CN106292709A - Many unmanned vehicles collision avoidance control method and device - Google Patents
Many unmanned vehicles collision avoidance control method and device Download PDFInfo
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- CN106292709A CN106292709A CN201610896648.0A CN201610896648A CN106292709A CN 106292709 A CN106292709 A CN 106292709A CN 201610896648 A CN201610896648 A CN 201610896648A CN 106292709 A CN106292709 A CN 106292709A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0004—Transmission of traffic-related information to or from an aircraft
- G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
- G08G5/0026—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located on the ground
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0043—Traffic management of multiple aircrafts from the ground
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/04—Anti-collision systems
- G08G5/045—Navigation or guidance aids, e.g. determination of anti-collision manoeuvers
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Abstract
The present invention provides a kind of many unmanned vehicles collision avoidance control method and device, many unmanned vehicles collision avoidance control method that the present invention provides, by receiving attribute information and the state of flight information of the N frame unmanned vehicle of sustained height layer, and the collision avoidance radius of investigation of the i-th frame unmanned vehicle is determined according to the mobility grade of the i-th frame unmanned vehicle, navigation accuracy grade according to the i-th frame unmanned vehicle determines the radius of protection of the i-th frame unmanned vehicle, state of flight information according to N frame unmanned vehicle, collision avoidance radius of investigation and radius of protection, determine the collision avoidance speed of N frame unmanned vehicle, and the collision avoidance speed of the i-th frame unmanned vehicle is sent to the i-th frame unmanned vehicle, so that the i-th frame unmanned vehicle flies according to above-mentioned collision avoidance speed, wherein, i=1, ..., N.Many unmanned vehicles collision avoidance control method of present invention offer and device, can solve the collision problem between unmanned vehicle during the flight simultaneously of many unmanned vehicles.
Description
Technical field
The present invention relates to safe practice, particularly relate to a kind of many unmanned vehicles collision avoidance control method and device.
Background technology
China's unmanned vehicle industry development is rapid in recent years, and unmanned vehicle has been widely used in military, the people
With etc. every field.In order to ensure flight safety, need to develop unmanned vehicle flight collision avoidance control technology.
Unmanned vehicle collision avoidance control method of the prior art, by obtaining unmanned vehicle under current state with quiet
Distance between state barrier, and judge whether described distance meets preset value, and then when described distance is unsatisfactory for preset value,
Flying height is regulated, to avoid unmanned vehicle to send out with described static state barrier according to described distance controlling unmanned vehicle
Raw collision.
Unmanned vehicle collision avoidance method of the prior art, is only capable of and avoids unmanned vehicle to touch with static-obstacle thing
Hit, it is impossible to collide between unmanned vehicle and unmanned vehicle when enough avoiding the flight simultaneously of many unmanned vehicles.
Summary of the invention
The present invention provides a kind of many unmanned vehicles collision avoidance control method and device, it is possible to avoid many unmanned vehicles simultaneously
Collide between unmanned vehicle and unmanned vehicle during flight.
First aspect present invention provides a kind of many unmanned vehicles collision avoidance control method, including: receive the N of sustained height layer
The attribute information of frame unmanned vehicle and state of flight information, wherein, described attribute information includes the mobility of unmanned vehicle
Energy grade and navigation accuracy grade, described state of flight information includes the positional information of unmanned vehicle, velocity information and course
Information；
Mobility grade according to the i-th frame unmanned vehicle determines the collision avoidance detection half of described i-th frame unmanned vehicle
Footpath, i=1 ..., N；
Navigation accuracy grade according to described i-th frame unmanned vehicle determines the protection half of described i-th frame unmanned vehicle
Footpath；
According to state of flight information, collision avoidance radius of investigation and the radius of protection of described N frame unmanned vehicle, determine described
The collision avoidance speed of N frame unmanned vehicle；
The collision avoidance speed of described i-th frame unmanned vehicle is sent to described i-th frame unmanned vehicle, so that described i-th
Frame unmanned vehicle flies according to described collision avoidance speed.
In a kind of possible implementation of the present invention, described attribute information also include unmanned vehicle maximal rate and
Minimum speed, the described state of flight information according to N frame unmanned vehicle, collision avoidance radius of investigation and radius of protection, determine institute
State the collision avoidance speed of N frame unmanned vehicle, specifically include:
According to state of flight information, radius of protection, maximal rate and the minimum speed of described N frame unmanned vehicle, use
Speed Obstacles method determines the sets of speeds that described i-th frame unmanned vehicle uses, and the speed in described sets of speeds is more than or equal to
The minimum speed of described i-th frame unmanned vehicle, and less than or equal to the maximal rate of described i-th frame unmanned vehicle；
According to the sets of speeds of described i-th frame unmanned vehicle, determine the motor-driven sky of collision avoidance of described i-th frame unmanned vehicle
Between；
According to the collision avoidance maneuver space of described i-th frame unmanned vehicle, determine that the collision avoidance of described i-th frame unmanned vehicle is excellent
First level；
Collision avoidance priority according to described N frame unmanned vehicle and collision avoidance investigative range, determine described N frame unmanned vehicle
Collision avoidance speed.
In the implementation that the present invention is alternatively possible, the described collision avoidance priority according to described N frame unmanned vehicle
With collision avoidance investigative range, determine the collision avoidance speed of described N frame unmanned vehicle, specifically include following steps:
Step one, described N frame unmanned vehicle is sorted from high to low according to collision avoidance priority；
Step 2, in the collision avoidance investigative range falling into described i-th frame unmanned vehicle, and described in collision avoidance priority ratio
The unmanned vehicle that the collision avoidance priority of i frame unmanned vehicle is low distributes a token；
Step 3, after token is assigned, the token number obtained according to described N frame unmanned vehicle, to described N frame without
People's aircraft is ranked up；
Step 4, determine in described N frame unmanned vehicle token number be the collision avoidance speed of the unmanned vehicle of 0 be described N
In frame unmanned vehicle, token number is the current flight speed of the unmanned vehicle of 0；
Step 5, cancellation are to falling in the unmanned vehicle collision avoidance investigative range that token number is 0, and collision avoidance priority ratio institute
State the token of the low unmanned vehicle distribution of the collision avoidance priority of the unmanned vehicle that token number is 0；
Step 6, current token number according to remaining unmanned vehicle, arrange described remaining unmanned vehicle
Sequence；
Step 7, determine collision avoidance speed for the unmanned vehicle that token number in described remaining unmanned vehicle is 0；
Step 8, repetition step 5 are to step 7, until determining collision avoidance speed for described N frame unmanned vehicle.
Further, described for the unmanned vehicle that token number in described remaining unmanned vehicle is 0 determine collision avoidance speed
Degree, specifically includes:
It is the collision avoidance priority of the unmanned vehicle of 0 by token number in remaining unmanned vehicle described in collision avoidance priority ratio
Height, and collision avoidance investigative range to fall into token number in described remaining unmanned vehicle be the unmanned vehicle of the unmanned vehicle of 0
Being defined as token number in described remaining unmanned vehicle is the barrier of the unmanned vehicle of 0；
It is the state of flight information of the unmanned vehicle of 0 according to token number in described remaining unmanned vehicle, Yi Jisuo
Stating token number in remaining unmanned vehicle is the positional information of the barrier of the unmanned vehicle of 0, course information and collision avoidance speed
Degree, uses Speed Obstacles method to determine that in described remaining unmanned vehicle, token number is that the unmanned vehicle of 0 is to described barrier
Speed Obstacles；
It is the course of the unmanned vehicle of 0 according to token number in described Speed Obstacles and described remaining unmanned vehicle
Information determines that in described remaining unmanned vehicle, token number is the sets of speeds of the unmanned vehicle of 0, in described sets of speeds
Speed more than or equal to the minimum speed of the unmanned vehicle that token number in described remaining unmanned vehicle is 0, and be less than
In described remaining unmanned vehicle, token number is the maximal rate of 0 unmanned vehicle；
The maximum determining the speed in described sets of speeds is that in described remaining unmanned vehicle, token number is the nothing of 0
The collision avoidance speed of people's aircraft.
