Urban K shortest path obtaining method based on shortest path tree

The invention discloses an urban K shortest path obtaining method based on a shortest path tree. The method comprises the following steps: 1, constructing an urban road network according to road condition information; 2, defining parameters and initializing; 3, expanding a starting point intersection node as a shortest path tree of a root node; 4, acquiring the kth short circuit from the starting point intersection node to the terminal point intersection; 4, acquiring an offset path of the kth short circuit between starting and ending point intersection nodes, and updating the distance to search the upper bound of the driving time; and 5, continuously expanding the shortest path tree according to the upper bound, and obtaining a K short circuit from the starting point intersection node to the terminal point intersection node. According to the method, the shortest path tree is considered and utilized, and repeated calculation is reduced, so that the navigation search efficiency can be improved, and efficient t