An efficient multimodal transport path search method based on position order

Abstract

The present invention discloses a method for searching for effective multimodal transport paths based on positional order, comprising the following steps: S1, collecting multimodal transport network data under various modes of transport; S2, initializing the multimodal transport network; S3, determining a reference plane for the search; S4, determining the relative positions of nodes and the reference plane using a coordinate transformation method; S5, determining the order of a directional search for nodes based on positional order; S6, establishing a set of transit times for all nodes in the multimodal transport; S7, inputting the time cost of a multimodal transport section; S8, searching for effective multimodal transport paths based on positional order; S9, establishing a set of effective multimodal transport paths with the lowest time cost; S10, terminating the search for the current starting and ending points, reselecting another pair of starting and ending points, and repeating the above search process. The present invention can effectively ensure that, under the condition that the cost is determined and the time is uncertain, the effective multimodal transport path with the lowest time cost and the number of transit times that meet the requirements is selected without duplication or omission.

Description

Technical Field

[0001] The present invention belongs to the technical field of multimodal transport, and more specifically, relates to a multimodal transport effective path search method based on position sequence. Background Art

[0002] Intermodal transport refers to the transportation process completed by the interconnection and transfer of two or more modes of transportation, which can also be called composite transport. Intermodal transport is becoming the main organizational form of inter-national transportation business activities and the main development trend of future logistics. It is also the main research direction for the development of my country's logistics industry. When providing the optimal route of the road network for different users, the system needs to provide not only an optimal travel route, but also a set of valid routes. Guiding on a valid route set can effectively avoid the "overreaction" that may be induced by a single route, thereby avoiding new congestion in the road network. At the same time, in the actual distribution process, such as the distribution of random user equilibrium models, it is also necessary to base it on valid routes. The current definition of an effective route for urban traffic roads is that all the road sections it contains make the minimum cost for passengers from the starting point increasingly larger, while the minimum cost from the terminal point increasingly smaller.

[0003] Currently, most network path search methods are targeted at urban road networks, with limited research on complex networks. When applied to intermodal transport networks, current urban road network path search methods fail to effectively account for changes in intermodal transport path types (e.g., rail to road, road to waterway, etc.). They also ignore the fact that excessive transit times lead to wasted transport time and reduced transport safety. Furthermore, they fail to account for the fact that intermodal transport networks, to a certain extent, tolerate incomplete road segments, with the minimum cost increasing from the initial point and decreasing from the final point. Summary of the Invention

[0004] In light of this, the present invention provides a method for searching for effective intermodal transport paths based on node order, designed to address the problem of finding effective paths in intermodal transport networks. This method first proposes a definition of effective intermodal transport paths, tailored to the particularities of intermodal transport networks. It then designs a node-order-based search algorithm for these effective intermodal transport paths. This method addresses the problem of conventional path search algorithms for urban road networks being unsuitable for intermodal transport networks. Furthermore, the node-order-based search process effectively avoids duplication and significantly reduces search time, making it highly suitable for solving the problem of finding effective paths in intermodal transport networks.

[0005] In order to solve at least one of the above technical problems, according to one aspect of the present invention, a method for searching for an effective multimodal transport path based on position sequence is provided, comprising the following steps:

[0006] S1. Collecting multimodal transport network data for each transport mode, establishing connectivity information for each node and each road segment in the transport network for each transport mode based on the multimodal transport network data, and connecting the transport networks of different transport modes based on the connectivity information to obtain a multimodal transport network;

[0007] S2. Initialize the multimodal transport network; input the starting node set and the ending node set, the coordinate information of all nodes in the road network, and establish the adjacent node set of each node;

[0008] S3: Determine the search reference surface;

[0009] S4: Determine the relative position of the node and the reference plane using coordinate transformation;

[0010] S5: Determine the order of the directed search nodes based on the position order, including determining the tolerance coefficient, creating a set of nodes with the same position order, and sorting all the nodes in the set of nodes with the same position order according to the permutation and combination principle;

[0011] S6: Establish the transit time set of all nodes of multimodal transport;

[0012] S7: Input the time cost of the multimodal transport section;

[0013] S8: Searching for an effective multimodal transport path based on the position order, including initialization, checking the search node to determine the search status of the adjacent node set, determining whether the number of transfers exceeds the maximum allowed number of transfers, determining whether the search is completed, and searching for the next node after the search is completed;

[0014] S9: Establish an efficient multimodal transport path set with the minimum time cost;

[0015] S10: Terminate the search for the current starting and ending points, select another pair of starting and ending points, and repeat the above search process. The algorithm stops when all different starting and ending point pairs are found.

