CN1734238A - Two-step multi-path optimization method for central controlled vehicle information system - Google Patents
Two-step multi-path optimization method for central controlled vehicle information system Download PDFInfo
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Abstract
This invention discloses a carrying guidance system in the route optimum domain, which comprises the following steps: establishing a biparametric path unit standard dynamic file; considering the path rational constrained and joint failure constrained; using the method of heuristics weight to establish the optional path set off line; improving A* heuristics function to increase the efficiency of optional path set which satisfies the customer rational constrained and joint failure constrained; Off-line optional path set coded storing and backtrack on line; screening of on-line dynamic path, supplementary searching and multiple path issue.
Description
Technical field
The present invention relates to onboard navigation system route optimization field,, design and realized the efficient algorithm of the two stages dynamic route optimizing of a kind of obstruction risk averse that is used for center control type onboard navigation system and clustering risk averse based on the unblocked reliability analysis.
Background technology
Onboard navigation system (VIS) is as one of application of intelligent transportation system ITS, and it not only provides better routing information service to the user, can also help to reduce traffic jam, shortens running time and saves the energy.Therefore obtained in recent years using widely.Best route is important gordian technique in the vehicle automated navigation system preferably.China's research in this respect still is in the starting stage.According to route optimization based on information source, the vehicle automated navigation system can be divided into dynamic navigation and static navigation again, it is preferred that dynamic navigation is carried out route according to dynamic real-time information, it is preferred that static navigation is carried out route according to historical static information.Performance element difference according to path computing can be divided into the vehicle automated navigation system center control type and decentralised control formula onboard navigation system again in addition.Center control type path computing is finished by the computing machine of information center, and computing power is stronger, and helps the realization of inducible system global optimization target.Decentralised control formula path computing is finished by truck-mounted computer, and computing power has limitation.The dynamic onboard navigation system that the present invention is directed to the center control type is carried out the route optimization design.
Mostly onboard navigation system is that with user's optimum be carrying out single path calculating and issuing of target at present.Along with the progressively increase of navigation vehicle in the road network with popularize, the inducing to be easy to produce in peak period of the single path of this user's optimum induced the vehicle clustering to cause predisposition to lead blocking up of formation in same path.This is not only bad for the function performance of road network system, and the navigation user benefit finally also can not get ensureing.And it is consuming time long because of a large amount of iteration of need to take into account optimum optimum path search algorithm such as the point of fixity method (fix point) with system optimal of user when usually adopting, and is difficult to use in real-time navigation.Multipath induction information issue can effectively avoid inducing the clustering phenomenon, and the user can therefrom select satisfied path according to own hobby, thereby reaches the coordination of the optimum and system optimal of user.Therefore, multipath is induced will become the following dynamically mainstream technology of vehicle mounted guidance.
But in present Dynamic Multi-Pathing is preferred, there is the problem of following several respects: the 1) problem of obtaining of high precision real-time information.Also prematurity of real-time information forecasting techniques both at home and abroad at present, precision of prediction has much room for improvement.2) path computing real-time problem.Adopt legacy paths algorithm such as Dijkstra method and A* algorithm to carry out path computing, its computing time, the increase with road network scale was index or non-linear increase.Although the computing power of center-controlling computer is powerful, along with popularizing of navigation vehicle in the road network, rush hour when a large amount of vehicles send navigation request simultaneously, still can cause calculating and delay time because of calculated amount is excessive.And multipath calculates and more to have increased the weight of the path and calculate the difficulty of realization in real time.3) constraint multipath computational problem is arranged.Though the clustering phenomenon can be effectively avoided in multipath planning, if detoured the user is lost the trust of navigation information and not the center of accepting induce, thereby the system benefit that induce at the reduction center.Therefore multipath calculates and relates to constrained optimum path search problem.Studying its highly effective algorithm is the key that realizes the dynamic real-time navigation.
In view of above problem, how under dependence multidate information condition within reason, efficiently and accurately is provided, meets the user preferences requirement, and take into account the road network system optimization aim constraint multi-path optimization algorithm and technical application are arranged is the problem that center control type onboard navigation system is needed solution badly.
