CN114898601A - Conflict avoidance method and device - Google Patents
Conflict avoidance method and device Download PDFInfo
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- CN114898601A CN114898601A CN202210544963.2A CN202210544963A CN114898601A CN 114898601 A CN114898601 A CN 114898601A CN 202210544963 A CN202210544963 A CN 202210544963A CN 114898601 A CN114898601 A CN 114898601A
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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
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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]
- G08G5/06—Traffic control systems for aircraft, e.g. air-traffic control [ATC] for control when on the ground
- G08G5/065—Navigation or guidance aids, e.g. for taxiing or rolling
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
- H04L67/104—Peer-to-peer [P2P] networks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The patent discloses a conflict avoiding method and device, belongs to the field of airport surface taxi conflict avoidance, and is used for enhancing situational awareness of an aircraft driver and situational awareness of an airport and guaranteeing airport surface taxi safety. The main technical scheme of the invention is as follows: and setting a safety early warning area for the first movable terminal, and feeding back prompt information to the first movable terminal and/or the second movable terminal in a first communication mode when the second movable terminal enters the safety early warning area. The safety early warning area takes the first movable terminal as a center and comprises a first area, a second area and a third area; the area of each zone is determined by the speed of movement of the first active terminal.
Description
Technical Field
The invention relates to the field of airport surface slide conflict avoidance, in particular to a conflict avoidance method and device.
Background
The method mainly comprises the following steps that the conflict avoidance of the current airport plane taxi stage mainly depends on a controller, and the airport plane taxi guiding and conflict avoidance method for an airplane pilot mainly comprises the following steps: the method for deploying the light guide equipment at the airport and configuring the mobile electronic map at the airborne display end realizes airport scene sliding guide and collision avoidance in the sliding process.
The method for realizing airport surface sliding and conflict avoidance by deploying the light guide equipment at the airport comprises the following steps: the light guiding device is used for guiding the aircraft to slide according to a specified route, when the sliding light is green, the aircraft can pass, and when the sliding light is red, the aircraft needs to stop waiting. However, by using the guidance method of the taxi light, the taxi light is difficult to see under the condition of low visibility, and an airplane is easy to deviate from a taxi path or collide with other aircrafts and vehicles, so that safety accidents are caused; and the airport guide lighting equipment is relatively expensive to operate and maintain,
the method is also a relatively wide method for configuring the mobile electronic map at the airborne display end, the airborne mobile electronic map can provide the surrounding environment information and the local position information of the aircraft pilot under the background of the airport map, but the airport mobile electronic map provides less information for other aircraft, guide vehicles, workers and other dynamic moving target information, and the situational awareness of the aircraft pilot cannot be effectively increased.
It can be seen that the pilot often depends on the shouting of the controller when carrying out the scene taxi conflict avoidance, and is not beneficial to the scene taxi conflict avoidance because of lack of situational awareness and situation perception capability to the airport.
Disclosure of Invention
The invention provides a conflict avoiding method and device, which are used for solving the problems that an airplane pilot lacks situational awareness in a scene taxi stage and situation awareness capability of an airport is poor.
The embodiment of the invention provides a conflict avoiding method, which comprises the following steps:
and setting a safety early warning area for the first movable terminal, and feeding back prompt information to the first movable terminal and/or the second movable terminal in a first communication mode when the second movable terminal enters the safety early warning area.
The prompt information comprises first prompt information, second prompt information and third prompt information;
the first prompt message comprises a position concerning the second active terminal;
the second prompt message comprises a conflict alarm;
the third prompt message comprises a taxi stop warning.
The safety early warning area takes the first movable terminal as a center and comprises a first area, a second area and a third area; the area of each zone is determined by the speed of movement of the first active terminal.
Each zone takes the first movable terminal as a circle center, and the radius R of each zone is k v; wherein v is a moving speed of the first movable terminal and k is a driver reaction time parameter; the radius R1 ═ k1 ═ v of the first region; the radius R2 ═ k2 ═ v of the second region; the radius R3 ═ k3 × v of the third region.
