JP2014016264A - Avoidance route deprivation device, avoidance route deprivation program, and avoidance route deprivation method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simplify an avoidance area and a pattern of avoidance routes to realize efficiency of a route determination, thereby deriving an avoidance route quickly with a light load.SOLUTION: An avoidance route deprivation method includes: identifying an avoidance area that is to be avoided (S1); dividing a target region including the avoidance area into plural polygon division zones (S2); extracting plural candidate nodes, each located at a corner of a division zone and outside of a border of the avoidance area (S4); and determining whether division routes from a discretionary avoidance start point to a candidate node, between candidate nodes, and from the candidate node to a discretionary avoidance end point intersect with the avoidance area, and identifying an avoidance route that consists of continuous division routes without intersecting with the avoidance area between the avoidance start point and the avoidance end point and whose total distance is the shortest (S5).

Description

  The present invention relates to an avoidance route deriving device, an avoidance route deriving program, and an avoidance route deriving method for deriving an avoidance route when an avoidance area occurs in a flight route of an aircraft (own aircraft).

  An aircraft flies in a space free of obstacles, but there is a risk of being exposed to threats such as mountains and buildings becoming obstacles in low-flying flights or depending on the flight route. Therefore, when such an avoidance area to be avoided occurs in the flight path, it is desirable to derive an avoidance path that avoids the avoidance area and to fly along the avoidance path.

  Therefore, a technique is known that informs the pilot that the flight path of the aircraft is in danger of colliding with a feature or the like based on the location of the aircraft and terrain data (for example, Patent Document 1). There is also known a technique for preventing a collision by expressing the maximum altitude of the terrain with a mesh and defining an envelope of the ground altitude in the region where the aircraft moves (for example, Patent Document 2).

  In addition, a technique that uses a series of nodes having a terrain height exceeding the minimum flight altitude for identifying a danger zone (for example, Patent Document 3), a route that minimizes the route cost while avoiding a collision between a plurality of aircraft. The technique (for example, patent document 4) which calculates | requires is disclosed.

JP-A-4-315084 Japanese Patent No. 3738415 JP 2001-33271 A JP 2009-251729 A

  However, in the above-described technique, there are countless candidates for the avoidance area itself and its avoidance route. Therefore, in order to avoid the avoidance area and derive the shortest avoidance route that minimizes the flight cost, the processing load is reduced. The increase in the processing time was caused.

  Therefore, in view of such problems, the present invention simplifies the avoidance area and the avoidance route pattern, and improves the efficiency of route determination, thereby avoiding the avoidance route with a light load and in a short time. It is an object to provide a route deriving device, an avoidance route deriving program, and an avoidance route deriving method.

  In order to solve the above-described problem, the avoidance route deriving device of the present invention includes an avoidance area specifying unit that specifies an avoidance area to be avoided, and region division that divides a target region including the avoidance area into a plurality of polygonal divided regions. A candidate node extracting unit that extracts a plurality of candidate nodes that are at the corners of the divided area and located outside the boundary of the avoidance area, from any avoidance start point to the candidate node, between the candidate nodes, and It is determined whether or not the divided route from the candidate node to any avoidance end point intersects with the avoidance area, and consists of a plurality of continuous divided routes from the avoidance start point to the avoidance end point without intersecting the avoidance area. A route specifying unit that specifies an avoidance route with the shortest distance.

  Each candidate node is associated with a node parameter immediately after the shortest route to the avoidance end point and a node parameter whose parameter is the shortest distance to the avoidance end point, and the route specifying unit ends the avoidance from any candidate node. The node parameter of an arbitrary candidate node may be updated as long as the continuous divided route up to the point without intersecting the avoidance area is the shortest.

  Each candidate node is associated with the immediately preceding candidate node on the shortest route to the avoidance start point and a node parameter whose parameter is the shortest distance to the avoidance start point, and the route specifying unit ends avoidance from any candidate node If a continuous divided route up to a point without intersecting the avoidance area is the shortest, all nodes from one candidate node to the avoidance end point that are continuous without intersecting the avoidance area The parameter may be updated.

  The route specifying unit may determine that the intersection leg that intersects the avoidance area where at least a part of the division area is included in the avoidance area intersects with the avoidance area.

  Even if the intersection leg and the divided route cross each other, the route specifying unit may determine that the intersection does not intersect the avoidance area if the height of the divided route is higher than the height of the avoidance region.

  The route specifying unit may determine whether or not the avoidance area intersects in order from the candidate node having the shortest sum of the straight line distance from the candidate node to the avoidance start point and the straight line distance from the candidate node to the avoidance end point.

  In order to solve the above problem, an avoidance route deriving program according to the present invention divides a computer into an avoidance area specifying unit for specifying an avoidance area to be avoided and a target region including the avoidance area into a plurality of polygonal divided regions. A candidate node extracting unit that extracts a plurality of candidate nodes that are at the corners of the divided region and located outside the boundary of the avoidance area, and between any candidate nodes from any avoidance start point to the candidate node And whether or not the divided route from the candidate node to any avoidance end point intersects with the avoidance area, and consists of a plurality of consecutive divided routes from the avoidance start point to the avoidance end point without intersecting the avoidance area. , And function as a route specifying unit that specifies an avoidance route having the shortest total distance.

  In order to solve the above problems, the avoidance route deriving method of the present invention specifies an avoidance area to be avoided, divides a target area including the avoidance area into a plurality of polygonal divided areas, and is a corner of the divided area. In addition, a plurality of candidate nodes that are located outside the boundary of the avoidance area are extracted, and avoidance is performed for the divided paths from any avoidance start point to the candidate node, between the candidate nodes, and from the candidate node to any avoidance end point. It is characterized by determining whether or not it intersects with an area, and specifying an avoidance route that consists of a plurality of continuous divided routes without intersecting the avoidance area from the avoidance start point to the avoidance end point, and has the shortest total distance. To do.

