CN1920483A - Device for displaying road navigation track - Google Patents
Device for displaying road navigation track Download PDFInfo
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- CN1920483A CN1920483A CN 200510044471 CN200510044471A CN1920483A CN 1920483 A CN1920483 A CN 1920483A CN 200510044471 CN200510044471 CN 200510044471 CN 200510044471 A CN200510044471 A CN 200510044471A CN 1920483 A CN1920483 A CN 1920483A
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Abstract
The invention relates to a device for providing road navigation road, especially a road traffic controller, wherein the electric map of its data memory contains the inlet top point from each cross road into said road and the road arc record relative to the inlet top point with steering limit character; the main controller controls the map edit modifier, based on the steering limit information at each port of cross road provided by the input module, to modify the road arc data of relative inlet top point of electric map; and the receiver/sender receives present position and target position information, to send the navigation path to the carrier terminal; the searcher extracts the electric map data and uses the steering limit character of each road arc to use the Di jkStra algorism to calculate out the shortest navigation path in top point serial type.
Description
Technical field
The present invention relates to a kind of road traffic opertaing device that transmits the navigation indication to vehicle.
Technical background
At present report for vehicle provides navigation center's device of road navigation track, disposing with the computing machine is the master controller of core, transceiver, the data-carrier store that has electronic chart, the searcher that is used to receive vehicle current location that car-mounted terminal provides and destination information and the guidance path data are sent to car-mounted terminal.Vehicle current location and destination information that its transceiver will receive car-mounted terminal to be provided are delivered master controller, and the electronic map data that searcher extracts data-carrier store under main controller controls is submitted master controller to calculate the guidance path data of road sequence node form by vehicle current location and destination after; The guidance path data that transceiver is obtained master controller under main controller controls send to car-mounted terminal.The car-mounted terminal of vehicle receives after the guidance path data that the indication driver is driven towards the destination by the guidance path steering vehicle in conjunction with the locating device of this vehicle measured vehicle position data at any time.Owing to adopt simple road centerline model in the present electronic chart, each bar road is reduced to a rule broken line that is positioned at the centre, road surface, an intersection that crosses between road is recorded as a summit of transportation network abstract graph, and each bar road is recorded as a arc in the transportation network abstract graph by two separated broken lines of adjacent vertex.Crooked but point that do not cross with other roads is not regarded the summit as on the road.Please see Figure in 1 road place, a right-angled intersection road junction and be conceptualized as a summit and four road arcs that are connected this summit, this place, right-angled intersection road junction is registered as summit O and adjacent four summit A, B, four road arc OA of C, D, OB, OC, the OD of binding summit O in the electronic chart.The longitude that comprises this position in the electronic chart in summit record data and latitude and road arc number that this summit was connected and the index of each road arc record; Comprise the starting point summit numbering of this road arc and the length of destination vertex numbering and this road arc in the road arc record data.Please see Figure the transportation network abstract graph shown in 2, summit V1, V2 ... V9 etc. all are the summits in the transportation network abstract graph; And road V1-V2, V1-V3 ... V8-〉V9 etc. all is the road arcs in the transportation network abstract graph.And the electronic chart of this transportation network come down to each summit V1, V2 ... the summit record data of V9 and each road arc V1-〉V2, V1-〉V3 ... V8-〉record data of V9.Searcher adopts Di Jiesitela (DijkStra) algorithm of standard to extract vertex data and road arc data from the electronic chart of road centerline model, calculates the guidance path data of link vertex sequence form with the principle of shortest path length.Contrast Fig. 2, calculate in the transportation network shortest path of V9 to terminal from starting point V1, in fact promptly be seek a vertex sequence (be assumed to be V1-〉V2-〉V4-V7-V9) make process the road arc (be assumed to be V1-〉V2, V2-〉V4, V4-V7, V7-V9) length sum minimum.For the sake of simplicity, road arc length degree is the physical length of abstract preceding road.The DijkStra algorithm comes down to the growth theory based on figure, under the situation that starting point is fixed, determines the summit that current path must be its shortest path successively, coincide and can stop up to summit with shortest path and terminal point.When the DijkStra algorithm is obtained shortest path, always preserved with shortest path and arrived a last summit-preceding point before the current summit, so as long as recall the concrete composition that can obtain shortest path to starting point from terminal point.Adopt the electronic chart of simple road centerline model and the searcher of employing DijkStra algorithm at present, when place, road intersection is provided with the banning of turning movement restriction, can not obtain correct shortest path, please see Figure 3, known from summit S to the limit the shortest path between the E under the condition that does not have any restriction for summit S-summit P-summit A-summit O-summit D-summit Q-summit E.If when summit A arrives summit O, can not turn to summit D (situation of this type of traffic control often takes place the actual life).This moment should be according to summit S-instinctively〉summit P-〉summit A-〉summit O-〉summit C-〉summit Q-〉summit E arrives summit E, but path vertices S-in fact summit P-summit B-summit O-summit D-summit Q-summit E may more meet the requirements on length.If turn to summit S-under the restrictive condition above-mentioned〉summit P-〉summit B-〉summit O-〉summit D-〉summit Q-〉summit E path is less than summit S-〉summit P-〉summit A-〉summit O-〉summit C-〉summit Q-〉summit E path, the DijkStra algorithm will be failed this moment.Because generative process summit S-according to above-mentioned DijkStra algorithm〉summit P-〉summit A-〉summit O must be the shortest path from starting point summit S to destination vertex O, that is the preceding point of summit O must be summit A in computation process, finish in calculating like this and carry out the path when recalling, must obtain more realistic shortest path summit S-summit P-summit B-summit O-summit D-summit Q-summit E.Since existing report provide road that navigation center's device of road navigation track can not handle the banning of turning movement restriction short-range missile bit path search problem for vehicle, therefore, can not satisfy in the actual life and often to take place under the traffic control situation that place, road intersection is provided with the banning of turning movement restriction to provide road short-range missile bit path needs for vehicle.
