necessary node set of the four-dimensional label corresponding to the part path 1 is a proper subset of the necessary node set of the four-dimensional label corresponding to the part path 2, the forbidden node set of the four-dimensional label corresponding to the part path 1 is contained in or equal to the forbidden node set of the four-dimensional label corresponding to the part path 2, and the necessary node set of the part path 1 contains or equal to the necessary node set of the part path 2, so that the necessary-pass type path limitation is less when the expansion is continued, the part path 1 is better, and the four-dimensional label corresponding to the part path 2 can be deleted. If the above condition is satisfied and the formula (4) is strict, that is, the third constraint is satisfied, it indicates that the total current weight of the partial path 1 is not greater than that of the partial path 2, and the path-related constraint imposed by the continued expansion is not greater than that of the partial path 2, and the necessary nodes that have passed through the partial path 1 include the necessary nodes that have passed through the partial path 2, that is, the necessary node constraint that has been satisfied by the partial path 1 is greater, the constraint imposed by the continued expansion is less, so that the partial path 1 is better, and the four-dimensional label corresponding to the partial path 2 can be deleted. If any one of the first constraint condition, the second constraint condition and the third constraint condition cannot be met, the two labels cannot be subjected to the dominant comparison, and at the moment, two four-dimensional labels are required to be kept to be continuously compared with other four-dimensional labels in pairs; by virtue of the dominance comparison, a more optimal path can be expanded on the premise of ensuring that the expansion path meets the limiting condition, and the expansion efficiency is further improved.
In an alternative embodiment, a four-dimensional label with the minimum total weight of the path is selected, the four-dimensional label which is completely the same as the four-dimensional label which is limited by the node and has been limited by the node is taken as the four-dimensional label of the termination node, and a complete path is determined according to the four-dimensional label of the termination node; it should be noted that, the path weight is minimum to ensure that the path is optimal, and ensuring that the necessary node limit is the same as the necessary node limit is to ensure that the full path corresponding to the current four-dimensional label accords with the necessary node limit, and all the nodes that must pass have already passed through, and conversely, the path weight indicates that all the necessary nodes have not passed through, and the corresponding full path is illegal.
The embodiment of the invention also provides a route planning device based on the label method, which is shown in fig. 3, and is a schematic structural diagram of the route planning device based on the label method, and the device comprises:
data processing module 30: the method comprises the steps of obtaining route data and route limiting data, and generating a route network diagram according to the route data;
The path limiting module 31: a forbidden node limit set for generating forbidden paths according to the route limit data, and a must-pass node limit set for the must-pass path;
Initialization module 32: the initial node is used for taking the route network diagram as a current node set;
path expansion module 33: the method comprises the steps of screening the subsequent nodes of a current node set according to the forbidden node limit set to generate a node set to be expanded of the current node;
Label generation module 34: the method comprises the steps of generating a four-dimensional label for a node set to be expanded according to route data, a forbidden node limit set and a necessary node set;
path output module 35: and determining the shortest path according to the calculated four-dimensional label when all nodes in the node set to be expanded do not have the subsequent nodes.
The device and the module can implement all the processes of the route planning method based on the label method according to any of the embodiments, and the actions and the implemented technical effects of each module in the device are respectively the same as those of the route planning method based on the label method according to the embodiments, and are not described in detail herein.
The embodiment of the invention also provides a computer readable storage medium, which comprises a stored computer program; the computer program controls the device where the computer readable storage medium is located to execute the route planning method based on the label method according to any one of the above embodiments when running.
The embodiment of the present invention further provides a terminal device, and referring to fig. 4, which is a block diagram of a structure of the terminal device provided by the embodiment of the present invention, where the terminal device includes a processor 40, a memory 41, and a computer program stored in the memory 41 and configured to be executed by the processor 40, and when the processor 40 executes the computer program, the method for planning a route based on a label method according to any one of the foregoing embodiments is implemented.
Preferably, the computer program may be partitioned into one or more modules/units (e.g., computer program 1, computer program 2, & gtthe & lt- & gt, & lt- & gt) that are stored in the memory 41 and executed by the processor 40 to complete the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing the specified functions, which instruction segments are used for describing the execution of the computer program in the terminal device.
