The Path Optimization Algorithm of Car Navigation System considering Node Attributes under Time-Invariant Network

Table 1

Notation	Meaning
	The arc that connecting node i and node j.
	The attribute value of the arc segment , i.e., the time required for the vehicle to traverse the arc segment . For each arc segment , is a uniquely determined value.
	The attribute value of node j (weight or time cost) represents the time taken for the vehicle to wait at node j (intersection) when the vehicle travels from the road section to the road section (j, k). is also uniquely determined for each node j.
	The set of nodes (representing a set of intersections in an actual road network).
	The set of directed arcs that connect nodes (representing road sections in a road network).
	The successor nodes set of node , .
	The predecessor nodes set of node , .
	The set of each arc attribute values. .
	The set of each node attribute values in the network.
	The minimum travel time starting from the starting node S to the destination node D.
	The minimum travel time starting from the first node i of the road section and passing through this section, then through intersection j, and the section (j, k) to the destination node D.
	The minimum travel time from the first node i i of the road section passing through this section and through intersection j to the destination node D.