KR102354580B1 - Method and apparatus for searching an optimal route of a plurality of destinations - Google Patents

Abstract

The present specification selects a route having the minimum route cost as an optimal route by considering a direction penalty, a destination distance penalty, and a link distance with respect to the routes between a departure point and the destination or the destinations to deliver a product to the plurality of destinations within the minimum period of time, thereby minimizing delivery cost which can unnecessarily occur and allowing a purchaser to receive the ordered product as soon as possible.

Description

Method and apparatus for searching an optimal route for a plurality of destinations

The present specification relates to a route search method, and more particularly, to a method for searching an optimal route for a plurality of destinations, and an apparatus supporting the same.

The delivery market, that is, the delivery market, is increasing every year centering on food delivery, product delivery, etc., and has recently been increasing even more due to COVID-19. This increase in the delivery market is also in line with the open market provided in the form of a smartphone application, the growth of delivery platforms, and the increase in single-person households. As the delivery platform starts to grow in earnest from 2010 and is expected to increase every year, the market size of the delivery market is expected to increase even more.

In particular, the size of the food delivery market, which increases with the increase in single-person households, can be seen as a demand for single-person delivery. However, in the case of sellers, they are reluctant to deliver an order for one person due to an increase in shipping costs, so they only deliver food for orders of two or more, or deliver food at a higher cost for an order for one person. As a result, the customer's cost burden is increasing.

Recently, in order to solve the burden of such cost increase, a delivery service or system in the form of a joint order is increasing. However, in the case of the joint delivery service, it takes a very long time from ordering to receiving the food or product due to delivery of the food or product through a plurality of delivery destinations.

Accordingly, in the case of a joint delivery service that requires delivery to a plurality of destinations, a method of searching an optimal route for a plurality of destinations in order to minimize delivery time is required.

Korean Patent Registration No. 10-2035864 ("Method of providing shortest transportation route search service in multiple delivery platforms", registration date: 2019.10.17.)

When delivery to a plurality of destinations is required, the present specification searches and selects a route that can be reached in the shortest time from the point where the delivery starts to the destinations, thereby minimizing the delivery cost that may occur unnecessarily, and An object of the present invention is to provide an optimal route search method for a plurality of destinations in order to receive a product.

The technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those of ordinary skill in the art to which the present invention belongs from the description below. will be able

The present specification provides a method for searching an optimal route, the method comprising: determining a plurality of destinations; determining one or more first nodes within a first radius having a source and a first destination as radii; searching for all routes from the source to the first destination through the determined at least one first node; calculating a route cost for each route in consideration of a direction penalty, a maximum direction penalty, a link distance, a maximum link distance, a destination distance penalty, and a maximum destination distance penalty for each of the searched routes; determining a route having a minimum value among the calculated route costs as an optimal route from the origin to the first destination; determining one or more second nodes within a second radius of the first destination and the second destination as radii; searching for all routes from the first destination to the second destination through the determined at least one second node; calculating a route cost for each route in consideration of a direction penalty, a maximum direction penalty, a link distance, a maximum link distance, a destination distance penalty, and a maximum destination distance penalty for all of the routes; and determining a route having a minimum value among the calculated route costs as an optimal route from the first destination to the second destination.

Also, in the present specification, the method includes: calculating an overall path cost including the first optimal path and the second optimal path; and determining a route having a minimum total route cost as an optimal route for the plurality of destinations.

In addition, in the present specification, the link distance is a distance between a node and a node, the value of the direction penalty is 1 in the left turn or straight direction, and the value of the destination distance penalty is 1 when selecting a path away from the destination. do.

In addition, in the present specification, the determining of the plurality of destinations includes: setting the number of destinations to be searched; selecting a destination A having a minimum distance from the origin within a first search radius based on the origin; and selecting a destination B having a minimum distance from the destination A within a second search radius centered on the destination A.

In addition, it characterized in that it further comprises the step of checking whether the number of the selected destinations in the present specification satisfies the set number of destinations.

In addition, when the number of the selected destinations in the present specification satisfies the set number of destinations, it is characterized in that the selected destination is determined as the plurality of destinations.