Summary of the invention
Based on above analysis, the present invention has designed the accurate dynamically alternative route collection of off-line (offline) and has set up and store, and the screening of online (online) real-time route is controlled vehicle mounted guidance mechanism and algorithms with two stage centers of multipath issue.(seeing accompanying drawing 1) by fail-safe analysis, by historical information is refined, having set up with average transit time and unblocked reliability is the accurate dynamic road property file of biparametric; Based on this accurate dynamic road property file, utilize the method for heuristic weighting to invent partly overlapping alternative path collection method for building up, this road collection satisfies user preferences constraint and the common constraint of losing efficacy; According to online multidate information, can from these alternative paths, filter out many feasible paths in real time and be used for the induction information issue.This invention has improved rationality and online validity based on the alternative path of historical information owing to considered lost efficacy the jointly possibility of (obstruction) of possibility and alternative path that a passage is blocked up takes place.Calculate by the alternative road of off-line collection simultaneously, reduced the workload of online route searching.The characteristics of this algorithm are too much to rely on multidate information, and real time reaction speed is fast, computing time and road network scale and induce vehicle number linear.This invention not only can reduce trip and incur loss through delay risk, and can reduce the clustering risk, helps realizing the coordination of system optimal and user's optimum.
Technical thought of the present invention is characterized as:
1. the foundation of the accurate dynamic attribute file of biparametric roadway element.
2. consider path rationality constraint and the common constraint of losing efficacy, utilize the method off-line of heuristic weighting to set up the alternative path set.
3. the heuristic function that improves A* improves the efficient that alternative road collection is set up.
4. the alternative road of off-line collection coding type storage and onlinely recall.
5. online dynamic route screening, additional search and multipath issue.
It below is the detailed description of technical thought feature of the present invention and concrete scheme.
1. phase one: off-line phase
(1) demarcates biparametric roadway element property file
T typical period of time, t＞=3 will be divided in one day; Below operation carry out at any one typical period of time wherein, the method for operating of other period is identical;
Historical information processed with refine into two seed ginseng number form formulas and serve navigation algorithm: the one, the average transit time of the roadway element of each typical period of time, the one, the unblocked reliability of each typical period of time roadway element.
Roadway element generally comprises highway section and crossing.Utilize prior art that road network is converted into arc power network, soon the crossing respectively turns to virtual segment and represents that respectively turning to the delay time at stop is the transit time of virtual segment.The crowded not serious road network in the crossing, also the highway section transit time is only considered in the not delay of considering intersection.The segment unit thereby the road network roadway element can only show the way.
Each roadway element is carried out average transit time of each typical period of time and the demarcation of unblocked reliability biparametric, wherein sets up the average transit time of roadway element, adopt following method:
For roadway element with traffic flow historical data more than month, calculate (special events such as accident free, disaster take place) average transit time in a certain amount of time under the roadway element i normal condition with statistical method, this average transit time is exactly the weights W of roadway element i
iFor the highway section of the traffic flow historical data of neither one more than the moon, can road section length divided by the weights W of highway section design rate as roadway element i
i
Determine that wherein the roadway element unblocked reliability will be through two processes:
A. roadway element is done the binary condition hypothesis: the state that is about to roadway element is divided into two kinds: unimpeded and obstruction; Distinguish highway section boundary unimpeded and that block and be the unit of setting in advance, the highway section threshold speed that travels, then be considered as unimpededly greater than this value, then be considered as obstruction less than this value; It then is the intersection delay threshold value of setting in advance that the differentiation crossing respectively turns to boundary unimpeded and that block; Then be considered as unimpededly less than this value, then be considered as blocking, can carry out the formulation of unimpeded standard according to " Ministry of Public Security is about implementing National urban control of traffic and road " Smooth Traffic Project " suggestion " with upper threshold value greater than this value;
B. determine the unblocked reliability of roadway element, the unblocked reliability of roadway element can be defined as the probability that in official hour section roadway element is unimpeded or do not block; It determines that method is as follows:
To the traffic flow data of roadway element collection more than 3 months, adopt following formula to calculate roadway element i unblocked reliability r
iApproximate value:
The process of the two-parameter demarcation of roadway element is seen accompanying drawing 2.