The first communication mode comprises end-to-end communication, and the end-to-end communication comprises the following steps:
the first active terminal shares its location information to the edge server;
based on the position information of the first movable terminal, the edge server searches a device characteristic value of a second movable terminal;
the edge server sends the device characteristic value of the second active terminal to the first active terminal;
the first activity terminal receives the equipment characteristic value of the second activity terminal sent by the edge server, and directly communicates with the second activity terminal by using the site internet;
when a second active terminal enters a first area of a safety early warning area, the first active terminal requests the second active terminal to feed back first prompt information;
when the second movable terminal enters a second area of the safety early warning area, the first movable terminal feeds back the second prompt information to the second movable terminal;
and when the second movable terminal enters a third area of the safety early warning area, the first movable terminal feeds back the third prompt information to the second movable terminal.
The device characteristic value comprises a MAC address and an IP address.
The first communication mode comprises side-to-side communication and is also used for sending collision risk warning information to the active terminal, and the method comprises the following steps:
the mobile terminal shares an information set to the edge server through the site internet;
the edge server shares a pre-sliding path and the arrival time of the key node to the active terminal;
the edge server calculates a multiplexing path based on the pre-sliding path of each movable terminal;
the edge server calculates the predicted arrival time of each active terminal to the multiplexing path;
when the predicted arrival time conflicts, informing a controller to re-plan a sliding path for the conflicting movable terminal;
when the predicted arrival time is free of conflict, continuously monitoring the positioning of each active terminal of the multiplexing path;
when the edge server monitors that the active terminal enters the multiplexing path, the edge server monitors the positioning and the speed of other active terminals which will multiplex the path, evaluates the collision risk with the active terminal which has entered the multiplexing path, generates alarm information according to the collision risk and sends the alarm information to the active terminal which has entered the multiplexing path.
The information set comprises the position, the speed and the course of the movable terminal.
An embodiment of the present invention provides a collision avoidance apparatus, including:
the conflict monitoring module is used for establishing a safety early warning area for the first movable terminal;
and the conflict warning module is used for feeding back prompt information to the first active terminal and/or the second active terminal in a first communication mode when the second active terminal enters the safety early warning area.
An embodiment of the present invention provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the collision avoidance method when executing the computer program.
Has the advantages that:
compared with the prior art, the conflict avoiding method and the device provided by the embodiment of the invention can establish a dynamic safety early warning area for the airborne terminal, and the information sharing of the airport internet and the data communication between the edge computing server and the airborne terminal and between the airborne terminal and the airborne terminal are utilized to update the dynamic activity target information around the airborne terminal in real time, so that the situational awareness of the aircraft pilot and the situational awareness of the airport can be enhanced, thereby realizing the conflict detection and avoidance of the airplane terminal in the sliding process of the 'apron-runway opening' scene, thereby improving the safety of airport surface activities, simultaneously, the invention is also very suitable for the environmental conditions with low visibility, the pilot can actively obtain the activity target conditions around the airplane in real time, and corresponding conflict avoidance processing is performed, and the safety of airport surface activities in extreme weather is greatly improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a general flow chart of a collision avoidance method in one embodiment of the invention;
fig. 2 is a schematic diagram of a safety precaution area according to embodiment 2 of the present invention; wherein, 1-recognition region; 2-warning area; 3-hazardous area.
FIG. 3 is a flow chart of peer-to-peer communication in an embodiment of the present invention;
FIG. 4 is a flow chart of edge-to-edge communication in one embodiment of the present invention;
fig. 5 is a block diagram of a collision avoidance apparatus in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
A safety early warning area is set for the airplane sliding on the airport surface, and when other airplanes enter the safety early warning area of the airplane, prompt information is fed back to the airplane and the airplane entering the safety early warning area through a side-to-end communication mode or an end-to-end communication mode. The aircraft pilot receives the feedback prompt information, knows the situation around the current aircraft and makes corresponding reactions to different prompt information, so that the situational awareness of the aircraft pilot can be enhanced, and the occurrence of conflicts can be effectively avoided after the prompt information is received.
