CN115588314B - Airport road and vehicle collision detection method oriented to intelligent networking environment - Google Patents
Airport road and vehicle collision detection method oriented to intelligent networking environment Download PDFInfo
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- CN115588314B CN115588314B CN202211259883.9A CN202211259883A CN115588314B CN 115588314 B CN115588314 B CN 115588314B CN 202211259883 A CN202211259883 A CN 202211259883A CN 115588314 B CN115588314 B CN 115588314B
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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]
- G08G5/0073—Surveillance aids
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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
Abstract
The invention discloses an airport road and vehicle collision detection method facing intelligent networking environment, which comprises the steps of identifying the identities of an airplane and a ground vehicle, and identifying the identities of the airplane and the vehicle and corresponding geometric parameter information by using airborne monitoring equipment; real-time state information acquisition, namely determining real-time positions of the vehicle and the airplane and real-time running state information; real-time information transmission, namely, monitoring information is transmitted to a control center more accurately and in real time; the collision judgment of the vehicle and the machine comprises the steps of setting an elliptic safety protection area for a moving main body, calculating whether the intrusion behavior of the protection area occurs or not through an improved speed barrier method based on the real-time moving state information of the airplane and the vehicle, and judging whether the collision of the vehicle and the machine occurs or not. The method is based on real-time motion state information of the airplane and the ground vehicle, provides a more accurate airport pavement and vehicle collision detection method, and can overcome the defect of low collision judgment precision of the current airport pavement and vehicle.
Description
Technical Field
The invention relates to the technical field of airport runway safe operation, in particular to an airport runway car machine conflict detection method oriented to an intelligent networking environment.
Background
With the rapid development of the aviation transportation industry in recent years, airport layouts are increasingly complex, airport planes are increasingly busy in operation, airport surface operation environments are increasingly complex, collision risks of all operation main bodies of the airport planes are continuously increasing, and therefore the vehicle-machine collision detection method for airport surface development has great significance.
Under the conditions that the transportation environment is increasingly complex and the traffic flow of airport scenes is continuously increased, the aircrafts and vehicles are densely distributed in the airport scenes, the movement track is complex, and a large number of conditions of intersection and convergence exist. Traditional methods for visually judging whether collision occurs by virtue of control personnel and drivers are not accurate enough, so that unsafe events such as scratch, collision and the like cannot be avoided in time. The existence of a large number of unsafe events at airports shows that the current scene monitoring equipment and conflict detection modes are not enough to ensure the safe operation of the airports under complex conditions and high-flow environments.
The airport scene collision detection technology at the present stage has thicker granularity for setting a target model, and can not effectively distinguish the boundary range of the minimum safety interval under different traffic collision scenes, so that the accuracy and precision of collision detection can not reach an ideal level. Moreover, although the related technology of intelligent networking has been gradually applied to airport scene traffic, its main application is still limited to the aspect of planning the traffic path of airplanes and ground vehicles on airport scenes, and the safe operation of the scene is ensured by planning a collision-free traffic route in advance. However, the application depth of the technology in the aspects of real-time conflict detection and early warning of sudden conditions is insufficient, the capability of real-time sensing and self-adjustment is poor, and the capability of coping with sudden potential conflicts in complex and changeable operation scenes is insufficient. Therefore, a novel airport pavement conflict detection method integrating the intelligent networking technology needs to be provided, and increasingly complex airport pavement operation scenes are dealt with through more accurate conflict judgment.
Disclosure of Invention
The purpose of the invention is that: the airport road and vehicle collision detection method for the intelligent networking environment aims to solve the problems that the current airport road and vehicle collision detection mode is rough and the collision judgment scale is not accurate enough.
