CN112629552B - Communication balance based map partition shortest driving route planning method for motor vehicle - Google Patents
Communication balance based map partition shortest driving route planning method for motor vehicle Download PDFInfo
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Abstract
The invention provides a communication balance-based graph partition shortest driving route planning method for a motor vehicle, which aims at solving the problem of planning the driving route of the motor vehicle in life. The load balance of each network partition calculation is ensured when the driving route is calculated, and the cross-network transmission quantity is reduced. The method can be used for efficiently and accurately partitioning the complex road network and can be used for calculating the shortest driving route in batches in parallel in each network partition.
Description
Technical Field
The invention belongs to the technical field of motor vehicle driving route optimization, and particularly relates to a motor vehicle shortest driving route planning method based on a communication balance graph partition.
Background
In the face of an intricate road network, it is often difficult for a driver to directly perceive the least used traffic route with the naked eye. If map navigation indicates the shortest route from the departure point to the destination point, the phenomenon that the destination point is reached in time due to much time spent on driving the road can be avoided.
The road network is widely distributed, and the contained information amount is huge, so the planning efficiency must be considered for the planning problem of the batch shortest driving route. If the shortest route is not partitioned and then calculated in parallel for the road network, the efficiency of planning the shortest route is very low.
Disclosure of Invention
In view of the above, the present invention provides a method for planning a shortest driving route of a motor vehicle based on a map partition with balanced communication, which can plan the shortest driving routes in batches with high efficiency. The invention provides a communication balance-based map partition shortest driving route planning method for a motor vehicle, aiming at the problem of motor vehicle driving route planning in life. The load balance of each network partition calculation is ensured when the driving route is calculated, and the cross-network transmission quantity is reduced. The method can be used for efficiently and accurately partitioning the complex road network and can be used for calculating the shortest driving route in batches in parallel in each network partition.
The invention specifically adopts the following technical scheme:
a method for planning the shortest driving route of a motor vehicle based on a communication balanced graph partition is characterized by comprising the following steps:
step S1: constructing a road network: constructing a road network G = (V, E, W) capable of partitioning a graph by taking places recorded in a database as nodes, reachable relations among the places as edges and distances among the places as weights, wherein V represents a node set, E represents an edge set, and W represents a weight set of the edges;
step S2: dividing cluster nodes into two parts: the nodes with the same degree in the road network are classified into a cluster, the nodes in the cluster which can be equally divided into network partitions are placed into the equally-divided area, and otherwise, the nodes in the cluster are placed into the temporary storage area;
step S3: and (3) uniformly dividing the network partitions: the method comprises the steps that nodes with the same number in an equally-divided area are gradually and evenly divided into network partitions;
step S4: and (3) circulating distribution nodes: according to the partition number p, circularly distributing the data groups of the temporary holding area to each network partition one by one until the data groups of the temporary holding area are processed;
step S5: calculating a driving route: reading a driving departure point and a destination point in batches, and calculating the shortest route from the driving departure point to the destination point;
step S6: and outputting a result: and selecting the path queues corresponding to the destination points in batches, and outputting the shortest route from the departure place to the destination points in batches according to the sequence of the places in each path queue.
Preferably, step S2 specifically includes the following steps:
step S21: initializing a road network to an initial graph
Obtaining the node with the minimum number in the initial graph, and fusing the nodes into a subgraph
The nodes on the subgraph are the nodes in the cluster;
step S22: when graph
When the sub-graph is not empty, acquiring data groups in the sub-graph, wherein each group of data comprises node degrees and nodes, and acquiring the total node number n of the sub-graph and the node number m which cannot be equally divided into each partition;
step S23: according to the partition number p, storing the data groups to the equal sharing area, wherein the data groups can be equally shared to the network partition, and storing the rest data groups to the temporary storage area; from
Medium pruned subgraph
Will once again
Merging nodes with the minimum medium number into subgraphs
；
Step S24: repeating steps S22 and S23 until
Is empty.
Preferably, step S3 specifically includes the following steps:
step S31: initializing tempGroup into a data group with the minimum number in the equally-divided area;
step S32: dividing the data group in the tempGroup into p parts according to the partition number p, and distributing each part of data group to each network partition;
step S33: deleting the processed data group from the equipartition area, obtaining the data group with the minimum degree again, and storing the data group to tempGroup;
step S34: and repeating the steps S31-S33 until the evenly-divided areas are empty.
