Urban road network path planning method for non-global information

The invention discloses an urban road network path planning method for the non-global information and improves efficiency of the urban transportation network through balancing the traffic network flow. A path planning method in the prior art can only calculate the best path for a single vehicle or requires more information and assumptions. In response to the above problems, through periodically monitoring state changes of road segments, intelligently learning and evaluating current road segment congestion indexes and constructing a PST model, the A*R algorithm is utilized for path selection, so the road network state is made to be in a flow balancing state. The method is advantaged in that a large number of experiments show that the method can more effectively balance the traffic network flow and alleviate traffic congestion in the scene with relatively a large number of vehicles and has a good performance in reducing the average driving time and the average driving distance, in addition, the method can signi