Second aspect present invention provide a kind of many unmanned vehicles collision avoidance control device, including receiver module, determine module,
Sending module；Wherein,
Described receiver module, for receiving attribute information and the state of flight letter of the N frame unmanned vehicle of sustained height layer
Breath, wherein, described attribute information includes mobility grade and the navigation accuracy grade of unmanned vehicle, and described state of flight is believed
Breath includes the positional information of unmanned vehicle, velocity information and course information；
Described determining module, for determining described i-th frame according to the mobility grade of the i-th frame unmanned vehicle, nobody flies
The collision avoidance radius of investigation of row device, determines described i-th frame unmanned flight according to the navigation accuracy grade of described i-th frame unmanned vehicle
The radius of protection of device；And according to state of flight information, collision avoidance radius of investigation and the radius of protection of described N frame unmanned vehicle,
Determine the collision avoidance speed of described N frame unmanned vehicle, wherein, i=1 ..., N；
Described sending module, for the collision avoidance speed of described i-th frame unmanned vehicle is sent to described i-th frame, nobody flies
Row device, so that described i-th frame unmanned vehicle flies according to described collision avoidance speed.
Further, described attribute information also includes maximal rate and the minimum speed of unmanned vehicle, described determines mould
Block, specifically for state of flight information, radius of protection, maximal rate and minimum speed according to described N frame unmanned vehicle, adopts
The sets of speeds that described i-th frame unmanned vehicle uses is determined by Speed Obstacles method；Speed according to described i-th frame unmanned vehicle
Degree set, determines the collision avoidance maneuver space of described i-th frame unmanned vehicle；Collision avoidance machine according to described i-th frame unmanned vehicle
Dynamic space, determines the collision avoidance priority of described i-th frame unmanned vehicle；Collision avoidance priority according to described N frame unmanned vehicle
With collision avoidance investigative range, determining the collision avoidance speed of described N frame unmanned vehicle, wherein, the speed in described sets of speeds is more than
Equal to the minimum speed of described i-th frame unmanned vehicle, and less than or equal to the maximal rate of described i-th frame unmanned vehicle.
Further, described determine that module detects model in the collision avoidance priority according to described N frame unmanned vehicle and collision avoidance
Enclose, when determining the collision avoidance speed of described N frame unmanned vehicle, specifically for performing following steps:
Step one, described N frame unmanned vehicle is sorted from high to low according to collision avoidance priority；
Step 2, in the collision avoidance investigative range falling into described i-th frame unmanned vehicle, and described in collision avoidance priority ratio
The unmanned vehicle that the collision avoidance priority of i frame unmanned vehicle is low distributes a token；
Step 3, after token is assigned, the token number obtained according to described N frame unmanned vehicle, to described N frame without
People's aircraft is ranked up；
Step 4, determine in described N frame unmanned vehicle token number be the collision avoidance speed of the unmanned vehicle of 0 be described N
In frame unmanned vehicle, token number is the current flight speed of the unmanned vehicle of 0；
Step 5, cancellation are to falling in the unmanned vehicle collision avoidance investigative range that token number is 0, and collision avoidance priority ratio institute
State the token of the low unmanned vehicle distribution of the collision avoidance priority of the unmanned vehicle that token number is 0；
Step 6, current token number according to remaining unmanned vehicle, arrange described remaining unmanned vehicle
Sequence；
Step 7, determine collision avoidance speed for the unmanned vehicle that token number in described remaining unmanned vehicle is 0；
Step 8, repetition step 5 are to step 7, until determining collision avoidance speed for described N frame unmanned vehicle.
Further, described determine module, specifically for will remaining unmanned vehicle described in collision avoidance priority ratio make
Board number is that the collision avoidance priority of the unmanned vehicle of 0 is high, and collision avoidance investigative range falls in described remaining unmanned vehicle and makes
Board number be the unmanned vehicle of the unmanned vehicle of 0 be defined as token number in described remaining unmanned vehicle be 0 nobody fly
The barrier of row device；According to the state of flight information that token number in described remaining unmanned vehicle is the unmanned vehicle of 0 with
And token number is the positional information of barrier of unmanned vehicle, the course information of 0 and keeps away in described remaining unmanned vehicle
Hit speed, use Speed Obstacles method to determine that in described remaining unmanned vehicle, token number is that the unmanned vehicle of 0 is to described barrier
Hinder the Speed Obstacles of thing；It is the unmanned flight of 0 according to token number in described Speed Obstacles and described remaining unmanned vehicle
The course information of device determines that in described remaining unmanned vehicle, token number is the sets of speeds of the unmanned vehicle of 0；Determine institute
The maximum stating the speed in sets of speeds is that in described remaining unmanned vehicle, token number is the collision avoidance of the unmanned vehicle of 0
Speed；Wherein, the speed in described sets of speeds more than or equal to token number in described remaining unmanned vehicle be 0 nobody fly
The minimum speed of row device, and less than or equal to the maximal rate that token number in described remaining unmanned vehicle is 0 unmanned vehicle.
The present invention provide many unmanned vehicles collision avoidance control method and device, by receive sustained height layer N frame without
The attribute information of people's aircraft and state of flight information, and determine the i-th frame according to the mobility grade of the i-th frame unmanned vehicle
The collision avoidance radius of investigation of unmanned vehicle, determines the i-th frame unmanned vehicle according to the navigation accuracy grade of the i-th frame unmanned vehicle
Radius of protection, and then according to state of flight information, collision avoidance radius of investigation and the radius of protection of N frame unmanned vehicle, determine N
The collision avoidance speed of frame unmanned vehicle, and the collision avoidance speed of the i-th frame unmanned vehicle is sent to the i-th frame unmanned vehicle, with
The i-th frame unmanned vehicle is made to fly according to above-mentioned collision avoidance speed, wherein, i=1 ..., N.So, same when many unmanned vehicles
During Shi Feihang, by receiving attribute information and the state of flight information of each unmanned vehicle, and combine the genus of each unmanned vehicle
Property information and state of flight information determine the collision avoidance speed of each unmanned vehicle, when can solve the flight simultaneously of many unmanned vehicles
Collision problem between unmanned vehicle and unmanned vehicle.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is this
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to
Other accompanying drawing is obtained according to these accompanying drawings.
Fig. 1 is the principle schematic of Speed Obstacles method；
Fig. 2 is the flow chart of the present invention many unmanned vehicles collision avoidance control method embodiment one；
Fig. 3 is the flow chart of the present invention many unmanned vehicles collision avoidance control method embodiment two；
Fig. 4 is the state of flight schematic diagram of many unmanned vehicles；
Fig. 5 is the schematic diagram to the Speed Obstacles of other unmanned vehicles of the unmanned vehicle A0 in Fig. 4；
Fig. 6 is the schematic diagram of the collision avoidance radius of investigation of many unmanned vehicles；
Fig. 7 is the schematic diagram that the present invention many unmanned vehicles collision avoidance controls device embodiment one.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under not making creative work premise, broadly falls into the scope of protection of the invention.
The present invention provides a kind of many unmanned vehicles collision avoidance control method and device, it is possible to avoid many unmanned vehicles simultaneously
Collide between unmanned vehicle and unmanned vehicle during flight.
Many unmanned vehicles collision avoidance control method of present invention offer and device, can apply to aviation field, specifically
Many unmanned vehicles collision avoidance control method that the present invention provides and device can be applied unmanned vehicle to be implemented flight and controls, with
When solving the flight simultaneously of many unmanned vehicles, the collision problem between unmanned vehicle and unmanned vehicle.
