RU2395122C2 - Method for control of movable objects motion - Google Patents

Abstract

FIELD: information technologies.

SUBSTANCE: special traffic diagrams are used, topologies of which correspond to columns of code crossings. Turn points of route are separated, code numbers are assigned to them, code combinations of which are used to identify optimal safe route of movable object motion. To calculate code of safe route, which is shortest by number of turn points, two code combinations are used - of the first and last turn points that correspond to specified geographical coordinates of movement. Dispatcher executes only visual control and interferes with movement of movable object only in case emergency situation occurs.

EFFECT: invention provides for safe traffic, reduced time for generation of control decisions and simplification of dispatcher functions.

2 cl, 5 dwg

Description

The invention relates to surface and ground transport and for determining the optimal safe path, as well as the time parameters of the movement of moving objects in an area with heavy traffic.

Known methods for determining routes in automated systems for controlling the movement of moving objects based on network management methods, for example, vehicle positioning systems (http://st.ess.ru/publicatios/articles/sputnav.htm), automated dispatch control system for passenger land ASU-Flight transport, NEZHAN system (http://www.gruzovikpress.ru/article/passenger/2005_05_A_2005_07_06_11_24_27/) ACS Avtovokzal (http://www.kisavto.ru/princ.phtml), an automated dispatching system mining and transportation equipment (http://www.nvkvist.ru/solutions/gps.ht m). These methods are based on the use of specialized routing network tables for route planning. Planning problems are solved in the scheduling theory problem statement. At the same time, long-term plans and schedules are drawn up. If it becomes necessary to change the route while driving, the decision to change the route is made by the driver of the moving object, in accordance with his experience and intuition, subject to the general requirements for traffic safety. The disadvantages of these methods for determining the trajectory (routes) of movement include the following:

1) the use of routing tables requires significant amounts of computer memory for storage;

2) it is technically impossible to quickly obtain a record of the optimal route of movement and predicted estimates of the parameters of movement and time in transit;

3) the strong influence of the human factor on the procedure for determining the trajectory during movement, which is especially dangerous when moving in an area with heavy traffic in conditions of limited visibility or in the presence of poorly distinguishable objects (or objects with poor reflectivity, for example, ships);

4) increased psycho-emotional load on the driver of a moving object when driving in an area with heavy traffic, which can lead to accumulation of fatigue and weakening of attention on the way;

5) in the event of a situation of dangerous proximity of moving objects from the driver, a quick assessment of the situation and quick decision-making is required, while the reaction rate of the driver to a dangerous situation largely depends on the personal characteristics of the driver of the moving object (ON);

6) the use of dispatch services with the mandatory participation of a person (dispatcher, operator).

The control scheme in all cases is the same: the information received from the radars is processed and analyzed by the dispatcher in the Center for Traffic Control of the MCC (VTS, Flight Control). If the dispatcher detects any danger, he communicates with the object and passes information there. Such a scheme has limitations associated with the human factor (accumulated fatigue, decreased attention with a large number of objects of observation, errors in decision making, etc.). A dispatcher can provide surveillance and assistance to a limited number of objects within one small sector of the water area, which can be controlled without switching displays.

The closest technical solution to the claimed one is the air traffic control method (Pat. No. 2134910, publ. 08.20.1999), in which by obtaining information about the coordinates of the aircraft and their motion parameters using the radar system (RLC) and radio communications, secondary processing information received in the computer complex (VC) of the automated traffic control system, display on the screen of the situation indicator information about the movement of aircraft and the threat of their collision, assessments by the dispatcher the actual and predicted intervals between them, deciding on the need and type of intervention in the movement and traffic control of the ships using commands that are transmitted to the crew via radio communications, all aircraft that are in the control zone are divided into three groups, in each of which ships that require control with a probability of zero, with a probability of more than zero but less than one, and with a probability of one, enter. The method is simple and can significantly improve flight safety and throughput of the motion control system.

However, in this method adopted as a prototype, the main burden in developing a solution lies with the dispatcher, i.e. the influence of the human factor is extremely strong. In addition, although the speed of generating and delivering a control solution is high enough, it may still not be enough for a quick response in the event of a dangerous situation, given the inertia and limitations imposed by the technical capabilities of the actuators of moving objects.