[0016] Furthermore, an effective multimodal transport path is one that meets the following conditions:

[0017] Path k is a simple path without cycles, i.e. it passes through a road segment at most once;

[0018] The cost c of path k OD At the shortest path cost Within (1+H) times, that is Where H is the extension coefficient, which is a non-negative constant;

[0019] The number of transshipments on route k does not exceed the maximum number of transshipments allowed for multimodal transport, Trn max .

[0020] Furthermore, in step S1, the connectivity information of each node and each road section of the transport network under each transport mode is established based on the multimodal transport network data, specifically including:

[0021] Construct a multimodal transport network G(N,A), where N is the set of nodes and A is the set of road segments. Let W represent the set of all OD pairs in the multimodal transport network. The starting node set is represented by O, the end node set is represented by D, and the coordinates of node i are represented by v i (x i ,y i ) represents, s(i) represents the set of adjacent nodes of node i; v O is the starting node, v O ∈O,v D is the terminal node, v D ∈D;c ij represents the time cost of the road section between node i and node j; ε is the tolerance coefficient, which is a deterministic parameter; n p is the number of effective multimodal transport paths; Trn max The maximum number of transshipments allowed for multimodal transport.

[0022] Furthermore, in step S3, determining the reference plane to search for specifically includes:

[0023] Select the starting coordinate v of a single OD pair O (x0,y0) and the coordinates of the end point v D (x1, y1); Create a vertical plane in the direction of the line connecting the starting and ending points, and ensure that the plane passes through the starting point coordinate v O (x0,y0) is used as the search reference plane.

[0024] Furthermore, in step S4, the relative position of the node and the reference plane is determined by using a coordinate transformation, which specifically includes:

[0025] For node coordinates v i (x i ,y i ) to perform coordinate transformation, the coordinate transformation method is

[0026]

[0027] Furthermore, in step S5, the order of the directed search nodes is determined based on the bit sequence, specifically including:

[0028] S51. Input a tolerance coefficient ε, where the value of the tolerance coefficient is determined based on the degree to which the multimodal transport network allows a certain degree of incompleteness in moving away from the starting point and closer to the end point;

[0029] S52, for M i ∈[M i -ε(MD -M O ),M i +ε(M D -M O )], are all regarded as having the same order, and accordingly create a node set m(i) with the same order;

[0030] S53, according to M i All nodes are sorted from small to large, and the nodes in the node set with the same order are listed according to the permutation and combination principle and then sorted.

[0031] Furthermore, in step S6, a transit time set for all nodes of the multimodal transport is established, specifically including:

[0032] Establish a transit time set Trt for all nodes in the multimodal transport network, where trt(i) represents the transit time of node i, trt(i)∈Trt; the transit time node set is determined according to the estimated transit time of the node, where the transit time of the node that does not undertake transit is set to 0.

[0033] Furthermore, in step S8, searching for an effective multimodal transport path based on the position sequence specifically includes:

[0034] S81, initialization, that is, let v i =v O , C r =0, Trn=0;

[0035] S82, check the search node, if the current search node is the end point, that is, v i =v D , go to step S10, otherwise go to S83;

[0036] S83, determine in sequence whether the nodes in the adjacent node set s(i) of node i have been searched. The search number of the nodes that have not been searched is 0, and the search number of the nodes that have been searched is 1; let node j in the adjacent node set s(i) = 0. If there is an adjacent node j in the adjacent node set s(i) with a search number of 0, then determine whether node j has been transferred. If node j has been transferred, let v i =v j , R={v r ,...,v i ,v j}, Trn++, j++ and mark the search number as 1; if node j does not undergo a transfer process, then let v i =v j , R={v r ,...,v i ,v j}, j++ and mark the search index as 1; if the search index of j is 1, then determine the next adjacent node; until all adjacent nodes are checked, then node i++;

[0037] S84. Determine whether the number of transshipments Trn exceeds the maximum number of transshipments allowed for multimodal transport Trn. max , if Trn≤Trn max , go to S85, otherwise go to S10;

[0038] S85, determine whether all nodes in the adjacent node set s(i) of node i have been completely searched and search for other nodes, that is, determine whether the search node labels in s(i) are all 1. If they are all 1, search for the next node k, that is, let v i =v k , R={v r ,...,v k}, and let the search index of the nodes in s(i) be 0; when v i =v D , and when all search indices in s(i) are 1, go to S10.

