Navigation device based on layering bidirectional heuristic route planning method
A route planning and heuristic technology, applied in directions such as road network navigators, can solve the problem of not being able to meet the real-time requirements of navigation system route planning, and achieve the effect of meeting real-time requirements and clear algorithm flow
Active Publication Date: 2011-04-06
WUHAN ZHONGHAITING DATA TECH CO LTD
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Problems solved by technology
Existing algorithms include Dijkstra algorithm, heuristic algorithm, layered algorithm, and bidirectional search algorithm. Any algorithm used alone cannot meet the real-time requirements of the navigation system for route planning.
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[0036] Divide the entire map into two layers, Image 6 Yes Figure 5 Rough drawing, Figure 5 Is the 0th layer, Image 6 It is the first floor. Such as Figure 5 As shown, there are a total of 26 nodes from a to z on the 0th level map, the side length between each two adjacent points is 1, and the spherical distance between node a and node z is 9. Such as Image 6 As shown, the side length between every two adjacent points on the first layer is 3. Now we need to calculate the shortest path from node a to node z on the map, and finally the high-level route planning is the first layer.
[0037] We set:
[0038] V: collection of edges;
[0039] 0[n]: the distance cost of the shortest path from the starting point to node n;
[0040] G[n]: Euclidean distance from node n to the end point;
[0041] D[n]: the distance cost of the shortest path from node n to the destination;
[0042] H[n]: Euclidean distance from node n to the end point;
[0043] C[p, q]: the distance cost from node p to node ...
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The present invention provides a navigation device that is based on a layering bi-direction enlightening-typed route planning method. The application method of the device integrates the layering calculation, the bi-direction searching calculation and the enlightening-typed calculation. Firstly, the quantity of the high-level layers and the layer-switching condition that are required to be plannedare determined, and the bi-direction enlightening-typed route plan is performed at the most bottom layer until the plan satisfies the layer-switching condition. Secondly, switching to the upper layerand judge whether the switched high layer is the finally-planned high layer: if the switched high layer is the finally-planned high layer, the bi-direction enlightening-typed route planning is performed at the layer until the final route is found; if the switched high layer is not the finally-planned high layer, the bi-direction enlightening-typed route planning is performed at the layer until satisfying the layer-switching condition, and finally repeat the confirmation process of the layer switching and the final route. Under the condition that the hardware performance is limit and the data quantity is vast, the navigation device can satisfy the requirements on the real-time property for the route planning of the navigation system, and has clear calculation flow procedures.
Description
Technical field [0001] The invention belongs to a route planning algorithm for navigation devices, and particularly relates to a route planning method combining multiple algorithms. Background technique [0002] At present, the hardware performance of the navigation system is limited, and the amount of navigation data it uses is huge (more than 1 million road records), and in the case of limited hardware performance and huge data volume, it is necessary to ensure the real-time route planning of the navigation system This puts high demands on the route planning algorithm of the navigation system. Existing algorithms include Dijkstra's algorithm, heuristic algorithm, hierarchical algorithm, and two-way search algorithm. Any algorithm used alone cannot meet the real-time requirements of the navigation system for route planning. Summary of the invention [0003] The technical problem to be solved by the present invention is to provide a navigation device based on a hierarchical two-w...
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IPC IPC(8): G01C21/26G01C21/34
Inventor 朱敦尧邓滨陆杨张宗敏谢飞
Owner WUHAN ZHONGHAITING DATA TECH CO LTD