In addition, in the present specification, when the number of the selected destinations does not satisfy the set number of destinations, the step of selecting a destination C having a minimum distance from the destination B within a third search radius centered on the destination B is further performed. characterized by including.

In addition, in the present specification, the plurality of destinations is characterized in that it includes the first destination and the second destination.

In addition, the present specification provides an apparatus for searching an optimal path, comprising: a radio frequency (RF) module; at least one processor; and at least one computer memory operatively connectable to the at least one processor and storing instructions for performing operations when executed by the at least one processor, the operations comprising: determining destinations; determining one or more first nodes within a first radius having a source and a first destination as radii; searching for all routes from the source to the first destination through the determined at least one first node; calculating a route cost for each route in consideration of a direction penalty, a maximum direction penalty, a link distance, a maximum link distance, a destination distance penalty, and a maximum destination distance penalty for each of the searched routes; determining a route having a minimum value among the calculated route costs as an optimal route from the origin to the first destination; determining one or more second nodes within a second radius of the first destination and the second destination as radii; searching for all routes from the first destination to the second destination through the determined at least one second node; calculating a route cost for each route in consideration of a direction penalty, a maximum direction penalty, a link distance, a maximum link distance, a destination distance penalty, and a maximum destination distance penalty for all of the routes; and determining a route having a minimum value among the calculated route costs as an optimal route from the first destination to the second destination.

The present specification has the effect of minimizing the delivery cost that may occur unnecessarily and allowing the orderer to receive the ordered product as soon as possible by searching and selecting a route that can be reached within the shortest time from the point where the delivery starts to the destinations. .

1 is a flowchart illustrating an example of a method for determining a delivery address proposed in the present specification.
2 is a diagram illustrating the method of determining a delivery address of FIG. 1 as an example.
3 is a flowchart illustrating a method for searching an optimal route for a plurality of destinations proposed in the present specification.
4 is a diagram illustrating an example of searching for an optimal route of a plurality of destinations according to the method of FIG. 3 .
5 is a flowchart illustrating another example of a method for searching an optimal path proposed in the present specification.
6 is a flowchart illustrating an example of a method for determining a plurality of destinations proposed in the present specification.
7 illustrates a block diagram of a search apparatus to which the methods proposed in the present specification can be applied.

It should be noted that the technical terms used in this specification are only used to describe specific embodiments, and are not intended to limit the spirit of the technology disclosed herein. In addition, the technical terms used in this specification should be interpreted in the meaning generally understood by those of ordinary skill in the art to which the technology disclosed in this specification belongs, unless otherwise defined in this specification. It should not be construed in a very comprehensive sense or in an excessively reduced meaning. In addition, when the technical term used in this specification is an erroneous technical term that does not accurately express the spirit of the technology disclosed in this specification, a technical term that can be correctly understood by those of ordinary skill in the art to which the technology disclosed in this specification belongs should be understood and replaced with In addition, general terms used in this specification should be interpreted according to the definition in the dictionary or according to the context before and after, and should not be interpreted in an excessively reduced meaning.

As used herein, terms including an ordinal number such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component.

Hereinafter, the embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but the same or similar components are assigned the same reference numerals regardless of reference numerals, and redundant description thereof will be omitted.

In addition, in describing the technology disclosed in the present specification, if it is determined that a detailed description of a related known technology may obscure the gist of the technology disclosed in this specification, the detailed description thereof will be omitted. In addition, it should be noted that the accompanying drawings are only for easy understanding of the spirit of the technology disclosed in this specification, and should not be construed as limiting the spirit of the technology by the accompanying drawings.

How to determine (or sort) a shipping address

1 is a flowchart illustrating an example of a method for determining a delivery address proposed in the present specification.

That is, FIG. 1 shows a method of classifying a delivery destination for delivery to a plurality of destinations, and corresponds to a pre-step for searching an optimal route of delivery locations to be described later.

The subject for determining the delivery destination is performed by a search device, and the search device may be a delivery management server, a user terminal (or an orderer terminal), a seller terminal, or a delivery terminal.