Summary of the invention
The present invention aims to provide a kind of device that the short-range missile bit path of road is provided for vehicle that can be provided with at road intersection place under the traffic control situation of banning of turning movement restriction.
Technical scheme method of the present invention is: a kind of device that road navigation track is provided comprises master controller, transceiver, data-carrier store, searcher; Data-carrier store has electronic chart; The guidance path data that vehicle current location and the destination information that transceiver receives car-mounted terminal under main controller controls provide deliver master controller, obtain master controller send to car-mounted terminal; Searcher extracts the electronic map data of data-carrier store and submits master controller to by the guidance path data that vehicle current location and destination calculate the link vertex sequence form under main controller controls; It is characterized in that: comprise in the electronic chart of described data-carrier store to each intersection locate each road road port enter this road junction go into summit record and each road road port is gone into the road arc record that turns to limited features having of summit correspondence; It comprises that also load module and map repair coder; Map is repaiied coder under the control of master controller, and the restricted information that turns to of each road road port of the intersection that the reception load module provides is revised the road arc record that this intersection correspondence of electronic chart is gone into the summit in the editing data storer; Searcher utilizes each road road port to go into the limited features that turns to of summit road corresponding arc record, uses the DijkStra algorithm to obtain having the intersection and turns to short-range missile bit path data under the restrictive condition.
Man-machine conversation when repairing an intersection of coder modification editing electronic map data: map edit formatted data and route searching computation scheme data are arranged in the electronic chart of described data-carrier store for ease of map; The map edit formatted data has the road record of each bar road and the road junction record at each road junction, and the road record of every road comprises the numbering at each road junction in the number, road at road junction in road name, road number, the road; The road junction at each road junction record comprises the numbering of respectively going into the summit in the number of going into the summit in road junction title, road junction numbering, the road junction, the road junction; Route searching computation scheme data have the record of the record of respectively going into the summit and each road arc; Each record of going into the summit is incorporated into summit numbering, longitude, latitude, be the road arc number of starting point with it, be the numbering of each road arc of starting point with it; The record of each road arc comprises road arc numbering, initial vertex numbering, stops summit numbering, the sign of can passing through, road arc length degree; The process that map is repaiied intersection data of coder modification editing electronic map comprises:
A. obtain the road junction title through master controller from load module, the perhaps title in the two road at this place, road junction is taken out this road junction record the map edit formatted data from electronic chart;
B. point out each numbering of going into the summit and vehicle ' of going into the numbering on summit and needing modification to edit of this road junction to turn to restrictive condition through the main controller controls load module from the load module extraction;
C. go into the road arc record that the summit is a starting point with find a way out that of this road junction in the path search computation scheme data of that numbering of going into the summit at this road junction of map edit format data, turn to restrictive condition to select road corresponding arc record and will turn to corresponding the passed through identification-state of restrictive condition to write in this road arc record of electronic chart route searching computation scheme data with vehicle ' by vehicle '.