With specifically embodiment, technical scheme is described in detail below.These concrete enforcements below
Example can be combined with each other, and may repeat no more in some embodiment for same or analogous concept or process.
Before many unmanned vehicles collision avoidance control method that present invention offer is provided and device, the most simply introduce
Speed Obstacles method principle.It should be noted that in Speed Obstacles method principle, moving object and moving obstacle are reduced to circle
Shape.Fig. 1 is the principle schematic of Speed Obstacles method, specifically, refer to Fig. 1, and the current T moment, at global coordinate system { X, Y}
In, (radius is r to moving object RR) it is positioned at a PR=(xR,yR), speed is VR；(radius is r to moving obstacle OO) it is positioned at a PO
=(xO,yO), speed is VO.Moving obstacle O carries out expanding treatment according to the size of moving object R, and its radius expands to RO=
rR+ro, now as, moving object R is regarded a particle, and expanded after moving obstacle O be called the position of moving object R
Put obstacle (Position Obstacle is called for short PO), lMOAnd lNOIt is moving object P and obstacle PO both sides, position tangential direction
Ray, lROBetween lMOAnd lNOBetween.The relative velocity of definition moving object R and moving obstacle O is VRO=VR-VO.Then pass through
Relative velocity can be moving obstacle O as stationary obstruction, and the speed of moving object R then sees V asRO；If VROKeep
Constant, lROFor the ray on its direction, then the condition collided in moving obstacle O is by moving object R:Make the relative velocity V that above formula is set upROSet, the relative impact zone RCC being defined as in the velocity space
(Relative Collision Cone is called for short RCC), i.e. ray l in Fig. 1MOAnd lNOBetween region, for moving object R
Arbitrary relative velocity VROIf, VRO∈ RCC, then moving object R will collide in moving obstacle O.Further, as
Shown in Fig. 1, RCC is translated VOAfter the region that obtains be referred to as absolute collision area ACC (Absolute Collision Cone, letter
Claim ACC), wherein,WhereinRepresent Minkowski vector computing.From figure 1 it appears that VR
Distal point be positioned at ACC and be equivalent to VRO∈ RCC, so working as VRDistal point when being positioned at ACC, moving object R will be with the dyskinesia
Thing O collides, and ACC represents the set of the speed that moving object R collides with moving obstacle O, is Speed Obstacles VO
(Velocity Obstacle is called for short VO), in the ensuing moment, only need to be by VRPoint in the velocity space be adjusted to ACC it
Outward, just can avoid moving object R to collide with moving obstacle O.
After describing Speed Obstacles method principle, many unmanned vehicle collision avoidance that the present invention provide is discussed in detail below
Control method and device.
Fig. 2 is the flow chart of the present invention many unmanned vehicles collision avoidance control method embodiment one.Holding of the embodiment of the present invention
Row main body can be that single unmanned vehicle collision avoidance controls device, it is also possible to is to be integrated with unmanned vehicle collision avoidance to control device
Ground installation.The embodiment of the present invention is as a example by executive agent is to be integrated with the ground installation that unmanned vehicle collision avoidance controls device
Illustrate.As in figure 2 it is shown, many unmanned vehicles collision avoidance control method that the present embodiment provides, may include steps of:
S101, the attribute information receiving the N frame unmanned vehicle of sustained height layer and state of flight information, wherein, above-mentioned
Attribute information includes mobility grade and the navigation accuracy grade of unmanned vehicle, and above-mentioned state of flight information includes that nobody flies
The positional information of row device, velocity information and course information.
Specifically, the mobility of unmanned vehicle refers to unmanned vehicle change of flight speed within a certain period of time, flight
Height and the ability of heading.Mobility grade is then for characterizing the quality of mobility.For example, it is possible to fly according to nobody
The performance parameter (fuselage weight of such as unmanned vehicle, fuselage size, maximal rate, minimum speed etc.) of row device, will be unmanned
The mobility of aircraft is divided into five grades A, B, C, D, E from low to high, and wherein, A grade represents the machine of unmanned vehicle
Dynamic performance is worst, corresponding unmanned vehicle change of flight speed within a certain period of time, flying height and the ability of heading
Worst, and the mobility that E grade represents unmanned vehicle is best, the change of flight within a certain period of time of corresponding unmanned vehicle
The ability of speed, flying height and heading is best.
Specifically, navigation accuracy characterizes coordinate and this nothing of the unmanned vehicle that the navigator on unmanned vehicle is measured
The gap of the actual coordinate of people's aircraft, navigation accuracy grade then characterizes the levels of precision of navigator location and (i.e. navigates and set
The coordinate of the standby unmanned vehicle measured and the extent of deviation of the actual coordinate of this unmanned vehicle).Such as, unmanned vehicle
Navigation accuracy grade is high, then show the unmanned vehicle that the navigator on this unmanned vehicle measures coordinate and this nobody fly
The actual coordinate deviation of row device is little.
More specifically, can be according to the type of the navigator installed on unmanned vehicle, by the navigation of unmanned vehicle
Precision is divided into five grades A, B, C, D, E from low to high, and wherein, A grade represents that the navigation accuracy of unmanned vehicle is minimum, phase
The accuracy of the navigator location on the unmanned vehicle answered is worst.
It should be noted that the attribute information record of unmanned vehicle is in the label information of unmanned vehicle.When unmanned
Aircraft is in spatial domain during flight, and the attribute information of self and state of flight information can be sent to ground and set by unmanned vehicle
Standby.
Additionally, the positional information of unmanned vehicle refers to that the height by unmanned vehicle flies regards a plane as, unmanned
Aircraft is at the global coordinate system { coordinate figure in X, Y}；Velocity information refers to the velocity amplitude of unmanned vehicle；Course information then refers to nothing
People's aircraft longitudinal axis and the angle (it can reflect the heading of unmanned vehicle) of direct north.
S102, mobility grade according to the i-th frame unmanned vehicle determine that the collision avoidance of above-mentioned i-th frame unmanned vehicle is visited
Survey radius, i=1 ..., N.
Specifically, in this step, in a kind of possible implementation, can motor-driven according to the i-th frame unmanned vehicle
The mapping relations of performance rate and mobility grade and collision avoidance radius of investigation determine that the collision avoidance of the i-th frame unmanned vehicle is visited
Survey radius.Such as, table 1 provides the mapping relations of a kind of mobility grade and collision avoidance radius of investigation, as shown in table 1, when the i-th frame
When the mobility grade of unmanned vehicle is A level, now determine that the collision avoidance radius of investigation of above-mentioned i-th frame unmanned vehicle is
2500m；When the mobility grade of the i-th frame unmanned vehicle is E level, now determine keeping away of above-mentioned i-th frame unmanned vehicle
Hitting radius of investigation is 500m.
Table 1 mobility grade and the mapping relations of collision avoidance radius of investigation
| Mobility grade | A level | B level | C level | D level | E level |
| Collision avoidance radius of investigation/m | 2500 | 2000 | 1500 | 1000 | 500 |
It should be noted that the mobility grade of unmanned vehicle is the lowest, unmanned vehicle change of flight speed is described
The longest to the time used during a certain value.Therefore, in order to solve the collision problem during flight simultaneously of many unmanned vehicles, nothing is determined
The collision avoidance radius of investigation of people's aircraft is inversely proportional to mobility grade.The i.e. mobility grade of unmanned vehicle is the highest, phase
Ying Di, the collision avoidance radius of investigation of this unmanned vehicle determined is the least.
Certainly, in this step, it is also possible to take certain algorithm according to the mobility grade of the i-th frame unmanned vehicle
Determine the collision avoidance radius of investigation of above-mentioned i-th frame unmanned vehicle.
S103, navigation accuracy grade according to above-mentioned i-th frame unmanned vehicle determine the guarantor of above-mentioned i-th frame unmanned vehicle
Protect radius.