  According to the present invention, it is possible to derive an avoidance route in a light load and in a short time by simplifying the pattern of the avoidance area and the avoidance route and improving the efficiency of route determination.

It is a functional block diagram which shows the schematic structure of an aircraft. It is the flowchart which showed the flow of the process of the avoidance route derivation method in 1st Embodiment. It is explanatory drawing for demonstrating an avoidance area specific process. It is explanatory drawing for demonstrating area division processing. It is explanatory drawing for demonstrating a cross leg specific process. It is explanatory drawing for demonstrating a candidate node extraction process. It is explanatory drawing for demonstrating a candidate node extraction process. It is the flowchart which showed the flow of the specific process of a route specific process. It is explanatory drawing which demonstrates the specification of the avoidance path | route by a path | route specific process concretely. It is explanatory drawing for demonstrating intersection determination among route specific processes. It is explanatory drawing for demonstrating the positional relationship in the three-dimensional space in 2nd Embodiment.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values shown in the embodiments are merely examples for facilitating the understanding of the invention, and do not limit the present invention unless otherwise specified. In the present specification and drawings, elements having substantially the same function and configuration are denoted by the same reference numerals, and redundant description is omitted, and elements not directly related to the present invention are not illustrated. To do.

(Aircraft 100)
In the present embodiment, the aircraft 100 avoids an avoidance area when there is an avoidance area that should be avoided in the presence of an obstacle or being exposed to some threat in the predetermined flight path of the aircraft. An avoidance route that avoids the problem is derived, and the flight follows the avoidance route. Hereinafter, the configuration of the aircraft 100 for deriving the avoidance route will be described, and then a specific method will be described.

  FIG. 1 is a functional block diagram showing a schematic configuration of aircraft 100. The aircraft 100 includes an information acquisition unit 110, a central control unit 112, and a flight mechanism 114. Here, only the configuration necessary for the present embodiment will be described, and the description of the configuration not related to the present embodiment will be omitted.

  The information acquisition unit 110 includes a communication unit 110a, an operation unit 110b, a sensor 110c, a display unit 110d, and the like. The communication unit 110a communicates with ground equipment in flight or on land (on board) using a data link technique such as broadcast-type automatic dependent surveillance (ADS-B). The operation unit 110b includes a control stick, operation keys, a touch panel, and the like, and accepts pilot operation inputs. In the present embodiment, the flight path and information on obstacles and threats are acquired through the communication unit 110a or the operation unit 110b. The sensor 110c detects a current flight state such as a flight position (including longitude, latitude, altitude), aircraft speed, aircraft attitude, wind force received by the aircraft, wind direction, weather, atmospheric pressure, temperature, and humidity around the aircraft. The display unit 110d is configured by a liquid crystal display, an organic EL (Electro Luminescence) display, and the like, displays a part of various information acquired through the communication unit 110a, the operation unit 110b, the sensor 110c, and the like, and transmits it to the pilot.

  The central control unit 112 is configured by a semiconductor integrated circuit including a central processing unit (CPU), a ROM storing programs, a RAM as a work area, and the like, and manages and controls the entire aircraft 100. In addition, the central control unit 112 functions as an avoidance area specifying unit 120, a region dividing unit 122, an intersection leg specifying unit 124, a candidate node extracting unit 126, and a route specifying unit 128.

  The flight mechanism 114 has an internal combustion engine (for example, a jet engine or a reciprocating engine), and moves the aircraft body by generating lift around the fixed wing by a propulsive force. However, the mechanism for generating lift is not limited to such a case, and as in a rotary wing aircraft (helicopter), the rotor blades are rotated by an internal combustion engine to generate lift, and the aircraft body is maintained in a state of floating in the atmosphere. It can also be configured with a mechanism.

  As described above, each functional unit of the central control unit 112 operates as follows in order to derive an avoidance route that avoids the avoidance area. That is, the avoidance area specifying unit 120 specifies an avoidance area to be avoided. The area dividing unit 122 divides the target area including the avoidance area into a plurality of polygonal divided areas. The cross leg specifying unit 124 specifies cross legs that are legs constituting the avoidance region. The candidate node extraction unit 126 extracts a plurality of candidate nodes that are corners of the divided region and located outside the boundary of the avoidance area. The route identifying unit 128 determines whether or not the divided route from any avoidance start point to the candidate node, between the candidate nodes, and from the candidate node to any avoidance end point intersects the avoidance area. Then, the route specifying unit 128 specifies an avoidance route that includes a plurality of continuous divided routes from the avoidance start point to the avoidance end point without intersecting the avoidance area, and has the shortest total distance. The avoidance route specified in this way is displayed on the display unit 110d. The detailed operation of each functional unit will be specifically described below.

(First embodiment: avoidance route derivation method)
FIG. 2 is a flowchart showing a processing flow of the avoidance route deriving method in the first embodiment. Here, according to the flowchart of FIG. 2, an avoidance area to be avoided is specified, and an avoidance route for avoiding the avoidance area is derived. Here, the avoidance path is an avoidance area having an avoidance start point that is an arbitrary point before the avoidance area that occurs in the flight path as a start point and an avoidance end point that is an arbitrary point before the avoidance area as an end point. It is the path | route provided outside. The avoidance start point and the avoidance end point are determined according to a predetermined rule based on the size of the avoidance area, the speed of the aircraft 100, and the like. In the present embodiment, the shortest route on the horizontal plane equal to the flight altitude of the aircraft 100 is set as the avoidance route.

  Hereinafter, the avoidance area specifying process S1, the area dividing process S2, the cross leg specifying process S3, the candidate node extracting process S4, and the route specifying process S5 belonging to the avoidance route deriving process, which belong to the preparation process, will be described in accordance with FIG.

