CN101149268A - Road topology data model for navigation and calculation method - Google Patents
Road topology data model for navigation and calculation method Download PDFInfo
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Abstract
An application technology field relates to the navigation, especially the analysis and picking method of the road topological data used in the navigation and setting the data model, which is a road topological data model and computing method used in navigation to treat the road with big area and long distance in navigation map data. The method includes the stratified extracting arithmetic, the road connection calculation function, the hierarchical adjacent node transition table, the road web canton extracting arithmetic and the least cost arithmetic of road net in-out; it mainly solves the technology problem of route calculation of long distance and big area. The invention can insure the connection of whole road web; it can store the starting data of route calculation and improves the route calculation efficient; so it can get the logical analysis result in the logical time and cost range.
Description
Technical field
The present invention relates to the relevant applied technical field that navigates, outstanding a kind of utilization of purport concentrates on the analysis and the extracting method of the special-purpose road topology data of navigation, and set up data model with this, be used for navigation map data and can handle large tracts of land, the data model and the computing method of the road analytical calculation of long distance.
Background technology
In the navigation map data, the road topology network is a core data, and the some main functionalities for navigation provide the data basis such as route planning and real-time navigation.Increase along with the highway mileage number, the complexity day by day of road network, the data volume of the road topology that is covered in the geographical scope of large tracts of land is quite huge, processing power limitation with respect to navigation embedded equipment, need a kind ofly can handle large tracts of land, the data model and the computing method of the road analytical calculation of long distance; Thereby reasonably reaching rational analysis result in time and the cost.
Summary of the invention
In order to overcome above-mentioned weak point, fundamental purpose of the present invention aims to provide a kind of road data modeling, can adapt to jumbo road data, the route calculation of long distance, with the incremental update of road data, can guarantee a kind of road topology data model for navigation and the computing method of the connectedness of whole road network again.
The technical problem to be solved in the present invention is: how mainly to solve by multilayer polylith road network data cut apart storage and quote the part, accomplish the limited resources consumption in the route calculation process and the incremental update problem of road network data; How to add up in advance, keep the enlightening data of route calculation, improve the efficiency of route calculation by the static of overpass data of multilayer polylith; How to pass through the selectivity connection of the overpass data of multilayer polylith, realize reasonably long apart from relevant technologies problems such as large-scale route calculation.
The technical solution adopted for the present invention to solve the technical problems is: this method pass course planning and real-time navigation provide the data basis, finish road topology server data in the navigation map data, this method is utilized the various attribute datas of road network, comprise: grade, average speed, the administrative division subordinate, communication function, connection node between the road link, the surface road network switch of data capacity is become the overpass network of multilayer polylith, and mark connection node between each piece road link of each layer, realize the connectedness of whole road network; By multilayer polylith road network data cut apart storage and quote the part, the limited resources consumption in the realization route calculation process and the incremental update of road network data; The static of overpass data by the multilayer polylith added up in advance, keeps the enlightening data of route calculation; The selectivity of the overpass data by the multilayer polylith connects, and realizes reasonably long distance route calculation on a large scale; This data model and computing method comprise at least: the minimum cost algorithm between the administrative division extraction algorithm of layering extraction algorithm, road connectivity computing function, level adjacent node conversion table, road network and road network are come in and gone out; Wherein:
Described layering extraction algorithm is self connectedness with the road network of each level, and the road network between different levels is for switching, and the place of switching is the connection node of different links; The concrete job step of the layering extraction algorithm that this exploitation is corresponding is:
Step 2. design connectivity function
After executing initialization module, then enter design connectivity function module, design the connectivity function;
Step 3. is set the layering S set
After executing design connectivity function module, then enter and set layering S set module, and be initialized as null set;
Step 4. is sought the link L that meets current layering requirement
After executing setting layering S set module, then enter and seek the link L module that meets current layering requirement, in original road network, search out a link L who meets current layering requirement, L is added to S set;
