摘要： 合理的路径规划必须充分考虑驾驶员习惯和心理特征，交叉口延误和转弯类型(如左转、直行或右转)对驾驶员的心理感受有较大影响。为此，针对城市路网密度大、交叉口间距小的特点，对经典的A*算法进行两方面的改进：将交叉口延误引入代价函数中；引入交叉口转弯系数γ以表征驾驶员对转弯类型的心理感受，并将其加入代价函数中。算例结果表明，与原算法相比，改进后的A*算法在保证路径总时间最短的前提下能避开左转弯操作，与实际的驾驶员习惯更吻合。

关键词: 路径规划, 改进的A*算法, 驾驶员心理, 代价函数, 路网

Abstract: Reasonable route planning should consider drivers’ habits and psychological features. Delay and turning types such as left-turn, through and right-turn have different effects on driver’s psychological feeling. Considering the intensive road network and short distance between intersections in urban area, two improvements are conducted on classic A* algorithm for route planning. It introduces delay at intersection to the cost function of route, and puts forward the turning coefficient γ to represent drivers’ psychological feeling upon the turning type, and adds it to the cost function too. Results of the simulating example indicate the shortest planned route by improved algorithm can avoid the left-turn efficiently, compared with the classic algorithm, the new algorithm concords better with the real drivers’ habit.

Key words: route planning, improved A* algorithm, driver psychology, cost function, road network

中图分类号: 

• TP311.52