本文選題：車輛導(dǎo)航系統(tǒng)　切入點(diǎn)：路徑規(guī)劃　出處：《解放軍信息工程大學(xué)》2014年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著GPS的發(fā)展,車輛導(dǎo)航系統(tǒng)得到了廣泛的應(yīng)用。作為車輛導(dǎo)航系統(tǒng)中的關(guān)鍵技術(shù)之一,路徑規(guī)劃已成為道路交通領(lǐng)域的研究熱點(diǎn)。目前,基于二維路網(wǎng)拓?fù)涞穆窂揭?guī)劃已在汽車衛(wèi)星導(dǎo)航系統(tǒng)中廣泛應(yīng)用,然而隨著北斗衛(wèi)星導(dǎo)航系統(tǒng)的投入使用,用于軍事用途的車輛和特種車輛不僅可能在無路的地方行進(jìn),而且行車過程中可能面臨如天氣、電磁、路障、態(tài)勢信息及實(shí)時交通信息等影響路徑規(guī)劃的各種復(fù)雜因素,在如此復(fù)雜環(huán)境中有效地進(jìn)行路徑規(guī)劃,成為當(dāng)前該領(lǐng)域研究的難點(diǎn)之一。本文針對上述應(yīng)用場景深入分析了基于路網(wǎng)拓?fù)浜突诘匦谓５膬煞N不同環(huán)境下的路徑規(guī)劃相關(guān)問題,重點(diǎn)對路網(wǎng)數(shù)據(jù)模型、動態(tài)交通信息的權(quán)重分配、地形建模及路徑搜索算法等問題進(jìn)行了深入研究,完成的主要工作和學(xué)術(shù)成果主要包括:1.提出了一種面向動態(tài)導(dǎo)航的多尺度路網(wǎng)數(shù)據(jù)模型。根據(jù)不同任務(wù)對導(dǎo)航數(shù)據(jù)內(nèi)容與尺度的需求和電子盤存儲速度慢的特點(diǎn),對用于顯示的幾何數(shù)據(jù)和用于路徑規(guī)劃的拓?fù)鋽?shù)據(jù)分別進(jìn)行分層分塊處理,存儲在電子盤外部存儲器中;在內(nèi)存或外接數(shù)據(jù)庫中存儲時變的動態(tài)交通信息,并建立動態(tài)交通信息與靜態(tài)路網(wǎng)關(guān)聯(lián)關(guān)系。該模型在減少數(shù)據(jù)存儲冗余的同時,支持大范圍路徑規(guī)劃時依據(jù)道路等級特征分區(qū)讀取不同層次路網(wǎng)數(shù)據(jù),以有效減少路徑計算的數(shù)據(jù)量,此外能夠有效地表達(dá)動態(tài)交通信息,在數(shù)據(jù)準(zhǔn)備為實(shí)現(xiàn)動態(tài)路徑規(guī)劃奠定了基礎(chǔ)。2.研究了基于動態(tài)交通信息多元權(quán)重分配的路徑規(guī)劃算法。針對城市路網(wǎng)中動態(tài)交通信息對路徑規(guī)劃影響的問題,提出了一種基于模糊粗糙集的動態(tài)交通信息權(quán)重分配的路徑規(guī)劃方法。首先,建立動態(tài)規(guī)劃模型,將行程時間和行車安全作為規(guī)劃最優(yōu)路徑的標(biāo)準(zhǔn);然后分別考慮影響行程時間和行車安全的因素,并將其分類量化,形成屬性決策表,采用合適的隸屬度函數(shù)計算各屬性與規(guī)劃原則之間的依賴度,確定各影響因素的權(quán)重;最后,利用分層A*路徑規(guī)劃算法對在路段上疊加了動態(tài)交通信息的城市路網(wǎng)進(jìn)行最優(yōu)路徑搜索。仿真結(jié)果說明:該方法能夠在保證算法實(shí)時性的前提下,更加合理的對融合交通信息的動態(tài)路網(wǎng)進(jìn)行路徑規(guī)劃。3.研究了車輛在無路網(wǎng)覆蓋區(qū)域進(jìn)行路徑規(guī)劃的問題。由于特種車輛執(zhí)行任務(wù)的特殊性,需要考慮在無道路網(wǎng)越野情況下基于實(shí)際地形的路徑規(guī)劃。在深入分析實(shí)際環(huán)境建模和無路網(wǎng)環(huán)境下路徑規(guī)劃算法的基礎(chǔ)上,提出了基于高程-四叉樹建模和改進(jìn)蟻群算法的路徑規(guī)劃方法。該方法利用四叉樹劃分原則對野外實(shí)際地形基于高程差進(jìn)行劃分,在完整存儲地形信息的基礎(chǔ)上較大的降低了數(shù)據(jù)量,提高了存儲效率,并降低了路徑規(guī)劃過程中的計算次數(shù);基于已建立的模型進(jìn)行了地形分析,為了使蟻群算法中啟發(fā)函數(shù)更加準(zhǔn)確有效,提出了綜合考慮距離、坡度、粗糙度等信息的啟發(fā)函數(shù)表示方法,并通過自適應(yīng)調(diào)整揮發(fā)因子來優(yōu)化信息素更新規(guī)則。實(shí)驗(yàn)結(jié)果表明,該方法相比以往算法,提高了路徑規(guī)劃的準(zhǔn)確度,加快了收斂速度,并能夠有效的避免算法早熟。4.綜合運(yùn)用上述研究成果,本章構(gòu)建了嵌入式車載導(dǎo)航系統(tǒng)應(yīng)用框架,并在Windows平臺建立仿真開發(fā)環(huán)境,以某城市的導(dǎo)航路網(wǎng)數(shù)據(jù)為例,采用MapInfo構(gòu)建多尺度路網(wǎng)模型,使用VC++編寫路網(wǎng)數(shù)據(jù)格式的轉(zhuǎn)換過程和路徑規(guī)劃算法,設(shè)計了導(dǎo)航數(shù)據(jù)格式轉(zhuǎn)換軟件,實(shí)現(xiàn)了多源路網(wǎng)數(shù)據(jù)、高程數(shù)據(jù)的格式轉(zhuǎn)換;對基于復(fù)雜環(huán)境下的路徑規(guī)劃算法進(jìn)行實(shí)現(xiàn),并成功應(yīng)用于WinCE平臺的嵌入式車載導(dǎo)航系統(tǒng),驗(yàn)證了系統(tǒng)的可用性。
[Abstract]:With the development of the GPS vehicle navigation system has been widely used. As one of the key technologies in the vehicle navigation system, path planning has become a hot research topic in the field of road traffic. At present, the network topology is two-dimensional path planning in car satellite navigation system based on the widely used, but with the Beidou satellite navigation system is put into use for, may not only in the road without a road where military vehicles and special vehicles, and the driving process may face such as weather, electromagnetic, roadblocks, various kinds of information and real-time traffic information of path planning of complex factors, effective path planning in such a complex environment, has become one of the difficulties of the present researches field. Aiming at the above scenarios in-depth analysis of the network topology and two different environment terrain modeling based on path planning based on Q The key problem of road network data model, the weight distribution of the dynamic traffic information are researched terrain modeling and path search algorithm, the main work and achievements include: 1. we propose a multi-scale network data for dynamic navigation model. According to the different tasks of navigation data content and scale of demand and the electronic disk storage speed characteristics, the geometric data for display and for