(Avoidance area identification process S1)
FIG. 3 is an explanatory diagram for explaining the avoidance area specifying process S1. The avoidance area specifying unit 120 grasps obstacles and threats in the flight path 150 through communication with ground facilities or pilot operation inputs, and as shown in FIG. The avoidance area 152 for avoiding the own device from the position of the object to be identified is specified. Here, for the sake of convenience of explanation, a single avoidance area 152 will be described, but a plurality of avoidance areas 152 may exist apart from each other.

(Area division processing S2)
The area dividing unit 122 divides the target area including the avoidance area 152 specified by the avoidance area specifying unit 120 into a plurality of polygonal divided areas. Here, although the shape of the divided area is described as a square, an arbitrary polygon such as a triangle or a hexagon can be adopted.

  FIG. 4 is an explanatory diagram for explaining the region division processing S2. Specifically, first, as shown in FIG. 4A, the region dividing unit 122 is between an arbitrary avoidance start point WP1 and an avoidance end point WP2 in a horizontal plane at an altitude equal to the flight altitude of the aircraft 100. A certain target area 154 is cut out. The target area 154 is determined according to a predetermined rule based on the size and shape of the avoidance area 152, and is, for example, a square whose one side is a first predetermined distance (for example, 10 km or 100 km). Here, the target region 154 is shown as a square, but the present invention is not limited to this, and may be a rectangle or a polygon.

  Then, the region dividing unit 122 divides the target region 154 into a second predetermined distance (for example, 50 m, 1 km, or 5 km) in which the distance between the intersections is shorter than the first predetermined distance with respect to the latitude direction and the longitude direction (east, west, north, and south directions). And the like, and the divided area 156 divided into the mesh shape is set as the minimum unit of the calculation target. Here, the divided region 156 is shown as a square, but this is not a limitation, and a rectangular or polygonal shape may be used.

  The size of the divided area 156 is determined according to a predetermined rule based on the distance between the avoidance start point WP1 and the avoidance end point WP2, the size of the avoidance area 152, and the processing capability (processable resolution). Further, in the subsequent calculation, the corner (intersection) of the divided area 156 is referred to as a node, and a line segment extending between the nodes in the east, west, south, and north directions is referred to as a leg.

  Subsequently, the area dividing unit 122 specifies an avoidance area 158 that is a divided area 156 corresponding to the avoidance area 152 among the plurality of divided areas 156 in the target area 154. The avoidance area 158 is a divided area 156 in which at least one of the four nodes corresponding to the corners of the divided area 156 is included in the avoidance area 152 (a part of the divided area 156 is included in the avoidance area 152). . Therefore, among the plurality of divided areas 156 in FIG. 4B, the divided area 156 indicated by hatching is the avoidance area 158. Here, if there are a plurality of avoidance areas 152, there will be a plurality of such groups of adjacent avoidance areas 158.

(Cross leg identification process S3)
FIG. 5 is an explanatory diagram for explaining the intersection leg specifying process S3. Here, the latitude direction and the longitude direction are indicated by the x-axis and the y-axis. The intersection leg specifying unit 124 specifies an intersection leg that is a leg constituting the avoidance region 158 for use in the intersection determination described later. Legs that are candidates for the intersection leg can be broadly divided into legs in the x-axis direction and legs in the y-axis direction in FIG. 5. Therefore, here, for the intersection leg 160, the intersection in the x-axis direction and the intersection in the y-axis direction are performed. Step by step to find the leg.

  First, as shown in FIG. 5, the cross leg identifying unit 124 assigns numbers corresponding to coordinates to the divided regions 156 in the x-axis direction and the y-axis direction (x = 0, 1,..., 6, y = 0, 1, ..., 6). Then, in order to derive the cross leg 160a in the x-axis direction, the cross leg specifying unit 124 increments the coordinate value of y by 1 as shown by the dashed arrow in FIG. Are sequentially extracted, and it is determined whether or not the corresponding leg corresponds to the intersecting leg 160a, that is, whether or not the leg constitutes the avoidance region 158. When the determination of the cross leg 160a regarding x = 0 to 1 is completed, the cross leg 160a regarding x = 1 to 2 is determined, and the determination process is repeated until the cross leg 160a regarding x = 5 to 6 is determined. By doing so, the cross leg 160a in the x-axis direction indicated by the thick solid line in FIG. 5A is specified.

  Subsequently, in order to derive the cross leg 160b in the y-axis direction, the cross leg specifying unit 124 increments the coordinate value of x by 1 as shown by the dashed arrow in FIG. Directional legs are sequentially extracted, and it is determined whether the leg corresponds to the intersection leg 160b, that is, whether the leg constitutes the avoidance region 158 or not. When the determination of the cross leg 160b regarding y = 0 to 1 is completed, the cross leg 160b regarding y = 1 to 2 is determined, and the determination process is repeated until the cross leg 160b regarding y = 5 to 6 is determined. By doing so, the cross leg 160b in the y-axis direction indicated by the thick solid line in FIG. 5B is specified.

  Since the intersection leg 160 is used for the intersection determination described later, it is desirable to manage the intersection leg 160 through association with coordinates, for example, a table.

(Candidate node extraction process S4)
6 and 7 are explanatory diagrams for explaining candidate node extraction processing S4. The candidate node extraction unit 126 extracts a plurality of candidate nodes 162 that are corners of the avoidance area 158 extracted by the area division unit 122 and located outside the boundary of the avoidance area 152, as indicated by black circles in FIG. To do. However, candidate nodes 162 common to adjacent avoidance areas 158 are treated as one candidate node 162. Here, in order to facilitate understanding, a small number of candidate nodes 162 will be described. However, the number of candidate nodes 162 varies depending on the sizes of the target area 154 and the divided area 156.