(2) search alternative path collection
The arbitrfary point can be enumerated out to all feasible paths in theory, compare the road collection fiduciary level of its transit time, path fiduciary level and the combination of more various possible paths, thereby determine optimal scheme.Yet this enumerative technique calculated amount undoubtedly is huge.
In fact, according to the system dependability theory, avoid alternative path through unblocked reliability smaller units and avoid overlapped elements occurring in all alternative paths, especially the less overlapped elements of fiduciary level all can effectively improve the fiduciary level of alternative path and alternative path set.Because in a single day overlapped elements blocks, the path of all shared these unit all will be blocked.Although when all alternative paths do not have equitant roadway element, the fiduciary level of this alternative road collection is bigger, but because of the restriction of the time of detouring, is difficult to origin and destination finding enough bars non-overlapping reasonable path fully, for this reason, need set up the alternative road collection of part cells overlap.
Set up the excessive difficult problem of alternative road collection calculated amount for solving enumerative technique, the present invention proposes a kind of constrained multipath heuritic approach, the algorithm thinking is based on the following fact: in shortest path algorithm, if highway section i has bigger transit time weights W
i, then it will have big possibility not to be included in the shortest path P of certain origin and destination to n
N, 0In, if set W
i=∞, highway section i will appear at P never so
N, 0In.
In this algorithm, average transit time shortest path will be as article one alternative path under the normal condition, and then will appear at other excessive risk unit weighting in roadway element on article one alternative path and the road network, and wherein the unit fiduciary level is low more, and weighted amplitude is big more.Recomputate shortest path after the weighting, especially will have more greatly and may no longer appear on the second alternative path in the unit of unblocked reliability lower (the high risk of blocking) from the roadway element that article one alternative path, occurs.In algorithm, weighting procedure mainly is overlapping in order to avoid each alternative path to block on the risk unit at height as far as possible, thereby reduces the common possibility that lost efficacy.If reasonable path constraint is satisfied in gained second path, then keep, otherwise reduce weighted amplitude as alternative path, recomputate alternative path.Repeat similar weighting and reasonable path constraint checkout procedure, and constantly check the fiduciary level of alternative road collection and bar number to satisfy online optional requirement up to the fiduciary level or the bar number of the alternative road of gained collection.
Algorithm is as follows:
1) make Q be total origin and destination logarithm of whole road network, right to all origin and destination, its alternative road collection S of initialization
n=φ, n represent that n origin and destination among the Q are right, n=1,2,3 ... Q;
With the transit time under each roadway element normal condition is right of way, to have a few to calculating shortest path P with traditional dijkstra's algorithm
N, 1, and then calculate its weight and be L
N, 1, be path P
N, 1Transit time; With P
N, 1Deposit n the alternative road collection S that origin and destination are right in
n, as article one alternative path;
The right alternative path bar in all origin and destination of initialization is counted K
n=1;
Make n=1, promptly to first origin and destination to calculating;
2) right to n the beginning and the end, initialization number of iterations m=0;
3) satisfy the need the lower roadway element of online fiduciary level (suggestion r
iThe unit of＜0.5-0.9 is the lower roadway element of fiduciary level, and limit is taken off, daily comparatively unimpeded city capping in daily comparatively crowded city) and S
nIn each roadway element on the existing path increase weight Δ w
i, make new round roadway element weights W
i' be:
W
i’＝W
i+ΔW
i＝W
i+?α
m(1-r
i)
qW
0 (2)
In the formula, W
iFor cell-average transit time right of way, when m=0, q=0, otherwise q=1; α is a relaxation factor, 0＜α＜1, and the possibility that big more this roadway element of α is included in the new route is more little, and the possibility that opposite more little this unit of α is included in the new route is big more; W
0Be big positive number, W is got in suggestion
0=1.5L
N, 1～3L
N, 1
4) make new round alternative path count K
n'=K
n+ 1, new round iterations m '=m+1, m=m ' is with W
i' be right of way, with existing A* algorithm computation shortest path P
N, Kn, K
n=K '
n, right of way is reverted to W
i, recomputate L
N, Kn, L
N, KnBe P
N, KnOn right of way W
iSum;
5) if P
N, KnViolated reasonable path constraint condition L