In order to achieve the functions, the invention designs an airport pavement car collision detection method facing to an intelligent networking environment, which is based on an airborne monitoring and identification device, an airport pavement monitoring system, an airborne and car monitoring device and a communication system, and performs the following steps S1-S4 to judge whether other airplanes or vehicles collide with a target airplane or not according to the target airplane on an airport pavement and other airplanes or vehicles within a preset range by taking the target airplane as a center;
step S1: acquiring videos of other airplanes or vehicles in a preset range by taking a target airplane as a center in real time based on airborne monitoring and identifying equipment, acquiring identity information of the airplane or the vehicle based on a video detection and image identification method, and acquiring geometric parameter information corresponding to the airplane or the vehicle according to the identity information;
step S2: detecting pose information and motion state information of other airplanes or vehicles in a preset range by taking a target airplane as a center based on an airport scene monitoring system and airborne and vehicle-mounted monitoring equipment;
step S3: respectively constructing a superposition safety protection zone of the target aircraft and other aircraft or vehicle based on the geometric parameter information, pose information and motion state information corresponding to other aircraft or vehicle in the preset range and the geometric parameter information of the target aircraft, and determining a collision cone range for judging whether other aircraft or vehicle collides with the target aircraft based on the superposition safety protection zone;
step S4: and judging whether the target airplane collides with other airplanes or vehicles in the current motion state according to the range of the collision cone, and transmitting the judgment result to an airport scene control center, each airplane and each vehicle through a communication system.
As a preferred technical scheme of the invention: the identity information in step S1 includes types of other aircrafts or vehicles within a preset range, and for vehicles, the corresponding geometric parameter information includes length and width of the vehicle body and safety protection area range of the type of vehicles; for an aircraft, the corresponding geometric parameter information comprises the length of the aircraft body, the length of the wing and the range of a safety protection area of the aircraft; the safety protection area is an elliptic area taking a vehicle or an airplane as a center.
As a preferred technical scheme of the invention: the airport scene monitoring system comprises a scene monitoring radar, a multi-point positioning system and a motion detection radar, wherein the airborne and vehicle-mounted monitoring equipment comprises a multi-sensor fusion system, and the multi-sensor fusion system comprises a ranging sensor, a microwave speed measuring sensor and a radar detector.
As a preferred technical scheme of the invention: in step S2, the pose information includes position information and pose information of other aircraft or vehicles within a preset range, where the position information is a position of the aircraft or vehicles on an airport scene, that is, a coordinate system is established by taking a preset reference point on the airport scene as an origin, and coordinates of the aircraft or vehicles in the coordinate system are taken as position information; for a vehicle, the gesture information is the direction in which the head of the vehicle points, and for an aircraft, the gesture information is the direction in which the head of the aircraft points; the movement state information includes a speed magnitude and a direction angle of the airplane or the vehicle.
As a preferred technical scheme of the invention: the step of determining the range of the collision cone in step S3 is as follows:
step S31: obtaining a major axis d of an elliptic safety protection area range of the target aircraft according to the safety protection area range in the geometric parameter information of the target aircraft, other aircraft or vehicles within a preset range Ba Short axis d Bb Major axis d of elliptical safety zone range of other aircraft or vehicles Aa Short axis d Ab ；
Step S32: determining oval overlapped safety protection area of the target airplane and other airplanes or vehicles by taking the target airplane as a center, wherein the major axis d 'of the oval overlapped safety protection area is' a Minor axis d' b The formula is as follows:
step S33: and taking other airplanes or vehicles as vertexes, and taking a conical area formed by two straight lines passing through the vertexes and tangent to the edges of the elliptic superimposed safety protection area as a collision cone range, wherein the two straight lines are respectively positioned at two sides of a connecting line of the target airplane and the other airplanes or vehicles.
As a preferred technical scheme of the invention: introducing a time constraint t in step S4 max The range of the collision cone is defined as follows:
in EVO A|B For the range of collision cones of the target aircraft B with other aircraft or vehicle A, d AB For the distance of the aircraft B from other aircraft or vehicle a,is the relative velocity vector of the plane B and other planes or vehicles A, theta 1 、θ 2 Respectively represent the angle values delta of the boundaries at two sides of the collision cone AB Representation->Corresponding angles;
determining relative velocity vectors of a target aircraft and other aircraft or vehicleWhether the collision cone falls within the range of the collision cone, if so, the target airplane can collide with other airplanes or vehicles, and if not, the target airplane cannot collide with other airplanes or vehicles.
The beneficial effects are that: the advantages of the present invention over the prior art include:
(1) The invention can effectively utilize the existing numerous monitoring devices of the airport scene, and utilizes the intelligent networking environment to improve the information interaction between the operating main bodies and the information perception capability of the operating main bodies to the surrounding environment, thereby providing an airport road and vehicle collision detection method with higher precision;
(2) The invention analyzes the appearance characteristics of the airplane and the ground vehicle, and sets the boundary of the safety protection area of the airplane and the ground vehicle as an ellipse according to the characteristics of different requirements of the safety protection area of the airplane on the safety distance in different directions. The method is suitable for the geometric structure of the safety protection area of the airport scene, and improves the precision of the collision detection judgment basis.
