| The vehicle navigation is an important part of intelligent transportation system. Currently,People engaging in traffic engineering all over the world do a lot of research in vehicle navigation. This technology is considered the integration of vehicle,infrastructure and human.it focuses on electronics, communication, computer science, network analysis and so on. According to the demand of practical use,achieve safe,rapid,comfortable and economical trip purpose.The storage and data management of the road network are firstly introduced.then the data structure and the relationship between tables of electronic map are presented, how to calculate the weights of arc and how to present real-time traffic on the map are discussed at the end of chapter 2.As we know that the static path planning algorithm is not suitable for path planning in real-time traffic environment.and D* Lite algorithm has a good performance in replanning the path by repairing the previous solution.so just dealing with few nodes.it can reduce the calculation time, well satisfy the real-time application.In order to use less computer source when D* Lite runs, a more reasonable data structure is given. D* Lite is ture that it can find the shortest way in dynamic environment.but it was originally designed to robot, a little different from vehicle path planning. When we drive.we never want the navigator told us the shortest way often changes,it just changes when we need.As real-time traffic information often changes,the algorithm replans if the changes are relate to the shortest way and the changes is big enough. Meanwhile, we joined anytime algorithms with D* Lite,it can make this kind of D* Lite give a solution in very few time.D* Lite is migrated to vehicle navigation field.Finally, the simulation system designed and realized. We prove that D* Lite do a good job in dynamic and complex environment, it is applicable to vehicle dynamic navigation.
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