  Then, as illustrated in FIG. 7, the candidate node extraction unit 126 generates a node list 164 from the extracted plurality of candidate nodes 162 and stores it in the RAM, and sorts the candidate nodes 162 in the node list 164. The sort order is performed in ascending order of the sum of the straight line distance from each candidate node 162 to the avoidance start point WP1 and the straight line distance from the candidate node 162 to the avoidance end point WP2. It does not matter whether or not the straight line distance intersects the intersection leg 160. Therefore, as a result, the candidate nodes 162 close to the flight path 150 are arranged relatively high, and the candidate nodes 162 far from the flight path 150 are arranged relatively low.

  In this way, the candidate nodes 162 are sorted in the order of short straight distances for the following reason. That is, in the route specifying process S5 described later, first, the route specifying unit 128 causes the candidate node having a short sum of the straight line distance from the candidate node 162 to the avoidance start point WP1 and the straight line distance from the candidate node 162 to the avoidance end point WP2. Whether or not to cross the avoidance area 152 is determined in order from 162. This is because an avoidance route that is most likely to be the shortest is derived relatively early, and the number of rewrites of the avoidance route is reduced in subsequent calculations, thereby reducing the processing load.

  Subsequently, as illustrated in FIG. 7, the candidate node extraction unit 126 sets a node parameter 166 for each candidate node 162 in the node list 164 and stores it in the RAM. The node parameter 166 includes a node immediately before WP1 (RootNode: candidate node 162 immediately before the shortest route to the avoidance start point WP1), a shortest distance WP1 (DisS: shortest distance to the avoidance start point WP1 along the shortest route), and immediately after WP2. Node (candidate node 162 immediately after the shortest route to avoidance end point WP2), WP2 shortest distance (DisE: shortest distance to avoidance end point WP2 in the shortest route), target node list (SearchNode: candidate for node immediately after WP2) Candidate node 162 (target node) list) and the total number of target nodes (SearchNodeNo: total number of target nodes associated with the target node list). Here, an arbitrary candidate node 162 serving as a reference in performing route determination is set as a reference node, and a candidate node 162 that is a target for determining intersection with the reference node is set as a target node.

  Here, the node immediately before WP1 indicates the candidate node 162 immediately before the shortest divided route group among the divided routes continuous with the avoidance start point WP1 without intersecting the intersection leg 160. Therefore, if the avoidance start point WP1 is directly continuous without intersecting with the intersection leg 160, the node immediately before WP1 becomes the avoidance start point WP1. The WP1 shortest distance indicates the total distance of the shortest route to the avoidance start point WP1 including the candidate node 162 indicated as the node immediately preceding WP1. The total distance can be derived by adding the distance from the candidate node 162 indicated by the node immediately preceding WP1 to the candidate node 162 to the WP1 shortest distance at the candidate node 162 indicated by the node immediately before WP1.

  Further, the node immediately after WP2 indicates the candidate node 162 immediately after the shortest divided route group among the divided routes continuous with the avoidance end point WP2 without intersecting the intersection leg 160. Therefore, in the case of directly following the avoidance end point WP2 without intersecting with the intersection leg 160, the node immediately after WP2 becomes the avoidance end point WP2. The WP2 shortest distance indicates the total distance of the shortest route to the avoidance end point WP2 including the candidate node 162 indicated as the node immediately after WP2. The total distance can be derived by adding the distance from the candidate node 162 indicated by the node immediately after WP2 to the candidate node 162 to the WP2 shortest distance in the node parameter 166 of the candidate node 162 indicated by the node immediately after WP2.

  The target node list is a list of one or more candidate nodes 162 (target nodes) that are continuous from the candidate node 162 without crossing the intersection leg 160 except for the candidate node 162 set as the node immediately before WP1. is there. Here, when the route determination of the target node is completed, the target node is deleted from the target node list. Further, since the target node is linked to each candidate node 162 of the node list 164, for example, in the following description, in the case of the node immediately before WP1 of the target node, the node parameter of the candidate node 162 corresponding to the target node is indicated. . The total number of target nodes is the total number of target nodes associated with the target node list. Here, when the target node is deleted from the target node list, the total number of target nodes is also reduced accordingly.

  When the node parameter 166 is generated, the values of the immediately preceding WP1, the WP1 shortest distance, the WP2 shortest distance, the WP2 shortest distance, the target node list, and the total number of target nodes are all reset. In such a reset, the WP1 shortest distance and the WP2 shortest distance are set to infinity ∞ or a settable maximum value.

(Route identification process S5)
The path specifying unit 128 avoids the avoidance area 158 (the avoidance area 152) for the split path from the avoidance start point WP1 to the candidate node 162, the split path between the candidate nodes 162, and the split path from the candidate node 162 to the avoidance end point WP2. Whether or not to intersect. Then, the route specifying unit 128 is composed of divided routes that continue without intersecting the avoidance area 158 from the avoidance start point WP1 to the avoidance end point WP2 among the divided routes determined not to intersect, and the total distance is the shortest. The avoidance route to be specified is specified.

  In this embodiment, the shortest avoidance route is specified based on the following concept. First, starting from the avoidance start point WP1, the candidate nodes 162 whose line segments between the candidate nodes 162 do not intersect the intersection leg 160 are connected one after the other, and at least one route to the avoidance end point WP2 is made once. Derived and keeps the total distance of the route. Thereafter, the total distance of the route is derived for other combinations of candidate nodes, and if the total distance of the stored route becomes shorter, the route is updated as the shortest route. Further, when determining the combination of other candidate nodes 162, even if it is in the middle of the process, if the total distance of the divided paths becomes longer than the total distance of the stored paths, the path is no longer selected. Subsequent processing is omitted. Thus, the processing load can be reduced.