[0039] According to another aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the steps of the method for searching for an efficient multimodal transport path based on bit sequence of the present invention are implemented.

[0040] According to another aspect of the present invention, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the method for searching for an efficient multimodal transport path based on bit sequence of the present invention are implemented.

[0041] Compared with the prior art, the present invention has at least the following beneficial effects:

[0042] (1) The method proposed in this invention can set the extension coefficient H and the tolerance coefficient ε according to the specific requirements of multimodal transport, thereby avoiding the problem of too small an optimization space due to over-constrained paths and the problem of too high a time cost due to too few constrained paths;

[0043] (2) The search method proposed in the present invention is based on positional order, where positional order refers to the relative position of a node to a reference plane obtained by coordinate transformation. Precise search is performed by sorting nodes in order of positional order. Compared to existing search methods based on numbering, the method proposed in the present invention searches based on coordinates, preventing omissions in search paths and avoiding repeated searches, thus significantly saving search time.

[0044] (3) In view of the characteristics of the multimodal transport network, this paper adds the restriction of the number of transshipments to the search process when searching for effective multimodal transport routes. By setting the maximum allowed number of transshipments, multimodal transport routes with too many transshipments are deleted, thus preventing problems such as time waste, increased uncertainty, and decreased freight security caused by too many transshipments.

[0045] (4) By using a position-order-based multimodal transport effective path search method, it is possible to scientifically solve the multimodal transport effective path, saving computational time. This method is a practical and effective method for solving the multimodal transport effective path. This invention explores and innovates the theory and practice of multimodal transport and has strong theoretical research significance and practical guidance value. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present invention, but are not intended to limit the present invention.

[0047] Figure 1 is a flow chart of the method of the present invention;

[0048] Figure 2 A flow chart of searching for an effective multimodal transport path according to the present invention;

[0049] Figure 3 A flowchart of the present invention lists an effective path set for multimodal transport based on minimum time cost;

[0050] Figure 4 This is a simplified multimodal transport road network used in the verification method of the present invention. DETAILED DESCRIPTION

[0051] To make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0052] Unless otherwise defined, technical or scientific terms used herein shall have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0053] like Figure 1-4 As shown,

[0054] Example 1:

[0055] The present invention provides a multimodal transport effective path search method based on position sequence, such as Figure 1 As shown, the following steps are included:

[0056] S1: Create a multimodal transport network G(N,A), where N is the set of nodes and A is the set of road segments. Let W be the set of all OD pairs in the multimodal transport network. The starting node set is represented by O, the ending node set is represented by D, and the coordinates of node i are represented by v. i (x i ,y i ) represents, s(i) represents the set of adjacent nodes of node i; v O is the starting node, v O ∈O,v D is the terminal node, v D ∈D;c ij represents the time cost of the road section between node i and node j; ε is the tolerance coefficient, which is a deterministic parameter; n p is the number of effective multimodal transport paths; Trn max The maximum number of transshipments allowed for multimodal transport.

[0057] S2: Initialize the multimodal transport network. Input the starting node set O and the ending node set D, the coordinates v of all nodes in the network i (x i ,y i ), and the set of adjacent nodes s(i) of node i.

[0058] S3: Determine the base plane for the search. Select the starting coordinate v of a single OD pair. O (x0,y0) and the coordinates of the end point v D (x1, y1); Create a vertical plane in the direction of the line connecting the starting and ending points, and ensure that the plane passes through the starting point coordinate v O (x0,y0) is used as the search reference plane.

[0059] S4: Determine the relative position M of the node and the reference plane i . For node coordinate v i (x i ,y i ) to perform coordinate transformation, the coordinate transformation method is

[0060]

[0061] Where: (x', y') is the coordinate of the new coordinate system, (x, y) is the coordinate of the original coordinate system, is the angle between the new and old coordinate transformation axes, where satisfy

[0062] Where y' is the relative position M of the node and the searched reference plane i .