(3) The invention improves the speed barrier method, solves the conflict judgment mode of the elliptic safety protection area from the geometric perspective, and solves the problems of superposition and collision cone boundary solving of the safety protection area under the scenes of different relative positions and relative running directions.
Drawings
FIG. 1 is a flow chart of an airport pavement vehicle collision detection method facing an intelligent networking environment, provided according to an embodiment of the invention;
FIG. 2 is a schematic view of an elliptical security zone provided in accordance with an embodiment of the invention;
fig. 3 is a schematic diagram of a vehicle-to-machine collision detection method according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
Referring to fig. 1, the method for detecting collision of airport pavement vehicles facing to intelligent networking environment according to the embodiment of the invention is based on an on-board monitoring and identifying device, an airport scene monitoring system, on-board and on-board monitoring devices and a communication system, and performs the following steps S1-S4 to determine whether other planes or vehicles collide with a target plane or not according to the target plane on an airport pavement and other planes or vehicles within a preset range centering on the target plane;
step S1: acquiring videos of other airplanes or vehicles in a preset range by taking a target airplane as a center in real time based on airborne monitoring and identifying equipment, acquiring identity information of the airplane or the vehicle based on a video detection and image identification method, and acquiring geometric parameter information corresponding to the airplane or the vehicle according to the identity information;
in a specific embodiment, the video detection and image recognition method adopts one or more of YOLO series algorithm, SSD algorithm and fast RCNN algorithm.
The identity information in step S1 includes types of other aircrafts or vehicles within a preset range, and for vehicles, the corresponding geometric parameter information includes length and width of the vehicle body and safety protection area range of the type of vehicles; for an aircraft, the corresponding geometric parameter information comprises the length of a fuselage, the length of a wing and the range (unit: m) of a safety protection area of the aircraft; wherein the safety protection area is an elliptic area (unit: m) centered on the vehicle or aircraft.
The airport scene monitoring system comprises a scene monitoring radar, a multi-point positioning system (MLAT) and a motion detection radar, and the airborne and vehicle-mounted monitoring equipment comprises a multi-sensor fusion system, wherein the multi-sensor fusion system comprises a ranging sensor, a microwave speed measuring sensor and a radar detector.
Step S2: detecting pose information and motion state information of other airplanes or vehicles in a preset range by taking a target airplane as a center based on an airport scene monitoring system and airborne and vehicle-mounted monitoring equipment;
in step S2, the pose information includes position information and pose information of other aircraft or vehicles within a preset range, where the position information is a position of the aircraft or vehicles on an airport scene, that is, a coordinate system is established by taking a preset reference point on the airport scene as an origin, and coordinates of the aircraft or vehicles in the coordinate system are taken as position information; for a vehicle, the gesture information is the direction in which the head of the vehicle points, and for an aircraft, the gesture information is the direction in which the head of the aircraft points; the movement state information includes a speed magnitude and a direction angle of the airplane or the vehicle.
In one embodiment, the other aircraft or vehicle A position coordinates within the predetermined range are (x A ,y A ) The target aircraft B position coordinates are (x B ,y B ) Position coordinates of an aircraft or vehicle a relative to a target aircraft B (x AB ,y AB ) The method comprises the steps of carrying out a first treatment on the surface of the The movement state information includes the magnitude v (in m/s) and the direction angle δ (in °) of the speed of the aircraft or the vehicle.
Step S3: respectively constructing a superposition safety protection zone of the target aircraft and other aircraft or vehicle based on the geometric parameter information, pose information and motion state information corresponding to other aircraft or vehicle in the preset range and the geometric parameter information of the target aircraft, and determining a collision cone range for judging whether other aircraft or vehicle collides with the target aircraft based on the superposition safety protection zone;
the step of determining the range of the collision cone in step S3 is as follows:
step S31:referring to fig. 2, a major axis d of an elliptical safety zone range of a target aircraft is obtained from the safety zone range in the geometric parameter information of the target aircraft, other aircraft or vehicle within a preset range Ba Short axis d Bb Major axis d of elliptical safety zone range of other aircraft or vehicles Aa Short axis d Ab The length of the major axis and the length of the minor axis of the range of the elliptic safety protection zone of the target airplane, other airplanes or vehicles are preset according to the geometric parameter information of the airplane or the vehicles;
step S32: determining oval overlapped safety protection area of the target airplane and other airplanes or vehicles by taking the target airplane as a center, wherein the major axis d 'of the oval overlapped safety protection area is' a Minor axis d' b The formula is as follows:
step S33: and taking other airplanes or vehicles as vertexes, and taking a conical area formed by two straight lines passing through the vertexes and tangent to the edges of the elliptic superimposed safety protection area as a collision cone range, wherein the two straight lines are respectively positioned at two sides of a connecting line of the target airplane and the other airplanes or vehicles.
