JP4640806B2 - Collision risk prediction system and program - Google Patents

Description

  The present invention relates to a collision risk prediction system and a program capable of appropriately detecting a collision danger state between aircrafts.

Conventionally, an air traffic control system has been introduced to monitor the flight status of an aircraft. In this air traffic control system, for example, the radar device sequentially scans the controlled airspace at predetermined time intervals, thereby detecting the flight position (current position) of each aircraft. Then, the display device displays a symbol indicating the aircraft and auxiliary information (aircraft identification information, speed, altitude, etc.) at a display position corresponding to each detected flight position.
The controller constantly monitors the flight status of each aircraft using the symbols and auxiliary information displayed in this way.

Such an air traffic control system generally has a function of predicting a collision risk (collision crisis) between aircrafts. For example, the air traffic control system predicts the flight position of each aircraft up to a predetermined time ahead (for example, 3 minutes ahead), and from the positional relationship of each predicted flight position (more specifically, a protection area described later), Predict collision risk.
In addition, a technique of an aircraft monitoring system that appropriately determines the shape and size of the appearance range (bin) based on the predicted flight position according to the moving state of the moving body is also disclosed (for example, see Patent Document 1).
JP 2000-285400 (Page 4-9, Fig. 1)

  As described above, the conventional air traffic control system predicts the collision risk from the predicted positional relationship of each flight position. More specifically, the air traffic control system sets a certain protection area around the flight position of each aircraft. Then, according to each predicted flight position, a case where the protection areas overlap within 3 minutes is detected as a collision risk state, and a notification to that effect is given to the controller. In other words, the collision risk is predicted by the protected area model.

However, unlike such a judgment made by an actual controller, such a collision risk prediction may detect a collision risk state. This is because the same protection area is set for each aircraft without considering the traveling direction and speed of each aircraft, and a collision risk is predicted even in a situation where the controller does not judge.
In order to avoid a collision, an actual controller determines a collision risk state by taking into account various information such as the direction of the aircraft at that time, the ascending / descending state, and the speed. In other words, the controller determines that the danger is greater as the positional relationship (traveling direction) of the aircraft is closer to each other and closer to the same direction, and the danger is less.
On the other hand, in the prediction of collision risk using a fixed protected area model, the relative relationship between aircraft is not taken into consideration, so unlike the controller's judgment, a situation where a collision danger state may be detected may occur. . In other words, in the conventional air traffic control system, since it is not possible to make a judgment close to that of an actual air traffic controller, it may be impossible to appropriately detect a collision danger state between aircrafts.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a collision risk prediction system and a program capable of appropriately detecting a collision risk state between aircrafts.

In order to achieve the above object, a collision risk prediction system according to a first aspect of the present invention includes:
Acquisition means for acquiring flight information including the flight position, speed, and direction of each aircraft to be controlled;
Calculation means for calculating the relative speed between the aircrafts based on the flight information acquired by the acquisition means;
Area setting means for setting a protection area having a predetermined solid shape in advance in a virtual space corresponding to the flight position of each aircraft;
A region deforming unit that deforms a part of each protection region set by the region setting unit so as to expand in a traveling direction according to the relative speed calculated by the calculating unit;
Detection means for detecting a collision risk state based on the overlap of the protection areas deformed by the area deformation means;
It is characterized by providing.

According to the present invention, the acquisition unit acquires flight information including the flight position, speed, and direction of each aircraft to be controlled, for example, by radar scanning. The calculating means calculates the relative speed between the aircrafts based on the flight information acquired by the acquiring means. The area setting means sets a protection area having a predetermined three-dimensional shape (for example, a cylindrical shape) in a virtual space corresponding to the flight position of each aircraft. The area deforming means deforms a part of each protection area set by the area setting means so as to expand in the traveling direction according to the relative speed calculated by the calculating means. And a detection means detects a collision dangerous state based on the overlap of the protection areas deform | transformed by the area | region deformation | transformation means.
In this way, the shape of the protection area (that is, the range of the protection area) is dynamically changed based on the relative relationship between the aircraft. For this reason, it is possible to determine a collision risk state that is close to the feeling of an actual controller.
As a result, it is possible to appropriately detect the danger state of collision between aircrafts.