[0063] S5: Determine the node order for the directional search based on the bit sequence.

[0064] 1) Input the tolerance coefficient ε, where the value of the tolerance coefficient is determined by the degree to which the multimodal transport network allows a certain degree of incompleteness in moving away from the starting point and closer to the end point;

[0065] 2) For M i ∈[M i -ε(M D -M O ),M i +ε(M D -M O )], are all regarded as having the same order, and accordingly create a node set m(i) with the same order;

[0066] 3) According to M i All nodes are sorted from small to large, and the nodes in the node set with the same order are listed according to the permutation and combination principle and then sorted.

[0067] S6: Establish a transit time set Trt for all nodes in the multimodal transport, where trt(i) represents the transit time of node i, and trt(i)∈Trt. This transit time node set is determined based on the estimated transit time of the node, where the transit time of nodes that do not undertake transshipment is set to 0.

[0068] S7: Input the time cost c of the multimodal transport section ij Considering the characteristics of multimodal transport with fixed transportation costs and uncertain transportation time, when establishing the cost function of multimodal transport, only time cost is used as the generalized cost c ij , where c ij represents the time cost between node i and node j.

[0069] S8: Search for an effective multimodal transport path based on the position order. The specific steps are as follows: Figure 2 shown

[0070] 1) Initialization. Let v i =v O , C r =0, Trn=0;

[0071] 2) Check the search node. If the current search node is the end point, that is, v i =v D , go to S10, otherwise go to 3)

[0072] 3) Determine in sequence whether the nodes in the adjacent node set s(i) of node i have been searched. The search index of the nodes that have not been searched is 0, and the search index of the nodes that have been searched is 1. Let node j = 0 in the adjacent node set s(i). If there is an adjacent node j in the adjacent node set s(i) with a search index of 0, then determine whether node j has been transferred. If node j has been transferred, then let v i =v j , R={v r ,...,v i ,v j}, , Trn++, j++ and mark the search number as 1; if node j does not undergo a transfer process, then let v i =v j , R={v r ,...,v i ,v j},

[0073] j++ and mark the search index as 1; if the search index of j is 1, then determine the next adjacent node. Until all adjacent nodes are checked, then node i++;

[0074] 4) Determine whether the number of transshipments Trn exceeds the maximum number of transshipments allowed for multimodal transport Trn max , if Trn≤Trn max , go to 5), otherwise go to S10;

[0075] 5) Determine whether all nodes in the adjacent node set s(i) of node i have been completely searched and then search for other nodes, that is, determine whether the search node labels in s(i) are all 1. If they are all 1, search for the next node k, that is, let v i =v k , R={v r ,...,v k}, and let the search index of the nodes in s(i) be 0. i =v D , and all search indices in s(i) are 1, go to step 9;

[0076] S9: List the effective path set P of multimodal transport based on the minimum time cost OD . Assume that the largest path set can include n p valid paths, when P OD The number of paths included in is less than n p When the new path P is added as a valid path to P OD , when P OD The number of paths contained in is equal to n pWhen comparing the maximum generalized time cost C of the new path P r With P OD The maximum generalized time cost C of the path r , if the newly obtained path C r Less than P OD C of a path in r , then replace P with the new path OD Otherwise, keep P OD The path in remains unchanged. The specific steps are as follows Figure 3 shown.

[0077] S10: Terminate the search for this OD pair, reselect another pair of start and end points, repeat S1-S9, and determine whether all different start and end point pairs have been taken. If so, the algorithm terminates, otherwise continue to select different node pairs.

[0078] The following is a simple multimodal transport network to test the performance of the multimodal transport effective path search method based on position order, thereby verifying the effectiveness of the present invention. The test network selected a 6-node network with three types of road sections: waterway, road, and railway. The specific network node coordinate information, road section time cost, and node transit time information are as follows: Figure 4 The search is defined as finding two valid multimodal transport routes with no more than 2 transshipments and a parity tolerance of 0.06.