The searcher search of recommending has the intersection and turns under the restrictive condition processing procedure of short-range missile bit path to comprise:
Step S1: write down the set out numbering on summit and the numbering on summit, road junction, destination, all that extract in the electronic chart route searching computation scheme data are gone into summit record and road arc record, set up a summit state table and a road arc state table; In the electronic chart, each goes into the summit as the hurdle in the state table of summit, data item in this hurdle have the numbering on this summit, preceding some numbering, initial vertex to the current path length on this summit, whether calculate the state of shortest path, preceding point wherein is that summit before this summit in the shortest path; In the electronic chart, each road arc is as the hurdle in the road arc state table, and the data item in this hurdle has length, this road arc that initial vertex numbering, this road arc of this road arc stop summit numbering, this road arc accessed state in calculating;
Step S2: in the state table of initialization summit the preceding point on all summits be numbered invalid value, current path length for just infinite and state for not calculating shortest path; The state of all road arcs of initialization road arc state table is not visit;
Step S3: the preceding point on the summit of setting out in the state table of initialization summit is the summit self of setting out, and current path length is 0;
Step S4: take out the summit that does not calculate shortest path and current path length minimum in the state table of summit as yet, if the failure of this step, then searching and computing is withdrawed from the search failure; If the summit of taking out is the summit, destination, then is to search for successfully to change step S12;
Step S5: the state on the summit that markers step 4 is taken out in the state table of summit is for obtaining shortest path;
Step S6: searching one in road arc state table is the starting point and the road arc of accessed mistake not with the summit of taking out, and then returns step S4 and handles other summit in the state table of summit if can not find;
Step S7: the state of this road arc of mark is for visiting in road arc state table;
Step S8: whether the passed through identification data item of checking this road arc is to pass through, if impassability is then abandoned the further search of this road arc is handled, directly changes step S6 other road arc is handled;
Step S9: check the termination summit that this road arc points in the state table of summit, if its state for obtaining shortest path, directly changes step S6 other road arc is searched for processing;
Step S10: whether the initial vertex of checking this road arc in the state table of summit can be used as the preceding point on the termination summit that its points to, and point does not then directly change step S6 other road arc is searched for processing before not can be used as;
Step S11: the current path length that the preceding point of rewriting the termination summit that this road arc points in the state table of summit is numbered the initial vertex numbering of this road arc, termination summit that this road arc points to adds the length of this road arc for the current path length of the initial vertex of this road arc, and changes S6 over to other road arc is searched for processing;
Step S12: recall preceding point by the summit state table from the summit, destination to the initial vertex, do inverted sequence again and arrange the concrete composition that obtains each summit on the shortest path.
The situation that should treat with a certain discrimination at the different types of road arc particularly: the category of roads that comprises this road arc in the described road arc record; Searcher has the intersection in search and turns among the step S11 of the processing procedure of short-range missile bit path under the restrictive condition, category of roads with this road arc is adjusted the weighting length that weighting coefficient calculates this road arc, and the length of pressing alternative this road arc of weighting length of this road arc is rewritten the current path length on the termination summit that this road arc points in the state table of summit.
The device that road navigation track is provided of the present invention, use the two-track road model with in the electronic chart of the mode deal with data storer on many summits to the data of each road intersection, going into the summit at the port at each road junction introduces the limited features that turns to road arc that other port rolls away from and is documented in the road corresponding arc record, also solved simultaneously the differentiation problem of one-way road road and general two way road in the urban transportation, searcher utilizes the limited features information that turns to of each road arc record to use the DijkStra algorithm to obtain shortest path in the search processing procedure.Solved the electronic chart of the simple road of present employing centerline model and the searcher of employing DijkStra algorithm, when being provided with the banning of turning movement restriction, can not obtain the problem of correct shortest path at place, road intersection.The present invention provides for vehicle in prior art and increases map on the basis of navigation center's device of road navigation track and repair coder and load module, solved often take place in the actual life under the traffic control situation that place, road intersection is arranged at the banning of turning movement restriction must time update editing electronic map problem; Thereby the device that road navigation track is provided of the present invention can adapt to the traffic control dynamic change of road, for vehicle provides correct shortest path guidance path data, guides the driver to drive towards the destination by this guidance path steering vehicle.Map edit formatted data and route searching computation scheme data are set in the electronic chart of data-carrier store, and wherein the data structure of map edit form is to take into account the characteristics design of Computer Processing electronic map data record again by the custom of people's identification of geographic location; Man-machine conversation when being convenient to map and repairing coder and revise editing electronic map intersection data.The data structure of route searching computation scheme is to design by the characteristics that the Computer Processing electronic map data writes down; Be convenient to searcher and carry out search operation.Map is repaiied coder, and to revise the process of editing electronic map intersection data simple and brief, arrange load module to make clear and definite prompting again, operating personnel can be promptly be input to the traffic control dynamic change of road in the electronic chart, thereby this device provides the efficient height of guidance path data, data validity height.Searcher utilizes a summit state table and road arc state table and in conjunction with the passed through identification data item of road arc the DijkStra algorithm of maturation is successfully used to search to have the intersection and turns under the restrictive condition short-range missile bit path, processing procedure good reliability.The category of roads that particularly comprises this road arc in the road arc record; Searcher is in the search processing procedure, category of roads with this road arc is adjusted the weighting length that weighting coefficient calculates this road arc, the length of pressing alternative this road arc of weighting length of this road arc is rewritten the current path length on the termination summit that this road arc points in the state table of summit, the different types of road arc is treated with a certain discrimination, can handle the situation that main road is preferential, traffic lights are preferential less, the little priority scheduling road of flow of the people is selected, guidance path selects dirigibility good, can be fit to driver's custom.
Description of drawings
Fig. 1 is the synoptic diagram of the road centerline model that adopts in the prior art electronic chart.
The transportation network abstract graph of Fig. 2 for adopting in the prior art electronic chart.
