CN117007052A - Airport unmanned vehicle safe operation detection method, electronic equipment and storage medium - Google Patents
Airport unmanned vehicle safe operation detection method, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention provides a safe operation detection method of an airport unmanned vehicle, which is used for detecting performance aspects and operation aspects of the airport unmanned vehicle, wherein the performance aspects comprise communication capability, data integrity, position and speed precision, collision detection capability and the like. Operational aspects include identity, speed, travel route, parking location, etc. of the unmanned vehicle at the airport. When the performance aspect has a problem, judging that the vehicle is abnormal, assigning a new vehicle to execute the task of the vehicle, and if the operation aspect has a problem, assigning the new vehicle to execute the task of the vehicle for the unmanned vehicle with doubtful identity. For unmanned vehicles such as overspeed, driving line deviation, parking violation and the like, the control and correction are performed in real time. The method and the device can detect the state of the unmanned vehicle at the airport in real time.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to a method for detecting safe operation of an airport unmanned vehicle, electronic equipment and a storage medium.
Background
The unmanned airport vehicle is a new generation airport device which is operated and ensured to work in an airport area by carrying advanced sensors, controllers and other devices and applying new technologies such as artificial intelligence and the like and has automatic driving functions such as complex environment sensing, intelligent decision, cooperative control and the like. According to national and international related standards, the unmanned technology is classified into 6 grades (L0 to L5) according to the degree of automation, which are emergency assistance, partial driving assistance, combined driving assistance, conditional automatic driving, highly automatic driving and fully automatic driving respectively. An airport unmanned vehicle refers specifically to a device with highly autonomous (L4) and fully autonomous (L5) functions.
The application of the unmanned vehicles in the airports provides important guarantee for the construction of safe airports, is an effective means for effectively preventing human errors and illegal operations, and solves unsafe events such as scraping, collision and runway invasion of the airport; the method is an important tool for building the green airport, and is a practice for optimizing ground guarantee efficiency, improving cooperative operation of equipment and reducing resource consumption; the intelligent airport building method is an important scene for intelligent airport construction, improves the automation and intelligent degree of the airport, and realizes typical application of high-quality development transformation of civil aviation. Therefore, the method and the device detect the state of the unmanned vehicle at the airport in real time, and have great significance for safe operation at the airport.
Disclosure of Invention
Aiming at the technical problems, the invention adopts the following technical scheme:
the embodiment of the invention provides a method for detecting safe operation of an unmanned vehicle at an airport, which comprises the following steps:
s100, at the current detection time t, acquiring a corresponding operation parameter set from a current storage queue corresponding to the unmanned vehicle i at the airport; if the acquired operation parameter set is an empty set, executing S200; otherwise, executing S400; the corresponding operating parameters at least comprise U of the airport unmanned vehicle i 、△h i t 、△v i t 、Lat i t 、Lut i t 、V i t 、LA i 、VA i And A i t The method comprises the steps of carrying out a first treatment on the surface of the Wherein U is i ID, Δh for an airport unmanned vehicle i i Lateral offset, deltav, for GNSS antenna installation of airport unmanned vehicle i i Longitudinal offset, lat, for installation of a GNSS antenna of an unmanned airport vehicle i i t Longitude, lut of airport unmanned vehicle i detected for current detection time t i t For the latitude, V of the unmanned airport vehicle i detected at the current detection time t i t For the speed, LA, of the airport unmanned vehicle i detected at the current detection instant t i For the position accuracy of an airport unmanned vehicle i, VA i For speed accuracy of an airport unmanned vehicle i, A i t An emergency braking state identifier of the airport unmanned vehicle i detected at the current detection time t; i is 1 to n, n is the number of unmanned vehicles at the airport;
