Shortest path planning parallelization method based on cooperative computing of CPU and MIC

Abstract

The invention discloses a shortest path planning parallelization method based on cooperative computing of a CPU and an MIC. The shortest path planning parallelization method comprises the following steps: S1, whole-network node shortest path planning parallelization design is carried out; S2, one pthread thread is established aiming at each piece of computing equipment by CPU and MIC control threads; S3, a task package between the CPU and the MIC is dispatched; the task package between the CPU and the MIC is distributed by adopting a dynamic task distribution mode; and S4, all nodes are computed and the thread is controlled to quit. According to the shortest path planning parallelization method, the advantages of the cooperation of the CPU and the MIC is sufficiently utilized; and meanwhile, multi-thread parallel computing of the CPU and the MIC is used for accelerating a whole-network node path planning process of a large-size path network. Meanwhile, the invention provides a dynamic distribution manner of the computing tasks between the CPU and the MIC; and a corresponding program can be optimally suitable for CPU/MIC equipment with different computing power ratios through the dynamic task distribution manner, so that the computing tasks can be distributed by the optimal ratio and the optimal cooperation efficiency is realized.

Description

technical field [0001] The invention relates to the field of path planning research, in particular to a parallel method for shortest path planning based on CPU and MIC collaborative calculation. Background technique [0002] With the development of domestic urbanization, urban roads criss-cross and the road network has become very complex. For people traveling in cities, how to quickly obtain the shortest path between the starting point and the ending point of the journey has become an urgent need. At the same time, due to the continuous development of communication technology, global positioning technology and road network data informatization, it provides the basic necessary conditions for people's travel electronic navigation. Most of the shortest path planning algorithms currently used in the map navigation industry are based on Dijkstra or its improved version, and the corresponding time complexity is O(N2) or O(NlogN). When the number of planned nodes N increases to t...

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Problems solved by technology

[0005] In view of the fact that the offline preprocessing time efficiency of the existing shortest path planning is low, the present invention cannot respond to changes in the road network link rules caused by rapid urban expansion and u

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