Specifically, in this step, in a kind of possible implementation, can be according to the navigation of the i-th frame unmanned vehicle
The mapping relations of accuracy class and navigation accuracy grade and radius of protection determine the radius of protection of the i-th frame unmanned vehicle.
Such as, table 2 provides the mapping relations of a kind of navigation accuracy grade and radius of protection, as shown in table 2, when the i-th frame unmanned vehicle
Navigation accuracy grade when being A grade, now determine that the radius of protection of above-mentioned i-th frame unmanned vehicle is 300m；When the i-th frame without
When the navigation accuracy grade of people's aircraft is E grade, now determine that the radius of protection of above-mentioned i-th frame unmanned vehicle is 50m.
Table 2 navigation accuracy grade and the mapping relations of radius of protection
| Navigation accuracy grade | A level | B level | C level | D level | E level |
| Radius of protection/m | 300 | 200 | 150 | 100 | 50 |
It should be noted that the navigation accuracy grade of unmanned vehicle is the lowest, now, this unmanned vehicle received
Positional information is the most inaccurate.Therefore, in order to solve the collision problem during flight simultaneously of many unmanned vehicles, unmanned vehicle is determined
Radius of protection be inversely proportional to navigation accuracy grade.The i.e. navigation accuracy grade of unmanned vehicle is the highest, and correspondingly, determine should
The radius of protection of unmanned vehicle is the least.
Additionally, in this step, it is also possible to take certain algorithm to come according to the mobility grade of the i-th frame unmanned vehicle
Determine the collision avoidance radius of investigation of above-mentioned i-th frame unmanned vehicle.
S104, state of flight information, collision avoidance radius of investigation and radius of protection according to above-mentioned N frame unmanned vehicle, really
The collision avoidance speed of fixed above-mentioned N frame unmanned vehicle.
Specifically, in this step, according to the state of flight information of above-mentioned N frame unmanned vehicle, collision avoidance radius of investigation and
Radius of protection, determines the collision avoidance speed of every frame unmanned vehicle successively.
It should be noted that in the state of flight information according to N frame unmanned vehicle, collision avoidance radius of investigation and protection half
Footpath, when determining the collision avoidance speed of a frame unmanned vehicle, can determine, nobody flies to determine the i-th frame below by the following method
Illustrate as a example by the collision avoidance speed of row device, specifically, first, by the collision avoidance radius of investigation falling into the i-th frame unmanned vehicle
Other unmanned vehicles as the barrier of the i-th frame unmanned vehicle, then by the i-th frame unmanned vehicle and barrier letter
Turn to the radius circle equal to radius of protection, subsequently, use Speed Obstacles method to determine the i-th frame unmanned vehicle speed to barrier
Degree obstacle, and use integer programming method to calculate the collision avoidance speed of the i-th frame unmanned vehicle.Wherein, about Speed Obstacles method and
Integer programming method may refer to introduction of the prior art, and here is omitted.
S105, the collision avoidance speed of above-mentioned i-th frame unmanned vehicle is sent to above-mentioned i-th frame unmanned vehicle, so that on
State the i-th frame unmanned vehicle to fly according to above-mentioned collision avoidance speed.
Specifically, in this step, when ground installation determines the collision avoidance speed of N frame unmanned vehicle, each frame is unmanned
The collision avoidance speed of aircraft is sent to correspondingly unmanned vehicle, and so, unmanned vehicle is by according to the collision avoidance speed received
Flight, and when unmanned vehicle is according to the collision avoidance speed flight received, this N frame unmanned vehicle can be avoided to collide.
Many unmanned vehicles collision avoidance control method that the present embodiment provides, by the N frame of reception sustained height layer, nobody flies
The attribute information of row device and state of flight information, and determine that the i-th frame is unmanned according to the mobility grade of the i-th frame unmanned vehicle
The collision avoidance radius of investigation of aircraft, determines the guarantor of the i-th frame unmanned vehicle according to the navigation accuracy grade of the i-th frame unmanned vehicle
Protect radius, and then according to state of flight information, collision avoidance radius of investigation and the radius of protection of N frame unmanned vehicle, determine N frame without
The collision avoidance speed of people's aircraft, and the collision avoidance speed of the i-th frame unmanned vehicle is sent to the i-th frame unmanned vehicle, so that i-th
Frame unmanned vehicle flies according to above-mentioned collision avoidance speed, wherein, i=1 ..., N.So, fly when many unmanned vehicles simultaneously
Time, by receiving attribute information and the state of flight information of each unmanned vehicle, and combine the attribute information of each unmanned vehicle
With the collision avoidance speed that state of flight information determines each unmanned vehicle, when can solve the flight simultaneously of many unmanned vehicles, nobody flies
Collision problem between row device and unmanned vehicle.
A specific embodiment is given below, and the many unmanned vehicles collision avoidance provided in order to describe the present invention in detail controls
Method.Fig. 3 is the flow chart of the present invention many unmanned vehicles collision avoidance control method embodiment two.Refer to Fig. 3, the present embodiment carries
Many unmanned vehicles collision avoidance control method of confession, specifically includes following steps:
S201, the attribute information receiving the N frame unmanned vehicle of sustained height layer and state of flight information, wherein, above-mentioned
Attribute information includes the mobility grade of unmanned vehicle, navigation accuracy grade and the maximal rate of unmanned vehicle and minimum
Speed, above-mentioned state of flight information includes the positional information of unmanned vehicle, velocity information and course information.
Specifically, the concrete methods of realizing of this step and realize principle and may refer to the retouching of step S101 of embodiment one
State, do not repeat them here.
It should be noted that in the present embodiment, attribute information also includes maximal rate and the minimum speed of unmanned vehicle.
Such as, Fig. 4 is the state of flight schematic diagram of many unmanned vehicles, refer to Fig. 4, and now, sustained height layer has 5 framves
Unmanned vehicle (A1, A2, A3, A4, A5) flies (as illustrated in FIG. 4) at the same time, the T moment, this 5 unmanned vehicle received
Attribute information and state of flight information as shown in table 3.
The attribute information of table 3 unmanned vehicle and state of flight information
S202, mobility grade according to the i-th frame unmanned vehicle determine that the collision avoidance of above-mentioned i-th frame unmanned vehicle is visited
Survey radius, i=1 ..., N.
Specifically, the concrete methods of realizing of this step and realize principle and may refer to the retouching of step S102 of embodiment one
State, do not repeat them here.
Specifically, in this step, in conjunction with in table 1 in above example and embodiment one introduce mobility grade with
The mapping relations of collision avoidance radius of investigation, determine the collision avoidance radius of investigation of unmanned vehicle A0, A1, A2, A3, A4 be respectively 500m,
2500m、1500m、100m、1500m。
S203, navigation accuracy grade according to above-mentioned i-th frame unmanned vehicle determine the guarantor of above-mentioned i-th frame unmanned vehicle
Protect radius.
Specifically, the concrete methods of realizing of this step and realize principle and may refer to the retouching of step S103 of embodiment one
State, do not repeat them here.
Specifically, in this step, in conjunction with the navigation accuracy grade introduced in table 2 in above example and embodiment and guarantor
Protect the mapping relations of radius, determine the radius of protection of unmanned vehicle A0, A1, A2, A3, A4 be respectively 50m, 100m, 150m,
200m、100。
S204, state of flight information, radius of protection, maximal rate and minimum speed according to above-mentioned N frame unmanned vehicle,
Use the sets of speeds that Speed Obstacles method uses when determining above-mentioned i-th frame unmanned vehicle collision avoidance, the speed in above-mentioned sets of speeds
Degree is more than or equal to the minimum speed of above-mentioned i-th frame unmanned vehicle and fast less than or equal to the maximum of above-mentioned i-th frame unmanned vehicle
Degree.