s200, if the number of empty sets p in the current storage queue is more than p0, determining that an airport unmanned vehicle i is in an abnormal state, indicating the airport unmanned vehicle to move to a designated area, and storing the U in an abnormal vehicle ID library; otherwise, executing S300; p0 is a set value;
s300, setting t=t+1; s100 is executed;
s400, if the operation parameter set comprises all operation parameters, executing S500; otherwise, determining that the airport unmanned vehicle i is in an abnormal state, indicating the airport unmanned vehicle to move to a designated area, and storing the U into an abnormal vehicle ID library;
s500, if LA i > LA0, and VA i > VA0, execute S600; otherwise, determining that the airport unmanned vehicle i is in an abnormal state, indicating the airport unmanned vehicle to move to a designated area, and setting the U i Storing the abnormal vehicle ID library; LA0 is a preset position precision value, and VA0 is a preset speed precision value;
s600 based on A i Judging that the airport is unmannedWhether the collision detection capability of the vehicle i satisfies a preset condition, and if so, executing S700; otherwise, determining that the airport unmanned vehicle i is in an abnormal state, indicating the airport unmanned vehicle to move to a designated area, and storing the U into an abnormal vehicle ID library;
s700, based on U i The airport unmanned vehicle determines whether the airport unmanned vehicle i is a target vehicle, and if so, S800 is executed; otherwise, determining that the airport unmanned vehicle i is in an abnormal state, indicating the airport unmanned vehicle to move to a designated area, and setting the U i Storing the abnormal vehicle ID library;
s800 if V i t > 0, execute S900; if V is i t =0, S1100 is performed;
s900, judging V based on the current storage queue corresponding to the airport unmanned vehicle i i t Whether the corresponding setting condition is satisfied, and if so, executing S1000; otherwise, determining that the airport unmanned vehicle i is in an abnormal state and for V i t Adjusting to make the adjusted V i t Meeting the corresponding setting conditions;
s1000 based on Deltah i Judging whether the running line of the airport unmanned vehicle i meets corresponding set conditions, and if so, determining that the airport unmanned vehicle i is in a normal state; otherwise, determining that the airport unmanned vehicle i is in an abnormal state, and adjusting the current position of the airport unmanned vehicle i to enable the adjusted driving line of the airport unmanned vehicle i to meet corresponding set conditions;
s1100, based on Deltah i t 、△v i t 、Lat i t 、Lut i t Judging whether the parking position of the airport unmanned vehicle p meets the corresponding set condition, if so, determining that the airport unmanned vehicle i is in a normal state, otherwise, determining that the airport unmanned vehicle i is in an abnormal state, and parking the airport unmanned vehicle iAnd adjusting the position so that the parking position of the airport unmanned vehicle i after adjustment meets the corresponding setting condition.
Embodiments of the present invention also provide a non-transitory computer readable storage medium having stored therein at least one instruction or at least one program loaded and executed by a processor to implement a method as described above.
The embodiment of the invention also provides an electronic device, which comprises a processor and the non-transitory computer readable storage medium, and has at least the following beneficial effects:
the method for detecting the safe operation of the unmanned vehicle in the airport can detect the state of the unmanned vehicle in the airport in real time, and can provide a certain guarantee for the safe operation of the airport.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for detecting safe operation of an unmanned vehicle at an airport according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
The embodiment of the invention provides a safe operation detection method for an unmanned vehicle at an airport, which is used for detecting the state of the unmanned vehicle at the airport. In an embodiment of the invention, the method is used for detecting performance aspects and operation aspects of the unmanned vehicle at the airport, wherein the performance aspects comprise communication capability, data integrity, position and speed precision, collision detection capability and the like. Operational aspects include identity, speed, travel route, parking location, etc. of the unmanned vehicle at the airport.