  Specifically, once a route from the avoidance start point WP1 to the avoidance end point WP2 is derived once, the route determination is performed for all of one or a plurality of target nodes with respect to one reference node. If the straight line connecting the target node and the avoidance end point WP2 intersects the intersection leg 160, the target node is further set as a reference node, and a target node lower than the reference node is newly derived.

  When the route determination of the target node is completed in this way, among the one or a plurality of target nodes with respect to the reference node, the route from the reference node to the avoidance end point WP2 that has the shortest continuous divided route without intersecting the avoidance area 152 is determined. The result is extracted, and the result is reflected in the node parameters of the reference node (WP2 shortest distance, node immediately after WP2). In this way, a continuous divided path from the reference node to the avoidance end point WP2 can be determined.

  In addition, when the route from the reference node to the avoidance end point WP2 is extracted from the target node to the avoidance end point WP2 when the route that has the shortest continuous divided route without intersecting the avoidance area 152 is extracted. Also, the node parameters of all the one or more candidate nodes 162 that are continuous without intersecting the avoidance area 152 (WP1 shortest distance, only the target node is the node immediately before WP1) are also updated. Thus, the information of the avoidance start point WP1 can be reflected on the candidate nodes 162 from the reference node to the avoidance end point WP2.

  As described above, when all the route determinations of one or a plurality of target nodes with respect to the reference node are completed, the route determination of the reference node is completed, and the route determination of the upper reference node having the reference node as the target node is sequentially completed. Is possible. When the reference node finally becomes the avoidance start point WP1, the route determination for all target nodes is completed, and the shortest avoidance route is specified. Specific processing will be described below.

  FIG. 8 is a flowchart showing a specific processing flow of the route identification processing S5. Here, it is assumed that the variable D indicating the distance of the shortest avoidance route is initialized (a maximum value that can be set is substituted), and the avoidance start point WP1 is set as the reference node.

(Step S5-1)
First, the path specifying unit 128 sequentially extracts candidate nodes 162 from the node list 164, excluding the candidate nodes 162 set as the nodes immediately before WP1 of the reference node (the first time is none), in ascending order, and the candidate nodes 162 and the reference nodes ( In the first time, the intersection determination between the line segment connecting the avoidance start point WP1) and the intersection leg 160 is performed. This intersection determination will be described later with reference to FIG. Here, if it is determined that the line segment connecting the candidate node 162 and the reference node does not intersect the intersection leg 160, the route specifying unit 128 sets the candidate node 162 as a target node for the reference node, and sets the target of the reference node. In addition to adding to the node list, the target node total is incremented by 1 each time it is added. In addition, a candidate node 162 corresponding to the reference node is set to the node immediately before WP1 of the target node, and the distance between the reference node and the target node is set to the shortest WP1 distance of the handling node.

(Step S5-2)
When the extraction of the target node is completed through the intersection determination with the candidate node 162, the route specifying unit 128 specifies the target node located at the head of the target node list. In this way, target nodes can be sequentially extracted from the target node list.

(Step S5-3)
Subsequently, the route specifying unit 128 determines whether or not the information of the avoidance end point WP2 (the WP2 shortest distance, the node immediately before WP2) has already been set in the specified target node. This is performed depending on whether or not the WP2 shortest distance is the maximum value that can be set, or whether or not the node immediately before WP2 is set. As a result, if the information of the avoidance end point WP2 is set, the process proceeds to step S5-8. If the information of the avoidance end point WP2 is not set, the process proceeds to step S5-4.

(Step S5-4)
If it is determined in step S5-3 that the information of the avoidance end point WP2 is not set, the path specifying unit 128 determines whether the line segment connecting the target node and the avoidance end point WP2 intersects the intersection leg 160. I do. As a result, if the line segment connecting the target node and the avoidance end point WP2 intersects the intersection leg 160, the process proceeds to step S5-5, and if not, the process proceeds to step S5-7. Move.

(Step S5-5)
In step S5-4, if it is determined that the line segment connecting the target node and the avoidance end point WP2 intersects the intersection leg 160, the path specifying unit 128 sets the reference node WP1 shortest distance to the reference node WP1. A value obtained by adding the distance between the node and the target node is compared with a variable D indicating the distance of the shortest avoidance path. As a result, if it is determined that the value obtained by adding the distance between the reference node and the target node to the WP1 shortest distance of the reference node is longer than the variable D, the process proceeds to step S5-12. If determined, the process proceeds to step S5-6. Here, for the target node whose total distance is longer than the variable D, since the route is no longer selected, it is decided not to proceed to step S5-6 and is excluded from the target of the route determination. In this way, the processing load can be reduced.

(Step S5-6)
In step S5-5, when it is determined that the value obtained by adding the distance between the reference node and the target node to the shortest WP1 distance of the reference node is not longer than the variable D, the path specifying unit 128 newly sets the target node. Is set as a lower reference node, and the processing from step S5-1 is repeated.

(Step S5-7)
If it is determined in step S5-4 that the line segment connecting the target node and the avoidance end point WP2 does not intersect the intersection leg 160, the route specifying unit 128 sets the avoidance end point WP2 of the target node. Update information. Specifically, the avoidance end point WP2 is set to the node immediately after WP2 of the target node, and the distance between the target node and the avoidance end point WP2 is set to the shortest WP2 distance of the target node.

(Step S5-8)
Next, the path specifying unit 128 compares the value obtained by adding the distance between the reference node and the target node to the WP2 shortest distance of the target node and the WP2 shortest distance of the reference node. As a result, if it is determined that the value obtained by adding the distance between the reference node and the target node to the shortest WP2 distance of the target node is shorter than the shortest WP2 distance of the reference node, the process proceeds to step S5-9. If it is determined that the distance is not shorter than the WP2 shortest distance, the process proceeds to step S5-10.