First, the search apparatus searches for a destination closest to the origin while increasing a first search radius for searching for a destination from the origin of the shipment ( S110 ). Here, the destination of the closest distance may be referred to as a first destination, a seed destination, a seed, and the like. Hereinafter, for convenience of explanation, the destinations to be searched according to the distance from the starting point are respectively defined as 'first destination' and the next closest destination as 'second destination' for convenience of explanation. , a second destination, a third destination, and the like.

Next, the search apparatus sequentially searches for a predetermined number of additional destinations (n, n is a natural number) while increasing a second search radius for searching for a second destination from the first destination (S120).

Here, the first search radius, the second search radius, etc. may be set to have the same size or different sizes.

Next, when all of the predetermined number of destinations are searched for, the search apparatus stores the addresses of the searched destinations (S130).

Next, the search apparatus excludes the searched destination from the destination search target (or list) (S140).

Then, the search apparatus repeats step S120 until there is no destination to be delivered in a predetermined area.

FIG. 2 is a diagram illustrating the method of determining a delivery address of FIG. 1 as an example.

Specifically, FIGS. 2A to 2D show a method of determining a delivery address step by step through drawings.

In the case of FIG. 2, the number of destinations to be searched for at one time in FIG. 1 is set to '3'. In the case of FIG. 2 , there are a total of 12 destinations in the destination search target, and addresses for the total nine destinations are Address A, Address B, Address C, Address D, Address E, Address F, Address G, and Address H, respectively. , are called address I, address J, address K, and address L.

Referring to FIG. 2A , reference numeral 210 denotes a restaurant corresponding to a delivery origin, 220 denotes a destination(s), and 230 denotes a first destination, that is, a seed. In FIG. 2B , 240 indicates a search radius, and indicates that an additional destination, that is, a second destination, is searched by setting a search radius in the first destination. In FIG. 2B , the second destination can see that there are two destinations 250 . Since the number of search destinations is set to 3 and all three searched destinations (one first destination 220 and two second destinations 250) have been searched, addresses for the three searched destinations ( 260), and the three searched destinations are excluded from the destination search target.

FIG. 2C shows that addresses 260 for the three searched destinations are an address A, an address B, and an address C, respectively.

Until there is no additional destination to be delivered within the predetermined area, the process of FIGS. 2A to 2C salvaged above is repeated until there is no destination to be searched for in the destination search target.

In order to search for the additional destination, the additional destination, that is, the third destination, is searched for by setting a search radius at the second destination. Here, when there are a plurality of second destinations for which the search radius is to be set, the second destination for which the search radius is set may be determined in consideration of the number of destinations to be searched. For example, when the number of destinations to be searched is set to a large value, a second destination farthest from the source may be determined as a destination for which a search radius is to be set so that more destinations can be searched. Alternatively, when the number of destinations to be searched is set to a small value, the second destination closest to the starting point may be determined as the destination for which the search radius is to be set.

2D shows addresses for destinations discovered through the search process previously salpinned. That is, the addresses (address D, address E, and address F) of the next three destinations found in the destination search target in which the three destinations for addresses A, B, and C are excluded are stored, and the next three searched destinations are stored. Addresses of destinations (Address G, Address H, Address I) are stored, and then addresses of three destinations searched for (Address J, Address K, Address L), that is, addresses of a total of 12 destinations ( 270) is stored.

That is, since all 12 destinations within the predetermined area (eg, Bukdae 2-dong, Heungdeok-gu, Cheongju-si, Chungcheongbuk-do) have been searched, the search apparatus ends the destination search procedure.

Optimal route search method for multiple destinations

Next, a method of searching for an optimal route based on the destinations searched for in FIG. 2 will be described.

A method for searching for an optimal route to a destination proposed in this specification is to calculate a route cost using a link distance, a direction penalty, and a destination distance penalty.

The link distance represents a distance between a node and a node. A node may mean a point at which a direction (left turn, right turn, straight forward or backward) of a route such as an intersection should be determined, and may be preset or set by a search device. The node may be updated in units of a predetermined time or when a specific event occurs.

The direction may refer to a direction such as left turn, right turn, straight forward, or backward.

The destination distance may mean a distance from a source to a first destination and a distance between destinations (eg, a distance from a first destination to a second destination).

That is, the optimal route search method for a destination proposed in the present specification is to select a route having a minimum route cost according to Equation 1 below.