In order to achieve the above object, a collision risk prediction system according to a second aspect of the present invention includes:
Acquisition means for acquiring flight information including the flight position, speed, and direction of each aircraft to be controlled;
Based on the flight information acquired by the acquisition means, a speed vector for each aircraft is obtained, and a calculation means for calculating a relative vector determined from the speed vectors;
Area setting means for setting a protection area having a predetermined cylindrical shape in a virtual space corresponding to the flight position of each aircraft;
A three-dimensional area having a different size according to the relative vector calculated by the calculation means is added to each protection area set by the area setting means in accordance with the traveling direction of each aircraft. Area expansion means for expanding the area;
Detecting means for detecting a collision risk state based on the overlap of the protection areas expanded by the area expanding means;
It is characterized by providing.

According to the present invention, the acquisition unit acquires flight information including the flight position, speed, and direction of each aircraft to be controlled, for example, by radar scanning. Further, the calculating means obtains a speed vector of each aircraft based on the flight information acquired by the acquiring means, and calculates a relative vector determined from the speed vectors. The area setting means sets a protection area having a predetermined cylindrical shape in a virtual space corresponding to the flight position of each aircraft. The area expanding means adds a three-dimensional area (for example, a fan-shaped pillar shape) having a different size according to the relative vector calculated by the calculating means to each protection area set by the area setting means, and the traveling direction of each aircraft. Each protection area is expanded by adding each corresponding to. And a detection means detects a collision dangerous state based on the overlap of the protection areas expanded by the area expansion means.
In this way, the shape of the protection area (that is, the range of the protection area) is dynamically changed based on the relative relationship between the aircraft. For this reason, it is possible to determine a collision risk state that is close to the feeling of an actual controller.
As a result, it is possible to appropriately detect the danger state of collision between aircrafts.

  The area expanding means may expand each protection area by adding a sector-shaped area having a different radius at least according to the relative vector to the protection area.

The collision risk prediction system further includes specifying means for specifying aircrafts separated by a distance shorter than a predetermined reference distance according to the flight position of each aircraft,
The detection means may detect a collision risk state based on an overlap of the protection areas corresponding to the aircraft specified by the specification means.

In order to achieve the above object, a program according to the third aspect of the present invention provides:
Computer
Acquisition means for acquiring flight information including the flight position, speed and direction of each aircraft to be controlled;
Calculation means for calculating a relative speed between aircrafts based on the flight information acquired by the acquisition means;
Area setting means for setting a protection area having a predetermined three-dimensional shape in advance in a virtual space corresponding to the flight position of each aircraft;
An area deforming means for deforming a part of each protection area set by the area setting means to expand in a traveling direction according to the relative speed calculated by the calculating means,
Detecting means for detecting a collision risk state based on the overlapping of the protection areas deformed by the area deforming means;
To function as.

  According to the present invention, it is possible to appropriately detect a collision danger state between aircrafts.

  A collision risk prediction system according to an embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a schematic diagram showing an example of the configuration of a collision risk prediction system applied to the embodiment of the present invention.
As illustrated, the collision risk prediction system includes a radar device 1, a processing device 2, and a display device 3.

The radar apparatus 1 detects the flight position (current position) of the aircraft by performing a radar scan within a predetermined controlled airspace. For example, the radar apparatus 1 detects the flight position of each aircraft by sequentially scanning at intervals of 4 seconds.
Then, the radar device 1 sequentially generates flight information including the flight position, speed, and direction for each aircraft, and supplies the generated flight information to the processing device.
When the radar apparatus 1 and the processing apparatus 2 are installed apart from each other, the radar apparatus 1 and the processing apparatus 2 may be connected by a predetermined dedicated line or the like.

The processing device 2 includes a predetermined computer or the like, and controls the entire collision risk prediction system based on a program stored in an auxiliary storage unit (not shown).
As an example, the processing device 2 includes a flight information acquisition unit 21, a calculation processing unit 22, a storage unit 23, and a display information generation unit 24.

  The flight information acquisition unit 21 includes a predetermined interface and the like, and acquires flight information sequentially generated by the radar device 1 described above. That is, flight information including flight position, speed, and direction (flight information corresponding to each aircraft) is acquired from the radar device 1.