The technical result to which the claimed invention is directed is to ensure traffic safety in areas with heavy traffic, reducing the time to develop control decisions and simplifying the functions of a dispatcher in managing software traffic.

To achieve the specified technical result in a method for determining the trajectory and motion parameters of moving objects by obtaining information about the coordinates of moving objects and their motion parameters, secondary processing of the obtained information in the computer complex of the automated motion control system, displaying information on the movement of moving objects on the screen indicator, acceptance dispatcher of the decision to interfere with the movement of moving objects, additionally use turning points , including the first and last turning points in the path of moving objects, which are geographical coordinates in the controlled territory, in which moving objects change the direction of movement, determine the coordinates of these points, taking into account the characteristics of the terrain, place them on the screen of the situation indicator, assign them code numbers, connect the points arcs and build a graph of code intersections (GCP), based on the constructed GCP and using the code numbers of the first and last turning points determine the optimal the safe path of movement of each moving object according to the least number of turning points, include this path in the constructed GCP, calculate the recommended motion parameters for each moving object using a computer complex, form a package of information with the inclusion of a code record of the path, geographical coordinates of the turning points recommended motion parameters for each moving object, then this packet of information is transmitted to the moving object using standard telecommunication means, dispatchers However, the monitor carries out only visual control of the situation in the controlled territory and makes a decision on interference in the movement of moving objects only in the event of an emergency.

If it is impossible to accept the proposed path, it is recalculated.

Distinctive features of the proposed method from the prototype method are the use of turning points, including the first and last software paths, which are the geographical coordinates in the controlled area, the software changes the direction in them, determines the coordinates of these points taking into account the terrain, place them on the situation indicator screen, assign them code numbers, connect the points with arcs and build the graph of code intersections (GCP), based on the constructed GCP and using the code numbers of the first and last turning points in the software path, determine the optimal by the least number of turns For each software point, they include a safe path for each software, include it in the PCG, form a packet of information with a code record of the path, geographical coordinates of turning points, recommended motion parameters for each software and transfer it to the software. The dispatcher only carries out visual control of the situation in the controlled territory and decides to intervene in the software movement only in the event of an emergency. If it is impossible to accept the proposed optimal path by the driver, the software recalculates it.

Due to the presence of these signs is provided:

1) traffic safety in an area with heavy traffic by using the minimum standard set of technical resources as part of the navigation system of a moving object (software) and AIS - an automated information (identification) system without involving additional technical resources;

2) the effectiveness of the "breeding" of moving objects in the controlled territory (water area), which eliminates their dangerous rapprochement;

3) the rapid receipt of the coordinates of the turning points of the optimal safe path for the software, taking into account the possibility of quick adjustment of the path in the process of its maintenance;

4) quick receipt of a predicted estimate of the travel time when moving along a calculated path using the formula proposed below;

5) reduction of the total travel time due to the through passage of the territory;

6) saving computer memory, because the implementation of the method does not require the availability and storage of routing tables;

7) the exclusion of the dispatcher of the Center for Motion Control (CAC) from the main circuit of decision making, which significantly reduces the influence of the human factor on the system; the dispatcher is entrusted with the function of general control of the situation and adjustment of decisions only in case of emergency situations;

8) the possibility of the driver of the software influencing the decision-making procedure (choosing from alternative options, accepting, rejecting the proposed route), which ensures that the software driver exercises his responsibility for traffic safety and does not limit his actions.

The proposed method is illustrated by the drawings shown in figures 1-5.

Figure 1 presents a generalized block diagram of the control of the movement of moving objects, figure 2 - oriented HCP (3, 2, 1), figure 3 - non-oriented HCP (3, 2, 1), figure 4 - determination of the optimal paths in oriented PCB, in Fig. 5 - path correction in the process of posting a moving object (vessel).

The method is implemented as follows. The following basic systems are included in the automated control system for the movement of moving objects (Fig. 1): a computer complex located in the premises of the software’s motion control center and including a situation indicator for displaying information on software’s movement, telecommunications, monitoring, detection and identification of moving objects, Computing module of a moving object (computer, controller) located on the latter. The main relationships in the structure of interaction of elements in an automated system for controlling the movement of moving objects are shown by a solid line, the interaction of the software driver in the system is shown by a dashed line; facilitated functions of the dispatcher are also marked with a dashed line (figure 1).