topological data path planning are hierarchical block processing, stored in the electronic disk external memory; in memory or external number according to dynamic traffic information stored in a database changes, and the establishment of dynamic traffic information and static network association the model in reducing data redundancy and support large-scale path planning based on the characteristics of different road grade partition of road network data read, to effectively reduce the road The amount of data to calculate the diameter, also can effectively express the dynamic traffic information in the data preparation for the realization of dynamic path planning is the foundation of.2. research on the path planning algorithm of dynamic traffic information based on multiple weight distribution. In view of the influence of dynamic traffic information network in the city on the path planning problem, the paper proposed a path planning method for dynamic traffic the weight distribution information based on fuzzy rough sets. First, a dynamic programming model, the travel time and the traffic safety as the optimal path planning standard; then considering the factors influencing the travel time and the traffic safety, and classified quantitative form attribute decision table, using the appropriate membership function calculation of degree of dependence between the property and planning principles, determine the weight of each factor; finally, in section superimposed on the dynamic traffic using the hierarchical path planning algorithm A* City road network information search optimal path. The simulation results show that this method can guarantee the real-time performance of the algorithm under the more reasonable.3. for path planning of dynamic network traffic information fusion of vehicle in road network coverage area of the path planning problem. Because of the particularity of special vehicles to perform tasks, need to consider path planning based on the actual terrain in off-road conditions. Road network based on analyzing the actual environment modeling and path planning algorithm without network environment, put forward the elevation four fork tree modeling and improved ant colony algorithm based on path planning method. The method uses four tree division principle of field terrain division based on the elevation difference, based on the full storage of terrain information on greatly reduce the amount of data, improve storage efficiency, and reduce the path planning process Number of results; based on the established model of terrain analysis, in order to make the ant colony algorithm in heuristic function more accurately and effectively, is put forward considering the distance, slope, roughness representation heuristic information, and through the adaptive adjustment of evaporation factor to optimize the pheromone updating rule. The experimental results show that this method compared to the past the path planning algorithm, improve the accuracy and speed up the convergence rate, and can effectively avoid the premature convergence of.4. using the above research results, this chapter constructs the embedded vehicle navigation system application framework, and the establishment of simulation development environment in the Windows platform, the navigation road network data of a certain city as an example, the construction of multi-scale network model using MapInfo, prepared using the VC++ network data format conversion process and path planning algorithm, the design of navigation data format conversion software, to achieve multi way Network data, format conversion of elevation data, implementation of path planning algorithm based on complex environment, and successfully applied to embedded vehicle navigation system based on WinCE platform, validating the availability of the system.

【學(xué)位授予單位】：解放軍信息工程大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：U495;U463.67

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