Unmanned aerial vehicle conflict detection method based on cruise speed range and speed obstacle method
By introducing a speed obstacle model that incorporates a cruise speed range and a conflict prediction time window, the problem of missed alarms in the traditional speed obstacle method under non-constant speed conditions is solved, thereby improving the accuracy and reliability of UAV conflict detection.
Patent Information
- Application Number
- CN202511512361.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-22
- Publication Date
- 2026-02-03
AI Technical Summary
Traditional speed obstacle detection methods, which assume a constant drone speed, can lead to missed alarms during actual flight and cannot effectively address speed fluctuations.
By introducing cruise speed range and conflict prediction time window, and combining them with speed obstacle model, UAV conflict detection is performed by constructing speed obstacle circle and relative speed displacement range, thereby improving the accuracy and reliability of detection.
By acquiring the drone's cruising speed range and setting a conflict prediction time window, the actual flight situation can be reflected more accurately, avoiding delays in reconciliation and improving the accuracy and flexibility of conflict detection.
Smart Images
Figure CN121455170A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of unmanned aerial vehicle (UAV) conflict detection technology, and more specifically to a UAV conflict detection method based on cruising speed range and speed obstacle method. Background Technology
[0002] The velocity barrier method is a classic geometric approach for UAV collision detection. Its principle is based on the analysis of the relative velocities of two UAVs. By calculating the difference in their velocity vectors and superimposing their safe zone regions, a velocity barrier region is constructed. If the relative velocity vectors of the two UAVs fall into this region, it indicates a collision risk.
[0003] Traditional speed obstacle detection assumes that two conflicting objects maintain their current speed and determines whether a conflict exists by calculating whether the rays of their relative velocities intersect the superimposed envelope. However, applying this method in practice, even assuming the drone always flies along its planned flight path, factors such as wind can cause the drone's speed to deviate from its constant cruising speed. This leads to missed alarms when using traditional speed obstacle detection for drone conflicts. Summary of the Invention
[0004] To overcome the shortcomings of existing technologies, this invention discloses a UAV conflict detection method based on cruise speed range and speed obstacle method. The purpose of this invention is to address the problem that the cruise speed of a UAV during actual flight is not constant, leading to missed alarms in traditional speed obstacle methods when used for UAV conflict detection. This invention improves the accuracy and reliability of UAV conflict detection by introducing a cruise speed range and a conflict prediction time window, and by designing a speed obstacle model that combines the speed ranges of the UAV and the conflicting object. These improvements not only overcome the limitations of traditional speed obstacle methods in non-constant speed conditions but also provide a more flexible and efficient solution for practical applications.
[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: The UAV collision detection method based on cruise speed range and speed obstacle method includes the following steps: I. Telemetry Data Acquisition S1. Acquire telemetry data from at least two drones; Preferably, in step S1, the UAV telemetry data within the designated airspace is obtained through an interface with the UAV. The UAV telemetry data includes: UAV model, UAV real-time location, UAV speed, and flight path angle.
[0006] II. Determining the Cruise Speed Range S2. Determine the cruising speed range of the corresponding models of the two UAVs based on the telemetry data; Preferably, step S2 includes: statistically analyzing the speed range in which the actual cruise speed of different drone models is close to the cruise speed benchmark value and the cumulative probability of occurrence reaches a threshold during the cruise phase, and using this speed range as the cruise speed range, including the following steps: S21. Based on telemetry data, identify the models of the two drones and obtain the reference value V of the drone's cruise speed corresponding to the model. 巡 ; S22. Based on the historical flight records of the UAV of the specified model, obtain the historical flight speed data of the UAV during the cruise phase, and statistically analyze the deviation dataset on the left and right sides of the cruise speed reference value in the historical flight speed data during the cruise phase. S23. Set the coverage ratio of the deviation datasets on the left and right sides. Based on the coverage ratio, calculate the deviation Δv1 below the cruise speed reference value and the deviation Δv2 above the cruise speed reference value, respectively, to obtain the actual cruise speed range as [V]. 巡 -Δv1, V 巡 +Δv2], this speed range is taken as the cruising speed range.
[0007] III. Obtaining the Conflict Prediction Time Window S3. Obtain the time window Δt for predicting the conflict between the two drones; Preferably, in step S3, the conflict prediction time window Δt is:
[0008] in, For conflict prediction time window; Communication delay due to receiving telemetry data; The software calculates the time; Communication delay for sending conflict resolution control commands; This represents the maximum maneuvering reaction time of the drone; This represents the maximum maneuvering time of the drone; The maximum maneuvering reaction time of the drone is the longest maneuvering reaction time among the two drone models that have been connected to the system, when performing a release maneuver; the maximum maneuvering time of the drone is the maneuvering time under extreme conditions among the two drone models that have been connected to the system, when performing a release maneuver.