The calculation formula of the collision cone range boundary is as follows:
wherein omega 1 、ω 2 Represents the included angle phi of the connecting line between the boundary of two sides of the collision cone and the central point of other aircraft or vehicle AB Representing the angle of the target aircraft B's line of connection with other aircraft or vehicle A, (x) A ,y A ) For other aircraft or vehicle a position coordinates within a predetermined range, (x) B ,y B ) For the target aircraft B position coordinates, (x) AB ,y AB ) For the position coordinates of the aircraft or vehicle A relative to the target aircraft B, k 1 、k 2 Respectively represent the central points of other airplanes or vehicles A and the edges of oval overlapped safety protection areasSlope of tangent line on two sides of boundary, gamma 1 、γ 2 When an elliptic equation of the superimposed safety protection area is expressed by a parameter equation, parameter values corresponding to tangential points on two sides;
step S4: and judging whether the target airplane collides with other airplanes or vehicles in the current motion state according to the range of the collision cone, and transmitting the judgment result to an airport scene control center, each airplane and each vehicle through a communication system.
Since the method aims at the scene where the conflict will occur in a shorter time, a time constraint condition is added, and a time constraint t is introduced in step S4 max I.e. limiting the detected conflicts to occur within a specified time frame.
The range of the collision cone is defined as follows:
in EVO A|B For the range of collision cones of the target aircraft B with other aircraft or vehicle A, d AB For the distance of the aircraft B from other aircraft or vehicle a,is the relative velocity vector of the plane B and other planes or vehicles A, theta 1 、θ 2 Respectively represent the angle values delta of the boundaries at two sides of the collision cone AB Representation->Corresponding angles;
and (3) carrying out collision judgment on the vehicle and the aircraft: referring to FIG. 3, the shaded area in the diagram is the range of collision cones, and the relative velocity vector of the target aircraft and other aircraft or vehicle is determinedWhether the collision cone falls within the range of the collision cone, if so, the target airplane can collide with other airplanes or vehicles, and if not, the target airplane cannot collide with other airplanes or vehicles.
The calculation formula of the collision judgment of the vehicle and the machine is as follows:
wherein x is 1 、y 1 Respectively representing the speed of other planes or vehicles A in the x-axis and the y-axis directions, x 2 、y 2 Indicating the x-axis and y-axis directional speeds of the target aircraft B; delta AB Direction angle, v, representing the relative speed of target aircraft B and other aircraft or vehicle A A For the speed of other aircraft or vehicles A, v B For the speed of the target aircraft B, delta A For the direction angle, delta, of other aircraft or vehicles A B The direction angle of the target aircraft B;
the judgment basis of the collision of the vehicle and the machine is as follows:
conflict will occur, otherwise no
v AB For the relative speed of the aircraft B to other aircraft or vehicle A, d max The maximum distance between the airplane B and other airplanes or vehicles A is preset.
The airport road and vehicle collision detection method facing the intelligent networking environment can be completed by instructing related hardware through a computer program, and the instructions are transmitted through a communication system of an airport scene. The current airport scene communication signals are easy to interfere, so that the transmission of monitoring results and related instructions is deviated. Therefore, aiming at the construction of the current airport scene intelligent networking environment, the application floor of the airport aeroMAc2.05G+broadband communication technology can be realized by upgrading the 5G technologies such as Massive MIMO, NOMA and the like in the layer dimension. For each aircraft and vehicle, it is necessary to develop a novel communication terminal such as an onboard communication terminal and a vehicle-mounted communication terminal and perfect the multi-element network protocol conversion. And constructing a multi-level interconnection and interworking integrated communication perception network through joint upgrading of the scene system and the running main communication equipment.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.