Fig. 3 handles the synoptic diagram of a starting point S to the shortest path of terminal point E for prior art.
Fig. 4 is the structural representation that the invention provides an embodiment of device of road navigation track.
Fig. 5 is the synoptic diagram that the invention provides the bilinear model that adopts in the electronic chart of device of road navigation track.
Fig. 6 is the synoptic diagram that the invention provides the data relationship of an intersection in the electronic chart of device of road navigation track.
Fig. 7 the invention provides the abstract graph of expressing transportation network among Fig. 2 in the electronic chart of device of road navigation track.
Fig. 8 is the preliminary work process flow diagram that the searcher of Fig. 4 embodiment calculates shortest path.
Fig. 9 is the workflow diagram that the searcher of Fig. 4 embodiment calculates shortest path.
Figure 10 is the path synoptic diagram of a starting point summit 1 to destination vertex 5.
Figure 11 is the summit state table 1 that the searcher of Fig. 4 embodiment calculates Figure 10 shortest path.
Figure 12 is the summit state table 2 that the searcher of Fig. 4 embodiment calculates Figure 10 shortest path.
Figure 13 is the summit state table 3 that the searcher of Fig. 4 embodiment calculates Figure 10 shortest path.
Figure 14 is the summit state table 4 that the searcher of Fig. 4 embodiment calculates Figure 10 shortest path.
Figure 15 is the summit state table 5 that the searcher of Fig. 4 embodiment calculates Figure 10 shortest path.
Figure 16 is the summit state table 6 that the searcher of Fig. 4 embodiment calculates Figure 10 shortest path.
Figure 17 is the summit state table 7 that the searcher of Fig. 4 embodiment calculates Figure 10 shortest path.
Figure 18 is the summit state table 8 that the searcher of Fig. 4 embodiment calculates Figure 10 shortest path.
Embodiment
One, embodiment one
The invention provides the structure of an embodiment of device of road navigation track, as shown in Figure 3, it by master controller 10, transceiver 20, the data-carrier store 30 that has electronic chart, searcher 40, coder 50 repaiied by map and load module 60 is formed.Master controller 10 control transceivers 20, the data-carrier store 30 that has electronic chart, searcher 40, map are repaiied coder 50 and are accepted the data of the modification electronic chart that load module provides.
Transceiver 20 adopts public GPRS network or cdma network ambulatory transceiver device, and vehicle current location and destination information that receiving car-mounted terminal provides are delivered master controller 10, or the guidance path data that master controller 10 is obtained are sent to car-mounted terminal.
The abstract mode that adopts the two-track road model in the electronic chart of data-carrier store 30 storage is used two of road to drive towards side line and is reacted the road traffic relation more realistically as shown in Figure 5.As seen from Figure 5, article one, two-track road is located each road road port and will be generated two summits in each intersection, according to the direction that enters and leave the intersection, these summits, crossing can be divided into again enter this intersection (hereinafter to be referred as the road junction) go into summit (the solid stain among Fig. 5 is hereinafter to be referred as the summit) and leave this road junction fictionalize summit (hollow dots among Fig. 5).A road road port goes into the summit from the intersection, respectively draw one and virtual turn to the road arc to connect this road road port to fictionalize the road arc that the summit is a starting point to the summit that fictionalizes of other road road port respectively, final formation to go into the summit turns to the road arc of relation for the band of its terminating point with the terminating point that fictionalizes place, summit road arc for its starting point.Describe the crossing and locate the relation that turns at each place, bar road intersection.For example shown in Figure 6, road W and road V intersect, and form intersection WV.Go into summit D1 from a road W of intersection WV port, the summit D2 that fictionalizes of road V port to the right draws one and virtual turns to road arc D1-D2 to connect this road V port to fictionalize the road arc D2-D3 that summit D2 is a starting point, form the road arc D1-D3 that a band turns to relation; The summit D4 that fictionalizes of road W port forwards draws one and virtual turns to road arc D1-D4 to connect this road W port to fictionalize the road arc D4-D5 that summit D4 is a starting point, form the road arc D1-D5 that a band turns to relation; The summit D6 that fictionalizes of road V port to the left draws one and virtual turns to road arc D1-D6 to connect this road V port to fictionalize the road arc D6-D7 that summit D6 is a starting point, form the road arc D1-D7 that a band turns to relation; Band turns to road arc D1-D3, the band of relation to turn to the road arc D1-D5 of relation and road arc D1-D7 that band turns to relation to express the relation that turns to of going into summit D1 of the road W in WV place, intersection port.Same reason can respectively turn to the road arc of relation to express with three bands the relation that turns to of going into the summit of other three the road road ports in intersection WV place.Fictionalize summit and the virtual road arc that turns to because band turns to the road arc of relation to hide, will go into the summit in the following description and be called for short the summit.The abstract graph of transportation network as shown in Figure 7 in the electronic chart.