In particular, as shown in fig. 1, the method may include the steps of:
s100, at the current detection time t, acquiring a corresponding operation parameter set from a current storage queue corresponding to the unmanned vehicle i at the airport; if the acquired operation parameter set is an empty set, executing S200; otherwise, executing S400; the corresponding operating parameters at least comprise U of the airport unmanned vehicle i 、L i 、W i 、△h i t 、△v i t 、Lat i t 、Lut i t 、V i t 、LA i 、VA i And A i t The method comprises the steps of carrying out a first treatment on the surface of the Wherein U is i ID, L for an unmanned vehicle ii at an airport i For the length, W, of the airport unmanned vehicle i i For the width of the airport unmanned vehicle i, Δh i Lateral offset, deltav, for GNSS antenna installation of airport unmanned vehicle i i Longitudinal offset, lat, for installation of a GNSS antenna of an unmanned airport vehicle i i t Longitude, lut of airport unmanned vehicle i detected for current detection time t i t For the latitude, V of the unmanned airport vehicle i detected at the current detection time t i t For the speed, LA, of the airport unmanned vehicle i detected at the current detection instant t i For the position accuracy of an airport unmanned vehicle i, VA i For speed accuracy of an airport unmanned vehicle i, A i t An emergency braking state identifier of the airport unmanned vehicle i detected at the current detection time t; i has a value of 1 to n, n is the number of unmanned vehicles at the airport.
In the embodiment of the invention, each airport unmanned vehicle transmits its own operation parameters to the control center according to a set transmission period, for example, 0.5 to 1 second. The control center stores the received operation parameters into the corresponding storage queues, and acquires the corresponding operation parameters in real time according to a set sampling period, for example, 0.5 to 1 second.
S200, if the number of empty sets p in the current storage queue is more than p0, and the communication capability of the airport unmanned vehicle i is not satisfied, determining that the airport unmanned vehicle i is in an abnormal state, indicating the airport unmanned vehicle to move to a designated area, and storing the U in an abnormal vehicle ID library; otherwise, executing S300; p0 is a set value.
The control center can collect datagrams of all unmanned vehicles in airport operation through a 5G aeroMACS2.0 communication link, analyze the messages according to a preset protocol format, and analyze whether missing elements exist according to the set operation parameters. If there are missing elements, it is stated that the data transmission capability of the unmanned vehicle at the airport is problematic.
In the embodiment of the present invention, p0 may be a custom value. In one exemplary embodiment, 3.ltoreq.p0.ltoreq.5, preferably p0=4.
In the embodiment of the invention, the designated area may be a garage. And returning the vehicle in the abnormal state to the garage for maintenance.
S300, setting t=t+1; s100 is performed.
S400, if the operation parameter set comprises all operation parameters, executing S500; otherwise, determining that the airport unmanned vehicle i is in an abnormal state, indicating the airport unmanned vehicle to move to a designated area, and storing the U in an abnormal vehicle ID library.
S500, if LA i > LA0, and VA i > VA0, execute S600; otherwise, determining that the airport unmanned vehicle i is in an abnormal state, indicating the airport unmanned vehicle to move to a designated area, and setting the U i Storing the abnormal vehicle ID library; LA0 is a preset position accuracy value, and VA0 is a preset speed accuracy value.
In the embodiment of the invention, LA0 may be a horizontal position accuracy value obtained by combining and positioning a GNSS source, an inertial navigation source, and the like, which are loaded on an unmanned vehicle. In one exemplary embodiment, LA0 > 1 meters. VA0 may be the horizontal velocity accuracy based on LA0, in one exemplary embodiment VA0 > 0.3m/s. Those skilled in the art know that obtaining VA0 based on LA0 may be prior art.
S600 based on A i Judging whether the conflict detection capability of the airport unmanned vehicle i meets a preset condition, and if so, executing S700; otherwise, determining that the airport unmanned vehicle i is in an abnormal state, indicating the airport unmanned vehicle to move to a designated area, and storing the U in an abnormal vehicle ID library.
The continuous maintenance of collision detection capability of an unmanned vehicle is a core guarantee of safe operation of the unmanned vehicle. Therefore, an unmanned vehicle is required to have an active collision detection capability greater than a certain distance, for example 300 meters, and when collision early warning is triggered, the vehicle should automatically take emergency braking such as speed reduction, stopping and the like in time.
Further, S600 may specifically include:
s601, judging whether the airport unmanned vehicle i is in a traffic conflict risk state currently, and if so, executing S602; otherwise, S700 is performed.