Specifically, the process that implements of this step comprises the steps:
(1) according to state of flight information, the radius of protection of above-mentioned N frame unmanned vehicle, use Speed Obstacles method, determine the
The i frame unmanned vehicle absolute impact zone ACC to jth frame unmanned flightij；J=1 ..., N, j ≠ i,
Specifically, in this step, first unmanned vehicle is equivalent to circle, and the radius of circle is equal to unmanned flight
The radius of protection of device, afterwards, nobody flies to jth frame to use Speed Obstacles method described above to determine the i-th frame unmanned vehicle
The absolute impact zone ACC of row deviceij。
It should be noted that in this step, by ACCijTwo boundary straight line be designated asWherein, j=
1 ..., N, j ≠ i.
(2) determine the straight line at the i-th place, frame unmanned vehicle course withIntersection pointAnd the i-th frame unmanned vehicle
The straight line at place, course withIntersection pointJ=1 ..., N, j ≠ i.
(3) number M of intersection point between the minimum speed point and maximal rate point of the i-th frame unmanned vehicle is determined,
And this M intersection point and minimum speed point and maximal rate are pressed range from the i-th frame unmanned vehicle distance from small to large
It is designated as X successivelyD, D=1 ..., M+2.
(4) according to the intersection point between the above-mentioned minimum speed point at the i-th frame unmanned vehicle and maximal rate point, minimum
Speed point and maximal rate point determine sets of speeds.
Specifically, in this step, first determine whether by adjacent two intersection point XDAnd XD+1Whether the speed interval constituted is speed
One subset of degree set.Sets of speeds is then made up of multiple subsets accordingly.
Judge with the following method by adjacent two intersection point X it should be noted that adoptDAnd XD+1Whether constitute speed interval is
One subset of sets of speeds.Determine two intersection point XDAnd XD+1Midpoint whether be positioned at absolute impact zone, the most then by adjacent
The speed interval of two intersection point compositions is not belonging to a subset of sets of speeds, if it is not, the speed being then made up of adjacent two intersection points
Degree interval is a subset of sets of speeds.In conjunction with above example, use time below to determine unmanned vehicle A0 collision avoidance
As a example by sets of speeds, what this step was described implements process, it should be noted that when determining unmanned vehicle A0 collision avoidance
During the sets of speeds used, unmanned vehicle A1, A2, A3, A4 regard moving obstacle as.Wherein, during Fig. 5 is Fig. 4, nobody flies
The row device A0 schematic diagram to the Speed Obstacles of other unmanned vehicles.Refer to Fig. 5, specifically, first, by unmanned vehicle A0
And moving obstacle A1, A2, A3, A4 are equivalent to the radius circle equal to radius of protection respectively, secondly, use described above
The principle of Speed Obstacles, determines the unmanned vehicle A0 absolute impact zone ACC to moving obstacle A1 successively01, unmanned flight
The device A0 absolute impact zone ACC to moving obstacle A202, the unmanned vehicle A0 absolute impact zone to moving obstacle A3
ACC03With the unmanned vehicle A0 absolute impact zone ACC to moving obstacle A304。
Secondly, refer to Fig. 5, determine the straight line at place, unmanned vehicle A0 course withIntersection pointUnmanned flight
The straight line at place, device A0 course withIntersection pointThe straight line at place, unmanned vehicle A0 course withIntersection pointNothing
The straight line at place, people aircraft A0 course withIntersection pointThe straight line at place, unmanned vehicle A0 course withIntersection pointThe straight line at place, unmanned vehicle A0 course withIntersection point(in this example, place, unmanned vehicle A0 course straight
Line and ACC04Two boundary straight line there is not intersection point).So, the straight line at place, unmanned vehicle A0 course and absolute impact zone
There are six intersection points, and these six intersection points are respectively positioned between minimum speed point and maximal rate point.Then, by this six points,
Big speed point, minimum speed are pressed range and are designated as X successively from the distance of unmanned vehicle A01、……、X8.As it is shown in figure 5, connect
, judge successively the midpoint of X1 Yu X2, the midpoint of X2 Yu X3, the midpoint of X3 Yu X4, the midpoint of X4 Yu X5, the midpoint of X5 Yu X6,
Whether the midpoint of X6 Yu X7, the midpoint of X7 Yu X8 are positioned at absolute impact zone, through judging, find the midpoint of X2 Yu X3, X4 and X5
Midpoint, the midpoint of X5 Yu X6, the midpoint of X6 Yu X7 lay respectively at absolute impact zone ACC01、ACC02、ACC02(in X5 Yu X6
Point also is located at ACC simultaneously03)、ACC03.So, it is determined that interval [| | X1-PA0| |, | | X2-PA0||]、[||X3-PA0| |, | | X4-
PA0||]、[||X7-PA0| |, | | X8-PA0| |] constitute speed interval.
It should be noted that PA0Refer to the positional information of unmanned vehicle A0.
S205, sets of speeds according to above-mentioned i-th frame unmanned vehicle, determine the collision avoidance of above-mentioned i-th frame unmanned vehicle
Maneuver space.
Specifically, sets of speeds medium velocity length of an interval degree sum is defined as collision avoidance maneuver space, in conjunction with example above
Son, above three interval ([| | X1-PA0| |, | | X2-PA0||]、[||X3-PA0| |, | | X4-PA0||]、[||X7-PA0| |, | | X8-
PA0| |]) length sum be collision avoidance maneuver space.Such as, however, it is determined that the sets of speeds of unmanned vehicle A0 includes following three
Individual subset: [2.0,3.0], [4.5,6.2], [8.9,10.0], it is determined that the collision avoidance maneuver space of unmanned vehicle A0 is equal to 3.2
(3.2=(3.0-2.0)+(6.2-4.5)+(10-8.9)).
S206, collision avoidance maneuver space according to above-mentioned i-th frame unmanned vehicle, determine above-mentioned i-th frame unmanned vehicle
Collision avoidance priority.
Specifically, the collision avoidance priority of the i-th frame unmanned vehicle becomes anti-with the collision avoidance maneuver space of the i-th frame unmanned vehicle
The collision avoidance maneuver space of ratio, i.e. unmanned vehicle is the biggest, and the collision avoidance priority of this unmanned vehicle is the lowest.Such as, if above-mentioned five
The collision avoidance maneuver space of frame unmanned flight is followed successively by A0 ＞ A1 ＞ A2 ＞ A3 ＞ A4 from big to small, then this five framves unmanned vehicle
Collision avoidance priority is followed successively by A4 ＞ A3 ＞ A2 ＞ A1 ＞ A0 from big to small.
S207, according to the collision avoidance priority of above-mentioned N frame unmanned vehicle and collision avoidance investigative range, determine that above-mentioned N frame is unmanned
The collision avoidance speed of aircraft.
Specifically, the process that implements of this step comprises the steps:
Step one, above-mentioned N frame unmanned vehicle is sorted from high to low according to collision avoidance priority；
Step 2, in the collision avoidance investigative range falling into above-mentioned i-th frame unmanned vehicle, and collision avoidance priority ratio above-mentioned
The unmanned vehicle that the collision avoidance priority of i frame unmanned vehicle is low distributes a token；
Step 3, after token is assigned, the token number obtained according to above-mentioned N frame unmanned vehicle, to above-mentioned N frame without
People's aircraft is ranked up；
Step 4, determine in above-mentioned N frame unmanned vehicle token number be the collision avoidance speed of the unmanned vehicle of 0 be above-mentioned N
In frame unmanned vehicle, token number is the current flight speed of the unmanned vehicle of 0；
Step 5, cancel falling in the unmanned vehicle collision avoidance investigative range that token number is 0, and on collision avoidance priority ratio
State the token of the low unmanned vehicle distribution of the collision avoidance priority of the unmanned vehicle that token number is 0；
Step 6, current token number according to remaining unmanned vehicle, arrange above-mentioned remaining unmanned vehicle
Sequence；
Step 7, determine collision avoidance speed for the unmanned vehicle that token number in above-mentioned remaining unmanned vehicle is 0；
Step 8, repetition step 5 are to step 7, until determining collision avoidance speed for above-mentioned N frame unmanned vehicle.