Example 2
In this embodiment, each mobile terminal is an airborne terminal, and a safety early warning area is divided for each airborne terminal based on the taxiing speed of the aircraft, the first area of the safety early warning area is an identification area, the second area is a warning area, and the third area is a danger area, and the larger the taxiing speed of the aircraft is, the longer the time required for the release of the taxiing conflict is, and the larger the radius of the safety early warning area should be. In this embodiment, the safety precaution area radius is directly proportional to the taxi speed of the aircraft, wherein:
as shown in fig. 2, the identification area is a circular area centered on the aircraft and having a radius of R1. The warning zone is a circular area centered on the aircraft and having a radius R2. The danger zone is a circular area centered on the aircraft and having a radius of R3. Wherein the relationship between the identification zone radius R1, the warning zone radius R2, the hazard zone radius R3 and the aircraft taxi speed v is: r1 ═ k1 × v; r2 ═ k2 × v; r3 ═ k3 × v; k is an aircraft pilot reaction time parameter.
As shown in fig. 3, in order to enable the onboard terminal to quickly and directly acquire the sliding situation information of other onboard terminals, the user-side and terminal-side communication directly performs prompt information feedback between the onboard terminals. The method mainly comprises the following steps: when a certain onboard terminal identifies that other airplanes enter the identification area, the position of the airplane entering the identification area is displayed for a local airplane pilot; when other airplanes are identified to break into the warning area, collision warning is sent to the airplanes and the local machine breaking into the warning area through end-to-end communication; when recognizing that other airplanes break into the dangerous area, sending out the alarm of stopping airplane sliding to the local airplane and the airplane breaking into the dangerous area through end-to-end communication,
in this embodiment, other airplanes within 150 meters around the airborne terminal as the center of a circle are searched according to the actual position of the airborne terminal, and in practical application, according to the size of an airport, the setting of an airport local area network and other conditions, the range can be correspondingly adjusted, and end-to-end communication means that the specific process of end-to-end communication between airborne terminals is as follows:
the airborne terminal shares the position information to the edge server;
the airborne terminal requests the edge server to acquire the characteristic values of other airborne terminals within 150 meters around the airborne terminal, such as IP addresses;
the edge server searches IP addresses of other airborne terminals within the range of 150 meters of the position of the airborne terminal based on the position information of the airborne terminal and sends the IP addresses to the airborne terminal;
and the airborne terminal receives the IP addresses of other airborne terminals sent by the edge server, communicates with other terminals by using the airport internet, and requests to obtain high-precision positioning information, speed, course, pre-sliding path, predicted arrival time of the key node and the like of other terminals.
When other airplanes drive into the local identification area, the local should pay attention to the airplanes which drive into the identification area, and prompt the real-time position of the airplane which drives into the identification area for the airplane driver. When other airplanes drive into the local warning area, the real-time position of the airplane rushing into the local warning area, a subsequent pre-taxiing path and the predicted arrival time of the key node are displayed to an airplane pilot, and a collision warning is sent to the local airplane pilot and the airplane driving into the local warning area. When other airplanes drive into the dangerous area of the airplane, a red warning display is sent to the airplane pilot, and the airplane is immediately instructed to stop taxiing. Meanwhile, sending a taxi stop warning to the aircraft pilot driving into the danger area.
Example 3
The edge-to-end communication, specifically the communication between the edge server and the active terminal, can not only serve the safety early warning area of the airborne terminal, but also realize global conflict prediction: in the embodiment, the information such as high-precision positioning information, speed information and course information of the airplane, the predicted arrival time of the key node and the like is shared by all airborne terminals to the edge server in real time through the airport internet, the pre-taxiing path and the collision warning information are forwarded to all airborne terminals, and efficient scene taxiing collision avoidance is achieved.
The specific process is as follows, as shown in fig. 4:
the edge server compares the pre-sliding paths of the airborne terminals and calculates a path to be multiplexed;
calculating the predicted time of each airborne terminal to the multiplexing path, and if no predicted arrival time conflict exists, continuously monitoring the high-precision positioning of the airborne terminals; if the predicted arrival time conflicts, reporting to a tower controller, and replanning a sliding path for the tower controller;
when the edge server monitors that one airborne terminal enters the multiplexing path, the edge server continuously monitors the high-precision position and speed of other airborne terminals which can enter the multiplexing path, calculates whether collision risks exist between the edge server and an airplane which has entered the multiplexing path, generates a collision alarm and sends the collision alarm to the airborne terminal.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
In one embodiment, a collision avoidance apparatus is provided, where the collision avoidance apparatus corresponds to the collision avoidance method in the above embodiments one to one, as shown in fig. 5:
the conflict monitoring module is used for setting a safety early warning area for the first active terminal and receiving prompt information fed back from the conflict warning module;
and the conflict warning module is used for feeding back prompt information to the first active terminal and/or the second active terminal in a first communication mode when the second active terminal enters the safety early warning area.