The airport operation intelligent management and control center can realize collision early warning on the global traffic situation of the airport by combining operation plans such as an operation plan, a path plan, a traffic rule and the like through monitoring sensors such as optical sensors and radars arranged at the airport, namely, whether the unmanned vehicle i at the airport is in a traffic collision risk state or not can be known in real time.
S602, obtaining the distance D between the airport unmanned vehicle i corresponding to the current detection time t and the corresponding conflict object i t If D i t D0 is not more than; s603 is performed; otherwise, S700 is performed; d0 is a preset distance threshold. In one exemplary embodiment, D0 is 300 meters.
S603, if A i For the first state identification, S700 is performed; if A i For the second state identification, determining that the airport unmanned vehicle i is in an abnormal state and indicatingThe airport unmanned vehicle moves to a designated area and the U i And storing the abnormal vehicle ID library.
In the embodiment of the present invention, the first state identifier and the second state identifier may be set based on actual needs, so long as they are different identifiers, and the present invention is not particularly limited. S700, based on U i The airport unmanned vehicle determines whether the airport unmanned vehicle i is a target vehicle, and if so, S800 is executed; otherwise, determining that the airport unmanned vehicle i is in an abnormal state, indicating the airport unmanned vehicle to move to a designated area, and setting the U i And storing the abnormal vehicle ID library.
Airport scenes are important areas of aircraft operation where the identity of vehicles entering the area needs to be tightly regulated. The unmanned vehicle allowed to enter the area to run is firstly subjected to strict inspection, the unmanned vehicle is required to meet the preset performance requirement of the unmanned vehicle, and the unmanned vehicle is registered in an airport operation guarantee resource management center and has the unique identification of the unmanned vehicle. The ultra-high definition optical sensor arranged at the airport can capture and identify the special license plate information of the unmanned vehicle running at the airport, thereby supervising the compliance of the identity of the unmanned vehicle.
Further, S700 may specifically include:
in U shape i And searching in a preset vehicle ID library for a search term, if the corresponding ID is searched, determining the unmanned vehicle i in the airport as a target vehicle, executing S800, otherwise, determining that the unmanned vehicle i in the airport is in an abnormal state, indicating the unmanned vehicle in the airport to move to a designated area, and storing U in the abnormal vehicle ID library.
S800 if V i t > 0, execute S900; if V is i t =0, S1100 is performed.
S900, judging V based on the current storage queue corresponding to the airport unmanned vehicle i i t Whether the corresponding setting condition is satisfied, and if so, executing S1000; otherwise, determining that the airport unmanned vehicle i is in an abnormal state and for V i t Adjusting to make the adjusted V i t The corresponding setting conditions are satisfied.
The airport carries out regional speed limiting management on vehicles according to the actual situation, and the highest speed per hour generally cannot exceed 50km/h. Taking a domestic airport as an example, the peripheral speed limit of a satellite hall of a terminal building is 15km/h, the direct speed limit of a road in a west area is 30km/h, and the turning speed limit is 25km/h. It follows that the speed limit setting depends on the area and the state of motion (straight or cornering) to which the unmanned vehicle is traveling. The determination of the area where the unmanned vehicle runs is based on the position information of the minimum data item set and the airport high-precision map, and the determination of the motion state is based on the course change tracking result.
Further, S900 may specifically include:
s901, if the operation parameter sets corresponding to the two detection moments before the current detection moment t are not empty sets, executing S902; otherwise, S300 is performed.
S902, obtaining phi i t 、φ i t-1 、φ i t-2 If (phi) i t -φ i t-1 ) < phi 0, and (phi) i t-1 -φ i t-2 ) < phi 0, indicating that the airport unmanned vehicle i is traveling straight, executing S903, otherwise, indicating that the airport unmanned vehicle is traveling in a turn, executing S804; phi (phi) i t 、φ i t-1 、φ i t-2 The course angle of the airport unmanned vehicle i corresponding to the current detection time t, the time before the detection time t and the two times before the detection time t respectively; phi 0 is a preset heading angle threshold value, which can be an empirical value.
