A Novel Heuristic Emergency Path Planning Method Based on Vector Grid Map

Emergency path planning technology is one of the research hotspots of intelligent transportation systems. Due to the complexity of urban road networks and congested road conditions, emergency path planning is very difficult. Road congestion caused by urban emergencies directly affects the original road network structure. In this way, the static weight of the original road network is no longer suitable as the basis for path recommendation. To handle the dynamic situational road network, an equidistant grid emergency path planning framework will be designed. A novel situation grid road network model, based on situation information, is proposed and applied to an equidistant grid emergency path planning framework. A situational grid heuristic search will be proposed methodology based on this model, which can be used to detect the vehicles passing around the congestion area grid and the road to the destination in the shortest time. In the path planning methodology, a grid inspired search strategy based on quaternion function is included, which can make the algorithm converge to the target grid quickly. Three graph acceleration algorithms are proposed to improve the search efficiency of path planning algorithm. Finally, this paper will set up three experiments to verify our proposed method.