The Processor 40 may be a central processing unit (Central Processing Unit, CPU), other general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf programmable gate array (FieldProgrammable GATE ARRAY, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc., the general purpose Processor may be a microprocessor, or the Processor 40 may be any conventional Processor, the Processor 40 being a control center of the terminal device, the various interfaces and lines connecting the various parts of the terminal device.
The memory 41 mainly includes a program storage area, which can store an operating system, an application program required for at least one function, and the like, and a data storage area, which can store related data and the like. In addition, the memory 41 may be a high-speed random access memory, or may be a nonvolatile memory, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), or the like.
It should be noted that the above-mentioned terminal device may include, but is not limited to, a processor, a memory, and those skilled in the art will understand that the structural block diagram of fig. 4 is merely an example of the above-mentioned terminal device, and does not constitute limitation of the terminal device, and may include more or less components than those illustrated, or may combine some components, or different components.
In summary, the invention discloses a route planning method, a device, a storage medium and a terminal device based on a label method, comprising the following steps: obtaining route data and route limiting data, and generating a route network diagram according to the route data and the route limiting data; generating a forbidden node limit set of forbidden paths and a must-pass node limit set of must-pass paths according to the route limit data; taking a starting node of the route network diagram as a current node set; screening the subsequent nodes of the current node set according to the forbidden node limit set and the necessary node limit set to generate a node set to be expanded of the current node; generating a four-dimensional label for the node set to be expanded according to the route data, the forbidden node limit set and the necessary node set; and when all nodes in the node set to be expanded do not have the subsequent nodes, determining the shortest path according to the calculated four-dimensional labels. According to the method, the four-dimensional labels are generated, only the dominant path is expanded, high-efficiency optimizing is achieved, and optimizing efficiency of the shortest path can be remarkably improved.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (9)
1. The route planning method based on the label method is characterized by comprising the following steps:
Obtaining route data and route limitation data, and generating a route network diagram according to the route data;
Generating a forbidden node limit set and a mandatory node limit set according to the route limit data;
taking a starting node of the route network diagram as a current node set;
Screening the subsequent nodes of the current node set according to the forbidden node limit set to generate a node set to be expanded of the current node;
Generating a four-dimensional label for nodes in the node set to be expanded according to the route data, the forbidden node limit set and the necessary node set;
when all nodes in the node set to be expanded do not have the subsequent nodes, determining the shortest path according to the calculated four-dimensional labels;
The generating a four-dimensional label for the nodes in the node set to be expanded according to the route data, the forbidden limit set and the necessary node set comprises the following steps:
Generating total weight according to the sum of paths from the initial node to the node to be expanded;
Screening the successor nodes of the node to be expanded according to the forbidden node limit set, and generating the successor nodes meeting the forbidden node limit;
generating a successor node meeting the constraint of the necessary node according to the constraint set of the necessary node and the successor node of the node to be expanded;
generating a passed node set according to the node limit set and the nodes to be expanded;
Generating the four-dimensional label for the node to be expanded by the total weight, the successor node meeting the forbidden node limit, the successor node meeting the must-pass node limit and the passed must-pass node set; each node to be expanded at least generates one four-dimensional label;
when one node to be expanded generates a plurality of four-dimensional labels, the four-dimensional labels are compared in a dominance mode, and bad four-dimensional labels are deleted.
2. A label-based routing method as recited in claim 1, wherein the method further comprises:
When at least one node in the node set to be expanded has a subsequent node, updating the node set to be expanded into a current node set, and generating the node set to be expanded for the updated current node set; and calculating four-dimensional labels of nodes of the node set to be expanded, and detecting whether all nodes in the node set to be expanded do not have the subsequent nodes until all nodes in the node set to be expanded do not have the subsequent nodes.
3. A label-based routing method as recited in claim 1, wherein the route data includes path weights, a start node, and a termination node;
The route limit data comprises forbidden node pairs and must-pass node pairs;
The forbidden node pair is a node pair which cannot directly pass through or indirectly pass through the route limitation of the rear node after passing through the front node, and the path of the forbidden node pair is an illegal path;
the necessary node pair is a node pair which must directly pass through or indirectly pass through the route limitation of the rear node after passing through the front node;
All forbidden node pairs in the route limiting data form a forbidden node limiting set;
all the necessary node pairs in the route restriction data form a necessary node restriction set.