N, Kn＜β L
N, 1K then
n'=K
n-1, forward 3 to); β is for allowing coefficient, and general relevant with user's self wish, it is long more that the big more new route user of β detours, and the opposite more little user of β detours short more, and 1.0-1.5 is got in suggestion; Otherwise with P
N, KnDeposit S in
n
6) if N '＜K
n＜N, N are maximum alternative path number, and N ' is minimum alternative path bar number, then returns 3);
7), otherwise return step 2 if the origin and destination of whole road network are intact then finish to whole calculating) to calculate n+1 origin and destination right, up to all Q origin and destination to all calculating the bundle that finishes;
This algorithm at first on the shortest path under the normal condition and the weight of other excessive risk roadway elements of road network add one very big on the occasion of, and then calculate new shortest path, when the new shortest path road length of gained retrains above detouring, gradually reduce the weight of increase, thereby under the constraint condition that detours, effectively search as far as possible with the alternative path that has obtained in higher delay risk (low fiduciary level) the less trusted path of cells overlap.Avoid other excessive risk unit in the road network simultaneously as far as possible.In above-mentioned steps, function alpha
m(1-r
i)
qW
0Can guarantee to increase the weight of the unit of wishing avoidance on the one hand, thereby reduced the possibility that these unit occur in new alternative path, on the other hand, can guarantee increase along with iterations, the weight recruitment reduces, can guarantee thus part wish originally the unit avoided by alternative path process with the satisfied constraint of detouring.This algorithm belongs to heuritic approach, though not necessarily obtain optimum solution, it can obtain acceptable result quickly.
(3) the alternative road of code storage collection
Although it is fine to carry out online dynamic screening real time reaction according to alternative path, institute's somewhat right alternative path set needs huge storage space undoubtedly in the storage road network, and the present invention utilizes the existing route coding techniques to carry out alternative path to store for this reason.Wherein for shortest path, the present invention to each origin and destination to shortest path, suppose that starting point is s, terminal point is t, intermediate node is m
1, m
2... m
n, adopt this road of following encoded recording:
＜terminal point numbering t, the next node numbering m of next-door neighbour's starting point
1, shortest path is long 〉
For other alternative paths of non-shortest path, then can not use this coding form, can adopt prior art to carry out path perfect information storage.But because of delaying time to the clustering phenomenon just more likely occurring and causing the peak to be calculated the origin and destination that the daily volume of traffic is bigger.For this reason, can only calculate and storage carrying out alternative path the bigger important origin and destination of the daily volume of traffic.Also only the bigger important origin and destination of the daily volume of traffic are issued carrying out multipath information in reality.And other origin and destination are issued only carrying out single path information.
2. subordinate phase: online stage
(1) alternative path is online recalls
Utilize the existing route retrogressive method that the path is carried out onlinely recalling, for the shortest path in the alternative path, according to user's demand, find terminus right earlier, promptly find starting point s earlier, in the coding schedule of all these starting points, find terminal point t then, find the next node m of next-door neighbour's starting point subsequently by this coding
1, and then with m
1As new starting point, at m
1Coding schedule in find the coding of terminal point t, find next-door neighbour's ground zero m then
1Second next node m
2, again with m
2Be new starting point, and the like, be that terminal point stops up to next node, these nodes are write down successively just obtained shortest path; For the non-shortest path in the alternative path, then recall by order from origin-to-destination by all node serial numbers that store.
(2) online dynamic route screening, additional search and multipath issue
Can carry out the path screening according to dynamic information when online, promptly leave out the path of incuring loss through delay takes place in the alternative path to block, and then will remain alternative path each navigation vehicle will be carried out random walk issue, when online when not having available alternative path or not having the available alternative path of sufficient amount to be used to avoid the clustering phenomenon, can utilize again according to Real-time Traffic Information and set up the online issue of search path again of alternative path set algorithm, algorithm finishes.
