[1] Sacerdoti E D. Planning in a hierarchy of abstraction spaces[J]. Artificial Intelligence, 1974, 5(2): 115-135.

[2] Korf R E. Planning as search: A quantitative approach[J]. Artificial Intelligence, 1987, 33(1): 65-88.

[3] Jung S, Pramanik S. An efficient path computation model for hierarchically structured topographical road maps[J]. Knowledge and Data Engineering, IEEE Transactions on, 2002, 14(5): 1029-1046.

[4] Jagadeesh G,Srikanthan T,Quek K.Heuristic techniques for accelerating hierarchical routing on road networks[J]. Intelligent Transportation Systems, IEEE Transactions on, 2002, 3(4): 301-309.

[5] Chou Y L, Romeijn H E, Smith R L. Approximating shortest paths in largescale networks with an application to intelligent transportation systems[J]. INFORMS Journal on Computing, 1998, 10(2): 163-179.

[6] Liu B. Route finding by using knowledge about the road network[J]. Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on, 1997, 27(4): 436-448.

[7] Car A,Frank A. General principles of hierarchical spatial reasoning: the case of wayfinding[C]. 1994: 646-664.

[8] 翁敏,毋河海,杜清运,等. 基于道路网络知识的启发式层次路径寻找算法[J]. 武汉大学学报: 信息科学版, 2006, 31(004): 360-363.[WENG M,WU H H,DU Q Y,et al. A heuristic and hierarchical wayfinding algorithm based on the knowledge of road network[J]. Geomatics and Information Science of Wuhan University.2006.31(004):360-363.]

[9] 高松,陆锋.一种基于路网等级启发式策略的路径搜索算法[J]. 地球信息科学学报, 2009, 11(2): 151-156.[GAO S,LU F. A path finding heuristic algorithm for a road network hierarchy[J]. GeoInformation Science, 2009,11(2):151-156.]

[10] 武雪玲,李清泉,任福. 基于分层分块数据组织的双向A*算法[J]. 测绘信息与工程, 2006, 31(6):1-2.[WU X L,LI Q Q,REN F. Bidirectional A* algorithm based on hierarchical and block data organization[J]. Journal of Geomatics,2006,31(6):1-2.]

[11] 钟慧玲,章梦,石永强,等. 基于路网分层策略的高效路径规划算法[J]. 西南交通大学学报, 2011, 46(4): 645-650.[ZHONG H L,ZHANG M,SHI Y Q,et al. Efficient route plan algorithm based on multilevel road network strategy[J]. Journal of Southwest Jiaotong University, 2011,46(4):645-650.]

[12] 唐炉亮, 常晓猛, 李清泉. 出租车经验知识建模与路径规划算法[J]. 测绘学报, 2010, 39(4):404-409. [TANG L L,CHANG X M,LI Q Q.The knowledge modeling and route planning based on taxiexperience[J] . Acta Geodaetica et Cartographica Sinica, 2010, 39(4):404-409.]

[13] 杨扬.基于实时交通信息的最优路径规划问题的研究[D]. 上海交通大学，2009. [YANG Y. Optimal path planning problem under realtime traffic network [D]. Shanghai Jiao Tong University, 2009.]