摘要：Vehicle path planning plays a key role in the car navigation system. In actual urban traffic, the time spent at intersections accounts for a large proportion of the total time and cannot be ignored. Therefore, studying the shortest path planning problem considering node attributes has important practical significance. In this article, we study the vehicle path planning problem in time-invariant networks, with the minimum travel time from the starting node to the destination node as the optimization goal (including node time cost). Based on the characteristics of the problem, we construct the mathematical model. We propose a Reverse Order Labeling Algorithm (ROLA) based on the traditional Dijkstra algorithm to solve the problem; the correctness of the proposed algorithm is proved theoretically, and we analyse and give the time complexity of the ROLA and design a calculation example to verify the effectiveness of the algorithm. Finally, through extensive simulation experiments, we compare the performance of the proposed ROLA with several other existing algorithms. The experimental results show that the proposed algorithm has good stability and high efficiency.