Information on the coordinates of moving objects and their motion parameters is obtained using surveillance, detection and identification tools (radar, SARP, TV, SNA GLONASS / GPS, AIS), telecommunications (PC, cellular, GMDSS) and upon requests from software drivers, process it in the motion control center (DAC) using a computer complex (computer) and display on the screen an electronic indicator of the visual presentation of data (display, monitor) of the situation in the controlled territory (water area). Then additionally use turning points, incl. the first and last turning points, in the path of moving objects (PO), they are assigned and placed on a map of the area or tablet, determine their coordinates, taking into account the features of the area. These points represent the geographical coordinates in the controlled territory, in them moving objects change the direction of movement. Programmatically form a mathematical model of the movement of moving objects (software), for this turning points, including The first and last software paths are placed on the screen of the situation indicator and assigned to them, according to a special rule, code numbers in the form of a set of logical symbols “0” and / or “1”, connected by arcs in such a way that they build some oriented or non-oriented graph of code the intersection of the HCP (n, k, r) with the parameters: n is the length of the code combinations of the number, k is the base of the code, and r is the power of the intersection of the code combinations of numbers or its subgraph (Figs. 2, 3). The HCP obtained in this way is a scheme for the formalized determination of the assigned motion paths of the served software. Information on software paths is embedded in the point numbering system. Based on the constructed HCP and using the code numbers of the first and last turning points in the software path, the optimal and safe path for each software accepted for maintenance is determined by the least number of turning points for the software, include this path in the constructed HCP. Using a computer complex, the recommended motion parameters (speed, interval, travel time) are calculated, then a packet of information is formed, which includes a code record of the path, calculated motion parameters for each software and transmit this information package to the software using standard telecommunication tools. The transmitted information is displayed on the computer display of the moving object for visual inspection. If the software driver cannot accept the proposed path, he generates a message about it and sends it to the computer of the MCC, programmatically recalculates the path and inform the software driver about it. In the case of detection by the means of monitoring the situation of a dangerous convergence of software, the path is adjusted and the driver of the software is informed about this, the information is displayed on the display of the computer.

Determining the optimal path by the number of intermediate turning points is reduced to performing a series of computational procedures on code combinations of turning point numbers in the trajectory of movement (the vertices of the graph). To determine the path of rank l in the GCP (n, k, r) it is necessary, using the code sequences of characters in the record of the numbers of points of movement in the GSC (which correspond to two turning points - departure and destination), to compose a code sequence of characters. This code sequence is an abbreviated notation of rank l path. Many such sequences

- кодовые комбинации номеров точек, является множеством путей рангом l, исходящих из вершины N и входящих в вершину N'.where a _i

- code combinations of point numbers, is the set of paths of rank l originating from the vertex N and entering the vertex N '.

When reading this sequence of n characters in increments of r characters, a sequence of numbers of points is obtained that make up the shortest path that includes (l + 1) points. If it is necessary to change the trajectory of movement, a path of any multiplicity length and possible alternative paths can be calculated.

There are two possible cases in determining the path, depending on the ratio of the HCP parameters.

Case 1. n≤lr. We have n + lr = 2n + (lr-n). In this case, in the code sequence of the path entry

of rank l, the first n characters ε ₁ , ε ₂ , ..., ε _{n are} fixed, corresponding to the number N (where is this point in the drawing?) of the outgoing vertex in the HSC (n, k, r), and the last n characters a '= ε _{lr + 1} , ε _{lr + 2} , ..., ε _{lr + n} , corresponding to the number N '(in which drawing, what is it?) Of the incoming vertex. We select such values of ε _{n + 1} , ε _{n + 2} , ..., ε _lr so that when reading (2) in the corresponding sequence (1) there are no matching code combinations. To do this, check the condition

We change the values of ε _{n + 1} , ε _{n + 2} , ..., ε _lr so that (3) is satisfied, we obtain many paths of length / from N to N '

Obviously, this set may be empty.