Preferably, in step S5, the process of batch reading the driving departure point and the destination point specifically includes the following steps:
step S51: initialization: the calculated place set S only comprises a departure place v, the rest places in each network partition are classified into an uncomputed place set U of each partition, each partition has a path queue number corresponding to the place number of the current partition, and the queues are enqueued at the departure place v;
step S52: judging the accessibility from the starting point to a point i (i belongs to U), and if the point j at the tail of the queue of the path queue corresponding to the point i and the point i have edges, the point j from the starting point to the point i can be reached;
step S53: calculating the distance from the starting point to each reachable point in the set U; extracting a reachable place k with the minimum distance from the set U, wherein the distance is LEAstDst, and adding the place k into the set S;
step S54: if the distance between the location U (U belongs to U) which is not calculated in each partition meets the requirement that the distance between the location k and the location U is less than the distance between the departure location and the location U, updating the corresponding path queue as the path queue of the location k, and then enqueuing the location k;
step S55: if the location k is the destination location, it corresponds to the queue enqueue location k, otherwise, the steps S52-S55 are repeated.
Compared with the prior art, the invention and the optimal scheme thereof can ensure the load balance of each network partition calculation when the driving route is calculated, and reduce the transmission quantity across the network. The method can be used for efficiently and accurately partitioning the complex road network and can be used for calculating the shortest driving route in batches in parallel in each network partition.
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The invention is described in further detail below with reference to the following figures and detailed description:
fig. 1 is a schematic overall flow chart of the modularization according to the embodiment of the present invention.
Detailed Description
In order to make the features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail as follows:
as shown in fig. 1, the method for planning the shortest driving route of a motor vehicle based on a map partition of communication balance provided by this embodiment mainly includes the following modules, and is performed in sequence according to a flow: the system comprises a road network construction module, a cluster node-based bisection module, a balanced division network partitioning module, a cyclic distribution node module, a calculation driving route module and an output module.
The road network construction module realizes that a road network G = (V, E, W) capable of being partitioned by a graph is constructed by taking the places recorded in a database as nodes, the reachable relation between the places as edges and the distance between the places as weights, wherein V represents a node set, E represents an edge set and W represents a weight set of the edges.
A binary module based on cluster nodes: and classifying the nodes with the same degree in the road network into a cluster, putting the nodes in the cluster which can be equally divided into network partitions into evenly-divided areas, and otherwise, putting the nodes in the cluster into a temporary area. The method can be particularly subdivided into the following steps:
step 1: initializing a road network to an initial graph
Acquiring the nodes with the minimum number in the initial graph, and fusing the nodes into a subgraph
And the nodes on the subgraph are the nodes in the cluster.
Step 2: when graph
When the sub-graph is not empty, acquiring data groups in the sub-graph, wherein each group of data comprises node degrees and nodes, and acquiring the total node number n of the sub-graph and the nodes which are not evenly distributed to all the partitionsA number m.
And step 3: and equally dividing the data groups into network partitions according to the partition number p, storing the network partitions into equally divided areas, and storing the rest data groups into a temporary storage area. From
Medium pruned subgraph
Will once again
Merging nodes with minimum medium number into subgraph
。
And 4, step 4: repeating the steps 2 and 3 until
The algorithm is stopped for empty time.
A balanced partitioning network partition module: and dividing the nodes with the same number in the equally-divided areas into each network partition step by step in a balanced manner. The method can be particularly subdivided into the following steps:
step 1: tempGroup is initialized to the lowest-numbered data group in the equally dividable region.
Step 2: and dividing the data group in the tempGroup into p parts according to the partition number p, and distributing each part of the data group to each network partition.
And step 3: and deleting the processed data group from the equipartition area, acquiring the data group with the minimum degree again, and storing the data group in tempGroup.
And 4, step 4: and then repeating the above processing until the evenly-divided area is empty.
A cyclic allocation node module: and circularly distributing the data groups of the temporary area to each network partition one by one according to the number p of the partitions until the data groups of the temporary area are processed. And the density balance of each network partition is ensured.
The driving route calculating module comprises: and reading the driving departure point and the destination point in batches, and calculating the shortest route from the driving departure point to the destination point. The method can be particularly subdivided into the following steps:
step 1: and initializing, wherein the calculated place set S only comprises a starting place v, the rest places in each network partition are classified into an uncomputed place set U of each partition, each partition has the number of path queues corresponding to the number of places of the current partition, and the queues are queued at the starting place v.
Step 2: and judging the accessibility from the starting point to the point i (i belongs to the U), and if the position j at the tail of the queue of the path queue corresponding to the point i has an edge with the point i, the starting point to the point i can be reached.