[0079] The reference plane is established in the vertical direction of the line between OD, and the relative position M of each node in the sequence and the reference plane is obtained through coordinate transformation. i , where M O =0,M A =2,M B =2.4,M C =3.3,M E =5,M D =8, according to O, A / B, C, E, D, because the co-rank tolerance coefficient set in this case is 0.06, it can be calculated that node A and node B are co-rank nodes.

[0080] According to Figure 2 The paths obtained by the method for searching for effective multimodal transport paths based on position order include the following four paths:

[0081] OABED, time cost is 14

[0082] OBAED, time cost is 18

[0083] OCED, time cost is 20

[0084] OCD, time cost is 17

[0085] According to the method described in S9, two effective multimodal transport paths are determined, namely OABED and OCD.

[0086] In summary, the position-order-based multimodal transport effective path search method proposed in the present invention has good performance in finding multimodal transport effective paths.

[0087] Example 2:

[0088] The computer-readable storage medium of this embodiment stores a computer program thereon, which, when executed by a processor, implements the steps of the method for searching for an effective multimodal transport path based on bit sequence of embodiment 1.

[0089] The computer-readable storage medium of this embodiment may be an internal storage unit of the terminal, such as a hard disk or memory of the terminal; the computer-readable storage medium of this embodiment may also be an external storage device of the terminal, such as a plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, etc. equipped on the terminal; further, the computer-readable storage medium may also include both an internal storage unit of the terminal and an external storage device.

[0090] The computer-readable storage medium of this embodiment is used to store computer programs and other programs and data required by the terminal. The computer-readable storage medium can also be used to temporarily store data that has been output or is to be output.

[0091] Example 3:

[0092] The computer device of this embodiment includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the method for searching for an effective multimodal transport path based on bit sequence in embodiment 1 are implemented.

[0093] In this embodiment, the processor can be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The memory can include read-only memory and random access memory, and provide instructions and data to the processor. A part of the memory can also include non-volatile random access memory. For example, the memory can also store information about the device type.

[0094] Those skilled in the art will appreciate that the disclosed contents of the embodiments may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) containing computer-usable program code.

[0095] The present invention is described with reference to the flowcharts and / or block diagrams of the methods and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as the combination of the processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions; these computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0096] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0097] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0098] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing related hardware through a computer program. The program can be stored in a computer-readable storage medium, and when executed, the program can include the processes in the above-described method embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0099] The examples described in the present invention are merely descriptions of the preferred embodiments of the present invention and are not intended to limit the concept and scope of the present invention. Without departing from the design concept of the present invention, various modifications and improvements made to the technical solutions of the present invention by engineers and technicians in this field should fall within the scope of protection of the present invention.

Claims

1. A method for searching for an effective multimodal transport path based on position order, characterized in that: The steps include: S1. Collecting multimodal transport network data for each transport mode, establishing connectivity information for each node and each road segment in the transport network for each transport mode based on the multimodal transport network data, and connecting the transport networks of different transport modes based on the connectivity information to obtain a multimodal transport network; S2. Initialize the multimodal transport network; input the starting node set and the ending node set, the coordinate information of all nodes in the road network, and establish the adjacent node set of each node; S3: Determine the search reference surface; S4: Determine the relative position of the node and the reference plane using coordinate transformation; S5: Determine the order of the directed search nodes based on the position order, including determining the tolerance coefficient, creating a set of nodes with the same position order, and sorting all the nodes in the set of nodes with the same position order according to the permutation and combination principle; S6: Establish the transit time set of all nodes of multimodal transport; S7: Input the time cost of the multimodal transport section; S8: Searching for an effective multimodal transport path based on the position order, including initialization, checking the search node to determine the search status of the adjacent node set, determining whether the number of transfers exceeds the maximum allowed number of transfers, determining whether the search is completed, and searching for the next node after the search is completed; S9: Establish an efficient multimodal transport path set with the minimum time cost; S10: Terminate the search for the current starting and ending points, select another pair of starting and ending points, and repeat the above search process. The algorithm stops when all different starting and ending point pairs are found.

2. The method according to claim 1, characterized in that An effective multimodal transport route is one that meets the following conditions: Path k is a simple path without cycles, i.e. it passes through a road segment at most once; The cost c of path k OD At the shortest path cost Within (1+H) times, that is Where H is the extension coefficient, which is a non-negative constant; The number of transshipments on route k does not exceed the maximum number of transshipments allowed for multimodal transport, Trn max .

