[Retracted] Research on Optimal Route Planning for Self-Driving Tour Based on Road Network Structure

Algorithm 1 Pseudo code of Bellman-Ford algorithm

	Bellman-Ford Algorithm
	Input k: information of network topology
	Output: shortest path between nodes (x for start node, y for end node)
	Initialization
(1)	for all y in network
(2)	dx(y) = c(x, y)/∗if y is not a neighbor, then c(x, y) = ∞
(3)	for each neighbor :
(4)	(y) = ∞ for (y) = ∞
(5)	for each neighbor :
(6)	Send distance vector dx = [dx(y): y in N]tow
	Loop:
(7)	wait until a link cost change or receive a distance vector from neighbor
(8)	for each y in network:
(9)	dx(y) = min v{c(x, y) + (y)}
(10)	if dx(y) changed for any y:
(11)	Send distance vector dx = [dx(y): y in N] to all neighbors
	Forever