Step 5. judges that S set is empty
Execute seek meet the link L module of current layering requirement after, then enter and judge that S set is empty module? if S set is a non-NULL, then entering S is non-NULL, the link set of identical level is added to the S module, if the S non-NULL takes out a link Li, is starting point with Li, according to the connectivity function, with the link Lj of accessible all identical levels, Lk, Lm,. set is added to S, and Li is set for visit; If S set is empty, then enter S for empty, finish computing module;
Step 6. circulation is carried out
Executing S is non-NULL, the link set of identical level is added to the S module after, then feedback enters the input end of seeking the link L module that meets current layering requirement, repeating step 4 be the empty calculating that finishes up to S;
Step 7.S is empty, finishes to calculate;
Described road connectivity computing function is with taking all factors into consideration the node connectivity, the restriction of communication function and traffic rules, judge from this link and whether arrive the target link through some intermediate line links, article one, link must have two nodes, and node can connect some links, and link is the data chain of link to node to link to the visit of link; The concrete job step of this design road connectivity computing function is:
Step 2. is got the node Ni1 at two ends, Ni2
After executing initialization module, then enter the node Ni1 that gets two ends, Ni2, Li is a starting point with this link, obtains the node Ni1 at its two ends, Ni2;
The expansion of step 3. node
Execute the node Ni1 that gets two ends, after the Ni2 module, then enter the node expansion module,,, expand from Ni1 according to data so, otherwise two nodes are all expanded if Li is a special lane with reference to communication function and the rule limits of Li;
Step 4. is looked for all links of connection
After executing the node expansion module, then enter all link module of looking for connection, expand from NiX, find all links that connect with NiX, according to the restriction that turns to of node, determine to switch to all links that travel of Lj, but this Lj set is exactly the link set of Li by Ni UNICOM from Li;
But described level adjacent node conversion table is to be called the level adjacent node with the node between the link of adjacent UNICOM in the different levels, can utilize these nodes to switch the road network of different levels in the route calculation process; Design this level adjacent node conversion table,, comprising: the level internal node 4 types of the node layering in the road network of each level; Level is adjacent to go out ingress; The adjacent egress of level; Adjacent ingress with level;
The concrete job step of the administrative division extraction algorithm of described road network is:
Step 2. is set the administrative division level
After executing initialization module, then enter and set the administrative division layer module, set this administrative division level province, city, district, in road network, find this link that belongs to this zoning, add null set S;
Step 3. judges that S set is empty
After executing setting administrative division layer module, then enter and judge that S set is empty module? if S set is a non-NULL, then entering S is non-NULL, get a link Li module, if the S set non-NULL therefrom obtains a link Li, and Li reduced from S, be labeled as and visit; And be starting point with Li, according to the administrative division code of current setting,, calculate relevant link set Lj with connectivity by BFS (Breadth First Search), Lk, Lm, Ln ...., add S set; If S set is empty, then enter S for empty, finish computing module;
Step 4. circulation is carried out
Executing S is non-NULL, get a link Li module after, then feedback enters and judges that S set is the input end of empty module, repeating step 3 be empty up to S set, finishes calculating;
Step 5.S is empty, finishes to calculate;
The route cost that minimum cost algorithm between described road network is come in and gone out calculates by the road network inner link realizes that the concrete job step of the minimum cost algorithm between this road network is come in and gone out is:
Step 2. is collected all non-internal nodes of road network C
After executing initialization module, then enter and collect all non-internal node modules of road network C; Collect all non-internal nodes of road network C, be divided into two set, Ingress node Sn, Egress node En according to the function of going into and going out;
Step 3. is got both nodes inequality
After executing all non-internal node modules of collection road network C, then enter and get both node modules inequality, from the Ingress node set, appoint and get node Sni, from the Egress node set, appoint and get node Eni, and both are inequality;
Step 4. is sought the link of minimum cost
Execute get both node modules inequality after, then enter the link module of seeking minimum cost, Sni is used as starting point, Eni is used as terminal point, the pass course computing method are sought the link of minimum cost in present networks, make Sni to Eni UNICOM;
Step 5. is set up the reference clauses and subclauses of minimum cost
After executing the link module of seeking minimum cost, then enter the reference clauses and subclauses module of setting up minimum cost, set up to appoint in the Ingress node set to get in node Sni-＞Egress node set and appoint the reference clauses and subclauses of getting node Eni=minimum cost;
Step 6. judges whether the combination calculation mistake
After executing the reference clauses and subclauses module of setting up minimum cost, then enter and judge whether that combination calculation crosses module?
