中心式车载导航系统中路径规划问题的研究
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摘要
本论文研究得到吉林省科技发展计划项目《车载信息系统研制开发》(20050326)资助。
本文主要完成了车载信息系统中的路径规划功能,使导航系统正常运行。对于路径搜索范围较小的情况,采用经典的A*算法进行搜索;对于路径搜索范围较大的情况,提出了基于A*算法改进的分层路径规划算法;针对规划后路径转弯次数多的情况,提出了基于Dijkstra算法改进的最简单路径规划算法;同时针对交通阻塞,禁行,分时通行,单行路等道路状态信息进行处理;在完成了路径规划任务的同时,还需要与原有的车载信息系统进行融合,将路径搜索部分作为一个服务器端加入到整个车载信息系统中,编写相应的数据传输格式,通过编程实现局域网内的数据传输。
With the fast developing of technical and large usage of vehicle, peoples want the vehicle have more and more function. The products which have the function of navigation are very popular .Without the navigation of vehicle , some people can not go out by driving. The system of vehicle navigation has a series of function which make people work easy and safe.
Route programming is the key technology of CDRGS(Centrally Determined Route Guidance System) ,and it determine the real-time ,feasibility, agility .it is also a very important factor for the system. The relation technologies contain: route programming in different map format and the route programming for some special demand, including the information of the road, the problem about transmission of the data by communicating.
Design of the static route programming arithmetic in the CDRGS, layered search arithmetic based on the digital map,“Simplest”Paths arithmetic, route arithmetic including the information of the road, data transmission by internet are researched in this paper. The main content will be introduced as follows:
1 Arithmetic of static route programming: studied the classical A start arithmetic, classical Dijkstra arithmetic, accomplish the arithmetic on our system by programming.
2 Layered search arithmetic based on the digital map: because of the character of the digital map which is offered by digital map company, this paper give a layered search arithmetic. Layered search arithmetic assort the map into detailed map, summary map. Through switching the maps, accomplish the problem of searching time too long, dynamic memory too big, path search too complex. Accomplish the layered search arithmetic on our system by programming, and have a good outcome.
3“Simplest”Paths arithmetic: Considering the desire of the driver, this paper give a“simplest”paths arithmetic for cutting down the possibility of getting lost, cutting down the complexity of the path. Accomplish the“Simplest”Paths arithmetic on our system by programming, and have a good outcome. About cutting down the turning times,“simplest”paths arithmetic is better than the classical Dijkstra arithmetic. The turning times of“simplest”paths arithmetic is 41.66 percent of the turning times of classical Dijkstra arithmetic. Comparing the outcome,“simplest”paths arithmetic accomplish the expect outcome.
4 Route arithmetic including the information of the road: Considering some special traffic problem, for example traffic jam, forbidding pass, time-sharing pass, and so on, this paper give the route arithmetic including the information of the road for advancing the system’s feasibility and variety. Accomplish the route arithmetic including the information of the road on our system by programming,and have a good outcome.
5 Transmission of the data by internet: Because of the CDRGS’s need, this paper give a data transmit format for resolving the problem of data transmit. Through programming, accomplish transmission of the data by internet, and make a route programming server in our system.
本文主要完成了车载信息系统中的路径规划功能,使导航系统正常运行。对于路径搜索范围较小的情况,采用经典的A*算法进行搜索;对于路径搜索范围较大的情况,提出了基于A*算法改进的分层路径规划算法;针对规划后路径转弯次数多的情况,提出了基于Dijkstra算法改进的最简单路径规划算法;同时针对交通阻塞,禁行,分时通行,单行路等道路状态信息进行处理;在完成了路径规划任务的同时,还需要与原有的车载信息系统进行融合,将路径搜索部分作为一个服务器端加入到整个车载信息系统中,编写相应的数据传输格式,通过编程实现局域网内的数据传输。
With the fast developing of technical and large usage of vehicle, peoples want the vehicle have more and more function. The products which have the function of navigation are very popular .Without the navigation of vehicle , some people can not go out by driving. The system of vehicle navigation has a series of function which make people work easy and safe.
Route programming is the key technology of CDRGS(Centrally Determined Route Guidance System) ,and it determine the real-time ,feasibility, agility .it is also a very important factor for the system. The relation technologies contain: route programming in different map format and the route programming for some special demand, including the information of the road, the problem about transmission of the data by communicating.
Design of the static route programming arithmetic in the CDRGS, layered search arithmetic based on the digital map,“Simplest”Paths arithmetic, route arithmetic including the information of the road, data transmission by internet are researched in this paper. The main content will be introduced as follows:
1 Arithmetic of static route programming: studied the classical A start arithmetic, classical Dijkstra arithmetic, accomplish the arithmetic on our system by programming.
