基于分层分解的一种实时车辆路径规划算法

道路网络通常是大规模和复杂的网络，而一般的最短路径算法需要大量的计算时间。为了减少计算负担，本文根据分层和空间分解的道路网络模型，提出了一种基于存储数据的车辆路径规划算法，路径通过查询表格获得。提出的算法尤其适用于集中式车辆路径规划。仿真结果表明，该算法在计算次最优路径时更快且要求更少的内存单元。

A Real-Time Vehicle Path Planning Algorithm Based on Hierarchical Decomposition

Road networks are usually large scale and complicated networks. Therefore, general algorithms of shortest path are not appropriate because they require much computation time. In order to reduce computational burden, this paper develops a new algorithm based on stored data from the road network model of hierarchical and spatial decomposition. The algorithm is suitable for centralized vehicle path planning and table look up method may obtain the paths. Simulation results for computing the sub optimal paths show that the algorithm is much faster in computation and requires less memory.