Step 7. circulation is carried out
If the node of non-two set is the combination calculation mistake all, then feedback enters and gets both node modules inequality, and repeating step 3 is up to the node of two set combination calculation mistake all; If the node of two set combination calculation mistake all then enters and forms minimum cost reference table module;
Step 8. forms the minimum cost reference table
Form at last to appoint in the inlet node set and get node Sni and in the Egress node set, appoint the minimum cost reference table of getting node Eni.
Special lane in the road connectivity computing function of described a kind of road topology data model for navigation and computing method or for one-way road or travel for unidirectional forbidding; Data in the described road connectivity computing function are from Ni1 expansion or be to expand from Ni2, otherwise two nodes are all expanded.
The invention has the beneficial effects as follows: this method has been utilized the various attribute datas of road network, such as grade, average speed, the administrative division subordinate, communication function, the connection nodes between the road link etc. become the surface road network switch of arbitrary data capacity on the overpass network of multilayer polylith, and mark connection node between each piece road link of each layer, guarantee the connectedness of whole road network; By multilayer polylith road network data cut apart storage and quote the part, accomplish the limited resources consumption in the route calculation process and the incremental update of road network data; The static of overpass data by the multilayer polylith added up in advance, kept the enlightening data of route calculation, improved the efficient of route calculation; The selectivity of the overpass data by the multilayer polylith connects, and has realized rational long distance route calculation on a large scale, has advantages such as reaching rational analysis result in reasonably time and cost.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Accompanying drawing 1 is one-piece construction block diagram of the present invention;
Accompanying drawing 2 is layering extraction algorithm flowage structure block diagram of the present invention;
Accompanying drawing 3 is road connectivity computing function structure block diagram of the present invention;
Accompanying drawing 4 is level adjacent node conversion table structure block diagram of the present invention;
Accompanying drawing 5 is the administrative division extraction algorithm flowage structure block diagram of road network of the present invention;
Accompanying drawing 6 is the minimum cost algorithm flow structure block diagram between road network discrepancy of the present invention;
Label declaration in the accompanying drawing:
1-data model and computing method;
10-layering extraction algorithm;
The 101-initialization;
102-design connectivity function;
103-sets the layering S set;
104-seeks the link L that meets current layering requirement;
The 105-S set is empty;
106-S is a non-NULL, and the link set of identical level is added to S;
107-S is empty, finishes to calculate;
20-road connectivity computing function;
The 201-initialization;
202-gets the node Ni1 at two ends, Ni2;
The expansion of 203-node;
204-looks for all links of connection
30-level adjacent node conversion table;
301-level internal node;
The 302-level is adjacent to go out ingress;
The adjacent egress of 303-level;
The adjacent ingress of 304-level;
The administrative division extraction algorithm of 4-road network;
The 401-initialization;
402-sets the administrative division level;
The 403-S set is empty;
404-S is a non-NULL, gets a link Li;
405-S is empty, finishes to calculate;
Minimum cost algorithm between the 5-road network is come in and gone out;
The 501-initialization;
502-collects all non-internal nodes of road network C;
503-gets both nodes inequality;
504-seeks the link of minimum cost;
505-sets up the reference clauses and subclauses of minimum cost;
506-combination calculation mistake;
507-forms the minimum cost reference table;
Embodiment
See also shown in the accompanying drawing 1,2,3,4,5,6, method of the present invention has been utilized the various attribute datas of road network, such as grade, average speed, administrative division subordinate, communication function, connection node between the road link etc., the surface road network switch of arbitrary data capacity is become the overpass network of multilayer polylith, and mark the connection node between each piece road link of each layer, guarantee the connectedness of whole road network.
By multilayer polylith road network data cut apart storage and quote the part, accomplish the limited resources consumption in the route calculation process and the incremental update of road network data.
The static of overpass data by the multilayer polylith added up in advance, kept the enlightening data of route calculation, improved the efficient of route calculation.
The selectivity of the overpass data by the multilayer polylith connects, and has realized rational long distance route calculation on a large scale.