Record form for all kinds of map element such as road, intersection (hereinafter to be referred as the road junction), summit, road arcs in the electronic chart of data-carrier store 30 storages has the map edit form that is applicable to editing operating and is applicable to the route searching computation scheme of searching for operation.In the electronic chart all kinds of map element are carried out exclusive number respectively, and in different map element, set up the topological relation of numbering.
Adopt the map element data of map edit form that the road record of each bar road and the road junction record at each road junction are arranged.The data item that the road record of every road comprises has: the number at road junction, initial road junction numbering, terminal point road junction numbering, middle each road junction numbering in road name, road number, the road; The data item that the road junction record at each road junction comprises has: the numbering on the number on summit, initial vertex numbering, destination vertex numbering, middle each summit in road junction title, road junction numbering, the road junction.Topological relation in the map edit formatted data between road element and road junction element is embodied in the numbering at each road junction in the road record of each bar road.If intersect in two road, must there be the numbering at same road junction to appear in the road record in these two road.
Adopt the map element data of route searching computation scheme that the record on each summit and the record of each road arc are arranged.The data item that the record on each summit comprises has: the numbering of summit numbering, longitude, latitude, the road arc number that is connected, each road arc of being connected.The data item that the record of each road arc comprises has: the category of roads of road arc numbering, initial vertex numbering, termination summit numbering, the sign of can passing through, road arc length degree, other detail data of road arc, road arc.Wherein, can pass through the sign be used to represent whether the virtual arc that turns to that links to each other with this road arc can pass through, and promptly turns to and whether is forbidden; When can being used to calculate, the category of roads of road arc adjusts weighting coefficient to road arc length degree.
Summit element in road junction element in the map edit formatted data and the route searching computation scheme data and the topological relation between the road element of an arc are to be embodied by each summit numbering in the road junction record at each road junction in the map edit formatted data, can be found out each summit numbering at this road junction exactly by a road junction record; The road arc that in route searching computation scheme data, can find out each summit exactly and connected by these summits numbering.Topological relation between each summit element then is to number these two field record by initial vertex numbering in the road arc record and termination summit.
After obtaining vehicle supervision department and certain road junction being carried out traffic control or remove the notice of traffic control.The operator uses load module 60 to master controller 10 input commands, and master controller 10 startup maps are repaiied coder 50 and entered duty.Map is repaiied coder 50 and is obtained to revise the title that vehicle ' turns to the two road at the relevant road junction title of restriction or this place, road junction with desire from load module 60 through master controller 10, map is repaiied the electronic chart of coder 50 from data-carrier store 30 and is taken out each summit numbering in this road junction record in the map edit formatted data, and shows the figure at this road junction and point out the numbering on each summit through the display of master controller 10 control load modules 60.The operator uses load module 60 to repair coder 50 through master controller 10 to map and provides in the numbering on the summit that needs editor and the above-mentioned notice and forbid or remove the vehicle ' of forbidding turning to; After that summit numbering that map is repaiied this road junction of electronic chart map edit formatted data of coder 50 from data-carrier store 30 is derived that summit of route searching computation scheme data, that summit of taking out this road junction in the route searching computation scheme data is each road arc record of initial vertex, by forbidding or remove the vehicle ' of forbidding to turn to the selection road corresponding arc record and the identification-state that will can pass through accordingly to write in this road arc record of electronic chart of entry data memory 30.
After master controller 10 is received the vehicle current location and destination information that car-mounted terminal provides from transceiver 20, utilize the electronic chart in the data-carrier store 30 that vehicle current location and destination information are converted to initial vertex and summit, destination, master controller 10 control searchers 40 use the DijkStra algorithm to obtain in the process of shortest path, searcher 40 writes down the set out numbering on summit and the numbering on summit, destination earlier, extract all summits record and road arc records in the electronic chart route searching computation scheme data of data-carrier store 30 then, searcher 40 begins to search for the preliminary work of shortest path as shown in Figure 8 afterwards.
Step 101: set up a summit state table.Each summit in the electronic chart is as the hurdle in this table, and the data item in every hurdle has: the numbering on this summit; The preceding some numbering on this summit in the shortest path; Set out the summit to the current path length on this summit; Whether be defined as the state of shortest path.
And set up a road arc state table.Each road arc in the electronic chart is as the hurdle in this table, and the data item in every hurdle has: the initial vertex numbering of this road arc; The termination summit numbering of this road arc; The length of this road arc; The state of this road arc accessed mistake in calculating.
Step 102: in the state table of initialization summit the preceding point on all summits be invalid value and current path length for just infinite, state is not for calculating shortest path; Just infinite expression does not calculate any paths that the follow summit arrives each summit as yet.The state of all the road arcs in the initialization road arc state table is not visit.
Secondly need do special initial work to the summit of setting out in the state table of summit:
Step 103: the preceding point on the summit of setting out in the state table of initialization summit is the summit self of setting out, and current path length is 0;
Begin the cyclic process of searching and computing then:
Step 104: check that all states take out the wherein summit of path minimum for not calculate shortest path but the non-just infinite summit of current path length in the state table of summit.According to the i.e. shortest path on this summit of the current path on this summit of DijkStra algorithm, this shortest path is by the preceding some decision on summit.If search failure, change step 105; If search successfully, change step 106.