Further, above-mentioned for the unmanned vehicle that token number in above-mentioned remaining unmanned vehicle is 0 determine collision avoidance speed
Degree, specifically includes:
It is the collision avoidance priority of the unmanned vehicle of 0 by token number in above-mentioned for collision avoidance priority ratio remaining unmanned vehicle
Height, and collision avoidance investigative range to fall into token number in above-mentioned remaining unmanned vehicle be the unmanned vehicle of the unmanned vehicle of 0
Being defined as token number in above-mentioned remaining unmanned vehicle is the barrier of the unmanned vehicle of 0；
It is the state of flight information of the unmanned vehicle of 0 according to token number in above-mentioned remaining unmanned vehicle, Yi Jishang
Stating token number in remaining unmanned vehicle is the positional information of the barrier of the unmanned vehicle of 0, course information and collision avoidance speed
Degree, uses Speed Obstacles method to determine that in above-mentioned remaining unmanned vehicle, token number is that the unmanned vehicle of 0 is to above-mentioned barrier
Speed Obstacles；
It is the course of the unmanned vehicle of 0 according to token number in above-mentioned Speed Obstacles and above-mentioned remaining unmanned vehicle
Information determines that in above-mentioned remaining unmanned vehicle, token number is the sets of speeds of the unmanned vehicle of 0, in above-mentioned sets of speeds
Speed more than or equal to the minimum speed of the unmanned vehicle that token number in above-mentioned remaining unmanned vehicle is 0, and be less than
In above-mentioned remaining unmanned vehicle, token number is the maximal rate of 0 unmanned vehicle；
The maximum determining the speed in above-mentioned sets of speeds is that in above-mentioned remaining unmanned vehicle, token number is the nothing of 0
The collision avoidance speed of people's aircraft.
This step the brightest implement process, this example has four framves with sustained height layer in spatial domain, and nobody flies
Illustrating as a example by row device (B1, B2, B3, B4), as shown in Figure 6, wherein the circle in Fig. 6 represents the collision avoidance punching of each unmanned vehicle
Prominent radius.Assume, through step S206, to determine that the collision avoidance priority of this four framves unmanned vehicle is B1 ＞ B2 ＞ B3 ＞ B4, in step
In rapid two, respectively in the collision avoidance investigative range falling into B1, and the unmanned flight that the collision avoidance priority of collision avoidance priority ratio B1 is low
Device B2, B3, B4 distribute a token, in the collision avoidance investigative range falling into B2, and the collision avoidance priority of collision avoidance priority ratio B2
Low unmanned vehicle B3 distributes a token.After token is assigned, the order of this four frame unmanned vehicle B1, B2, B3, B4
Board number is respectively 0,1,2,1.Now, the token number of unmanned vehicle B1 is 0, accordingly, it is determined that the collision avoidance speed of unmanned vehicle B1
Degree is the current flight speed of this unmanned vehicle；Then, cancel in the collision avoidance investigative range falling into unmanned vehicle B1, and
The token of unmanned vehicle B2, B3, B4 distribution that the collision avoidance priority of collision avoidance priority ratio unmanned vehicle B1 is low, so, surplus
Under the token number of unmanned vehicle B2, B3, B4 be respectively 0,1,0, now, unmanned vehicle B2, B4 when token number be 0,
Therefore, collision avoidance speed is determined for unmanned vehicle B2 and unmanned vehicle B4.Then, cancel the collision avoidance investigative range falling into B2
In, and the token of the low unmanned vehicle B3 distribution of the collision avoidance priority of collision avoidance priority ratio B2.Now, remaining unmanned flight
The token number of device B3 is 0, therefore, determines collision avoidance speed for unmanned vehicle B3.So, by above step, it is that four framves are unmanned
Collision avoidance speed determined by aircraft.
Specifically, when determining collision avoidance speed for unmanned vehicle B2, by keeping away of collision avoidance priority ratio unmanned vehicle B2
Hit priority high, and collision avoidance investigative range falls into the unmanned vehicle B1 of unmanned vehicle B2 and is defined as the barrier of unmanned vehicle B2
Hinder thing；Then the method that employing such as Fig. 5 is introduced, to determine the sets of speeds of unmanned vehicle B2, is determining unmanned vehicle
B2 sets of speeds after, the maximum of sets of speeds medium velocity is defined as the collision avoidance speed of unmanned vehicle B2.
It should be noted that when determining the sets of speeds of unmanned vehicle B2, the speed of unmanned vehicle B1 is equal to
Step 4 is its collision avoidance speed determined.
Similarly, when determining the collision avoidance speed of unmanned vehicle B4, by keeping away of collision avoidance priority ratio unmanned vehicle B4
Hit priority high, and collision avoidance investigative range falls into the unmanned vehicle B1 of unmanned vehicle B4 and is defined as the barrier of unmanned vehicle B4
Hinder thing, determine the sets of speeds of unmanned vehicle B4, and then determine the collision avoidance speed of B4 according to sets of speeds.
It should be noted that when determining the sets of speeds of unmanned vehicle B4, the speed of unmanned vehicle B1 is equal to
Step 4 is its collision avoidance speed determined.
Further, when determining the collision avoidance speed of unmanned vehicle B3, by collision avoidance priority ratio unmanned vehicle B3's
Collision avoidance priority is high, and collision avoidance investigative range falls into unmanned vehicle B1 and B2 of unmanned vehicle B3 and is defined as unmanned vehicle
The barrier of B3, and then the method that employing such as Fig. 5 is introduced is to determine the collision avoidance speed of unmanned vehicle B3.
It should be noted that after the sets of speeds determining unmanned vehicle B3, unmanned vehicle B1 and unmanned vehicle
The collision avoidance speed that the speed of B2 respectively equal to determines for it.
S208, the collision avoidance speed of above-mentioned i-th frame unmanned vehicle is sent to above-mentioned i-th frame unmanned vehicle, so that on
State the i-th frame unmanned vehicle to fly according to above-mentioned collision avoidance speed.
Specifically, the concrete methods of realizing of this step and realize principle and may refer to the retouching of step S105 of embodiment one
State, do not repeat them here.
Fig. 7 is the schematic diagram that the present invention many unmanned vehicles collision avoidance controls device embodiment one.This device can be by soft
The mode that part, hardware or soft or hard combine realizes, and this device can be that single many unmanned vehicles collision avoidance controls device, also
The device in ground installation can be integrated in.As it is shown in fig. 7, many unmanned vehicles collision avoidance that the present embodiment provides controls dress
Put, including: receiver module 100, determine module 200, sending module 300；Wherein, above-mentioned
Receiver module 100, for receiving attribute information and the state of flight letter of the N frame unmanned vehicle of sustained height layer
Breath, wherein, above-mentioned attribute information includes mobility grade and the navigation accuracy grade of unmanned vehicle, and above-mentioned state of flight is believed
Breath includes the positional information of unmanned vehicle, velocity information and course information；
Determining module 200, for determining above-mentioned i-th frame according to the mobility grade of the i-th frame unmanned vehicle, nobody flies
The collision avoidance radius of investigation of row device；Navigation accuracy grade according to above-mentioned i-th frame unmanned vehicle determines above-mentioned i-th frame unmanned flight
The radius of protection of device；And according to state of flight information, collision avoidance radius of investigation and the radius of protection of above-mentioned N frame unmanned vehicle,
Determine the collision avoidance speed of above-mentioned N frame unmanned vehicle；Wherein, i=1 ..., N；
Sending module 300, for the collision avoidance speed of above-mentioned i-th frame unmanned vehicle is sent to above-mentioned i-th frame, nobody flies
Row device, so that above-mentioned i-th frame unmanned vehicle flies according to above-mentioned collision avoidance speed.