[0009] IV. Conflict Determination S4. Construct a speed obstacle model containing a speed obstacle circle based on the speed obstacle method, and combine the telemetry data, the cruising speed range, and the conflict prediction time window Δt to determine whether the two UAVs will conflict during cross flight, head-on flight, or same-direction flight. Preferably, in step S4, constructing a speed obstacle model containing speed obstacle circles based on the speed obstacle method, and determining whether the two drones will collide specifically includes: The preset safe zone for the drone is a cylinder with parallel top and bottom surfaces; Two drones are included: a first drone and a second drone. If the first drone is located at point A, the radius of its safe range is r1=AB, the height is h1, and the velocity vector is V1; if the second drone is located at point D, the radius of its safe range is r2=DE, the height is h2, and the velocity vector is V2. The absolute speeds of the two drones are converted into relative speeds, and the safe range of the first drone is superimposed on the safe range of the second drone. A cylinder with radius r = AB + DE and height h = h1 + h2 is constructed. The speed obstacle circle is obtained by looking down at the cylinder. The center of the speed obstacle circle is the position coordinate of the second drone, and the radius is r. A feasible relative velocity domain is established using the velocity vectors of the two UAVs, starting from the position of the first UAV. The feasible relative velocity domain is then mapped to a relative velocity displacement range, and it is determined whether the relative velocity displacement range intersects with the velocity obstacle circle. If they intersect, it is determined that the two drones will collide; wherein, the relative velocity displacement range and the velocity obstacle circle together constitute the velocity obstacle model.
[0010] 4.1 Cross Flight Preferably, in step S4, for intersecting flights, a parallelogram relative velocity feasible region is constructed, and the parallelogram relative velocity feasible region is mapped to a quadrilateral of relative velocity displacement range. Then, it is determined whether the quadrilateral of relative velocity displacement range intersects with the velocity obstacle circle. If they intersect, it is determined that the two drones will collide.
[0011] Preferably, in step S4, when the velocity directions of the two UAVs remain unchanged during cross-flight, a feasible region for the relative velocity of the UAVs is obtained as a parallelogram based on velocity vector V1, velocity vector -V2, and cruise speed range. This parallelogram is used as the feasible region for relative velocity. The parallelogram is then connected to the position point of the first UAV to obtain an initial quadrilateral. The side length of the initial quadrilateral is proportionally increased by Δt times to obtain a quadrilateral for the relative velocity displacement range. It is then detected whether the quadrilateral for the relative velocity displacement range intersects with the velocity obstacle circle. If they intersect, it is determined that the two UAVs will collide within Δt time; otherwise, it is determined that the two UAVs will not collide.
[0012] 4.2 Opposite Flight Preferably, in step S4, for oncoming flight, a one-dimensional relative velocity feasible region is calculated, and the one-dimensional relative velocity feasible region is mapped to a displacement line segment in the same direction within the relative velocity displacement range. It is then determined whether the displacement line segment in the same direction within the relative velocity displacement range intersects with the velocity obstacle circle. If they intersect, it is determined that the two drones will collide.
[0013] Preferably, in step S4, for opposite flights, the feasible range of displacement traversed by the relative velocities of the two drones within time Δt is (v1+v2) starting from the position of the first drone. max A line segment of length ×Δt is used to detect whether the line segment intersects with the velocity obstacle circle. If they intersect, it is determined that the two drones will collide within time Δt. Otherwise, it is determined that the two drones do not collide. Here, v1 is the velocity of the first drone and v2 is the velocity of the second drone.
[0014] 4.3 Same direction flight Preferably, in step S4, for flights in the same direction, the feasible region of one-dimensional relative velocity is calculated, and the sign of the relative velocity is determined: When the relative velocity is positive, the one-dimensional relative velocity feasible region is mapped to a displacement line segment in the same direction of the relative velocity displacement range. It is determined whether the displacement line segment in the same direction of the relative velocity displacement range intersects with the velocity obstacle circle. If they intersect, it is determined that the two drones will collide. When the relative velocity is negative, the one-dimensional relative velocity feasible region is mapped to the reverse displacement line segment of the relative velocity displacement range. It is determined whether the reverse displacement line segment of the relative velocity displacement range intersects with the velocity obstacle circle. If they intersect, it is determined that the two drones will collide. When the relative velocity crosses zero, the one-dimensional relative velocity feasible region is mapped to a bidirectional combination line segment of the relative velocity displacement range. It is then determined whether the bidirectional combination line of the relative velocity displacement range intersects with the velocity obstacle circle. If they intersect, it is determined that the two drones will collide.