(Step S5-9)
If it is determined in step S5-8 that the value obtained by adding the distance between the reference node and the target node to the shortest WP2 distance of the target node is shorter than the shortest WP2 distance of the reference node, the route specifying unit 128 The information regarding the avoidance end point WP2 and the information regarding WP1 from the target node to the avoidance end point WP2 are updated. Specifically, the route specifying unit 128 sets a value obtained by adding the WP2 shortest distance of the target node and the distance between the reference node and the target node to the WP2 shortest distance of the reference node, and sets the value immediately after WP2 as the target node. A corresponding candidate node 162 is set. In this way, a continuous divided path from the reference node to the avoidance end point WP2 can be determined. In addition, the route specifying unit 128 sets a candidate node 162 corresponding to the reference node to the node immediately before WP1 of the target node, and based on the WP1 shortest distance of the reference node, the WP1 shortest distance from the target node to the avoidance end point WP2 Update the distance. For example, the route specifying unit 128 sequentially calls the candidate nodes 162 subsequent to (subordinate to) the target node, and the distance between the called candidate node 162 and the immediately preceding candidate node 162 and the immediately preceding candidate node 162. The sum with the WP1 shortest distance is calculated and set as the WP1 shortest distance of the called candidate node 162.

(Step S5-10)
Subsequently, the route specifying unit 128 compares the value obtained by adding the WP1 shortest distance and the WP2 shortest distance of the reference node with the variable D indicating the shortest avoidance route distance. As a result, if it is determined that the value obtained by adding the WP1 shortest distance and the WP2 shortest distance of the reference node is shorter than the variable D, the process proceeds to step S5-11, and if it is determined that the value is not shorter than the variable D, The process moves to step S5-12.

(Step S5-11)
If it is determined in step S5-10 that the value obtained by adding the WP1 shortest distance and the WP2 shortest distance of the reference node is shorter than the variable D, the path specifying unit 128 adds the WP1 shortest distance of the reference node and WP2 to the variable D. A value obtained by adding the shortest distance is set, the variable D is updated, and information for specifying the route (avoidance route) is associated and stored in the RAM. Since the information for specifying the avoidance route is sufficient for one candidate node 162 of the avoidance route, for example, the reference node or the target node may be used. In this way, the shortest avoidance route is updated.

(Step S5-12)
Subsequently, the path identification unit 128 deletes the target node from the target node list of the reference node and decrements the total number of target nodes by 1, assuming that the path determination regarding the target node is completed. Therefore, the next target node is positioned at the top of the target node list.

(Step S5-13)
Next, the route specifying unit 128 determines whether or not the total number of target nodes is 0 or less, and as a result, if the total number of target nodes is 0 or less, the route determination regarding the reference node is completed, The process moves to S5-14, and if the total number of target nodes is not 0 or less, step S5-2 is repeated to determine the route of the next target node.

(Step S5-14)
If it is determined in step S5-13 that the total number of target nodes is 0 or less, the path specifying unit 128 determines whether or not the reference node is the avoidance start point WP1. As a result, if the reference node is the avoidance start point WP1, the route specifying process S5 is terminated and the process returns to the main routine. If the reference node is not the avoidance start point WP1, the process proceeds to step S5-15.

(Step S5-15)
If it is determined in step S5-14 that the reference node is not the avoidance start point WP1, the path specifying unit 128 newly returns the reference node to a higher-level target node, and repeats the processing from step S5-3.

  In this way, it is possible to specify an avoidance route that is composed of a plurality of continuous routes from the avoidance start point WP1 to the avoidance end point WP2, and has the shortest total distance.

  FIG. 9 is an explanatory diagram for specifically explaining avoidance route specification by route specification processing S5. For example, as shown by a broken line in FIG. 9A, it is assumed that an avoidance route such as candidate nodes 162a → 162b → 162c has already been derived. At this time, the candidate node 162a is set as the node immediately before WP1 of the candidate node 162b, and the candidate node 162b is set as the node immediately before WP1 of the candidate node 162c.

  Here, when a divided path directly connecting the candidate node 162a and the candidate node 162c, which is indicated by a dashed line in FIG. 9A, is extracted, the reference node is the candidate node 162a, and the target node is the candidate node 162c, The WP1 shortest distance that does not pass through the candidate node 162b is shorter than the existing WP1 shortest distance that passes through the node 162b. Then, it becomes YES determination in step S5-6 of FIG. 8, and the information regarding the avoidance start point WP1 of the candidate node 162c that is the target node is updated to a route that does not pass through the candidate node 162b.

  With this update, the WP2 shortest distance of the candidate node 162a and the candidate node 162 before it and the WP1 shortest distance of the candidate node 162 behind the candidate node 162c are updated. If the sum of the WP1 shortest distance and the WP2 shortest distance at the target node is less than the variable D, the variable D, that is, the shortest avoidance route is also updated. In this way, the shortest avoidance route is sequentially updated, and finally, for example, the shortest avoidance route as shown by the solid line in FIG. 9B is derived.

(Intersection determination S5-4)
FIG. 10 is an explanatory diagram for explaining the intersection determination S5-4 in the route specifying process S5. The route specifying unit 128 determines whether or not any route from the avoidance start point WP1 to the candidate node 162, the candidate nodes 162, and the candidate node 162 to the avoidance end point WP2 intersects the avoidance region 158.

  Specifically, the route specifying unit 128 generates a straight line from the reference node to the target node, and determines whether or not it intersects with the intersecting leg 160 identified in the intersecting leg identifying process S3. For example, taking the division path from the reference node A (x, y) = (0, 4) to the target node B (x, y) = (5, 2) shown in FIG. Is defined as shown in FIG. 10 (a), the above-described expression for specifying the divided path is y-4 = (2-4) / (5-0) × (x-0), that is, y = −. (2/5) x + 4, and if x = 4, y = 2.4. Originally, z corresponding to the altitude should be included in addition to the above x and y coordinates, but the altitude is assumed to be equal to the flight altitude of the aircraft 100 and is omitted here.