Prior art of the present invention is: pass course planning and real-time navigation provide the data basis, finish road topology server data in the navigation map data, now this method is utilized the various attribute datas of road network, comprise: grade, average speed, the administrative division subordinate, communication function, connection node between the road link, the surface road network switch of data capacity is become the overpass network of multilayer polylith, and mark connection node between each piece road link of each layer, realize the connectedness of whole road network; By multilayer polylith road network data cut apart storage and quote the part, the limited resources consumption in the realization route calculation process and the incremental update of road network data; The static of overpass data by the multilayer polylith added up in advance, keeps the enlightening data of route calculation; The selectivity of the overpass data by the multilayer polylith connects, and realizes reasonably long distance route calculation on a large scale; This data model and computing method 1 comprise at least: the minimum cost algorithm 50 between the administrative division extraction algorithm 40 of layering extraction algorithm 10, road connectivity computing function 20, level adjacent node conversion table 30, road network and road network are come in and gone out; Wherein:
Described layering extraction algorithm 10 is self connectedness with the road network of each level, and the road network between different levels is for switching, and the place of switching is the connection node of different links; The concrete job step of the layering extraction algorithm 10 that this exploitation is corresponding is:
Step 2. design connectivity function 102
After executing initialization 101 modules, then enter design connectivity function 102 modules, design the connectivity function;
Step 3. is set layering set S103
After executing design connectivity function 102 modules, then enter and set layering set S103 module, and be initialized as null set;
Step 4. is sought the link L104 that meets current layering requirement
After executing setting layering set S103 module, then enter and seek the link L104 module that meets current layering requirement, in original road network, search out a link L who meets current layering requirement, L is added to S set;
Step 5. judges that S set is empty 105
Execute seek meet the link L104 module of current layering requirement after, then enter and judge that S set is empty 105 modules? if S set is a non-NULL, then entering S is non-NULL, the link set of identical level is added to the S106 module, if the S non-NULL takes out a link Li, is starting point with Li, according to the connectivity function, with the link Lj of accessible all identical levels, Lk, Lm,. set is added to S, and Li is set for visit; If S set is empty, then enter S for empty, finish to calculate 107 modules;
Step 6. circulation is carried out
Executing S is non-NULL, the link set of identical level is added to the S106 module after, then feedback enters the input end of seeking the link L104 module that meets current layering requirement, repeating step 4 be the empty calculating that finishes up to S;
Step 7.S is empty, finishes to calculate 107;
Described road connectivity computing function 20 usefulness are taken all factors into consideration the node connectivity, the restriction of communication function and traffic rules, judge from this link and whether arrive the target link through some intermediate line links, article one, link must have two nodes, and node can connect some links, and link is the data chain of link to node to link to the visit of link;
The concrete job step of this design road connectivity computing function 20 is:
Step 2. is got the node Ni1 at two ends, Ni2202
After executing initialization 201 modules, then enter the node Ni1 that gets two ends, Ni2202, Li is a starting point with this link, obtains the node Ni1 at its two ends, Ni2;
Step 3. node expansion 203
Execute the node Ni1 that gets two ends, after Ni2 202 modules, then enter node and expand 203 modules, with reference to communication function and the rule limits of Li,, expand from Ni1 according to data so, otherwise two nodes are all expanded if Li is a special lane;
Step 4. is looked for all links 204 of connection
Execute after node expands 203 modules, then enter all link 204 modules of looking for connection, expand from NiX, find all links that connect with NiX, according to the restriction that turns to of node, determine to switch to all links that travel of Lj, but this Lj set is exactly the link set of Li by Ni UNICOM from Li;
But described level adjacent node conversion table 30 is to be called the level adjacent node with the node between the link of adjacent UNICOM in the different levels, can utilize these nodes to switch the road network of different levels in the route calculation process; Design this level adjacent node conversion table 30,, comprising: level internal node 301 4 types of the node layering in the road network of each level; Level is adjacent to go out ingress 302; The adjacent egress 303 of level; Adjacent ingress 304 with level;
The concrete job step of the administrative division extraction algorithm 40 of described road network is:
Step 2. is set administrative division level 402
After executing initialization 401 modules, then enter and set administrative division level 402 modules, set this administrative division level province, city, district, in road network, find this link that belongs to this zoning, add null set S;
Step 3. judges that S set is empty 403