Claims (4)
1. The airport runway vehicle collision detection method facing the intelligent networking environment is characterized in that based on an airborne monitoring and identification device, an airport scene monitoring system, an airborne and vehicle-mounted monitoring device and a communication system, aiming at a target plane on an airport runway and other planes or vehicles within a preset range by taking the target plane as a center, the following steps S1-S4 are executed to judge whether the other planes or vehicles collide with the target plane;
step S1: acquiring videos of other airplanes or vehicles in a preset range by taking a target airplane as a center in real time based on airborne monitoring and identifying equipment, acquiring identity information of the airplane or the vehicle based on a video detection and image identification method, and acquiring geometric parameter information corresponding to the airplane or the vehicle according to the identity information;
step S2: detecting pose information and motion state information of other airplanes or vehicles in a preset range by taking a target airplane as a center based on an airport scene monitoring system and airborne and vehicle-mounted monitoring equipment;
step S3: respectively constructing a superposition safety protection zone of the target aircraft and other aircraft or vehicle based on the geometric parameter information, pose information and motion state information corresponding to other aircraft or vehicle in the preset range and the geometric parameter information of the target aircraft, and determining a collision cone range for judging whether other aircraft or vehicle collides with the target aircraft based on the superposition safety protection zone;
the step of determining the range of the collision cone is as follows:
step S31: obtaining a major axis d of an elliptic safety protection area range of the target aircraft according to the safety protection area range in the geometric parameter information of the target aircraft, other aircraft or vehicles within a preset range Ba Short axis d Bb Others of the othersMajor axis d of elliptical safety zone area of aircraft or vehicle Aa Short axis d Ab ；
Step S32: determining oval overlapped safety protection area of the target airplane and other airplanes or vehicles by taking the target airplane as a center, wherein the major axis d 'of the oval overlapped safety protection area is' a Minor axis d' b The formula is as follows:
step S33: taking other airplanes or vehicles as vertexes, taking a conical area formed by two straight lines passing through the vertexes and tangent to the edges of the elliptic superimposed safety protection areas as a collision cone range, wherein the two straight lines are respectively positioned at two sides of a connecting line of a target airplane and the other airplanes or vehicles;
step S4: judging whether the target airplane collides with other airplanes or vehicles in the current motion state according to the range of the collision cone, and transmitting the judgment result to an airport scene control center, each airplane and each vehicle through a communication system;
introducing a time constraint t max The range of the collision cone is defined as follows:
in EVO A|B For the range of collision cones of the target aircraft B with other aircraft or vehicle A, d AB For the distance of the aircraft B from other aircraft or vehicle a,is the relative velocity vector of the plane B and other planes or vehicles A, theta 1 、θ 2 Respectively represent the angle values delta of the boundaries at two sides of the collision cone AB Representation->Corresponding angles;
determining relative velocity vectors of a target aircraft and other aircraft or vehicleWhether the collision cone falls within the range of the collision cone, if so, the target airplane can collide with other airplanes or vehicles, and if not, the target airplane cannot collide with other airplanes or vehicles.
2. The method for detecting collision of airport pavement vehicles facing intelligent networking environment according to claim 1, wherein in step S1, the identity information includes types of other airplanes or vehicles within a preset range, and for vehicles, the corresponding geometric parameter information includes length and width of a vehicle body and safety protection area range of the vehicle; for an aircraft, the corresponding geometric parameter information comprises the length of the aircraft body, the length of the wing and the range of a safety protection area of the aircraft; the safety protection area is an elliptic area taking a vehicle or an airplane as a center.
3. The intelligent networking environment-oriented airport pavement car collision detection method according to claim 2, wherein the airport pavement monitoring system comprises a pavement monitoring radar, a multi-point positioning system and a motion detection radar, and the on-board and car-mounted monitoring equipment comprises a multi-sensor fusion system, wherein the multi-sensor fusion system comprises a ranging sensor, a microwave speed sensor and a radar detector.
4. The method for detecting collision of airport pavement vehicles facing intelligent network environment according to claim 3, wherein in step S2, the pose information includes position information and pose information of other airplanes or vehicles within a preset range, wherein the position information is a position of the airplane or the vehicle on an airport scene, that is, a coordinate system is established by taking a preset reference point on the airport scene as an origin, and coordinates of the airplane or the vehicle in the coordinate system are taken as position information; for a vehicle, the gesture information is the direction in which the head of the vehicle points, and for an aircraft, the gesture information is the direction in which the head of the aircraft points; the movement state information includes a speed magnitude and a direction angle of the airplane or the vehicle.
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