3. The method according to claim 2, characterized in that In step S1, the connectivity information of each node and each road section of the transport network under each transport mode is established based on the multimodal transport network data, specifically including: Construct a multimodal transport network G(N,A), where N is the node set, A is the link set, and let W represent the set of all OD pairs in the multimodal transport network; the starting node set is represented by O, the end node set is represented by D, and the coordinates of node i are represented by v i (x i ,y i ) represents, s(i) represents the set of adjacent nodes of node i; v O is the starting node, v O ∈O,v D is the terminal node, v D ∈D;c ij represents the time cost of the road section between node i and node j; ε is the tolerance coefficient, which is a deterministic parameter; n p is the number of effective multimodal transport paths; Trn max The maximum number of transshipments allowed for multimodal transport.

4. The method according to claim 3, characterized in that In step S3, determining the reference plane to search for specifically includes: Select the starting coordinate v of a single OD pair O (x0,y0) and the coordinates of the end point v D (x1, y1); Create a vertical plane in the direction of the line connecting the starting and ending points, and ensure that the plane passes through the starting point coordinate v O (x0,y0) is used as the search reference plane.

5. The method according to claim 4, characterized in that In step S4, the relative position of the node and the reference plane is determined by coordinate transformation, which specifically includes: For node coordinates v i (x i ,y i ) to perform coordinate transformation, the coordinate transformation method is 6. The method according to claim 5, characterized in that In step S5, the order of the directed search nodes is determined based on the bit sequence, specifically including: S51. Input a tolerance coefficient ε, where the value of the tolerance coefficient is determined based on the degree to which the multimodal transport network allows a certain degree of incompleteness in moving away from the starting point and closer to the end point; S52, for M i ∈[M i -ε(M D -M O ),M i +ε(M D -M O )], are all regarded as having the same order, and accordingly create a node set m(i) with the same order; S53, according to M i All nodes are sorted from small to large, and the nodes in the node set with the same order are listed according to the permutation and combination principle and then sorted.

7. The method according to claim 6, characterized in that In step S6, a transit time set for all nodes of the multimodal transport is established, specifically including: Establish a transit time set Trt for all nodes in the multimodal transport network, where trt(i) represents the transit time of node i, trt(i)∈Trt; the transit time node set is determined according to the estimated transit time of the node, where the transit time of the node that does not undertake transit is set to 0.

8. The method according to claim 7, characterized in that In step S8, searching for an effective multimodal transport path based on the position sequence specifically includes: S81, initialization, that is, let v i =v O , C r =0, Trn=0; S82, check the search node, if the current search node is the end point, that is, v i =v D , go to step S10, otherwise go to S83; S83, determine in sequence whether the nodes in the adjacent node set s(i) of node i have been searched. The search number of the nodes that have not been searched is 0, and the search number of the nodes that have been searched is 1; let node j in the adjacent node set s(i) = 0. If there is an adjacent node j in the adjacent node set s(i) with a search number of 0, then determine whether node j has been transferred. If node j has been transferred, let v i =v j , R={v r ,...,v i ,v j }, Trn++, j++ and mark the search number as 1; if node j does not undergo a transfer process, then let v i =v j , R={v r ,...,v i ,v j }, j++ and mark the search number as 1; if the search number of j is 1, then determine the next adjacent node; until all adjacent nodes are checked, then node i ++ ; S84. Determine whether the number of transshipments Trn exceeds the maximum number of transshipments allowed for multimodal transport Trn. max , if Trn≤Trn max , go to S85, otherwise go to S10; S85, determine whether all nodes in the adjacent node set s(i) of node i have been completely searched and search for other nodes, that is, determine whether the search node labels in s(i) are all 1. If they are all 1, search for the next node k, that is, let v i =v k , R={v r ,...,v k }, and let the search index of the nodes in s(i) be 0; when v i =v D , and when all search indices in s(i) are 1, go to S10.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the multimodal transport effective path search method based on position sequence are implemented as described in any one of claims 1 to 8.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the multimodal transport effective path search method based on position sequence are implemented as described in any one of claims 1 to 8.

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