After executing setting administrative division level 402 modules, then enter and judge that S set is empty 403 modules? if S set is a non-NULL, then entering S is non-NULL, get link Li 404 modules, if the S set non-NULL therefrom obtains a link Li, and Li reduced from S, be labeled as and visit; And be starting point with Li, according to the administrative division code of current setting,, calculate relevant link set Lj with connectivity by BFS (Breadth First Search), Lk, Lm, Ln ...., add S set; If S set is empty, then enter S for empty, finish to calculate 405 modules;
Step 4. circulation is carried out
Executing S is non-NULL, get link Li 404 modules after, then feedback enters and judges that S set is the input end of empty 403 modules, repeating step 3 be empty up to S set, finishes calculating 405;
Step 5.S is empty, finishes to calculate 405;
The route cost that minimum cost algorithm 50 between described road network is come in and gone out calculates by the road network inner link realizes that the concrete job step of the minimum cost algorithm between this road network is come in and gone out is:
Step 2. is collected all non-internal nodes 502 of road network C
After executing initialization 501 modules, then enter and collect all non-internal node 502 modules of road network C; Collect all non-internal nodes of road network C, be divided into two set, Ingress node Sn, Egress node En according to the function of going into and going out;
Step 3. is got both nodes inequality 503
After executing all non-internal node 502 modules of collection road network C, then enter and get both node inequality 503 modules, from the Ingress node set, appoint and get node Sni, from the Egress node set, appoint and get node Eni, and both are inequality;
Step 4. is sought the link 504 of minimum cost
Execute get both node inequality 503 modules after, then enter link 504 modules of seeking minimum cost, Sni is used as starting point, Eni is used as terminal point, the pass course computing method are sought the link 504 of minimum cost in present networks, make Sni to Eni UNICOM;
Step 5. is set up the reference clauses and subclauses 505 of minimum cost
After executing link 504 modules of seeking minimum cost, then enter reference clauses and subclauses 505 modules of setting up minimum cost, set up to appoint in the Ingress node set to get in node Sni-＞Egress node set and appoint the reference clauses and subclauses of getting node Eni=minimum cost;
Step 6. judges whether that combination calculation crosses 506
After executing reference clauses and subclauses 505 modules of setting up minimum cost, then enter and judge whether that combination calculation crosses 506 modules?
Step 7. circulation is carried out
If the node of non-two set is the combination calculation mistake all, then feedback enters and gets both node inequality 503 modules, and repeating step 3 is up to the node of two set combination calculation mistake all; If the node of two set combination calculation mistake all then enters and forms minimum cost reference table 507 modules;
Step 8. forms minimum cost reference table 507
Form at last to appoint in the inlet node set and get node Sni and in the Egress node set, appoint the minimum cost reference table of getting node Eni.
Special lane in the road connectivity computing function 20 of described a kind of road topology data model for navigation and computing method or for one-way road or travel for unidirectional forbidding; Data in the described road connectivity computing function 20 are from Ni1 expansion or be to expand from Ni2, otherwise two nodes are all expanded.
Overall technological scheme of the present invention is:
The attribute data of road network, road network can be divided into the set of link and node again, and the link in the comprehensive utilization road network and the various attributes of node comprise:
It is relevant with design speed to build grade
National highway,
Intercity quick special lane,
Provincial highway and county road,
The quick special lane of urban inner,
Major trunk roads,
Ordinary Rd,
The bicycle road.
Communication function is relevant
Special-purpose blocked road,
Open road,
Last ring road, following ring road,
Overhead road of city,
The grade separation road,
The accommodation road inlet, the accommodation road outlet,
The intercommunication of same levels road,
The intercommunication of different brackets road,
The grade separation intercommunication,
The turning special lane,
The high-speed service district,
The tunnel,
Bridge,
The ferry circuit.
Traffic rules are relevant
Current direction forbids,
Transit time forbids,
Vehicle forbids,
Vehicle load forbids,
Turn and limit,
The motor vehicle special use,
The bicycle special use.
Administrative division is relevant
Have only link to possess unique administrative division attribute, and node possesses multiple administrative division attribute, often UNICOM the link of different administrative divisions.The link of range of countries, all road datas in the China national road network all possess this characteristic.Economize or municipality directly under the Central Government's link prefecture-level city's link, level city, district link.The link of higher level has been contained other link data of even lower level.Data can be divided into different subclass from the administrative division angle, minimum unit is the district rank.
Surface road network three-dimensional
Be newly-increased data axle with category of roads.Road network is divided into 3 layers, intercity, between the district, in the district.The link corresponding rank is:
Intercity: national highway, super expressway, special lane.
Between the district: through street in the city, provincial highway county road, major urban arterial highway.
In the district: general road, local area road, some non-navigation ways.