  The arithmetic processing unit 22 includes a CPU (Central Processing Unit) and the like, and performs various arithmetic operations. In addition, the arithmetic processing part 22 functions as the calculation part 22a, the setting part 22b, the deformation | transformation part 22c, and the detection part 22d as an example.

  The calculation unit 22a calculates the relative speed between the aircrafts based on the flight information acquired by the flight information acquisition unit 21 from the radar device 1. For example, the calculation unit 22a calculates the speed vector of each aircraft based on the flight information and calculates a relative vector determined from the speed vectors.

  The setting unit 22b sets a protection area in the memory space (virtual space) of the storage unit 23 corresponding to the flight position of each aircraft. For example, as shown in FIG. 2, the setting unit 22b has a cylindrical protection area SA having a radius (horizontal interval) 5 NM (Nautical Mile) and a vertical interval 1000 ft (feet) around the aircraft AP (flight position). Set to virtual space.

The deformation unit 22c deforms the protection area set in the setting unit 22b according to the relative speed (relative vector) calculated by the calculation unit 22a. In other words, the deforming unit 22c adds a three-dimensional region having a different size according to the calculated relative vector to the set protection region in accordance with the traveling direction of the aircraft, thereby expanding the protection region.
For example, as shown in FIG. 3A, the deforming portion 22c adds sector-shaped column-shaped regions F corresponding to the traveling direction, and expands the protection region SA. In this region F, the radius or the like of the sectoral column shape is appropriately changed according to the relative vector.

More specifically, as shown in FIG. 4 (a), when the aircraft A and the aircraft B are flying so as to face each other (opposite), the most dangerous state assumed between the two aircraft And the radius of the sectoral column shape is the longest. For example, when both the aircraft A and B are flying at a speed of 500 knots, the radius of the sectoral column shape is 20 NM. With this 20NM as the maximum value, the radius of the sectoral column shape is changed according to the relative vector between the aircrafts.
In the case of FIG. 4A, when the vector lengths of the A, B, and C machines are all a, the relative vector between A and B is 2a, and the relative vector between B and C is √2a. . It is assumed that both aircraft B and C are flying at right angles at a speed of 400 knots.
The radius of the sectoral column shape of the machines B and C can be obtained by the equation shown in FIG. And the deformation | transformation part 22c adds the sector-shaped area | region of the calculated | required radius corresponding to the advancing direction of an aircraft, respectively, and expands a protection area.

Since such a sector-shaped region has a different radius in accordance with a relative vector between aircrafts, the final protection region changes dynamically.
For example, as illustrated in FIGS. 5A to 5C, the deforming unit 22c expands the protection area SA according to a relative vector (relative speed) between aircrafts. FIG. 5A is a protection area SA in a state where aircrafts are flying so as to intersect at right angles. FIG. 5B is a state in which aircrafts are flying in substantially the same direction. FIG. 5C shows the protection area SA in a state where the aircrafts are flying in the same direction. FIG. 5C shows a case where the relative vector is 0, and the sector-shaped radius is a protection area SA having a radius of 0 (no sector-shaped area is added).

In addition, the shape of the area | region to add is not restricted to a sector column shape, It can change suitably. For example, as shown in FIG. 3B, the deforming portion 22c may add a rectangular parallelepiped region F corresponding to the traveling direction to expand the protection region SA.
Further, the cylindrical protection region itself may be appropriately deformed.

Returning to FIG. 1, the detection unit 22 d detects a collision risk state based on the overlapping of the protection areas deformed by the deformation unit 22 c.
That is, when there is an overlap between the protection areas, the detection unit 22d detects a collision risk state. Conversely, if there is no overlap between the protected areas, it is determined that the collision is not in a dangerous state.
For example, the detection unit 22d detects a collision risk state according to the overlapping of the protection areas SA as shown in FIGS. 5 (a) to 5 (c). In this case, since the protection area SA is dynamically changed according to the relative vector between the aircrafts, a judgment close to that of an actual controller is made.

  The memory | storage part 23 consists of memory etc. and memorize | stores the various information which the arithmetic processing part 22 requires for a process. For example, the storage unit 23 stores a protection area or the like that is set by the setting unit 22b and that is deformed appropriately by the deformation unit 22c.

