The knowledge graph-to-text (KG-to-text) generation task aims to synthesize coherent and engaging sentences that accurately convey the complex information derived from an input knowledge graph. One of the primary challenges in this task is bridging the gap between the diverse structures of the KG and the target text, while preserving the details of the input KG. To address this, we propose a novel approach that efficiently integrates graph structure-aware modules with pre-trained language models. Unlike conventional techniques, which only consider direct connections between first-order neighbors, our method delves deeper by incorporating Relative Distance Encoding as a bias within the graph structure-aware module. This enables our model to better capture the intricate topology information present in the KG. To further elevate the fidelity of the generated text, Planning Selection and Similarity Distinction are introduced. Our approach filters the most relevant linearized sequences by employing a planning scorer, while simultaneously distinguishing similar input KGs through contrastive learning techniques. Experiments on two datasets demonstrate the superiority of our model.