Design and develop corresponding layering extraction algorithm, target is self connectedness that guarantees the road network of each level, and the road network between different levels can switch, and the place of switching is the connection node of different links.
Design road connectivity computing function is taken all factors into consideration the node connectivity, and the restriction of communication function and traffic rules judges from certain bar link whether can arrive the target link through some intermediate line links.The technical specification of data according to the map, a link must have two nodes, and node can connect some links, link can be the data chain of link to node to link to the visit of link.
Design level time adjacent node conversion table.But the node in the different levels between the link of adjacent UNICOM is called the level adjacent node.In the route calculation process, can utilize these nodes to switch the road network of different levels.
Road network connectivity function
1. be starting point with certain bar link Li, obtain the node Ni1 at its two ends, Ni2;
2. with reference to communication function and the rule limits of Li, if Li is a special lane, perhaps one-way road is perhaps unidirectionally forbidden travelling etc., so can be from Ni1 or Ni2 expansion according to data, otherwise two nodes can be expanded;
3. from the NiX expansion, find all links that connect with NiX,, determine to switch to all feasible links of Lj, but this Lj set is exactly the link set of Li by Ni UNICOM from Li according to the restriction that turns to of node;
The layering extraction algorithm is described
1. design the connectivity function;
2. set the layering S set, and be initialized as null set;
3. in original road network, search out a link L who meets current layering requirement, L is added to S set;
4. if the S non-NULL takes out a link Li, is starting point with Li, according to the connectivity function, with the link Lj of accessible all identical levels, Lk, Lm .... set is added to
S, and Li set for visit;
5. repeating step 4, are that empty the end calculated up to S;
Level adjacent node conversion table
With 4 types of the node layering in the road network of each level:
The level internal node;
Level is adjacent to go out ingress;
The adjacent egress of level;
The adjacent ingress of level;
The level internal node is defined as: all links that this node connects all are the links in this level.
Level is adjacent to be gone out ingress and is defined as: the road link of different levels is arranged in all links that this node connects, the level of some quantity can be arranged.The connectivity of these levels all is two-way simultaneously.
Level is adjacent to be gone out or ingress is defined as: with go out ingress different be that to have the current of road network of some level be unidirectional, can only go out is exactly egress, what can only go into is exactly ingress.
Quoting fast of adjacent node table
Numbering a road network interior nodes is the natural number that increases progressively, and is convenient to utilize the quick Search and Orientation of data-bias.The polysemy of adjacent node causes this all can occur in different road networks, and the numerical digit difference that occurs in different networks probably.
In order to realize the node visit of across a network, set up the numbering mapping table of adjacent node, be mapped to different network of relation numberings from the numbering of current network.Realize directly across a network mapping fast.
The Region Segmentation of surface road network
The road network of arbitrary levels is all contained certain geographic range, according to the administrative division criteria for classifying of China national, is divided into three big layers from economizing region to the district level.Any link in the map raw data all has the administrative division attribute, identifies its administrative division hierarchical tree.
According to the administrative division attribute data of different stage, any road network can be marked off different regional ensembles in the plane.
The administrative division extraction algorithm of road network
1. set certain administrative division level (province, city, district), in road network, find certain bar to belong to the link of this zoning, add null set S;
2., be labeled as and visit if the S set non-NULL therefrom obtains a link Li, and Li is reduced from S;
3. be starting point with Li,,, calculate relevant link set Lj with connectivity by BFS (Breadth First Search) according to the administrative division code of current setting, Lk, Lm, Ln ...., add S set;
4. repeating step 3, are empty up to S set;
Zoning adjacent node conversion table
Similar with the level adjacent node, the zoning adjacent node also has identical four types.Also can exist certain node in different networks, to repeat, number skimble-scamble phenomenon.
The form of reference layer time adjacent node conversion table is set up the adjacent conversion table of zoning.
Route calculation based on the three-dimensional road net model of multilayer polylith inspires model:
The calculating of route cost
Definition about the route cost is a lot, according to domestic present construction of high-tech traffic system level, realizes that nationwide Real-time Traffic Information is reported and data transmission is also impossible.Therefore the route cost of present stage is considered the cost of travelling under the quiescent conditions more, comprises physical distance, average speed etc.
Data rule of thumb, to the physical distance of each link of forming route, average speed, link switches the quantity at (crossing), and the stand-by period of crossing traffic signal lamp etc. is weighted the overall cost that linear operation obtains route.