  In the cross leg specifying process S3, the cross leg 160b in the y-axis direction at x = 4 is also specified, and the point (x, y) = (4, 2.4) on the divided path is x = 4, y = 2 to 3 included in the intersection leg 160b. Therefore, it can be determined that the divided route from the reference node A to the target node B intersects the intersection leg 160b.

  On the other hand, if the divided path from the reference node A to the target node B is an expression related to x, when each axis is defined as shown in FIG. 10A, x-0 = (5-0) / (2-4) X (y-4), that is, x = − (5/2) y + 10, and if y = 3, x = 2.5.

  In the cross leg specifying process S3, the cross leg 160a in the x-axis direction at y = 3 is also specified, and the point (x, y) = (2.5, 3) on the divided path is x = 2. -3, included in the intersection leg 160a of y = 3. Therefore, it can be determined that the divided route from the reference node A to the target node B intersects the intersection leg 160.

  However, even if a part or all of the straight line from the reference node to the target node is included in the intersection leg 160, it may not be determined to intersect. For example, the divided path from the reference node C to the target node D indicated by the solid arrow in FIG. 10B matches the intersection leg 160a of x = 2 to 3 and y = 0, and configures the periphery of the avoidance region 158. However, it is precisely outside the avoidance area 152, and even if such a line segment is part of the avoidance path, no problem occurs.

  Such an event occurs when the following conditions are met. (1) The direction of the divided path coincides with the x-axis or y-axis, that is, one of 0 °, 90 °, 180 °, 270 °, and (2) the avoidance area 158 on both sides of the divided path Is not present. Therefore, it is further determined whether or not the above condition is satisfied with respect to the line segment determined to intersect. Here, whether the division path is 0 °, 90 °, 180 °, or 270 ° is fixed to x = α (constant value) or y = β (constant value). It can be judged by being done.

  As described above, the avoidance route deriving method according to this embodiment simplifies the avoidance area 152 and the avoidance route pattern, and improves the efficiency of route determination, thereby deriving the avoidance route in a short time with a light load. Is possible.

  In addition, an avoidance route deriving device including the avoidance area specifying unit 120, the region dividing unit 122, the intersection leg specifying unit 124, the candidate node extracting unit 126, and the route specifying unit 128 described above is also provided. Furthermore, an avoidance route deriving program for causing the computer to function as the avoidance area specifying unit 120, the region dividing unit 122, the cross leg specifying unit 124, the candidate node extracting unit 126, and the route specifying unit 128 is also provided. In addition, a storage medium such as a computer-readable flexible disk, a magneto-optical disk, a ROM, an EPROM, an EEPROM, a CD, a DVD, or a BD, on which the avoidance route deriving program is recorded, is also provided. Here, the program refers to data processing means described in an arbitrary language or description method.

(Second embodiment: avoidance route derivation method)
In the first embodiment, the shortest route on the horizontal plane equal to the flight altitude of the aircraft 100 is derived as the avoidance route. However, as in the following embodiment, the shortest route is derived for a three-dimensional space. You can also Even in the three-dimensional space, the basic concept and the algorithm for deriving the avoidance path are substantially the same as those of the two-dimensional space of the first embodiment. Only processing that is different from that of the first embodiment applied when deriving is derived will be described.

  FIG. 11 is an explanatory diagram for explaining the positional relationship in the three-dimensional space in the second embodiment. As shown in FIG. 11, since the avoidance area 152 is three-dimensionally defined, an advanced concept is added to the avoidance area 158. Therefore, the avoidance area 158 cuts off a portion of the avoidance area 152 above the maximum height of the avoidance area 152 when the avoidance area 152 intersects with the avoidance area 152 when the provisional cube extending the divided area 156 in the height (altitude) direction intersects. Can be represented by a cube. Therefore, the cube as the avoidance area 158 may have a different height for each divided area 156, and includes the three-dimensional avoidance area 152 by combining all the avoidance areas 158.

  In the second embodiment, as shown in FIG. 11, the nodes are corners (intersection points) of the upper surface of the cube of the avoidance region 158, and the legs are not only in the x-axis and y-axis directions but also in the z-axis direction. Exists. Here, since the cube height of the avoidance area 158 may be different for each of the four divided areas 156 adjacent to one intersection, there are four nodes for each avoidance area 158 in the z-axis direction of the intersection. Will get.

  Under the definition of FIG. 11, according to the flowchart of FIG. 2 in the first embodiment, the avoidance area specifying process S1, the area dividing process S2, the cross leg specifying process S3, and the candidate node extracting process S4 belonging to the preparation process are performed. Then, the route specifying process S5 belonging to the avoidance route deriving step is performed. The process of the intersection determination S5-4 in the route specifying process S5 is different from that of the first embodiment.

  In the intersection determination of the second embodiment, first, as in the first embodiment, the route specifying unit 128 determines whether or not the divided route and the intersection leg 160 intersect on the xy plane. However, in the second embodiment, the division path is represented by a three-dimensional expression, that is, a function of x, y, and z. The determination on the xy plane may be performed with z set to 0 or omitted. Here, the divided routes determined not to intersect are determined not to intersect also in the second embodiment.

  On the other hand, even if it is determined that the divided route intersects on the xy plane, the divided route does not always intersect the avoidance area 152 in the three-dimensional space. Therefore, the route specifying unit 128 determines whether or not the divided routes determined to intersect in the xy plane also intersect in the three-dimensional space. This can be determined when the altitude of the target divided path is higher than the avoidance area 158.