Description of drawings
Fig. 1 algorithm overview flow chart
Fig. 2 demarcates two-parameter road attribute document flowchart
Fig. 3 sets up the alternative path algorithm flow chart
Fig. 4 does not have the alternative path under the constraint condition of detouring
Fig. 5 has the constraint of detouring but does not consider alternative path under the unit fiduciary level condition
Fig. 6 has the constraint of detouring to consider alternative path under the unit fiduciary level condition simultaneously
Fig. 7 utilizes Euclidean distance divided by the route searching scope of road network maximal rate as A* heuristic function estimated value
Fig. 8 utilizes under the normal condition the shortest transit time as the route searching scope of A* heuristic function estimated value
Fig. 9 search time and nodal point number graph of a relation
Embodiment
Only implement the phase one of algorithm this part, implementation method is to test under virtual network and condition, at first, there is the little network in 36 nodes and 60 highway sections under three kinds of conditions, to carry out the trusted path search that having of beginning-of-line detoured and retrained to one, utilize this experimental result can show the rationality of invention, and then utilize the test findings of the big road network that 2800 nodes are arranged to show the search efficiency of this algorithm.Node is represented with circle, and node number is marked in the circle.
Little network to shown in the accompanying drawing 6, represents 1 as accompanying drawing 4 respectively) and do not consider to detour constraint; 2) consider to detour constraint, but do not consider the unit fiduciary level; 3) consider detour constraint and three kinds of situations of unit fiduciary level simultaneously.Implementation step is as follows:
Because implementation process is carried out under virtual road network, so to adopting two-parameter the carry out assignment of the method for random assignment in the demarcation of the two-parameter property file of road to roadway element;
Concrete grammar is: to roadway element at random dispensing rate between velocity range 30-60, then according to coordinate Calculation roadway element length, obtain the average transit time of roadway element divided by the speed of Random assignment with length; At last to the fiduciary level of fiduciary level Random assignment roadway element in the scope of 0.7-0.99 of roadway element, be used for the validity of analytical algorithm;
Utilizing the above-mentioned alternative path set algorithm of setting up that road network is carried out the alternative path search, wherein is relaxation factor α value 0.5, allows factor beta value 1.2, big positive number W
0=1.5L
N, 1, maximum alternative path is counted N and minimum alternative path bar and is counted N ' and get 5 and 3 respectively, here with r
i＜0.9 is considered as the excessive risk roadway element, and specific implementation method is seen above-mentioned arthmetic statement;
According to above-mentioned coding and storing method alternative path is carried out code storage, and mark in the drawings, see accompanying drawing 4-6;
Algorithm is implemented the back presentation of results:
Effect after the final algorithm phase one implements is seen accompanying drawing 4-8, the average velocity under the normal condition (kilometer/hour) and fiduciary level be marked on the next door of relevant road segments.
Starting point and terminal point represent that with the rectangle of black the starting point number is 24, and the terminal point number is 35.Article one, alternative path (average transit time shortest path) represents that with black the second alternative path represents that with green the 3rd alternative path represented with redness.
Under the separate hypothesis in the back of losing efficacy between the highway section, the fiduciary level in path is exactly the amassing of fiduciary level in the highway section in all these paths, this long-pending degree of reliability that can be used to estimate a path.Table 1 is the alternative road set attribute information under three kinds of situations.
By accompanying drawing as can be seen, although alternative road concentrates overlapped elements more than Fig. 4 and Fig. 5 among Fig. 6, its alternative road collection fiduciary level is higher than Fig. 4 and Fig. 5, and reason is that it has evaded the unit of high obstruction risk effectively when making up alternative road collection.
For check improves alternative path computational algorithm validity behind the A* algorithm heuristic function, on the road network of 2800 nodes, test, calculate with dijkstra's algorithm have a few to a normal condition under behind the transit time shortest path, randomly draw a bit carrying out the calculating of the alternative circuit of second.Accompanying drawing 7 and accompanying drawing 8 be respectively utilize Euclidean distance divided by the road network maximal rate with utilize under the normal condition the shortest transit time as the route searching scope situation of A* heuristic function estimated value, black circle performance is the point of expanding in the search procedure among the figure, the former counts 612 at expansion, latter's expansion counts 81, this shows, utilize that the shortest transit time improves greatly as A* heuristic function estimated value search efficiency under the normal condition.