The device of the present embodiment, may be used for performing the technical scheme of embodiment of the method shown in Fig. 2, and it realizes principle and skill
Art effect is similar to, and here is omitted.
Further, above-mentioned attribute information also includes maximal rate and the minimum speed of unmanned vehicle, above-mentioned determines mould
Block 200, specifically for the state of flight information according to above-mentioned N frame unmanned vehicle, radius of protection, maximal rate and minimum speed
Degree, uses Speed Obstacles method to determine the sets of speeds that above-mentioned i-th frame unmanned vehicle uses；According to above-mentioned i-th frame unmanned flight
The sets of speeds of device, determines the collision avoidance maneuver space of above-mentioned i-th frame unmanned vehicle；According to above-mentioned i-th frame unmanned vehicle
Collision avoidance maneuver space, determines the collision avoidance priority of above-mentioned i-th frame unmanned vehicle；Collision avoidance according to above-mentioned N frame unmanned vehicle
Priority and collision avoidance investigative range, determine the collision avoidance speed of above-mentioned N frame unmanned vehicle, wherein, the speed in above-mentioned sets of speeds
Degree is more than or equal to the minimum speed of above-mentioned i-th frame unmanned vehicle and fast less than or equal to the maximum of above-mentioned i-th frame unmanned vehicle
Degree.
Further, above-mentioned determine that module 200 detects in the collision avoidance priority according to above-mentioned N frame unmanned vehicle and collision avoidance
Scope, when determining the collision avoidance speed of above-mentioned N frame unmanned vehicle, specifically for performing following steps:
Step one, above-mentioned N frame unmanned vehicle is sorted from high to low according to collision avoidance priority；
Step 2, in the collision avoidance investigative range falling into above-mentioned i-th frame unmanned vehicle, and collision avoidance priority ratio above-mentioned
The unmanned vehicle that the collision avoidance priority of i frame unmanned vehicle is low distributes a token；
Step 3, after token is assigned, the token number obtained according to above-mentioned N frame unmanned vehicle, to above-mentioned N frame without
People's aircraft is ranked up；
Step 4, determine in above-mentioned N frame unmanned vehicle token number be the collision avoidance speed of the unmanned vehicle of 0 be above-mentioned N
In frame unmanned vehicle, token number is the current flight speed of the unmanned vehicle of 0；
Step 5, cancel falling in the unmanned vehicle collision avoidance investigative range that token number is 0, and on collision avoidance priority ratio
State the token of the low unmanned vehicle distribution of the collision avoidance priority of the unmanned vehicle that token number is 0；
Step 6, current token number according to remaining unmanned vehicle, arrange above-mentioned remaining unmanned vehicle
Sequence；
Step 7, determine collision avoidance speed for the unmanned vehicle that token number in above-mentioned remaining unmanned vehicle is 0；
Step 8, repetition step 5 are to step 7, until determining collision avoidance speed for above-mentioned N frame unmanned vehicle.
Further, it is determined that module 200, specifically for by token in above-mentioned for collision avoidance priority ratio remaining unmanned vehicle
Number is that the collision avoidance priority of the unmanned vehicle of 0 is high, and collision avoidance investigative range falls into token in above-mentioned remaining unmanned vehicle
Number is that to be defined as token number in above-mentioned remaining unmanned vehicle be the unmanned flight of 0 for the unmanned vehicle of the unmanned vehicle of 0
The barrier of device；According to the state of flight information that token number in above-mentioned remaining unmanned vehicle is the unmanned vehicle of 0 and
In above-mentioned remaining unmanned vehicle, token number is the positional information of barrier, course information and the collision avoidance of the unmanned vehicle of 0
Speed, uses Speed Obstacles method to determine that in above-mentioned remaining unmanned vehicle, token number is that the unmanned vehicle of 0 is to above-mentioned obstacle
The Speed Obstacles of thing；It is the unmanned vehicle of 0 according to token number in above-mentioned Speed Obstacles and above-mentioned remaining unmanned vehicle
Course information determine that in above-mentioned remaining unmanned vehicle, token number is the sets of speeds of the unmanned vehicle of 0；Determine above-mentioned
The maximum of the speed in sets of speeds is that in above-mentioned remaining unmanned vehicle, token number is the collision avoidance speed of the unmanned vehicle of 0
Degree；Wherein, the speed in above-mentioned sets of speeds is the unmanned flight of 0 more than or equal to token number in above-mentioned remaining unmanned vehicle
The minimum speed of device, and less than or equal to the maximal rate that token number in above-mentioned remaining unmanned vehicle is 0 unmanned vehicle.
One of ordinary skill in the art will appreciate that: all or part of step realizing above-mentioned each method embodiment can be led to
The hardware crossing programmed instruction relevant completes.Aforesaid program can be stored in a computer read/write memory medium.This journey
Sequence upon execution, performs to include the step of above-mentioned each method embodiment；And aforesaid storage medium includes: ROM, RAM, magnetic disc or
The various media that can store program code such as person's CD.
Last it is noted that various embodiments above is only in order to illustrate technical scheme, it is not intended to limit；To the greatest extent
The present invention has been described in detail by pipe with reference to foregoing embodiments, it will be understood by those within the art that: it depends on
So the technical scheme described in foregoing embodiments can be modified, or the most some or all of technical characteristic is entered
Row equivalent；And these amendments or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology
The scope of scheme.
Claims (8)
1. unmanned vehicle collision avoidance control method more than a kind, it is characterised in that including:
Receive attribute information and the state of flight information of the N frame unmanned vehicle of sustained height layer, wherein, described attribute information bag
Including mobility grade and the navigation accuracy grade of unmanned vehicle, described state of flight information includes the position of unmanned vehicle
Information, velocity information and course information；
Mobility grade according to the i-th frame unmanned vehicle determines the collision avoidance radius of investigation of described i-th frame unmanned vehicle, i
=1 ..., N；
Navigation accuracy grade according to described i-th frame unmanned vehicle determines the radius of protection of described i-th frame unmanned vehicle；
According to state of flight information, collision avoidance radius of investigation and the radius of protection of described N frame unmanned vehicle, determine described N frame
The collision avoidance speed of unmanned vehicle；
The collision avoidance speed of described i-th frame unmanned vehicle is sent to described i-th frame unmanned vehicle so that described i-th frame without
People's aircraft flies according to described collision avoidance speed.
Method the most according to claim 1, it is characterised in that described attribute information also includes the maximum speed of unmanned vehicle
Degree and minimum speed, the described state of flight information according to N frame unmanned vehicle, collision avoidance radius of investigation and radius of protection, really
The collision avoidance speed of fixed described N frame unmanned vehicle, specifically includes:
According to state of flight information, radius of protection, maximal rate and the minimum speed of described N frame unmanned vehicle, use speed
Obstruction method determines the sets of speeds that described i-th frame unmanned vehicle uses, and the speed in described sets of speeds is more than or equal to described
The minimum speed of the i-th frame unmanned vehicle, and less than or equal to the maximal rate of described i-th frame unmanned vehicle；
According to the sets of speeds of described i-th frame unmanned vehicle, determine the collision avoidance maneuver space of described i-th frame unmanned vehicle；
According to the collision avoidance maneuver space of described i-th frame unmanned vehicle, determine that the collision avoidance of described i-th frame unmanned vehicle is preferential
Level；
Collision avoidance priority according to described N frame unmanned vehicle and collision avoidance investigative range, determine keeping away of described N frame unmanned vehicle
Hit speed.