Minimum cost algorithm between road network is come in and gone out
The route cost that design is only calculated by the road network inner link.The algorithm thinking is as follows:
1. collect all non-internal nodes of road network C, be divided into two set, Ingress node Sn, Egress node En according to the function of going into and going out.
2. from the Ingress node set, appoint and get node Sni, from the Egress node set, appoint and get node Eni, and both are inequality;
3. Sni is used as starting point, Eni is used as terminal point, the pass course computing method, and the link of searching minimum cost Costmin makes Sni to Eni UNICOM in present networks.
4. set up reference clauses and subclauses with Sni-＞Eni=Costmin;
5. repeating step 3 is up to the node of two set combination calculation mistake all;
6. form the minimum cost reference table of Sni at last to Eni;
The polylith division of horizontal direction road network
After calculating the minimum cost table of road network discrepancy, each road network can be abstracted into a link in logic, the data scale of road network can reduce data scale later on by dividing sub-network.Utilize the enlightening information of the discrepancy minimum cost of division polylith stage calculating as the horizontal direction route calculation.
Claims (2)
1. road topology data model for navigation and computing method, this method pass course planning and real-time navigation provide the data basis, finish road topology server data in the navigation map data, it is characterized in that: this method is utilized the various attribute datas of road network, comprise: grade, average speed, the administrative division subordinate, communication function, connection node between the road link, the surface road network switch of data capacity is become the overpass network of multilayer polylith, and mark the connection node between each piece road link of each layer, realize the connectedness of whole road network; By multilayer polylith road network data cut apart storage and quote the part, the limited resources consumption in the realization route calculation process and the incremental update of road network data; The static of overpass data by the multilayer polylith added up in advance, keeps the enlightening data of route calculation; The selectivity of the overpass data by the multilayer polylith connects, and realizes reasonably long distance route calculation on a large scale; This data model and computing method (1) comprise at least: the minimum cost algorithm (50) between the administrative division extraction algorithm (40) of layering extraction algorithm (10), road connectivity computing function (20), level adjacent node conversion table (30), road network and road network are come in and gone out; Wherein:
Described layering extraction algorithm (10) is self connectedness with the road network of each level, and the road network between different levels is for switching, and the place of switching is the connection node of different links; The concrete job step of the layering extraction algorithm (10) that this exploitation is corresponding is:
Step 1. initialization (101)
Step 2. design connectivity function (102)
After executing initialization (101) module, then enter design connectivity function (102) module, design the connectivity function;
Step 3. is set layering S set (103)
After executing design connectivity function (102) module, then enter and set layering S set (103) module, and be initialized as null set;
Step 4. is sought the link L (104) that meets current layering requirement
After executing setting layering S set (103) module, then enter and seek link L (104) module that meets current layering requirement, in original road network, search out a link L who meets current layering requirement, L is added to S set;
Step 5. judges that S set is empty (105)
Execute seek meet link L (104) module of current layering requirement after, then enter and judge that S set is empty (105) module? if S set is a non-NULL, then entering S is non-NULL, the link set of identical level is added to S (106) module, if the S non-NULL takes out a link Li, is starting point with Li, according to the connectivity function, with the link Lj of accessible all identical levels, Lk, Lm,. set is added to S, and Li is set for visit; If S set is empty, then enter S for empty, finish to calculate (107) module;
Step 6. circulation is carried out
Executing S is non-NULL, the link set of identical level is added to S (106) module after, then feedback enters the input end of seeking link L (104) module that meets current layering requirement, repeating step 4 be the empty calculating that finishes up to S;
Step 7.S is empty, finishes to calculate (107);
Described road connectivity computing function (20) is with taking all factors into consideration the node connectivity, the restriction of communication function and traffic rules, judge from this link and whether arrive the target link through some intermediate line links, article one, link must have two nodes, and node can connect some links, and link is the data chain of link to node to link to the visit of link; The concrete job step of this design road connectivity computing function (20) is:
Step 1. initialization (201)
Step 2. is got the node Ni1 at two ends, Ni2 (202)
After executing initialization (201) module, then enter the node Ni1 that gets two ends, Ni2 (202), Li is a starting point with this link, obtains the node Ni1 at its two ends, Ni2;