In the embodiment of the present invention, the manner of acquiring the heading angle may be the prior art. E.g.. Phi i t ＝tan -1 (y i t /x i t ) Wherein y is i t Speed x in the current north-south direction of the unmanned vehicle i at the airport i t Is the current east-west speed of the airport unmanned vehicle i.
S903, if V i t < V1, executing S1000, otherwise, determining that the airport unmanned vehicle i is in an abnormal state, and for V i t Adjusting to make the adjusted V i t Less than V1; v1 is a first set speed threshold corresponding to the airport unmanned vehicle.
S904, if V i t < V2, execute S1000; otherwise, determining that the airport unmanned vehicle i is in an abnormal state and for V i t Adjusting to make the adjusted V i t And V2 is smaller than V2, and V2 is a second set speed threshold corresponding to the unmanned vehicle at the airport.
In the practice of the invention, V1 and V2 are determined based on the speed limit rules of the region to which the airport unmanned vehicle i belongs and the airport to which it belongs.
S1000 based on Deltah i Judging whether the running line of the airport unmanned vehicle i meets corresponding set conditions, and if so, determining that the airport unmanned vehicle i is in a normal state; otherwise, determining that the airport unmanned vehicle i is in an abnormal state, and adjusting the current position of the airport unmanned vehicle i to enable the adjusted driving line of the airport unmanned vehicle i to meet corresponding setting conditions.
Further, S1000 may specifically include:
s1001 based on Deltah i Acquiring the left transverse position x of the airport unmanned vehicle corresponding to the current detection time t iL t And right lateral position x iR t 。
Those skilled in the art know that based on Δh i Obtaining x iL t And x iR t May be of prior art.
S1002, acquiring the position x of the left line of the taxiway corresponding to the airport unmanned vehicle corresponding to the current detection time t based on the high-precision map data set by the airport unmanned vehicle corresponding to the airport i1 t And the position x of the right line i2 t 。
S1003, if |x iL t -x i1 t ∣＜∣x iL t-1 -x i1 t-1 |, and |x iL t -x i1 t I < x0, or, if i x iR t -x i2 t ∣＜∣x iR t-1 -x i2 t-1 |, and |x iR t -x i2 t If the speed is smaller than x0, determining that the driving line of the unmanned vehicle i at the airport does not meet the corresponding set conditions, namely, the lane departure condition occurs, determining that the unmanned vehicle i at the airport is in an abnormal state, and comparing with x iL t And x iR t Adjustment is made so that the airport unmanned vehicle i travels on the corresponding travel route. S1100, based on Deltah i t 、△v i t 、Lat i t 、Lut i t Judging whether the parking position of the airport unmanned vehicle p meets the corresponding set condition, if so, determining that the airport unmanned vehicle i is in a normal state, otherwise, determining that the airport unmanned vehicle i is in an abnormal state, and adjusting the parking position of the airport unmanned vehicle i to enable the adjusted parking position of the airport unmanned vehicle i to meet the corresponding set condition.
The unmanned vehicles running at the airport should be parked in the equipment area or parking space designated by the airport authorities and in the indicated direction indicated by the parking space floor.
Further, S1100 specifically includes:
s1101, acquiring positions G1 of the airport unmanned vehicle on the head, tail, left side and right side of a parking space i 、G2 i 、G4 i And G4 i 。
S1102, obtain L1 i ，L2 i ，L3 i And L4 i ，Lj i Based on Gj i And the distance between the corresponding sides of the corresponding parking spaces, j takes values 1 to 4.
S1103, if Lj i ≠Lj 0 Then for G1 i 、G2 i 、G4 i And G4 i Adjustment is performed so that Lj i ＝Lj 0 Wherein Lj 0 For Gj i And a specified distance between the corresponding sides of the corresponding parking spaces.
Lj0 may be determined based on the corresponding parking rules.