  The display information generation unit 24 generates various display information to be displayed on the display device 3. For example, the display information generation unit 24 generates display information for displaying a symbol indicating an aircraft and auxiliary information (e.g., aircraft identification information, speed, altitude, etc.) at a display position corresponding to the flight position of each aircraft. In addition, when the above-described detection unit 22d detects a collision risk state, it also generates display information for notifying the occurrence of the collision risk state.

  The display device 3 includes a predetermined display monitor and the like, and displays various information necessary for the collision risk prediction system. For example, the display device 3 displays a symbol indicating the aircraft and auxiliary information at a display position corresponding to the flight position of each aircraft based on the display information generated by the display information generation unit 24 described above. Further, when the detection unit 22d described above detects a collision risk state, it also displays notification information for notifying the controller of that fact.

  Hereinafter, the operation of the collision risk prediction system configured as described above will be described with reference to FIG. FIG. 6 is a flowchart for explaining the collision risk state detection process executed by the processing device 2. This collision danger state detection process is repeatedly executed.

  First, the processing device 2 acquires the flight state of all aircraft (step S11). That is, the processing device 2 acquires flight information supplied from the radar device 1.

The processing device 2 determines whether or not another aircraft is located within the reference range from the flight position of each aircraft (step S12). For example, the processing device 2 defines a reference circle having a radius R (R is a specified value) around the flight position of each aircraft, and determines whether or not another aircraft exists within the reference circle.
If the processing device 2 determines that no other aircraft is located within the reference range of each aircraft, the processing device 2 ends the collision risk state detection processing as it is.

On the other hand, when it is determined that another aircraft is located within the reference range of any aircraft, the processing device 2 identifies the target aircraft (a set of aircraft) and obtains the velocity vector of each identified aircraft. Then, a relative vector between the aircrafts is calculated (step S13).
That is, the calculation unit 22a calculates the speed vector of each aircraft based on the flight information, and calculates the relative vector determined from the speed vectors.

The processing device 2 sets a protection area corresponding to each aircraft based on the calculated relative vector and the like, and arranges them in a virtual space corresponding to the flight position of each aircraft (step S14).
That is, the setting unit 22b sets the protection area SA as shown in FIG. 2 in the memory space of the storage unit 23 in accordance with the flight position of each aircraft. And the deformation | transformation part 22c adds the sector-shaped area | region where a radius differs according to the calculated relative vector to the set protection area, respectively, according to the advancing direction of an aircraft, and expands a protection area. That is, as shown in FIG. 3A, the sector-shaped region F is added corresponding to the traveling direction, and the protection region SA is expanded. In this region F, the radius or the like of the sectoral column shape is appropriately changed according to the relative vector.

The processing device 2 determines whether or not the protection areas of the aircraft overlap (Step S15).
That is, the detection unit 22d determines whether or not the protection areas deformed by the deformation unit 22c overlap each other. For example, the detection unit 22d detects a collision risk state according to the overlapping of the protection areas SA as shown in FIGS. 5 (a) to 5 (c). In this case, since the protection area SA is dynamically changed according to the relative vector between the aircrafts, a judgment close to that of an actual controller is made.

If the processing device 2 determines that the protection areas do not overlap, the processing device 2 ends the collision risk state detection process by assuming that the collision risk state is not detected.
On the other hand, when it is determined that the protection areas overlap, the processing device 2 detects a collision risk state (step S16). And the processing apparatus 2 displays the information which shows the detection of a collision danger state on the display apparatus 3, and notifies that to a controller etc. (step S17).

In this way, the shape of the protection area (that is, the range of the protection area) is dynamically changed based on the relative relationship between the aircraft. For this reason, it is possible to determine a collision risk state that is close to the feeling of an actual controller.
As a result, it is possible to appropriately detect the danger state of collision between aircrafts.

  In the above embodiment, a sector-shaped column (or rectangular parallelepiped shape) region is added to the cylindrical protection region to change the shape of the protection region, but the shape of these protection regions is an example, The protection area may be set in another shape.