Step 3. node expansion (203)
Execute the node Ni1 that gets two ends, after Ni2 (202) module, then enter node expansion (203) module, with reference to communication function and the rule limits of Li,, expand from Ni1 according to data so, otherwise two nodes are all expanded if Li is a special lane;
Step 4. is looked for all links (204) of connection
After executing node expansion (203) module, then enter all links (204) module of looking for connection, expand from NiX, find all links that connect with NiX, the restriction that turns to according to node, determine to switch to all links that travel of Lj, but this Lj set is exactly the link set of Li by Ni UNICOM from Li;
Described level adjacent node conversion table (30) but be to be called the level adjacent node with the node between the link of adjacent UNICOM in the different levels, in the route calculation process, can utilize these nodes to switch the road network of different levels; Design this level adjacent node conversion table (30), with 4 types of the node layering in the road network of each level, comprising: level internal node (301); Level is adjacent to go out ingress (302); The adjacent egress of level (303); Adjacent ingress with level (304);
The concrete job step of the administrative division extraction algorithm (40) of described road network is:
Step 1. initialization (401)
Step 2. is set administrative division level (402)
After executing initialization (401) module, then enter and set administrative division level (402) module, set this administrative division level province, city, district, in road network, find this link that belongs to this zoning, add null set S;
Step 3. judges that S set is empty (403)
After executing setting administrative division level (402) module, then enter and judge that S set is empty (403) module? if S set is a non-NULL, then entering S is non-NULL, get a link Li (404) module, if S set non-NULL, therefrom obtain a link Li, and Li is reduced from S, be labeled as and visit; And be starting point with Li, according to the administrative division code of current setting,, calculate relevant link set Lj with connectivity by BFS (Breadth First Search), Lk, Lm, Ln ...., add S set; If S set is empty, then enter S for empty, finish to calculate (405) module;
Step 4. circulation is carried out
Executing S is non-NULL, get a link Li (404) module after, then feedback enters and judges the input end of S set for empty (403) module, repeating step 3 be empty up to S set, finishes calculating (405);
Step 5.S is empty, finishes to calculate (405);
The route cost that minimum cost algorithm (50) between described road network is come in and gone out calculates by the road network inner link realizes that the concrete job step of the minimum cost algorithm between this road network is come in and gone out is:
Step 1. initialization (501)
Step 2. is collected all non-internal nodes (502) of road network C
After executing initialization (501) module, then enter and collect all non-internal node (502) modules of road network C; Collect all non-internal nodes of road network C, be divided into two set, Ingress node Sn, Egress node En according to the function of going into and going out;
Step 3. is got both nodes inequality (503)
After executing all non-internal node (502) modules of collection road network C, then enter and get both node inequality (503) modules, from the Ingress node set, appoint and get node Sni, from the Egress node set, appoint and get node Eni, and both are inequality;
Step 4. is sought the link (504) of minimum cost
Execute get both node inequality (503) modules after, then enter link (504) module of seeking minimum cost, Sni is used as starting point, Eni is used as terminal point, the pass course computing method, the link (504) of searching minimum cost makes Sni to Eni UNICOM in present networks;
Step 5. is set up the reference clauses and subclauses (505) of minimum cost
After executing link (504) module of seeking minimum cost, then enter reference clauses and subclauses (505) module of setting up minimum cost, set up to appoint in the Ingress node set and get node Sni-appoint the reference clauses and subclauses of getting node Eni=minimum cost in the Egress node set;
Step 6. judges whether that combination calculation crosses (506)
After executing reference clauses and subclauses (505) module of setting up minimum cost, then enter and judge whether that combination calculation crosses (506) module?
Step 7. circulation is carried out
If the node of non-two set is the combination calculation mistake all, then feedback enters and gets both node inequality (503) modules, and repeating step 3 is up to the node of two set combination calculation mistake all; If the node of two set combination calculation mistake all then enters and forms minimum cost reference table (507) module;
Step 8. forms minimum cost reference table (507)
Form at last to appoint in the inlet node set and get node Sni and in the Egress node set, appoint the minimum cost reference table of getting node Eni.
2. a kind of road topology data model for navigation according to claim 1 and computing method is characterized in that: the special lane in the described road connectivity computing function (20) or for one-way road or travel for unidirectional forbidding; Data in the described road connectivity computing function (20) are from Ni1 expansion or be to expand from Ni2, otherwise two nodes are all expanded.
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