And step 3: the distance from the departure location to each reachable location in the set U is calculated. And extracting the reachable place k with the minimum distance from the set U, wherein the distance is the least Dst, and adding the place k into the set S.
And 4, step 4: and if the distance between the un-calculated position U (U belongs to the U) in each partition meets the requirement that the distance between the position k and the position U is less than the distance between the starting position and the position U, updating the path queue corresponding to the position U to be the path queue of the position k, and then enqueuing the position k.
And 5: if the location k is the destination location, it corresponds to the queue enqueue location k, otherwise, repeating steps 2, 3, 4 and 5.
An output module: and selecting the path queue corresponding to the destination point in batch, and outputting the shortest route from the starting point to the destination point in batch according to the sequence of the points in the path queue.
The present invention is not limited to the above-mentioned preferred embodiments, and any other various methods for planning the shortest driving route of a vehicle based on map partitions of communication equalization can be derived from the teaching of the present invention.
Claims (2)
1. A method for planning the shortest driving route of a motor vehicle based on a communication balanced graph partition is characterized by comprising the following steps:
step S1: constructing a road network: constructing a road network G = (V, E, W) capable of partitioning a graph by taking places recorded in a database as nodes, reachable relations among the places as edges and distances among the places as weights, wherein V represents a node set, E represents an edge set, and W represents a weight set of the edges;
step S2: dividing cluster nodes into two parts: classifying nodes with the same degree in the road network into a cluster, putting the nodes in the cluster which can be equally divided into network partitions into evenly-divided areas, or putting the nodes in the cluster into temporary-holding areas;
step S3: and (3) uniformly dividing the network partitions: the method comprises the steps that nodes with the same number in an equally-divided area are gradually and evenly divided into network partitions;
step S4: and (3) circulating distribution nodes: according to the partition number p, circularly distributing the data groups of the temporary holding area to each network partition one by one until the data groups of the temporary holding area are processed;
step S5: calculating a driving route: reading a driving departure point and a destination point in batches, and calculating the shortest route from the driving departure point to the destination point;
step S6: and outputting a result: selecting path queues corresponding to the destination points in batches, and outputting shortest routes from the departure place to the destination points in batches according to the sequence of the places in each path queue;
step S2 specifically includes the following steps:
step S21: initializing a road network to an initial graph
Obtaining the node with the minimum number in the initial graph, and fusing the nodes into a subgraph
The nodes on the subgraph are the nodes in the cluster;
step S22: when graph
When the data is not empty, acquiring a data group therein, wherein each group of data comprises a node degree and a nodeAcquiring the total node number n of the subgraph and the node number m which cannot be equally divided to each partition;
step S23: according to the partition number p, storing the data groups to the equal sharing area, wherein the data groups can be equally shared to the network partition, and storing the rest data groups to the temporary storage area;
from
Medium pruned subgraph
Will once again
Merging nodes with minimum medium number into subgraph
；
Step S24: repeating steps S22 and S23 until
Is empty;
step S3 specifically includes the following steps:
step S31: initializing tempGroup into a data group with the minimum number in the equally-divided area;
step S32: dividing the data group in the tempGroup into p parts according to the partition number p, and distributing each part of data group to each network partition;
step S33: deleting the processed data group from the equipartition area, obtaining the data group with the minimum degree again, and storing the data group to tempGroup;
step S34: and repeating the steps S31-S33 until the evenly-divided areas are empty.
2. The method for planning the shortest driving route of the motor vehicle based on the communication balance map partition as claimed in claim 1, wherein the step S5 of reading the driving departure point and the destination point in batch specifically comprises the following steps:
step S51: initialization: the calculated place set S only comprises a departure place v, the rest places in each network partition are classified into an uncomputed place set U of each partition, each partition has a path queue number corresponding to the place number of the current partition, and the queues are enqueued at the departure place v;
step S52: judging the accessibility from the starting point to a point i (i belongs to U), and if the point j at the tail of the queue of the path queue corresponding to the point i and the point i have edges, the point j from the starting point to the point i can be reached;
step S53: calculating the distance from the starting point to each reachable point in the set U; extracting a reachable place k with the minimum distance from the set U, wherein the distance is LEAstDst, and adding the place k into the set S;
step S54: if the distance between the un-calculated place U (U belongs to U) in each partition meets the condition that the distance between the least dst + place k and the place U is less than the distance between the departure place and the place U, updating the corresponding path queue as the path queue of the place k, and then enqueuing the place k;
step S55: if the location k is the destination location, it corresponds to the queue enqueue location k, otherwise, the steps S52-S55 are repeated.
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