关键词: 路径规划, 矢量地图, 拓扑结构, 多级比例尺, 最优路径规划算法

Abstract: According to the analysis of the characteristics and data structure of the vector electronic map，based on the network topology information extraction and“the layer-oriented and block-organized”storage，this paper studies several typical route planning algorithms，presents a multi-scale heuristic optimal route planning algorithm which is based on the multi-scale map model，and discusses how to improve the effectiveness and rationality of route planning.

Key words: route planning, vector map, topology, multi-scale, optimal route planning algorithm