(Equation 1)

The following features are applied to calculate the path cost according to Equation 1 above.

- If you turn left or go straight at an intersection with traffic lights, a penalty of +1 is imposed. This is to prevent time wasted due to signal waiting.

- When selecting a path away from the destination, a penalty of +1 is imposed. This is to avoid the return route.

- α, β, and γ in Equation 1 are weights having a value between 0 and 1, and the total sum of α, β and γ is 1.

- The maximum direction penalty, the maximum link distance, and the maximum destination distance penalty of Equation 1 are values having the maximum values in the entire generated search path.

- Excludes the route that goes back to the route that has been passed.

3 is a flowchart illustrating a method for searching an optimal route for a plurality of destinations proposed in the present specification.

That is, FIG. 3 shows a method of searching for an optimal route of a plurality of destinations based on Equation 1 salpinned above.

First, the search apparatus selects nodes within a predetermined radius of the source and destination 1 (one of the plurality of destinations) ( S310 ). The predetermined radius may be predetermined or may be determined according to the location of the origin or destination.

Next, the search apparatus searches all routes from the source to the destination 1, and calculates a route cost of Equation 1 for each route (S320).

Next, the search apparatus selects a path having the smallest calculated path cost (S330).

Next, the search apparatus selects nodes within a predetermined radius of the destination 1 and the destination 2 (one of the plurality of destinations) ( S340 ). The predetermined radius may be predetermined or may be determined according to the location of the origin or destination, and may have the same or different size as the aforementioned predetermined radius.

Next, the search apparatus searches all routes from the destination 1 to the destination 2, calculates a route cost of Equation 1 for each route (S350), and the calculated route cost is the smallest Select a path (S360).

Then, the search apparatus repeats steps S340 to S360 until there is no searched destination (S370).

Here, the search apparatus may configure a total of n! routes according to the selection order of the destination. Here, n is a natural number, and for example, 3! means 3*2*1=6.

Next, the search apparatus determines an optimal route for delivery to destinations by comparing total route costs for each route (S380).

4 is a diagram illustrating an example of searching for an optimal route of a plurality of destinations according to the method of FIG. 3 .

Referring to FIG. 4A , it is assumed that there are a source 410 and three destinations (destination 1 420 , destination 2 430 , and destination 3 440 ).

Referring to FIG. 4B , the search apparatus selects six nodes (nodes 1 to 6) 411 , 412 , 413 , 414 , 415 , and 416 within a predetermined radius of the source and destination 1.

Here, it is assumed that the distance cost is 1 per link (the distance between nodes).

Next, the search apparatus calculates a route cost according to Equation 1 for all routes between the source and the destination 1. In the case of FIG. 4B, it can be seen that the path cost for four paths is calculated.

The first path 421 is a path that goes straight and turns right, and the first path has a direction cost: 1, a distance cost: 2, and a penalty: 0.

The second route 422 is a right turn, left turn and left turn route, and the second route has a direction cost:2, a distance cost:3, and a penalty:0.

The third path 423 is a path that turns left, turns left, turns left, turns right and turns right, and the third path has a direction cost: 3, a distance cost: 5, and a penalty of 1 .

The fourth path 424 is a left turn, left turn, straight ahead and left turn path, and the fourth path has a direction cost: 3, a distance cost: 4, and a penalty: 0.

Other paths are omitted.

Here, it is assumed that α=0.3, β=0.3, and γ=0.4, and the distance cost for each path is calculated as follows.

The distance cost of path 1 is 0.3*(1/3)+0.3*(2/5)+0.4*(0/1)=0.22

The distance cost of the second path is 0.3*(2/3)+0.3*(3/5)+0.4*(0/1)=0.38

The distance cost of the third path is 0.3*(3/3)+0.3*(5/5)+0.4*(1/1)=1

The distance cost of the fourth path is 0.3*(3/3)+0.3*(4/5)+0.4*(0/1)=0.54

That is, a path having the smallest distance cost among the fourth paths in the first path is the first path. Accordingly, the search apparatus selects the first route as the route between the source and the first destination.