For the specific definition of the collision avoidance apparatus, reference may be made to the above definition of the collision avoidance method, and details are not described here. The respective modules in the above-described collision avoidance apparatus may be implemented in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device, which may be a server, is provided that includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a collision avoiding method.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A collision avoidance method, the method comprising:
and setting a safety early warning area for the first movable terminal, and feeding back prompt information to the first movable terminal and/or the second movable terminal in a first communication mode when the second movable terminal enters the safety early warning area.
2. The method of claim 1, wherein the prompting message comprises a first prompting message, a second prompting message, a third prompting message;
the first prompt message comprises a position concerning the second active terminal;
the second prompt message comprises a conflict alarm;
the third prompt message comprises a taxi stop warning.
3. The method of claim 1, wherein the safety precaution area is centered on the first active terminal and comprises a first zone, a second zone, and a third zone; the area of each zone is determined by the speed of movement of the first active terminal.
4. A method according to claim 3, wherein each zone is centered on the first active terminal, and has a radius R ═ k ×; wherein v is a moving speed of the first movable terminal and k is a driver reaction time parameter; the radius R1 ═ k1 ═ v of the first region; the radius R2 ═ k2 ═ v of the second region; the radius R3 ═ k3 × v of the third region.
5. A method according to any of claims 1-3, wherein the first communication mode comprises end-to-end communication, the end-to-end communication comprising the steps of:
the first active terminal shares its location information to the edge server;
based on the position information of the first movable terminal, the edge server searches a device characteristic value of a second movable terminal;
the edge server sends the device characteristic value of the second active terminal to the first active terminal;
the first activity terminal receives the equipment characteristic value of the second activity terminal sent by the edge server, and directly communicates with the second activity terminal by using the site internet;
when a second active terminal enters a first area of a safety early warning area, the first active terminal requests the second active terminal to feed back first prompt information;
when the second movable terminal enters a second area of the safety early warning area, the first movable terminal feeds back the second prompt information to the second movable terminal;
and when the second movable terminal enters a third area of the safety early warning area, the first movable terminal feeds back the third prompt information to the second movable terminal.
6. The method of claim 5, wherein the device characteristic value comprises a MAC address and an IP address.
7. The method according to claim 1, wherein the first communication mode comprises edge-to-end communication, and the edge-to-end communication is further used for sending collision risk warning information to the active terminal, and the method comprises the following steps:
the mobile terminal shares an information set to the edge server through the site internet;
the edge server shares a pre-sliding path and the arrival time of the key node to the active terminal;
the edge server calculates a multiplexing path based on the pre-sliding path of each movable terminal;
the edge server calculates the predicted arrival time of each active terminal to the multiplexing path;
when the predicted arrival time conflicts, informing a controller to re-plan a sliding path for the conflicting movable terminal;
when the predicted arrival time is free of conflict, continuously monitoring the positioning of each active terminal of the multiplexing path;
when the edge server monitors that the active terminal enters the multiplexing path, the edge server monitors the positioning and the speed of other active terminals which will multiplex the path, evaluates the collision risk with the active terminal which has entered the multiplexing path, generates alarm information according to the collision risk and sends the alarm information to the active terminal which has entered the multiplexing path.
8. The method of claim 7, wherein the set of information includes a location, a speed, a heading of the active terminal.
9. A collision avoidance apparatus, characterized in that the apparatus comprises:
the conflict monitoring module is used for establishing a safety early warning area for the first movable terminal;
and the conflict warning module is used for feeding back prompt information to the first active terminal and/or the second active terminal in a first communication mode when the second active terminal enters the safety early warning area.
10. A computer device, characterized in that the device comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the collision avoidance method according to any one of claims 1 to 8 when executing the computer program.
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| CN202210544963.2A CN114898601A (en) | 2022-05-19 | 2022-05-19 | Conflict avoidance method and device |
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| CN202210544963.2A CN114898601A (en) | 2022-05-19 | 2022-05-19 | Conflict avoidance method and device |
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