Step 105: expression can't be obtained follow the summit to the shortest path on summit, destination, and then calculating is withdrawed from the search failure.
Step 106: determining step 4 searches whether the summit that obtains is the summit, destination, is then to represent to obtain follow the summit to the shortest path on summit, destination, searches for and successfully withdraws from calculating; Otherwise continue search.
Step 107: markers step 4 is searched the state on the summit (supposing to be numbered r) that obtains for obtaining shortest path in the state table of summit.
Step 108: searching one in road arc state table is that initial vertex and state are not accessed road arc with the summit that is numbered r.
Step 109: unsuccessful if step 108 is searched, illustrate that each road arc that links to each other with the summit that is numbered r has all been searched for to dispose, then change step 4 and reenter cyclic search and handle other summit.
Step 110: if step 108 is searched successfully, obtain a road arc (supposing to be numbered arc), be numbered the state of arc road arc for visiting in the list notation of road arcuation attitude.
Step 111: check whether the passed through identification data item that is numbered arc road arc is to pass through,, directly change step 109 other road arc is searched for processing if impassability is then abandoned the further search that is numbered arc road arc is handled.This step is non-existent in the DijkStra Prototype Algorithm, is to solve to turn to the key of obtaining real shortest path under the disable condition.
Step 112: check the state on the termination summit that is numbered the sensing of arc road arc in the state table of summit, if its state for obtaining shortest path, directly changes step 109 other road arc is handled.
Step 113: the state that is numbered the termination summit that arc road arc points to is not for obtaining shortest path, check whether the initial vertex that is numbered arc road arc in the state table of summit can be used as the preceding point on the termination summit of its sensing: the initial vertex that is numbered arc road arc not can be used as the preceding point on the termination summit of its sensing, should satisfy following condition (1) and be numbered existing current shortest path in termination summit that arc road arc points to, point is effective promptly, and current path length is effective; (2) path of the current path length that is numbered the termination summit that arc road arc points to when being at preceding with the summit that is numbered r; Promptly be numbered arc road arc not on the shortest path on the termination summit of its sensing.When satisfying above-mentioned condition, directly change step 109 over to other road arc is handled.
Step 114: be numbered arc road arc on the shortest path on the termination summit of its sensing, the initial vertex that is numbered arc road arc promptly is numbered the preceding point on the termination summit that the summit of r should point to as its.The preceding point that is numbered the termination summit of arc road arc sensing in the state table of change summit is the summit that is numbered r, the path that path when the current path length that change is numbered the termination summit that arc road arc points to is at preceding for the summit with the current r of being numbered, this path refer to be numbered the r summit be numbered arc road arc length degree sum; Note when carrying out such as the preferential class calculating of main road, should be weighted being numbered arc road arc length degree according to the category of roads that is numbered arc road arc, promptly use the category of roads that is numbered arc road arc to adjust weighting coefficient and calculate the weighting length that is numbered arc road arc, substitute the current path length that the length that is numbered arc road arc is rewritten the termination summit that is numbered the sensing of arc road arc in the state table of summit by the weighting length that is numbered arc road arc.Inferior grade road weighting coefficient is all greater than 1, the weighting length that multiplies each other and obtain this road arc with weighting coefficient and road arc length degree, in a disguised form the path with the inferior grade road extends, thereby reduces the possibility that this type of road is chosen as shortest path on probability meaning.Changing step 109 at last over to circulates again other road arc is handled.
After searcher 40 is searched for and successfully withdrawed from calculating, preserved the preceding point on each summit on the shortest path that arrives the summit, destination in the state table of summit.Searcher 40 need be recalled preceding point from summit, direction, summit, destination by the summit state table, does inverted sequence again and arranges the concrete composition that obtains each summit on the shortest path.
After searcher 40 was finished above-mentioned work, the short-range missile bit path data that the concrete composition data on each summit on the shortest path that obtains constituted the link vertex sequence form were submitted to master controller 10.The shortest path summit numbering that last master controller 10 is submitted to according to searcher 40, from electronic chart, get access to the position latitude and longitude value of each summit correspondence easily, and turn to virtually turn to direction information on the arc, requirement according to road path reminding module in the mobile unit becomes certain form to take the mode of serializing to dump in the transceiver 20 data encapsulation, passes to the mobile unit that requires navigation information by transceiver 20 in the mode of radio communication.
How to utilize the turn to limited features information of each link vertex to carry out search operation in search in the processing procedure in order to further specify searcher 40, please see Figure the search shown in 10 follow the summit 1 example to summit, destination 5 shortest paths.
Among Figure 10, each small circle is represented a summit, the numbering on this summit of numeral in the small circle; The line segment of each band arrow is represented a road arc, this road arc impassability of expression if a line segment with dashed lines draws, this road arc length degree of numeric representation on each line segment.