Next, referring to FIG. 4C , the search apparatus selects 12 nodes (nodes 1 to 12) within a predetermined radius of the destinations 1 and 2.

Likewise, assume that the distance cost is 1 per link (node-to-node distance).

Next, the search apparatus calculates a route cost according to Equation 1 for all routes between the destination 1 and the destination 2 . In the case of FIG. 4C , it can be seen that the path cost for four paths is calculated.

The first path 431 is a path that turns right and goes straight, and the first path has a direction cost: 1, a distance cost: 2, and a penalty: 0.

The second path 432 is a path going straight, turning right, going straight, going straight, and turning right, and the second path has a direction cost: 2, a distance cost: 3, and a penalty: 0.

The third path 433 is a path going straight, right turn, straight forward, left turn, straight forward, right turn, right turn, go straight and go straight, and the third path has a direction cost: 6, a distance cost: 9, and a penalty: 2.

The fourth path 434 is a left turn, a left turn, a right turn, a left turn, and a straight route, and the fourth route has a direction cost: 4, a distance cost: 5, and a penalty of 1 . Other paths are omitted.

Here, it is assumed that α=0.3, β=0.3, and γ=0.4, and the distance cost for each path is calculated as follows.

The distance cost of path 1 is 0.3*(1/6)+0.3*(2/9)+0.4*(0/2)=0.12

The distance cost of the second path is 0.3*(2/6)+0.3*(3/9)+0.4*(0/2)=0.2

The distance cost of the third path is 0.3*(6/6)+0.3*(9/9)+0.4*(2/2)=1

The distance cost of path 4 is 0.3*(4/6)+0.3*(5/9)+0.4*(1/2)=0.56

That is, a path having the smallest distance cost among the fourth paths in the first path is the first path. Accordingly, the search apparatus selects the first route as the route between the first and second destinations.

5 is a flowchart illustrating another example of a method for searching an optimal path proposed in the present specification.

First, the search apparatus determines a plurality of destinations (S501). Here, the plurality of destinations may refer to places where goods ordered jointly are delivered. The article may include food, products, and the like. In addition, the search device may be a delivery management server, a user terminal (or an orderer terminal), a seller terminal, a delivery terminal, and the like. A detailed method of determining the plurality of destinations will be described later with reference to FIG. 6 .

Next, the search apparatus determines one or more first nodes within a first radius having a source and a first destination as radii ( S502 ).

Next, the search apparatus searches all routes from the source to the first destination through the determined at least one first node (S503). Here, all paths may be referred to as first all paths to distinguish them from all paths to be described later, and all paths to be described later may be referred to as all second paths.

Next, the search apparatus considers a direction penalty, a maximum direction penalty, a link distance, a maximum link distance, a destination distance penalty, and a maximum destination distance penalty for each of the searched routes, and a route cost (or first path cost) is calculated (S504). Here, the route cost (or the first route cost) may be calculated according to Equation 1 above salpin. That is, in Equation 1, the link distance is a distance between a node and a node, the value of the direction penalty is 1 when turning left or going straight, and the value of the destination distance penalty is 1 when selecting a path away from the destination. .

Next, the search apparatus determines a route having a minimum value among the calculated route costs as an optimal route from the origin to the first destination (S505). Here, in order to distinguish the optimal path from an optimal path to be described later, a first optimal path and an optimal path to be described later may be referred to as a second optimal path.

Next, the search apparatus determines one or more second nodes within a second radius with the first and second destinations as radii (S506).

Next, the search apparatus searches all routes (or all second routes) from the first destination through the determined at least one second node to the second destination (S507).

Next, the search device considers a direction penalty, a maximum direction penalty, a link distance, a maximum link distance, a destination distance penalty, and a maximum destination distance penalty for each of all the routes, and calculates the route cost (second route cost) for each route. ) is calculated (S508). Here, the route cost (or the second route cost) may be calculated according to Equation 1 above salpin. That is, in Equation 1, the link distance is a distance between a node and a node, the value of the direction penalty is 1 when turning left or going straight, and the value of the destination distance penalty is 1 when selecting a path away from the destination. .

Next, the search apparatus determines a route having a minimum value among the calculated route costs as an optimal route from the first destination to the second destination (S509).