Further, in another embodiment of the present invention, S500 is replaced with:
s510, if LA i > LA0, and VA i > VA0, and LA1 i > LA0, and VA1 i > VA0, execute S600; otherwise, determining that the airport unmanned vehicle i is in an abnormal state, indicating the airport unmanned vehicle to move to a designated area, and setting the U i Storing the abnormal vehicle ID library; LA0 is a preset position precision value, and VA0 is a preset speed precision value; LA1 i ＝S1 i t -S2 i t ，S1 i t Is based on Lat i t 、Lut i t And the relative distance between the airport unmanned vehicle i and the corresponding taxiway side line acquired by the high-precision map data of the corresponding airport, S2 i t Relative distance between airport unmanned vehicle i and corresponding taxiway boundary obtained based on image detection device set at corresponding airport of airport unmanned vehicle i and vehicle positioning data obtained by high-precision map data, VA1 i t Based on LA1 i t The specific manner of obtaining can be the prior art.
S510 can make the judgment of the position accuracy and the speed accuracy more accurate than S500.
Further, the corresponding operation parameters further comprise a task type C of the airport unmanned vehicle;
the method further comprises the steps of:
in response to receiving the U in the abnormal vehicle ID library, other airport unmanned vehicles indicating a task type C and a state being normal replace the airport unmanned vehicle i.
Further, the operating parameters also include a length and a width of the airport unmanned vehicle.
Embodiments of the present invention also provide a non-transitory computer readable storage medium that may be disposed in an electronic device to store at least one instruction or at least one program for implementing one of the methods embodiments, the at least one instruction or the at least one program being loaded and executed by the processor to implement the methods provided by the embodiments described above.
Embodiments of the present invention also provide an electronic device comprising a processor and the aforementioned non-transitory computer-readable storage medium.
Embodiments of the present invention also provide a computer program product comprising program code for causing an electronic device to carry out the steps of the method according to the various exemplary embodiments of the invention as described in the specification, when said program product is run on the electronic device.
While certain specific embodiments of the invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the invention. Those skilled in the art will also appreciate that many modifications may be made to the embodiments without departing from the scope and spirit of the invention. The scope of the present disclosure is defined by the appended claims.
Claims (10)
1. A method for detecting safe operation of an unmanned vehicle at an airport, the method comprising the steps of:
s100, at the current detection time t, acquiring a corresponding operation parameter set from a current storage queue corresponding to the unmanned vehicle i at the airport; if the acquired operation parameter set is an empty set, executing S200; otherwise, executing S400; the corresponding operating parameters at least comprise U of the airport unmanned vehicle i 、△h i t 、△v i t 、Lat i t 、Lut i t 、V i t 、LA i 、VA i And A i t The method comprises the steps of carrying out a first treatment on the surface of the Wherein U is i For the ID of the unmanned vehicle i at the airport,△h i lateral offset, deltav, for GNSS antenna installation of airport unmanned vehicle i i Longitudinal offset, lat, for installation of a GNSS antenna of an unmanned airport vehicle i i t Longitude, lut of airport unmanned vehicle i detected for current detection time t i t For the latitude, V of the unmanned airport vehicle i detected at the current detection time t i t For the speed, LA, of the airport unmanned vehicle i detected at the current detection instant t i For the position accuracy of an airport unmanned vehicle i, VA i For speed accuracy of an airport unmanned vehicle i, A i t An emergency braking state identifier of the airport unmanned vehicle i detected at the current detection time t; i is 1 to n, n is the number of unmanned vehicles at the airport;
s200, if the number of empty sets p in the current storage queue is more than p0, determining that an airport unmanned vehicle i is in an abnormal state, indicating the airport unmanned vehicle to move to a designated area, and storing the U in an abnormal vehicle ID library; otherwise, executing S300; p0 is a set value;
s300, setting t=t+1; s100 is executed;
s400, if the operation parameter set comprises all operation parameters, executing S500; otherwise, determining that the airport unmanned vehicle i is in an abnormal state, indicating the airport unmanned vehicle to move to a designated area, and storing the U into an abnormal vehicle ID library;