Note that the collision risk prediction system of the present invention is not limited to dedicated hardware, and can also be realized by an ordinary computer system.
For example, the above embodiment has been described assuming that the collision risk prediction system program is stored in advance in a memory or the like. However, a program for executing the above-described processing operation is recorded on a computer-readable recording medium such as a flexible disk, a CD-ROM (Compact Disk Read-Only Memory), a DVD (Digital Versatile Disk), or an MO (Magneto-Optical disk). You may comprise the collision risk prediction system which performs the above-mentioned processing operation by storing and distributing on a medium and installing the program in a computer.

Further, the program may be stored in a disk device or the like included in a predetermined server device on a communication network such as the Internet, and may be downloaded onto a computer by being superimposed on a carrier wave, for example. Furthermore, the above-described processing can also be achieved by starting and executing a program while transferring it via a communication network.
In addition, when the above functions are realized by sharing an OS (Operating System), or when the functions are realized by cooperation between the OS and an application, only the part other than the OS may be stored in a medium and distributed. Alternatively, it may be downloaded to a computer.

  As described above, according to the present invention, it is possible to appropriately detect a collision danger state between aircrafts.

It is a schematic diagram which shows an example of a structure of the collision risk prediction system which concerns on embodiment of this invention. It is a schematic diagram for demonstrating the protection area | region at the time of a setting. (A), (b) is a schematic diagram for demonstrating the deformation | transformation (expanded) protection area | region. (A) is a schematic diagram which shows the positional relationship (flight condition) of an aircraft, (b) is a type | formula which shows the calculation method of a protection area (radius of sector pillar shape). (A)-(c) is a schematic diagram which shows the protection area | region of aircrafts. It is a flowchart for demonstrating the collision dangerous state detection process which concerns on embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Radar apparatus 2 Processing apparatus 21 Flight information acquisition part 22 Arithmetic processing part 23 Storage part 24 Display information generation part 3 Display apparatus

Claims (5)

Acquisition means for acquiring flight information including the flight position, speed, and direction of each aircraft to be controlled;
Calculation means for calculating the relative speed between the aircrafts based on the flight information acquired by the acquisition means;
Area setting means for setting a protection area having a predetermined solid shape in advance in a virtual space corresponding to the flight position of each aircraft;
A region deforming unit that deforms a part of each protection region set by the region setting unit so as to expand in a traveling direction according to the relative speed calculated by the calculating unit;
Detection means for detecting a collision risk state based on the overlap of the protection areas deformed by the area deformation means;
A collision risk prediction system comprising: Acquisition means for acquiring flight information including the flight position, speed, and direction of each aircraft to be controlled;
Based on the flight information acquired by the acquisition means, a speed vector for each aircraft is obtained, and a calculation means for calculating a relative vector determined from the speed vectors;
Area setting means for setting a protection area having a predetermined cylindrical shape in a virtual space corresponding to the flight position of each aircraft;
A three-dimensional area having a different size according to the relative vector calculated by the calculation means is added to each protection area set by the area setting means in accordance with the traveling direction of each aircraft. Area expansion means for expanding the area;
Detecting means for detecting a collision risk state based on the overlap of the protection areas expanded by the area expanding means;
A collision risk prediction system comprising: The area expanding means expands each protection area by adding a sector-shaped area having a different radius at least according to a relative vector to the protection area.
The collision risk prediction system according to claim 2. According to the flight position of each aircraft, further comprising a specifying means for specifying aircrafts separated by a distance shorter than a predetermined reference distance,
The detection means detects a collision risk state based on an overlap of protected areas corresponding to the aircraft specified by the specifying means.
The collision risk prediction system according to any one of claims 1 to 3, wherein: Computer
Acquisition means for acquiring flight information including the flight position, speed and direction of each aircraft to be controlled;
Calculation means for calculating a relative speed between aircrafts based on the flight information acquired by the acquisition means;
Area setting means for setting a protection area having a predetermined three-dimensional shape in advance in a virtual space corresponding to the flight position of each aircraft;
An area deforming means for deforming a part of each protection area set by the area setting means to expand in a traveling direction according to the relative speed calculated by the calculating means,
Detecting means for detecting a collision risk state based on the overlapping of the protection areas deformed by the area deforming means;
Program to function as.

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