2 Layered search arithmetic based on the digital map: because of the character of the digital map which is offered by digital map company, this paper give a layered search arithmetic. Layered search arithmetic assort the map into detailed map, summary map. Through switching the maps, accomplish the problem of searching time too long, dynamic memory too big, path search too complex. Accomplish the layered search arithmetic on our system by programming, and have a good outcome.
3“Simplest”Paths arithmetic: Considering the desire of the driver, this paper give a“simplest”paths arithmetic for cutting down the possibility of getting lost, cutting down the complexity of the path. Accomplish the“Simplest”Paths arithmetic on our system by programming, and have a good outcome. About cutting down the turning times,“simplest”paths arithmetic is better than the classical Dijkstra arithmetic. The turning times of“simplest”paths arithmetic is 41.66 percent of the turning times of classical Dijkstra arithmetic. Comparing the outcome,“simplest”paths arithmetic accomplish the expect outcome.
4 Route arithmetic including the information of the road: Considering some special traffic problem, for example traffic jam, forbidding pass, time-sharing pass, and so on, this paper give the route arithmetic including the information of the road for advancing the system’s feasibility and variety. Accomplish the route arithmetic including the information of the road on our system by programming,and have a good outcome.
5 Transmission of the data by internet: Because of the CDRGS’s need, this paper give a data transmit format for resolving the problem of data transmit. Through programming, accomplish transmission of the data by internet, and make a route programming server in our system.
引文
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[2] 马扩。基于实时信息的动态路径规划问题研究,大连理工大学大学硕士学位论文,2007,:1-2
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[11] Soumia Ichoua,Michel Gendreau,Jean-Yves Potvin.Diversion Issue in Real-time Vehicle Dispatching.Transportation Science,2000,34:426-438.
[12] Seongmoon Kim .Optimal Vehicle Routing With Real-Time Traffic Information .IEEE,Mark E.Lewis and Chelsea C.Fellow IEEE.
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[23] Dr Praveen Kumar & Dhanunjaya Reddy & Varun Singh. Intelligent transport system using GIS.Map India Conference 2003.
[24]R. Madhavan, H. F. Durrant-Whyte.Natural landmark-based autonomous vehicle navigation.Robotics and Autonomous Systems 46 (2004) 79–95.
[25] Mohammed A. Quddus,Washington Yotto Ochieng, Lin Zhao, Robert B. Noland. A general map matching algorithm for transport telematics applications. GPS Solutions (2003) 7:157–167.
[26] C. Basnayake, O. Mezentsev, G. Lachapelle, M. E. Cannon. A Portable Vehicular Navigation System Using High Sensitivity GPS Augmented with Inertial Sensors and Map-matching. SAE TECHNICAL PAPER SERIES 2004-01-0748.
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[36] 李杰。用MapInfo 数据生成导航电子地图道路网络。计算机网络设计与图形学报第10 期 2004
[37] R. Montemanni, L. Gambardella, A. Rizzoli, and A. Donati.A new algorithm for a dynamic vehicle routing problem based on ant colony system. In Proceedings of ODYSSEUS 2003: Second International Workshop on Freight Transportation and Logistics, pages 27–30, Palermo, Italy, 2003.
[38] Pearl J,Kin J.Studies in semi admissible heuristics[J].IEEE Trans on Pattern Analysis and M achine Intelligence,4-1982
[39] Eiichi Taniguchi ,Hiroshi Shimamoto Intelligent transportation system based dynamic vehicle routing and scheduling with variable travel times www.elsevier.com/locate/trf Transportation Research Part C12 (2004) 235-250
[40] Qiang Liu,JaeJun Yoo,Byung-Tae Jang,KyoungHo Choi,Jenq-Neng Hwang A scalable VideoGis system for GPS-guided vehicles www.elsevier.com/locate/ imagine Signal Processing :Image Communication 20(2005)205-218
[41] C.D.Trarantilis ,D.Diakoulaki ,C.T.Kiranoudis Combination of geographical information system and efficient routing algorithms for real life distribution operations www.elsevier.com/locate/dsw European Journal of Operational Research 152 (2004) 437-453
[42] Kwang woo Nam,Jai Ho Lee,Seong Ho Lee,Jun Wook Lee,and Jong Hyun Park Developing a Main Moving Objects DBMS for Hign-Performance Location-Based Services
[43] 张小国,王庆,万德钧,基于电子地图的路径最优算法研究,中国惯性技术学报,2001年3月第9卷第1期
[44]李汉兵 喻建平 谢维信 局部搜索最小路径费用算法 电子学报 Vol 28 No5 May 2000
[45] 于东凯 刘玉树 基于平面图的最短路径算法的研究 北京理工大学学报 Vol 21 No1 Feb 2001
[46] 仝秋红 赵忠杰 汽车驾驶智能化中路线规划及导航的最佳路径求解法 西安公路交通大学学报 Vol 19 No 3 July 1999
[47] 任刚 王炜 ,交通规划中的动态路网及其模型的研究,公路交通科技2002 年12 月
[48] 孙喜梅,城市路网实时动态交通信息的组合预测模型和方法研究
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[2] 马扩。基于实时信息的动态路径规划问题研究,大连理工大学大学硕士学位论文,2007,:1-2
[3] N.H.M.Wilson,N.H.Colvin.Computer Control of the Rochester Dial-a-ride System.Dept.of Civil Engineering.M.I.T,1977:Report R77-31.