Searcher 40 is after completing steps 103, and the particular content of summit state table as shown in figure 11.For saving space, do not provide the particular content of road arc state table separately, please in the process of reading following explanation after a road arc is accessed, from Figure 10, this road arc is made a mark voluntarily, with alternative road arc state table.Execution in step 104, find out and have path (have preceding point, path effective), but state is the summit of path minimum in the summit of not obtaining shortest path, obviously be summit 1 this moment, the shortest path on summit 1 can think and calculated that execution in step 6 indicates that in the state table of summit the state on summit 1 is for obtaining shortest path this moment.Twice execution in step 109 analyzed the road arc that summit 1 connects to the circulation of step 114, finds 1 accessibility summit 2 and the summit 6 from the summit.Not existing because current summit 2 and summit 6 still have the path, can both be preceding dot generation path with summit 1 therefore, and the content transforming of summit state table is shown in Figure 12 then.
Continue to return step 104, this time can find summit 2, its state of mark is for obtaining shortest path.Execution in step 109 is analyzed the road arc that summit 2 connects, and finds the 2 accessibility summits 9 from the summit, because therefore the road arc impassability on summit 2 to summit 9 can not be a paths on preceding dot generation summit 9 with summit 2, returns step 109 in step 111.Analyze the road arc on summit 2 to summit 3, with summit 2 for preceding point can generate summit 3 a paths (this path is that the current path length on summit 2 adds summit 2-〉the road arc length degree on summit 3, be 10), this path is less than being the path of preceding point with summit 6, therefore must upgrade present path, summit 3, with the preceding some numbering on summit 3 in the state table of summit change 2 into, current path length changes 10 into.The content transforming of summit state table is shown in Figure 14 then.
Continue to return step 104, this time can find summit 7, its state of mark is for obtaining shortest path.Twice execution in step 109 analyzed the road arc that summit 7 connects to the circulation of step 114, finds 7 accessibility summit 4 and the summits 8 from the summit, and summit 4 and summit 8 all do not have the path at present, can be preceding some difference generation pass with 7 therefore.The content transforming of summit state table is shown in Figure 15 then.
Execution in step 104 this time can find summit 8, and its state of mark is for obtaining shortest path.Execution in step 109 is analyzed the road arc that summit 8 connects, and finds the 8 accessibility summits 5 from the summit, and summit 5 does not all have the path at present, can be dot generation one paths with summit 8, and the content transforming of summit, step 114 back state table is shown in Figure 17.
Continue to return step 104, this time can find summit 4, its state of mark is for obtaining shortest path.Execution in step 109, analyze the road arc that summit 4 connects, find 4 accessibility summits 5 from the summit, summit 5 current existence are the path of preceding point (length is 24) with summit 8, and be 16+2=18 with summit 4 for the path of preceding point, shorter, so step 114 need be updated to 4 with the preceding some numbering on summit 5, current path length is updated to 18, and the content transforming of summit state table is shown in Figure 180 then.
The content that searcher 40 utilizes summit shown in Figure 180 state table 5 begins to recall preceding point from the summit, can get summit 5-〉summit 4-〉summit 3-〉summit 2-〉summit 1, inverted sequence can obtain the shortest path summit 1-that asks〉summit 2-〉summit 3-〉summit 4-〉summit 5 submits to master controller 1.
Look back Figure 10, we can visually see, if summit 2-〉summit 9 P Passables, shortest path should be summit 1-〉summit 2-〉summit 9-〉summit 4-〉summit 5, path is 17.Summit 2-in this example〉summit 9 cannot pass through, and the shortest path that searcher 40 obtains meets the situation of Figure 10 fully.
The above only is preferred embodiment of the present invention, does not limit scope of the invention process with this, and the equivalence of doing according to technical scheme of the present invention and description changes and modification, all should belong to the scope that the present invention is contained.
Claims (4)
1. the device that road navigation track is provided comprises master controller, transceiver, data-carrier store, searcher; Data-carrier store has electronic chart; The guidance path data that vehicle current location and the destination information that transceiver receives car-mounted terminal under main controller controls provide deliver master controller, obtain master controller send to car-mounted terminal; Searcher extracts the electronic map data of data-carrier store and submits master controller to by the guidance path data that vehicle current location and destination calculate the link vertex sequence form under main controller controls; It is characterized in that: comprise in the electronic chart of described data-carrier store to each intersection locate each road road port enter this road junction go into summit record and each road road port is gone into the road arc record that turns to limited features having of summit correspondence; It comprises that also load module and map repair coder; Map is repaiied coder under the control of master controller, and the restricted information that turns to of each road road port of the intersection that the reception load module provides is revised the road arc record that this intersection correspondence of electronic chart is gone into the summit in the editing data storer; Searcher utilizes each road road port to go into the limited features that turns to of summit road corresponding arc record, uses the DijkStra algorithm to obtain having the intersection and turns to short-range missile bit path data under the restrictive condition.