[0015] Preferably, in step S4, for flights in the same direction, assuming the speed range of the first UAV is [v1a, v1b] and the speed range of the second UAV is [v2a, v2b], then the relative speed v of the first UAV to the second UAV is... 相 ∈[v1a-v2b, v1b-v2a]; Minimum value v 相min = v1a-v2b, at which point the first drone takes the minimum speed and the second drone takes the maximum speed; Maximum value v 相max = v1b-v2a, at which point the first drone takes the maximum speed and the second drone takes the minimum speed; The relative velocity directions include: The relative velocity direction is the same as the flight direction of the first drone, v 相 >0: When v1a > v2b, all relative velocities are positive, and the direction is the same as the direction of the first drone; the feasible range of the displacement traveled by the relative velocity of the two drones is a line segment starting from the position of the first drone, in the direction of the velocity of the first drone, with a length of (v1b - v2a) × Δt; check whether this line segment intersects with the velocity obstacle circle. If it intersects, it is determined that the two drones will conflict within Δt; otherwise, it is determined that the current two drones do not conflict; The relative velocity direction is opposite to the flight direction of the first drone, v 相 <0: When v1b < v2a, all relative velocities are negative, and the direction is opposite to the direction of the first drone; the feasible range of the displacement traveled by the relative velocity of the two drones is a line segment starting from the position of the first drone, in the direction of the velocity of the second drone, with a length of |v1a - v2b| × Δt; check whether this line segment intersects with the velocity obstacle circle. If it intersects, it is determined that the two drones will conflict within Δt; otherwise, it is determined that the current two drones do not conflict; The relative velocity direction is the same as or opposite to the flight direction of the first drone: When v1a - v2b ≤ 0 ≤ v1b - v2a, the relative velocity is the same as or opposite to the direction of the first drone; the feasible range of the displacement traveled by the relative velocity of the two drones is a combination of a line segment starting from the position of the first drone, in the direction of the velocity of the second drone, with a length of |v1a - v2b| × Δt and a line segment starting from the position of the first drone, in the direction of the velocity of the first drone, with a length of (v1b - v2a) × Δt; check whether this line segment combination intersects with the velocity obstacle circle. If it intersects, it is determined that the two drones will conflict within Δt; otherwise, it is determined that the current two drones do not conflict.
[0016] V. Conflict Alarm S5. If it is determined that the two drones will conflict, conflict alarm will be carried out; If it is determined that the two drones will not conflict, the data of the two drones will be re - obtained for conflict detection.
[0017] Preferably, step S5 includes: carrying out conflict alarm for the situation determined as drone conflict, and for the current non - conflict situation, waiting for the next communication cycle of the drone to obtain new telemetry data for re - detecting conflict.
[0018] Advantages of the present invention:<0000(2) By comprehensively considering factors such as communication delay, calculation time, UAV maneuver response time and maneuver time, a conflict prediction time window (Δt) is set to ensure that conflict detection and conflict resolution are completed within a sufficient time, and to avoid the problem of delayed resolution due to insufficient prediction time.
[0020] (3) Traditional speed obstacle method assumes that the speed of the UAV is constant, but the speed will fluctuate in actual flight. For the case of intersecting flight, this method innovatively models the feasible region of relative speed displacement as a quadrilateral and detects its intersection with the speed obstacle circle. This method can more comprehensively cover the uncertainty caused by speed fluctuation and improve the accuracy of collision detection.
[0021] (4) For both unidirectional and opposing flight scenarios, calculation methods for the feasible range of relative speed were designed, improving the collision detection based on the speed obstacle method. In particular, for unidirectional flight, the complex situation of possible changes in relative speed direction was considered, enabling a more accurate assessment of collision risk.