Next, the search apparatus calculates an overall path cost including the first optimal path and the second optimal path ( S510 ).

Next, the search apparatus determines the route with the minimum total route cost as the optimal route for the plurality of destinations (S511).

The plurality of destinations may include the first destination and the second destination.

6 is a flowchart illustrating an example of a method for determining a plurality of destinations proposed in the present specification.

First, the search apparatus sets the number of destinations to be searched (n, n is a natural number) (S610). For example, when the number of destinations to be searched for is 3, n may be 3.

Next, the search apparatus selects a destination A having a minimum distance from the source within a first search radius centered on the source ( S620 ).

Next, the search apparatus selects a destination B having a minimum distance from the destination A within a second search radius centered on the destination A (S630).

Next, the search apparatus determines whether the number of the selected destinations satisfies the set number of destinations (S640).

As a result of the check, when the number of the selected destinations satisfies the set number of destinations, the search apparatus determines the selected destination as the plurality of destinations (S650). For example, when the number of destinations to be searched is '2', the destination A and the destination B are determined as the plurality of destinations, stored, and excluded from the destination search target.

As a result of the check, when the number of selected destinations does not satisfy the set number of destinations (eg, when the number of destinations to be searched is '3', the number of searched destinations is 2), the search device selects a destination C having a minimum distance from the destination B within a third search radius centered on the destination B (S660). Here, when the number of destinations to be searched is '3', the destination A, destination B, and destination C are determined as the plurality of destinations, stored, and excluded from destination search. If the number of set destinations is greater than 3, the procedure of selecting additional destinations by repeating the previous steps may be performed.

Block diagram inside the navigation device

7 illustrates a block diagram of a search apparatus to which the methods proposed in the present specification can be applied.

Referring to FIG. 7 , the search apparatus includes a processor 711 , a memory 712 , and a radio frequency module 713 . The processor 711 implements the functions, processes and/or methods previously proposed in FIGS. 1 to 6 . The layers of the air interface protocol may be implemented by a processor. The memory is connected to the processor and stores various information for driving the processor. The memory may be internal or external to the processor, and may be coupled to the processor by various well-known means.

The embodiments described above are those in which elements and features of the present invention are combined in a predetermined form. Each component or feature should be considered optional unless explicitly stated otherwise. Each component or feature may be implemented in a form that is not combined with other components or features. In addition, it is also possible to configure an embodiment of the present invention by combining some elements and/or features. The order of operations described in the embodiments of the present invention may be changed. Some features or features of one embodiment may be included in another embodiment, or may be replaced with corresponding features or features of another embodiment. It is obvious that claims that are not explicitly cited in the claims can be combined to form an embodiment or included as a new claim by amendment after filing.

Embodiments according to the present invention may be implemented by various means, for example, hardware, firmware, software, or a combination thereof. In the case of implementation by hardware, an embodiment of the present invention provides one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), FPGAs ( field programmable gate arrays), a processor, a controller, a microcontroller, a microprocessor, and the like.

In the case of implementation by firmware or software, an embodiment of the present invention may be implemented in the form of modules, procedures, functions, etc. that perform the functions or operations described above. The software code may be stored in the memory and driven by the processor. The memory may be located inside or outside the processor, and may transmit/receive data to and from the processor by various well-known means.

It is apparent to those skilled in the art that the present invention may be embodied in other specific forms without departing from the essential characteristics of the present invention. Accordingly, the above detailed description should not be construed as restrictive in all respects but as exemplary. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are included in the scope of the present invention.

700: search device 710: processor
720: memory 730: RF module

Claims (11)