2. a kind of device that road navigation track is provided according to claim 1 is characterized in that: map edit formatted data and route searching computation scheme data are arranged in the electronic chart of described data-carrier store; The map edit formatted data has the road record of each bar road and the road junction record at each road junction, and the road record of every road comprises the numbering at each road junction in the number, road at road junction in road name, road number, the road; The road junction at each road junction record comprises the numbering of respectively going into the summit in the number of going into the summit in road junction title, road junction numbering, the road junction, the road junction; Route searching computation scheme data have the record of the record of respectively going into the summit and each road arc; Each record of going into the summit is incorporated into summit numbering, longitude, latitude, be the road arc number of starting point with it, be the numbering of each road arc of starting point with it; The record of each road arc comprises road arc numbering, initial vertex numbering, stops summit numbering, the sign of can passing through, road arc length degree; The process that map is repaiied intersection data of coder modification editing electronic map comprises:
A. obtain the road junction title through master controller from load module, the perhaps title in the two road at this place, road junction is taken out this road junction record the map edit formatted data from electronic chart;
B. point out each numbering of going into the summit and vehicle ' of going into the numbering on summit and needing modification to edit of this road junction to turn to restrictive condition through the main controller controls load module from the load module extraction;
C. go into the road arc record that the summit is a starting point with find a way out that of this road junction in the path search computation scheme data of that numbering of going into the summit at this road junction of map edit format data, turn to restrictive condition to select road corresponding arc record and will turn to corresponding the passed through identification-state of restrictive condition to write in this road arc record of electronic chart route searching computation scheme data with vehicle ' by vehicle '.
3. a kind of device that road navigation track is provided according to claim 2 is characterized in that: the search of described searcher has the intersection and turns under the restrictive condition processing procedure of short-range missile bit path to comprise:
Step S1: write down the set out numbering on summit and the numbering on summit, road junction, destination, all that extract in the electronic chart route searching computation scheme data are gone into summit record and road arc record, set up a summit state table and a road arc state table; In the electronic chart, each goes into the summit as the hurdle in the state table of summit, data item in this hurdle have the numbering on this summit, preceding some numbering, initial vertex to the current path length on this summit, whether calculate the state of shortest path, preceding point wherein is that summit before this summit in the shortest path; In the electronic chart, each road arc is as the hurdle in the road arc state table, and the data item in this hurdle has length, this road arc that initial vertex numbering, this road arc of this road arc stop summit numbering, this road arc accessed state in calculating;
Step S2: in the state table of initialization summit the preceding point on all summits be numbered invalid value, current path length for just infinite and state for not calculating shortest path; All road arcs of initialization road arc state table be visit;
Step S3: the preceding point on the summit of setting out in the state table of initialization summit is the summit self of setting out, and current path length is 0;
Step S4: take out the summit that does not calculate shortest path and current path length minimum in the state table of summit as yet, if the failure of this step, then searching and computing is withdrawed from the search failure; If the summit of taking out is the summit, destination, then is to search for successfully to change step S12;
Step S5: the state on the summit that markers step 4 is taken out in the state table of summit is for obtaining shortest path;
Step S6: searching one in road arc state table is the starting point and the road arc of accessed mistake not with the summit of taking out, and then returns step S4 and handles other summit in the state table of summit if can not find;
Step S7: the state of this road arc of mark is for visiting in road arc state table;
Step S8: whether the passed through identification data item of checking this road arc is to pass through, if impassability is then abandoned the further search of this road arc is handled, directly changes step S6 other road arc is handled;
Step S9: check the termination summit that this road arc points in the state table of summit, if its state for obtaining shortest path, directly changes step S6 other road arc is searched for processing;
Step S10: whether the initial vertex of checking this road arc in the state table of summit can be used as the preceding point on the termination summit that its points to, and point does not then directly change step S6 other road arc is searched for processing before not can be used as;
Step S11: the current path length that the preceding point of rewriting the termination summit that this road arc points in the state table of summit is numbered the initial vertex numbering of this road arc, termination summit that this road arc points to adds the length of this road arc for the current path length of the initial vertex of this road arc, and changes S6 over to other road arc is searched for processing;
Step S12: recall preceding point by the summit state table from the summit, destination to the initial vertex, do inverted sequence again and arrange the concrete composition that obtains each summit on the shortest path.
4. a kind of device that road navigation track is provided according to claim 3 is characterized in that: the category of roads that comprises this road arc in the described road arc record; Searcher has the intersection in search and turns among the step S11 of the processing procedure of short-range missile bit path under the restrictive condition, category of roads with this road arc is adjusted the weighting length that weighting coefficient calculates this road arc, and the length of pressing alternative this road arc of weighting length of this road arc is rewritten the current path length on the termination summit that this road arc points in the state table of summit.
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| CNB2005100444713A CN100535600C (en) | 2005-08-25 | 2005-08-25 | Device for displaying road navigation track |
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