s500, if LA i > LA0, and VA i > VA0, execute S600; otherwise, determining that the airport unmanned vehicle i is in an abnormal state, indicating the airport unmanned vehicle to move to a designated area, and setting the U i Storing the abnormal vehicle ID library; LA0 is a preset position precision value, and VA0 is a preset speed precision value;
s600 based on A i Judging whether the conflict detection capability of the airport unmanned vehicle i meets a preset condition, and if so, executing S700; otherwise, determining that the airport unmanned vehicle i is in an abnormal state and indicating the airport unmanned vehicle to move toDesignating an area, and storing the U in an abnormal vehicle ID library;
s700, based on U i The airport unmanned vehicle determines whether the airport unmanned vehicle i is a target vehicle, and if so, S800 is executed; otherwise, determining that the airport unmanned vehicle i is in an abnormal state, indicating the airport unmanned vehicle to move to a designated area, and setting the U i Storing the abnormal vehicle ID library;
s800 if V i t > 0, execute S900; if V is i t =0, S1100 is performed;
s900, judging V based on the current storage queue corresponding to the airport unmanned vehicle i i t Whether the corresponding setting condition is satisfied, and if so, executing S1000; otherwise, determining that the airport unmanned vehicle i is in an abnormal state and for V i t Adjusting to make the adjusted V i t Meeting the corresponding setting conditions;
s1000 based on Deltah i Judging whether the running line of the airport unmanned vehicle i meets corresponding set conditions, and if so, determining that the airport unmanned vehicle i is in a normal state; otherwise, determining that the airport unmanned vehicle i is in an abnormal state, and adjusting the current position of the airport unmanned vehicle i to enable the adjusted driving line of the airport unmanned vehicle i to meet corresponding set conditions;
s1100, based on Deltah i t 、△v i t 、Lat i t 、Lut i t Judging whether the parking position of the airport unmanned vehicle p meets the corresponding set condition, if so, determining that the airport unmanned vehicle i is in a normal state, otherwise, determining that the airport unmanned vehicle i is in an abnormal state, and adjusting the parking position of the airport unmanned vehicle i to enable the adjusted parking position of the airport unmanned vehicle i to meet the corresponding set condition.
2. The method of claim 1, wherein S500 is replaced with:
s510, if LA i > LA0, and VA i > VA0, and LA1 i > LA0, and VA1 i > VA0, execute S600; otherwise, determining that the airport unmanned vehicle i is in an abnormal state, indicating the airport unmanned vehicle to move to a designated area, and setting the U i Storing the abnormal vehicle ID library; LA0 is a preset position precision value, and VA0 is a preset speed precision value; LA1 i ＝S1 i t -S2 i t ，S1 i t Is based on Lat i t 、Lut i t And the relative distance between the airport unmanned vehicle i and the corresponding taxiway side line acquired by the high-precision map data of the corresponding airport, S2 i t Relative distance between airport unmanned vehicle i and corresponding taxiway boundary obtained based on image detection device set at corresponding airport of airport unmanned vehicle i and vehicle positioning data obtained by high-precision map data, VA1 i t Based on LA1 i t Obtained.
3. The method according to claim 1, wherein S600 specifically comprises:
s601, judging whether the airport unmanned vehicle i is in a traffic conflict risk state currently, and if so, executing S602; otherwise, S700 is performed;
s602, obtaining the distance D between the airport unmanned vehicle i corresponding to the current detection time t and the corresponding conflict object i t If D i t D0 is not more than; s603 is performed; otherwise, S700 is performed; d0 is a preset distance threshold;
s603, if A i For the first state identification, S700 is performed; if A i For the second state identification, determining that the airport unmanned vehicle i is in an abnormal state, indicating the airport unmanned vehicle to move to a designated area, and enabling the U to be set i And storing the abnormal vehicle ID library.
4. The method according to claim 1, wherein S700 specifically comprises:
in U shape i And searching in a preset vehicle ID library for a search term, if the corresponding ID is searched, determining the unmanned vehicle i in the airport as a target vehicle, executing S800, otherwise, determining that the unmanned vehicle i in the airport is in an abnormal state, indicating the unmanned vehicle in the airport to move to a designated area, and storing U in the abnormal vehicle ID library.