Therefore, the route specifying unit 128 determines which one of the avoidance area 158 including the line segment obtained by projecting the divided route on the xy plane and the divided route is higher. Specifically, the altitude of the divided path at an arbitrary x, y coordinate in the target avoidance area 158 is obtained, and it is determined whether the altitude of the divided path is higher than the altitude of the avoidance area 158. The height H of the divided area is, for example, that the reference node A is (x1, y1, z1), the target node B is (x2, y2, z2), and the arbitrary x and y coordinates C of the avoidance area 158 are (xn, yn), it can be expressed as H = (z2−z1) × Q / R + z1. Here, Q is the distance from the reference node A to the x and y coordinates C, and can be expressed by Q = √ ((xn−x1) ² + (yn−y1) ² ), and R is the reference node A distance on the xy plane from A to the target node R, and can be represented by R = √ ((x2−x1) ² + (y2−y1) ² ). Then, the altitude H is compared with the altitude of the target avoidance area 158. If the altitude H is higher, it is determined that the divided path is located above the avoidance area 158 in the z-axis direction and there is no intersection. If the altitude H is lower, it means that the divided route is included in the avoidance area 158, and thus the determination that the vehicle intersects is maintained.

  In this way, as in the first embodiment, it is possible to reliably perform the intersection determination of the divided routes in the second embodiment, and it is possible to derive an appropriate avoidance route.

  As mentioned above, although preferred embodiment of this invention was described referring an accompanying drawing, it cannot be overemphasized that this invention is not limited to this embodiment. It will be apparent to those skilled in the art that various changes and modifications can be made within the scope of the claims, and these are naturally within the technical scope of the present invention. Is done.

  Further, the avoidance route deriving method described above does not necessarily have to be processed in time series in the order described in the flowchart, and may include processing in parallel or by a subroutine.

  The present invention can be used for an avoidance route deriving device, an avoidance route deriving program, and an avoidance route deriving method for deriving an avoidance route when an avoidance area occurs in the flight route of the aircraft (own aircraft).

WP1 ... avoidance start point WP2 ... avoidance end point 120 ... avoidance area identification unit 122 ... area division unit 124 ... intersection leg identification unit 126 ... candidate node extraction unit 128 ... route identification unit 150 ... flight path 152 ... avoidance area 156 ... division area 158 ... avoidance area 160 ... intersection leg 162 ... candidate node 164 ... node list 166 ... node parameter

Claims (8)

An avoidance area specifying unit for specifying an avoidance area to be avoided;
A region dividing unit that divides the target region including the avoidance area into a plurality of polygonal divided regions;
A candidate node extraction unit that extracts a plurality of candidate nodes that are corners of the divided area and located outside the boundary of the avoidance area;
It is determined whether or not the avoidance area intersects the avoidance area for a divided route from any avoidance start point to the candidate node, between the candidate nodes, and from the candidate node to any avoidance end point. A route specifying unit that specifies an avoidance route that is composed of continuous divided routes without intersecting the avoidance area up to an avoidance end point, and has the shortest total distance;
An avoidance route deriving device comprising: Each candidate node is associated with a candidate node immediately after the shortest route to the avoidance end point and a node parameter whose parameter is the shortest distance to the avoidance end point,
The route specifying unit updates a node parameter of the arbitrary candidate node if a continuous divided route from the arbitrary candidate node to the avoidance end point without intersecting the avoidance area is the shortest. The avoidance route deriving device according to claim 1. Each of the candidate nodes is associated with a node parameter whose parameter is the immediately preceding candidate node on the shortest route to the avoidance start point and the shortest distance to the avoidance start point,
The route specifying unit, if a continuous divided route from the arbitrary candidate node to the avoidance end point without intersecting the avoidance area is the shortest, the avoidance from the arbitrary candidate node to the avoidance end point. The avoidance route deriving device according to claim 2, wherein node parameters of all one or a plurality of candidate nodes that are continuous without intersecting the area are updated.   The path specifying unit determines that the intersection leg that forms the periphery of the avoidance area included in the avoidance area and at least a part of the split area intersect with the avoidance area by the intersection of the split path. The avoidance route deriving device according to claim 1, wherein the avoidance route deriving device is characterized in that:   The route specifying unit determines that the intersection area does not intersect with the avoidance area even if the intersection leg and the division route intersect if the altitude of the division route is higher than the altitude of the avoidance region. The avoidance route deriving device according to claim 4.   The route specifying unit determines whether or not to intersect the avoidance area in order from a candidate node having a shortest sum of a straight line distance from the candidate node to the avoidance start point and a straight line distance from the candidate node to the avoidance end point. The avoidance route deriving device according to any one of claims 1 to 5, wherein: Computer
An avoidance area specifying unit for specifying an avoidance area to be avoided;
A region dividing unit that divides the target region including the avoidance area into a plurality of polygonal divided regions;
A candidate node extraction unit that extracts a plurality of candidate nodes that are corners of the divided area and located outside the boundary of the avoidance area;
It is determined whether or not the avoidance area intersects the avoidance area for a divided route from any avoidance start point to the candidate node, between the candidate nodes, and from the candidate node to any avoidance end point. A route specifying unit that specifies an avoidance route that is composed of continuous divided routes without intersecting the avoidance area up to an avoidance end point, and has the shortest total distance;
Avoidance route derivation program to make it function. Identify avoidance areas to avoid,
Dividing the target area including the avoidance area into a plurality of polygonal divided areas;
Extracting a plurality of candidate nodes that are corners of the divided region and located outside the boundary of the avoidance area,
It is determined whether or not the avoidance area intersects the avoidance area for a divided route from any avoidance start point to the candidate node, between the candidate nodes, and from the candidate node to any avoidance end point. An avoidance route derivation method characterized by specifying an avoidance route that is composed of continuous divided routes without intersecting with the avoidance area up to an avoidance end point and has the shortest total distance.

Images