A method for searching an optimal path, comprising:
determining a plurality of destinations;
determining one or more first nodes within a first radius having a source and a first destination as radii;
searching for all routes from the source to the first destination through the determined at least one first node;
calculating a route cost for each route in consideration of a direction penalty, a maximum direction penalty, a link distance, a maximum link distance, a destination distance penalty, and a maximum destination distance penalty for each of the searched routes;
determining a route having a minimum value among the calculated route costs as a first optimal route from the origin to the first destination;
determining one or more second nodes within a second radius of the first destination and the second destination as radii;
searching for all routes from the first destination to the second destination through the determined at least one second node;
calculating a route cost for each route in consideration of a direction penalty, a maximum direction penalty, a link distance, a maximum link distance, a destination distance penalty, and a maximum destination distance penalty for each of the routes; and
determining a route having a minimum value among the calculated route costs as a second optimal route from the first destination to the second destination,
The path cost for each path is calculated as the sum of the first sub path cost, the second sub path cost, and the third sub path cost,
The first sub-path cost is a value obtained by multiplying a value obtained by dividing the value of the direction penalty by the value of the maximum direction penalty by a weight a;
The second sub-path cost is a value obtained by multiplying a value obtained by dividing the value of the link distance by the value of the maximum link distance by a weight β;
The third sub-path cost is a value obtained by multiplying a value obtained by dividing the value of the destination distance penalty by the value of the maximum destination distance penalty by a weight γ;
The method, characterized in that a, β and γ are each a weight value having a value between 0 and 1. According to claim 1,
calculating an overall path cost including the first optimal path and the second optimal path; and
The method of claim 1, further comprising: determining a route having the smallest overall route cost as an optimal route to the plurality of destinations. According to claim 1,
A method, characterized in that the sum of a, β and γ is 1. According to claim 1,
The link distance is the distance between a node and a node,
The value of the direction penalty is 1 in the left turn direction or the straight direction,
The method of claim 1, wherein the value of the destination distance penalty is 1 when selecting a route away from the destination. The method of claim 1, wherein determining the plurality of destinations comprises:
setting the number of destinations to be searched;
selecting a destination A having a minimum distance from the origin within a first search radius based on the origin; and
and selecting a destination B having a minimum distance from the destination A within a second search radius centered on the destination A. 6. The method of claim 5,
The method further comprising the step of determining whether the number of the selected destinations satisfies the set number of destinations. 7. The method of claim 6,
When the number of the selected destinations satisfies the set number of destinations, the method characterized in that the selected destination is determined as the plurality of destinations. 7. The method of claim 6,
When the number of the selected destinations does not satisfy the set number of destinations, the method further comprising the step of selecting a destination C having a minimum distance from the destination B within a third search radius centered on the destination B How to. According to claim 1,
The method of claim 1, wherein the plurality of destinations includes the first destination and the second destination. An apparatus for searching an optimal path, comprising:
RF (Radio Frequency) module;
at least one processor; and
at least one computer memory operably connectable to the at least one processor and storing instructions for performing operations when executed by the at least one processor;
The actions are
determining a plurality of destinations;
determining one or more first nodes within a first radius having a source and a first destination as radii;
searching for all routes from the source to the first destination through the determined at least one first node;
calculating a route cost for each route in consideration of a direction penalty, a maximum direction penalty, a link distance, a maximum link distance, a destination distance penalty, and a maximum destination distance penalty for each of the searched routes;
determining a route having a minimum value among the calculated route costs as a first optimal route from the origin to the first destination;
determining one or more second nodes within a second radius of the first destination and the second destination as radii;
searching for all routes from the first destination to the second destination through the determined at least one second node;
calculating a route cost for each route in consideration of a direction penalty, a maximum direction penalty, a link distance, a maximum link distance, a destination distance penalty, and a maximum destination distance penalty for each of the routes; and
determining a route having a minimum value among the calculated route costs as a second optimal route from the first destination to the second destination,
The path cost for each path is calculated as the sum of the first sub path cost, the second sub path cost, and the third sub path cost,
The first sub-path cost is a value obtained by multiplying a value obtained by dividing the value of the direction penalty by the value of the maximum direction penalty by a weight a;
The second sub-path cost is a value obtained by multiplying a value obtained by dividing the value of the link distance by the value of the maximum link distance by a weight β;
The third sub-path cost is a value obtained by multiplying a value obtained by dividing the value of the destination distance penalty by the value of the maximum destination distance penalty by a weight γ;
wherein a, β, and γ are weight values each having a value between 0 and 1. 11. The method of claim 10, wherein the operations are:
calculating an overall path cost including the first optimal path and the second optimal path; and
The apparatus of claim 1, further comprising: determining a route having a minimum overall route cost as an optimal route to the plurality of destinations.

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