5. The method according to claim 1, wherein S900 specifically comprises:
s901, if the operation parameter sets corresponding to the two detection moments before the current detection moment t are not empty sets, executing S902; otherwise, executing S300;
s902, obtaining phi i t 、φ i t-1 、φ i t-2 If (phi) i t -φ i t-1 ) < phi 0, and (phi) i t-1 -φ i t-2 ) < φ 0, execute S903, otherwise execute S804; phi (phi) i t 、φ i t-1 、φ i t-2 The course angle of the airport unmanned vehicle i corresponding to the current detection time t, the time before the detection time t and the two times before the detection time t respectively; phi 0 is a preset course angle threshold;
s903, if V i t < V1, executing S1000, otherwise, determining that the airport unmanned vehicle i is in an abnormal state, and for V i t Adjusting to make the adjusted V i t Less than V1; v1 is a first set speed threshold corresponding to the airport unmanned vehicle;
s904, if V i t < V2, execute S1000; otherwise, determining that the airport unmanned vehicle i is in an abnormal state and for V i t Adjusting to make the adjusted V i t V2 is smaller than V2, V2 is the second device corresponding to the unmanned vehicle at the airportAnd (5) determining a speed threshold.
6. The method according to claim 1, wherein S1000 specifically comprises:
s1001 based on Deltah i Acquiring the left transverse position x of the airport unmanned vehicle corresponding to the current detection time t iL t And right lateral position x iR t ；
S1002, acquiring the position x of the left line of the taxiway corresponding to the airport unmanned vehicle corresponding to the current detection time t based on the high-precision map data set by the airport unmanned vehicle corresponding to the airport i1 t And the position x of the right line i2 t ；
S1003, if |x iL t -x i1 t ∣＜∣x iL t-1 -x i1 t-1 |, and |x iL t -x i1 t I < x0, or, if i x iR t -x i2 t ∣＜∣x iR t-1 -x i2 t-1 |, and |x iR t -x i2 t If the speed is smaller than x0, determining that the driving line of the unmanned vehicle i at the airport does not meet the corresponding set conditions, determining that the unmanned vehicle i at the airport is in an abnormal state, and comparing x iL t And x iR t And (5) adjusting.
7. The method according to claim 1, wherein S1100 specifically comprises:
s1101, acquiring positions G1 of the airport unmanned vehicle on the head, tail, left side and right side of a parking space i 、G2 i 、G4 i And G4 i ；
S1102, obtain L1 i ，L2 i ，L3 i And L4 i ，Lj i Based on Gj i And the distance between the corresponding sides of the corresponding parking spaces, and the value of j is 1 to 4;
s1103, if Lj i ≠Lj 0 Then for G1 i 、G2 i 、G4 i And G4 i Adjustment is performed so that Lj i ＝Lj 0 Wherein Lj 0 For Gj i And a specified distance between the corresponding sides of the corresponding parking spaces.
8. The method of claim 1, wherein the corresponding operating parameters further comprise a mission type C of the airport unmanned vehicle;
the method further comprises the steps of:
in response to receiving the U in the abnormal vehicle ID library, other airport unmanned vehicles indicating a task type C and a state being normal replace the airport unmanned vehicle i.
9. A non-transitory computer readable storage medium having stored therein at least one instruction or at least one program, wherein the at least one instruction or the at least one program is loaded and executed by a processor to implement the method of any one of claims 1-8.
10. An electronic device comprising a processor and the non-transitory computer readable storage medium of claim 9.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117873120A (en) * | 2024-03-13 | 2024-04-12 | 中国民用航空总局第二研究所 | State control method, device, equipment and medium of airport unmanned equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117873120A (en) * | 2024-03-13 | 2024-04-12 | 中国民用航空总局第二研究所 | State control method, device, equipment and medium of airport unmanned equipment |
| CN117873120B (en) * | 2024-03-13 | 2024-05-28 | 中国民用航空总局第二研究所 | State control method, device, equipment and medium of airport unmanned equipment |
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