Method the most according to claim 2, it is characterised in that the described collision avoidance according to described N frame unmanned vehicle is preferential
Level and collision avoidance investigative range, determine the collision avoidance speed of described N frame unmanned vehicle, specifically includes following steps:
Step one, described N frame unmanned vehicle is sorted from high to low according to collision avoidance priority；
Step 2, in the collision avoidance investigative range falling into described i-th frame unmanned vehicle, and the i-th frame described in collision avoidance priority ratio
The unmanned vehicle that the collision avoidance priority of unmanned vehicle is low distributes a token；
Step 3, after token is assigned, the token number obtained according to described N frame unmanned vehicle, to described N frame, nobody flies
Row device is ranked up；
Step 4, determine in described N frame unmanned vehicle token number be the collision avoidance speed of the unmanned vehicle of 0 be described N frame without
In people's aircraft, token number is the current flight speed of the unmanned vehicle of 0；
Step 5, cancellation are to falling in the unmanned vehicle collision avoidance investigative range that token number is 0, and make described in collision avoidance priority ratio
Board number is the token of the unmanned vehicle distribution that the collision avoidance priority of the unmanned vehicle of 0 is low；
Step 6, current token number according to remaining unmanned vehicle, be ranked up described remaining unmanned vehicle；
Step 7, determine collision avoidance speed for the unmanned vehicle that token number in described remaining unmanned vehicle is 0；
Step 8, repetition step 5 are to step 7, until determining collision avoidance speed for described N frame unmanned vehicle.
Method the most according to claim 3, it is characterised in that described for token number in described remaining unmanned vehicle be
The unmanned vehicle of 0 determines collision avoidance speed, specifically includes:
By the collision avoidance priority height that token number in remaining unmanned vehicle described in collision avoidance priority ratio is the unmanned vehicle of 0,
And collision avoidance investigative range falls into the unmanned vehicle that token number in described remaining unmanned vehicle is the unmanned vehicle of 0 and determines
It is the barrier of the unmanned vehicle of 0 for token number in described remaining unmanned vehicle；
It is the state of flight information of the unmanned vehicle of 0 according to token number in described remaining unmanned vehicle, and described surplus
Under unmanned vehicle in token number be 0 the positional information of barrier of unmanned vehicle, course information and collision avoidance speed, adopt
Determine that in described remaining unmanned vehicle, token number is the unmanned vehicle of 0 speed to described barrier by Speed Obstacles method
Obstacle；
It is the course information of the unmanned vehicle of 0 according to token number in described Speed Obstacles and described remaining unmanned vehicle
Determine that in described remaining unmanned vehicle, token number is the sets of speeds of the unmanned vehicle of 0, the speed in described sets of speeds
Degree is more than or equal to the minimum speed of the unmanned vehicle that token number in described remaining unmanned vehicle is 0, and is less than or equal to institute
Stating token number in remaining unmanned vehicle is the maximal rate of the unmanned vehicle of 0；
Determine the maximum of the speed in described sets of speeds be in described remaining unmanned vehicle token number be 0 nobody fly
The collision avoidance speed of row device.
5. unmanned vehicle collision avoidance more than a kind control device, it is characterised in that including: receiver module, determine module, send mould
Block；Wherein,
Described receiver module, for receiving attribute information and the state of flight information of the N frame unmanned vehicle of sustained height layer, its
In, described attribute information includes mobility grade and the navigation accuracy grade of unmanned vehicle, described state of flight information bag
Include the positional information of unmanned vehicle, velocity information and course information；
Described determine module, for determining described i-th frame unmanned vehicle according to the mobility grade of the i-th frame unmanned vehicle
Collision avoidance radius of investigation；Navigation accuracy grade according to described i-th frame unmanned vehicle determines described i-th frame unmanned vehicle
Radius of protection；And according to state of flight information, collision avoidance radius of investigation and the radius of protection of described N frame unmanned vehicle, determine
The collision avoidance speed of described N frame unmanned vehicle, wherein, i=1 ..., N；
Described sending module, for being sent to described i-th frame unmanned flight by the collision avoidance speed of described i-th frame unmanned vehicle
Device, so that described i-th frame unmanned vehicle flies according to described collision avoidance speed.
Device the most according to claim 5, it is characterised in that described attribute information also includes the maximum speed of unmanned vehicle
Degree and minimum speed, described determine module, specifically for the state of flight information according to described N frame unmanned vehicle, protection half
Footpath, maximal rate and minimum speed, use Speed Obstacles method to determine the sets of speeds that described i-th frame unmanned vehicle uses；Root
According to the sets of speeds of described i-th frame unmanned vehicle, determine the collision avoidance maneuver space of described i-th frame unmanned vehicle；According to institute
State the collision avoidance maneuver space of the i-th frame unmanned vehicle, determine the collision avoidance priority of described i-th frame unmanned vehicle；According to described N
The collision avoidance priority of frame unmanned vehicle and collision avoidance investigative range, determine the collision avoidance speed of described N frame unmanned vehicle, wherein,
Speed in described sets of speeds is more than or equal to the minimum speed of described i-th frame unmanned vehicle, and is less than or equal to described i-th frame
The maximal rate of unmanned vehicle.
Device the most according to claim 6, it is characterised in that described determine that module is according to described N frame unmanned vehicle
Collision avoidance priority and collision avoidance investigative range, when determining the collision avoidance speed of described N frame unmanned vehicle, specifically for perform below
Step:
Step one, described N frame unmanned vehicle is sorted from high to low according to collision avoidance priority；
Step 2, in the collision avoidance investigative range falling into described i-th frame unmanned vehicle, and the i-th frame described in collision avoidance priority ratio
The unmanned vehicle that the collision avoidance priority of unmanned vehicle is low distributes a token；
Step 3, after token is assigned, the token number obtained according to described N frame unmanned vehicle, to described N frame, nobody flies
Row device is ranked up；
Step 4, determine in described N frame unmanned vehicle token number be the collision avoidance speed of the unmanned vehicle of 0 be described N frame without
In people's aircraft, token number is the current flight speed of the unmanned vehicle of 0；
Step 5, cancellation are to falling in the unmanned vehicle collision avoidance investigative range that token number is 0, and make described in collision avoidance priority ratio
Board number is the token of the unmanned vehicle distribution that the collision avoidance priority of the unmanned vehicle of 0 is low；
Step 6, current token number according to remaining unmanned vehicle, be ranked up described remaining unmanned vehicle；
Step 7, determine collision avoidance speed for the unmanned vehicle that token number in described remaining unmanned vehicle is 0；
Step 8, repetition step 5 are to step 7, until determining collision avoidance speed for described N frame unmanned vehicle.
Device the most according to claim 7, it is characterised in that described determine module, specifically for by collision avoidance priority ratio
In described remaining unmanned vehicle, token number is the collision avoidance priority height of the unmanned vehicle of 0, and collision avoidance investigative range falls into
In described remaining unmanned vehicle token number be the unmanned vehicle of the unmanned vehicle of 0 be defined as described remaining nobody fly
In row device, token number is the barrier of the unmanned vehicle of 0；It is nobody of 0 according to token number in described remaining unmanned vehicle
In the state of flight information of aircraft and described remaining unmanned vehicle, token number is the barrier of the unmanned vehicle of 0
Positional information, course information and collision avoidance speed, use Speed Obstacles method to determine that in described remaining unmanned vehicle, token number is 0
The unmanned vehicle Speed Obstacles to described barrier；According in described Speed Obstacles and described remaining unmanned vehicle
Token number is that the course information of the unmanned vehicle of 0 determines that in described remaining unmanned vehicle, token number is the unmanned flight of 0
The sets of speeds of device；The maximum determining the speed in described sets of speeds is that in described remaining unmanned vehicle, token number is
The collision avoidance speed of the unmanned vehicle of 0；Wherein, the speed in described sets of speeds is more than or equal to described remaining unmanned vehicle
Middle token number is the minimum speed of the unmanned vehicle of 0, and is 0 nothing less than or equal to token number in described remaining unmanned vehicle
The maximal rate of people's aircraft.
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