4. The labeling-based routing method as set forth in claim 1, wherein the filtering the nodes subsequent to the current node set according to the forbidden node limit set to generate a node set to be expanded of the current node includes:
generating a subsequent node set according to the subsequent nodes of the current node set;
When a partial path is extended by a current node, nodes which cannot form forbidden node pairs with nodes on the partial path in the subsequent node set are screened according to the forbidden node limit set, and the nodes are added into a node set to be extended.
5. The labeling-based route planning method of claim 4, wherein the performing the priority comparison of four-dimensional labels two by two and eliminating bad four-dimensional labels comprises:
When the two four-dimensional labels meet a first limiting condition, taking the four-dimensional label with smaller total path weight as a dominant four-dimensional label, wherein the first limiting condition is that the limiting condition triggered by the four-dimensional label with smaller total path weight is not more than the other four-dimensional label, and the past passing node set of the four-dimensional label with the minimum total path weight comprises or is equal to the past passing node set of the other four-dimensional label;
When the two four-dimensional labels meet a second limiting condition, taking the four-dimensional label with fewer triggering limiting conditions as the dominant four-dimensional label, wherein the second limiting condition is that the total path weight of the four-dimensional label with fewer triggering limiting conditions is not higher than that of the other four-dimensional label, and the past passing node set contains or is equal to that of the other four-dimensional label;
When the two four-dimensional labels meet a third limiting condition, taking the four-dimensional label of the past passing node set containing the other four-dimensional label as the dominant four-dimensional label, wherein the third limiting condition is that the total weight of the path of the four-dimensional label of the past passing node set containing the other four-dimensional label is not higher than the total weight of the path of the other four-dimensional label, and the triggering limiting condition is not more than the other four-dimensional label;
And ending the dominance comparison when the first constraint is not met and the second constraint is not met and the third constraint is not met.
6. A method of label-based routing as recited in claim 1, wherein said determining a shortest path from the calculated four-dimensional labels comprises:
The shortest path is output according to the four-dimensional label that the total weight of the termination node is minimum and the must-pass node set is equal to the must-pass node set.
7. A label-based route planning apparatus, comprising:
The data processing module is used for acquiring the route data and the route limiting data and generating a route network diagram according to the route data and the route limiting data;
The path limiting module is used for generating a forbidden node limiting set and a necessary node limiting set according to the route limiting data;
The initialization module is used for taking the initial node of the route network diagram as a current node set;
The path expansion module is used for screening the subsequent nodes of the current node set according to the forbidden node limit set and the necessary node limit set to generate a node set to be expanded of the current node;
the label generation module is used for generating a four-dimensional label for the node set to be expanded according to the route data, the forbidden node limit set and the necessary node set;
The path output module is used for determining the shortest path according to the calculated four-dimensional labels when all nodes in the node set to be expanded do not have the subsequent nodes;
The generating a four-dimensional label for the nodes in the node set to be expanded according to the route data, the forbidden limit set and the necessary node set comprises the following steps:
Generating total weight according to the sum of paths from the initial node to the node to be expanded;
Screening the successor nodes of the node to be expanded according to the forbidden node limit set, and generating the successor nodes meeting the forbidden node limit;
generating a successor node meeting the constraint of the necessary node according to the constraint set of the necessary node and the successor node of the node to be expanded;
generating a passed node set according to the node limit set and the nodes to be expanded;
Generating the four-dimensional label for the node to be expanded by the total weight, the successor node meeting the forbidden node limit, the successor node meeting the must-pass node limit and the passed must-pass node set; each node to be expanded at least generates one four-dimensional label;
when one node to be expanded generates a plurality of four-dimensional labels, the four-dimensional labels are compared in a dominance mode, and bad four-dimensional labels are deleted.
8. A computer readable storage medium, wherein the computer readable storage medium comprises a stored computer program; wherein the computer program, when run, controls a device in which the computer readable storage medium is located to perform the label-based route planning method of any one of claims 1 to 6.
9. A terminal device comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the label-based route planning method according to any one of claims 1-6 when the computer program is executed.
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