Case 2. lr≤n. The number N in (2) corresponds to ε ₁ , ε ₂ , ..., ε _n , and the number N 'corresponds to ε _{lr + 1} , ε _{lr + 2} , ..., ε _{lr + n} . If there is a path of rank l from N to N ', the last n-lr characters of N coincide with the first n-lr characters of N'. If in the sequence (4) corresponding to (1), all code combinations are different from each other, then this sequence defines a path of length l from N to N '.

The task of determining the shortest path from N to N 'reduces to determining the sequence (4) of the smallest length satisfying condition (3).

To demonstrate the application of the algorithm, we determine the shortest path of software (for example, a ship) moving from vertex 1100 to vertex 0001 in oriented HSC (4, 2, 1) (Fig. 4). In accordance with the algorithm, at the beginning we determine the number of characters at the intersection of two adjacent code combinations n-r = 4-1 = 3. If there is a path directly from vertex 1100 to vertex 0001, the last three characters of the code sequence 1100 coincide with the first three characters of the code sequence 0001. This condition is not fulfilled, therefore, the path from point 1100 to point 0001 of length l = 1 does not exist. This is easy to verify according to the drawing (figure 4). Calculate n-r-1 = 4-1-1 = 2. If there is a path of length l = 2, the last two characters of the code sequence 1100 coincide with the first two characters of the code sequence 0001. We note that this condition is fulfilled. Therefore, there must be a path of length l = 2 from vertex 1100 to vertex 0001. To determine it, we compose from numbers 1100 and 0001, combining the matching characters, the sequence 110001, which is an abbreviated code for the full path of rank l = 2 from point 1100 to point 0001. We read this sequence from left to right with n = 4 characters in increments of r = 1 characters:

We get the path code entry; 1100-1000-0001, whose rank is 2.

If you repeat this procedure again, then at the next step of the iteration, you can determine the code record of the path whose rank is 3, etc. Thus, alternative paths of any degree of multiplicity can be defined.

Suppose that during the vessel’s movement along the chosen route it was found that the lane 1000-0001 included in the previously selected path cannot be used for movement (for example, a fishing vessel blocked this lane). The path from vertex 1000 to vertex 0001 is determined by applying the above procedure from the very beginning. Receive the corrected code entry path: 1000-0000-0001 (figure 5). The indicated trajectory correction procedure can be carried out at any step of the ship's piloting.

The values of speeds, intervals and average minimum time of movement of moving objects (ships) are calculated in the computer complex using special expressions inherent in the program.

The advantages of the proposed method include:

1) the procedure for determining the shortest path is simple in technology, economical in terms of used memory, and not demanding on the system requirements of computing tools (controller, computer);

2) it can be performed by any workstation as part of the navigation system available on the software;

3) the formalized procedure does not require specialized routing network tables and exempts the dispatcher of the MCC from participating in the development of the solution in the normal mode;

4) the application of the method ensures traffic safety in the area with heavy traffic.

5) the use of the method using AIS means provides timely adjustment of the trajectory of movement.

Claims (2)

1. A method of controlling the movement of moving objects, including obtaining information about the coordinates of moving objects and their motion parameters, secondary processing of the received information in the computer system of the automated motion control system, displaying information on the movement of moving objects on the screen of the situation indicator, and the dispatcher making a decision about interference with the movement moving objects, characterized in that they additionally use turning points, including the first and last turning points the movement paths of moving objects, which are geographical coordinates in the controlled territory, in which moving objects change the direction of movement, determine the coordinates of these points, taking into account the characteristics of the terrain, place them on the screen of the situation indicator, assign them code numbers, connect the points with arcs and build a graph of code intersections (GKP), based on the constructed GKP and using the code numbers of the first and last turning points, determine the optimal by the least number of turning t points a safe path for the movement of each moving object, include this path in the constructed HCP, calculate the recommended motion parameters for each moving object using a computer complex, form a package of information with the inclusion of a code record of the path, geographical coordinates of turning points, recommended motion parameters for each mobile of the object, then this packet of information is transmitted to the moving object using standard telecommunication means, while the dispatcher only visually control of the situation on the controlled territory and decide on interference in the movement of moving objects only in the event of an emergency. 2. The method according to claim 1, characterized in that if it is impossible for the driver to accept the moving object of the proposed path, it is recalculated.

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