According to different scales grid road network at the interior 64M that saves as, carry out 1000 times stochastic calculation analysis on the notebook of CPU800M respectively, the second alternative path on average can obtain by 1～2 iteration, and the 3rd alternative path on average can obtain by 3～4 iteration.Total calculated off-line time is compared the total shortening of estimating based on Euclidean distance computing time of constraint A* algorithm that has and on average shortens 66%.Online computing time then only with the unit interval in request navigation vehicle number and road network scale be the linear growth relation.Accompanying drawing 9 be two stages Dynamic Multi-Pathing optimizing strategy online computing time and online dynamic A* algorithm optimum path search fully under the different scales road network efficiency ratio.
Alternative road set attribute information under three kinds of situations of table 1
Claims (2)
1, a kind of center control type onboard navigation system two-step multi-path optimization method is characterized in that, may further comprise the steps:
Phase one: off-line phase
(1) demarcates biparametric roadway element property file
T typical period of time, t＞=3 will be divided in one day; Below operation carry out at any one typical period of time wherein, the method for operating of other period is identical;
Historical information processed with refine into two seed ginseng number form formulas and serve navigation algorithm: the one, the average transit time of the roadway element of each typical period of time, the one, the unblocked reliability of each typical period of time roadway element;
Roadway element generally comprises highway section and crossing; Utilize prior art that road network is converted into arc power network, soon the crossing respectively turns to virtual segment and represents that respectively turning to the delay time at stop is the transit time of virtual segment; The crowded not serious road network in the crossing, also the highway section transit time is only considered in the not delay of considering intersection; The segment unit thereby the road network roadway element can only show the way;
Each roadway element is carried out average transit time of each typical period of time and the demarcation of unblocked reliability biparametric, wherein sets up the average transit time of roadway element, adopt following method:
For roadway element with traffic flow historical data more than month, calculate roadway element i average transit time in a certain period under unimpeded condition with statistical method, this average transit time is exactly the weight w of roadway element i
iFor the highway section of the traffic flow historical data of neither one more than the moon, can road section length divided by the weight w of highway section design rate as roadway element i
i
Determine that wherein the roadway element unblocked reliability will be through two processes:
A. roadway element is done the binary condition hypothesis: the state that is about to roadway element is divided into two kinds: unimpeded and obstruction; Distinguish highway section boundary unimpeded and that block and be the unit of setting in advance, the highway section threshold speed that travels, then be considered as unimpededly greater than this value, then be considered as obstruction less than this value; It then is the intersection delay threshold value of setting in advance that the differentiation crossing respectively turns to boundary unimpeded and that block; Then be considered as unimpededly less than this value, then be considered as blocking greater than this value; Can be with upper threshold value according to Ministry of Communications's smooth traffic project standard formulation;
B. determine the unblocked reliability of roadway element, the unblocked reliability of roadway element can be defined as the probability that in official hour section roadway element is unimpeded or do not block; It determines that method is as follows:
To the traffic flow data of roadway element collection more than 3 months, adopt following formula to calculate roadway element i unblocked reliability r
iApproximate value:
(2) set up the alternative path collection
1) make Q be total origin and destination logarithm of whole road network, right to all origin and destination, its alternative road collection S of initialization
n=φ, n represent that n origin and destination among the Q are right, n=1,2,3 ... Q;
With the transit time under each roadway element normal condition is right of way, to have a few to calculating shortest path P with traditional dijkstra's algorithm
N, 1, and then calculate its weight and be L
N, 1, be path P
N, 1Transit time; With P
N, 1Deposit n the alternative road collection S that origin and destination are right in
n, as article one alternative path;
The right alternative path bar in all origin and destination of initialization is counted K
n=1;
Make n=1, promptly to first origin and destination to calculating;
2) right to n the beginning and the end, initialization number of iterations m=0;