[4].C.F.Daganzo.An Approximate Analytic Model of Many-to-Many Demand Responsive Transportation Systems.Transp.Res,1978,12:325-333.
[5] .D.M.Stein.Scheduling.Dial-a-Ride.Transportation.Systems.Transp.Res,1978,12:232-249
[6] Psaraftis H.a Dynamic Programming Solution to the Single Vehicle Many-to-Many Immediate Request Dial-a-Ride Problem.Transportation Science,1980,14:130-154
[7] H.N.Pastafitis.Dynamic.Vehicle.Routing:Statusand.Prospects.Ann.Opns.Res,1995,61:143-164.
[8] H.N.Psaraftis.Dynamic Vehicle Routing Problems.Vehicle Routing,1988:223-249.
[9] W.B.Powell,P.Jaillet,A.Odoni.Stochastic and Dynamic Networks and Routing.In Network routing,Handbooks in Operations Research and Management Science,1995,8:141-295.
[10]K.Lund,O.B.G. Madsen,J.M.Rygaard.Vehicle Routing Problems with Varying Degrees.of.Dynamism.Technical.Report,Institute.of.Mathematical .Modeling,1996.Denmark:Technical Univ.of Denmark,IMM-REP-1996-1.
[11] Soumia Ichoua,Michel Gendreau,Jean-Yves Potvin.Diversion Issue in Real-time Vehicle Dispatching.Transportation Science,2000,34:426-438.
[12] Seongmoon Kim .Optimal Vehicle Routing With Real-Time Traffic Information .IEEE,Mark E.Lewis and Chelsea C.Fellow IEEE.
[13] MinkoffA S.A Markov Decision Model and Decomposition Heuristic for Dynamics Vehicle Dispatching.Operations Research.1993,41:77-90.
[14] W.Powell.A Comparative Review of Alternative Algorithms for the Dynamic Vehicle Allocation Problem.Vehicle Routing,1988:249-291.
[15] D.Bertsimas,G.Van Ryzin.A Stochastic and Dynamic Vehicle Routing Problem in the EuclidianPlane.Opns.Res,1991,39:601-615.
[16]Y.Shen,J.Y.Potvin.A Computer Assistant for Vehicle Dispatching with Learning Capabilities.Ann.Opns.Res,1995,21:121-131.
[17]I.Benyahia,J.Y.Potvin.Decision.Support.for.Vehicle.Dispatching.Using.Genetic.Programming.Centre de recherche sur les transports,University of Montresal.Canada,1995:Publication CRT-95-23.
[18] A.C.Regan,H.S.Mahmassani,p.Jaillet.Dynamic Vehicle A llocation for Fleet Management: Operationgal Changes for Improved Efficiency.Proc.2 nd World Congress on Applications of Transport Telematics & Intelligent Vehicle-Highway Systems,1995.
[19] M. Yearworth, N. Taylor, J. Tidmus, I. Fraser, and P.Still: A CORBA Service for Road Traffic Information on the Internet. Intern. Symposium on Distributed Objects and Applications(DOA’00), pp. 231-240, Antwerp, Belgium, 2000.
[20]Witmer,B.G,and.Singer,M.J.(1998).Measuring.presence.in.virtual.environments:A .resence.questionnaire.Presence:Teleoperators.and.Virtual.Environments,7,225-240
[21] K. Wunderlich. A Simulation-Based Assessment of Route Guidance Benefits under Variable Network Congestion Conditions. Mathl. Comput. Modelling Vol.27,No.9-11,pp.87-101,1998.
[22] Jorg F. Wagner, Gunther Kasties. Applying the principle of integrated navigation systems to estimating the motion of large vehicles Anwendung des Prinzips integrierter Navigationssysteme auf die Bewegungserfassung grober Fahrzeuge. Aerospace Science and Technology 8 (2004) 155–166.
[23] Dr Praveen Kumar & Dhanunjaya Reddy & Varun Singh. Intelligent transport system using GIS.Map India Conference 2003.
