Abstract: In order to shorten the running time of vehicle access and the average waiting time of users in the horizontal circulating three-dimensional garage, an optimization model of the vehicle access path was proposed, which improved Dijkstra algorithm. Based on the working logic of vehicles access in horizontal circulating three-dimensional garage, the queuing model of three-dimensional garage was established on the basis of constructing the running time model of vehicle access path. Taking the average queue length and waiting time of vehicles as evaluation indexes, the bi-directional sector dynamic Dijkstra algorithm was introduced for optimization in terms of search direction, search range and dynamic node changes. The research results indicate that compared with the traditional Dijkstra algorithm, the improved Dijkstra algorithm improves the search efficiency of the target node and can make up for its lack of dynamic search ability. And the shortest path between the source node and the target node is output, which can effectively shorten vehicle access time and the average waiting time of the user, and improve the service efficiency of the horizontal circulating three-dimensional garage.

Key words: traffic and transportation engineering; mechanical three-dimensional garage; horizontal circulating three-dimensional garage; path optimization in vehicle storage and retrieval system; improved Dijkstra algorithm

摘要： 为缩短水平循环类立体车库车辆存取运行时间和用户平均等待时间，设计了一种改进Dijkstra算法的存取车辆运行路径优化模型。基于水平循环类立体车库存取车辆工作逻辑，在构建存取车辆路径运行时间模型的基础上，建立了立体车库的排队模型；以车辆平均排队队长和车辆排队等候时间为评价指标，在搜索方向、搜索范围及动态节点变化方面引入双向扇形动态Dijkstra算法进行优化。研究结果表明：相比于传统Dijkstra算法，改进Dijkstra算法提升了目标节点的搜索效率，且能弥补其缺乏动态搜索能力的缺陷，输出源节点与目标节点之间的最短路径，有效缩短存取车辆运行时间和用户平均等待时间，提升水平循环类立体车库服务效率。

关键词: 交通运输工程；机械式立体车库；水平循环类立体车库；存取路径优化；改进Dijkstra算法