3) the lower roadway element of online fiduciary level that satisfies the need, r is got in suggestion
i＜0.5-0.9, and S
nIn each roadway element on the existing path increase weight Δ w
i, make new round roadway element weight w
i' be:
w
i’＝w
i+Δw
i＝w
i+α
m(1-r
i)
qW
0 (2)
In the formula, w
iFor cell-average transit time right of way, when m=0, q=0, otherwise q=1; α is a relaxation factor, 0＜α＜1, and the possibility that big more this roadway element of α is included in the new route is more little, and the possibility that opposite more little this unit of α is included in the new route is big more; W
0Be big positive number, W is got in suggestion
0=1.5L
N, 1～3L
N, 1
4) make new round alternative path count K
n'=K
n+ 1, new round iterations m '=m+1, m=m ' is with w
i' be right of way, with existing A
*Algorithm computation shortest path P
N, Kn, K
n=K '
n, right of way is reverted to w
i, recomputate L
N, Kn, L
N, KnBe P
N, KnOn right of way w
iSum;
5) if P
N, KnViolated reasonable path constraint condition L
N, Kn＜β L
N, 1K then
n'=K
n-1, forward 3 to); β is for allowing coefficient, and general relevant with user's self wish, it is long more that the big more new route user of β detours, and the opposite more little user of β detours short more, and 1.0-1.5 is got in suggestion; Otherwise with P
N, KnDeposit S in
n
6) if N '＜K
n＜N, N are maximum alternative path number, and N ' is minimum alternative path bar number, then returns 3);
7), otherwise return step 2 if the origin and destination of whole road network are intact then finish to whole calculating) to calculate n+1 origin and destination right, up to all Q origin and destination to all calculating the bundle that finishes;
(3) the alternative road of off-line code storage collection
The shortest path of concentrating for alternative road wherein, the present invention to each origin and destination to shortest path, suppose that starting point is s, terminal point is t, intermediate node is m
1, m
2... m
n, adopt this road of following encoded recording:
＜terminal point numbering t, the next node numbering m of next-door neighbour's starting point
1, shortest path is long 〉
For other alternative paths of non-shortest path, then can not use this coding form, can adopt prior art to carry out path perfect information storage;
Subordinate phase: online stage
(2.1) alternative path is online recalls
Utilize the existing route retrogressive method that the path is carried out onlinely recalling, for the shortest path in the alternative path, according to user's demand, find terminus right earlier, promptly find starting point s earlier, in the coding schedule of all these starting points, find terminal point t then, find the next node m of next-door neighbour's starting point subsequently by this coding
1, and then with m
1As new starting point, at m
1Coding schedule in find the coding of terminal point t, find next-door neighbour's ground zero m then
1Second next node m
2, again with m
2Be new starting point, and the like, be that terminal point stops up to next node, these nodes are write down successively just obtained shortest path; For the non-shortest path in the alternative path, then recall by order from origin-to-destination by all node serial numbers that store;
(2.2) online dynamic route screening, additional search and multipath issue
Can carry out the path screening according to dynamic information when online, promptly leave out the path of incuring loss through delay takes place in the alternative path to block, and then will remain alternative path each navigation vehicle will be carried out random walk issue, when online when not having available alternative path or not having the available alternative path of sufficient amount to be used to avoid the clustering phenomenon, can utilize again according to Real-time Traffic Information and set up the online issue of search path again of alternative path set algorithm, algorithm finishes.
2, center according to claim 1 control type onboard navigation system two-step multi-path optimization method is characterized in that:
In the phase one: demarcate the unblocked reliability of determining roadway element in the biparametric roadway element property file in the off-line phase, when the traffic flow data that do not have more than 3 months, adopt the unblocked reliability of following functional form approximate estimation roadway element:
In the formula,
r
i---the unblocked reliability of roadway element i;
v
i/ c
i---be defined as the saturation degree of roadway element i, wherein v
iBe flow, can obtain c by traffic flow data in a short time by roadway element i
iBe the traffic capacity of unit i, different with grade and different according to road type, be a definite value, can check in by document;
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005101024983A CN100491918C (en) | 2005-09-15 | 2005-09-15 | Two-step multi-path optimization method for central controlled vehicle information system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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