[24]R. Madhavan, H. F. Durrant-Whyte.Natural landmark-based autonomous vehicle navigation.Robotics and Autonomous Systems 46 (2004) 79–95.
[25] Mohammed A. Quddus,Washington Yotto Ochieng, Lin Zhao, Robert B. Noland. A general map matching algorithm for transport telematics applications. GPS Solutions (2003) 7:157–167.
[26] C. Basnayake, O. Mezentsev, G. Lachapelle, M. E. Cannon. A Portable Vehicular Navigation System Using High Sensitivity GPS Augmented with Inertial Sensors and Map-matching. SAE TECHNICAL PAPER SERIES 2004-01-0748.
[27] T. Preuss, J. Syrbe: An Integrated Traffic Information System. Intern. Conf. on the Application of Computer Networking in Architecture, Construction, Design, Civil Engineering and Urban Planning,Edinburgh, UK, 1997
[28] M. Tork Roth, P. Schwarz, L. Haas: An Architecture for Transparent Access to Diverse Data Sources. Component Database Systems, pp. 175-206, Morgan Kaufmann, 2001.
[29] A. Almeida, G. Ramalho, H. Santana, P. A. Tedesco,T. Menezes, V. Corruble, and Y. hevaleyre. advances on multi-agent patrolling. In SBIA, pages 474–483,2004.
[30] Jean_philippe Lauffenburger,Jerome Baujon Michel Basset and Gerard Leon Gissinger The N.A.I.C.C. Project:A Navigation Aided Intelligent Cruise Control System SAE 2000 World Congress Detroit,Michigan March 6-9,2000
[31] A. Machado, G. Ramalho, J.-D. Zucker, and A. Drogoul.Multi-agent patrolling: an emprical analysis of alternative architectures. In 3rd. International Workshop on Multiagent Based Simulation, 2002.
[32] 王宗原.基于电子地图的路径规划的设计与实现.哈尔滨工程大学硕士论文.2005
[33] H. Santana, G. Ramalho, V. Corruble, and B. Ratitch. Multiagent patrolling with reinforcement learning. In Proceedings of International Conference on Autonomous Agents and Multi-Agents Systems, pages 1120–1127, 2004.
[34] Stuart Russell Peter Norvig 人工智能 (一种现代方法)人民邮电出版社
[35] H.Gontran,P.-Y.Gillieron,J.Skaloud,EPFL,Laboratoire de Topometrie Precise Road Geometry for Integrated Transport Safety Systems SwissTransport Research Conference March 09-11,2005
[36] 李杰。用MapInfo 数据生成导航电子地图道路网络。计算机网络设计与图形学报第10 期 2004
[37] R. Montemanni, L. Gambardella, A. Rizzoli, and A. Donati.A new algorithm for a dynamic vehicle routing problem based on ant colony system. In Proceedings of ODYSSEUS 2003: Second International Workshop on Freight Transportation and Logistics, pages 27–30, Palermo, Italy, 2003.
[38] Pearl J,Kin J.Studies in semi admissible heuristics[J].IEEE Trans on Pattern Analysis and M achine Intelligence,4-1982
[39] Eiichi Taniguchi ,Hiroshi Shimamoto Intelligent transportation system based dynamic vehicle routing and scheduling with variable travel times www.elsevier.com/locate/trf Transportation Research Part C12 (2004) 235-250
[40] Qiang Liu,JaeJun Yoo,Byung-Tae Jang,KyoungHo Choi,Jenq-Neng Hwang A scalable VideoGis system for GPS-guided vehicles www.elsevier.com/locate/ imagine Signal Processing :Image Communication 20(2005)205-218
[41] C.D.Trarantilis ,D.Diakoulaki ,C.T.Kiranoudis Combination of geographical information system and efficient routing algorithms for real life distribution operations www.elsevier.com/locate/dsw European Journal of Operational Research 152 (2004) 437-453
[42] Kwang woo Nam,Jai Ho Lee,Seong Ho Lee,Jun Wook Lee,and Jong Hyun Park Developing a Main Moving Objects DBMS for Hign-Performance Location-Based Services
[43] 张小国,王庆,万德钧,基于电子地图的路径最优算法研究,中国惯性技术学报,2001年3月第9卷第1期
[44]李汉兵 喻建平 谢维信 局部搜索最小路径费用算法 电子学报 Vol 28 No5 May 2000
[45] 于东凯 刘玉树 基于平面图的最短路径算法的研究 北京理工大学学报 Vol 21 No1 Feb 2001
[46] 仝秋红 赵忠杰 汽车驾驶智能化中路线规划及导航的最佳路径求解法 西安公路交通大学学报 Vol 19 No 3 July 1999
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