[0022] In summary, the four improvements of this invention, by introducing a cruise speed range and a conflict prediction time window, and designing a speed obstacle circle that combines the speed ranges of the drone and the conflicting object for UAV conflict detection, can improve the accuracy and reliability of UAV conflict detection. These improvements not only address the limitations of traditional speed obstacle methods under non-constant speed conditions but also provide a more flexible and efficient solution for practical applications. Attached Figure Description
[0023] Figure 1 This is a flowchart of the UAV collision detection method based on cruising speed range and speed obstacle method of the present invention; Figure 2 This is a diagram illustrating a drone collision scenario of the present invention. Figure 3 This is a schematic diagram of the speed barrier circle of the present invention; Figure 4 This is a schematic diagram of relative velocity in the cross-flight scenario of the present invention; Figure 5 This is a schematic diagram of a speed obstacle in a cross-flight scenario according to the present invention; Figure 6 This is a schematic diagram showing that the relative velocity direction of the present invention is the same as the flight direction of the UAV 1; Figure 7 This is a schematic diagram showing that the relative velocity direction of the present invention is opposite to the flight direction of the UAV 1; Figure 8 This is a schematic diagram showing whether the relative velocity direction of the present invention is the same as or opposite to the flight direction of the UAV 1. Detailed Implementation
[0024] The following will provide a clear and complete description of the concept, specific structure, and technical effects of the present invention in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention.
[0025] UAV conflict detection methods based on cruise speed range and speed obstacle method, such as Figure 1 As shown, it includes the following steps: (1) Acquire input data: Through the interface with the UAV, acquire the UAV telemetry data in the airspace under its jurisdiction, including the UAV model, real-time position, velocity vector, etc.
[0026] (2) Statistically determine the speed range in which different drone models have a cumulative probability of approaching their cruise speed during the cruise phase and reaching 80%. The specific method is as follows: 1) Identify the equipment model and obtain the reference value V for the cruising speed of that model. 巡 This parameter is provided by the drone manufacturer.
[0027] 2) Obtain sufficient real-time flight speed data (no less than 50,000 data points) for the UAV during its cruise phase. This data is exported from the UAV's real-time flight records. Calculate the deviation datasets on both sides of the cruise speed.
[0028] 3) Set the coverage ratio of both the left and right sides to 80%, and calculate the deviation Δv1 below the cruise speed and the deviation Δv2 above the cruise speed. The actual cruise speed range is [V 巡 -Δv1, V 巡 +Δv2].
[0029] (3) Let Δt = communication delay for receiving telemetry data + software calculation time + communication delay for sending conflict resolution control commands + maximum UAV maneuver reaction time + maximum UAV maneuver time; where the maximum UAV maneuver reaction time is the longest maneuver reaction time among the connected UAV models when performing a resolution maneuver (including: adjusting speed, adjusting altitude, and changing heading); the maximum UAV maneuver time is the maneuver time in extreme cases (fixed-wing UAV turning around in place) among the connected UAV models when performing a resolution maneuver. This invention will predict the conflict situation between UAVs within the future time interval Δt.
[0030] (4) Determine the conflict status of drones in pairs: Assume the safe zone of the drones is a cylinder with parallel top and bottom surfaces. Drone 1 is located at point A, with a safe zone radius r1 = AB, height h1, and velocity vector V1; Drone 2 is located at point D, with a safe zone radius r2 = DE, height h2, and velocity vector V2. A top-down plan view of the collision scenario between the two drones is shown below. Figure 2As shown. Converting absolute velocity to relative velocity, and superimposing the safe range of UAV 1 onto UAV 2, constructs a cylinder with radius r = AB + DE and height h = h1 + h2. The top plan view is shown below. Figure 3 As shown. The center of the velocity obstacle circle constructed by the velocity obstacle method is the position coordinate of UAV 2, and the radius is r.
[0031] For two drones with constant speeds, the method to determine whether they collide within a time interval Δt is to determine whether the path traversed by their relative speeds intersects the speed obstacle circle. The path traversed by the relative speeds is a line segment originating from point A, in the direction of the relative speeds, and with a length equal to the relative speed × Δt.
[0032] This invention takes into account the case of non-constant speed and combines a method for statistically analyzing the speed range of two UAVs during the cruise phase to obtain the cruise speed range of two UAVs.
[0033] In cases of intersecting flight, changes in the magnitude of the speeds of the two drones will affect the direction of their relative speeds. For example... Figure 4 As shown, considering the error in the magnitude of the velocities of the two drones, and assuming the velocities remain constant in direction, the feasible region formed by the relative velocities of the drones is a parallelogram ABCD. Mapping this to the relative displacement plane requires multiplying the relative velocity by Δt. In other words, within the time interval Δt, the feasible displacement range traversed by the relative velocities of the two drones is a quadrilateral P1ADC with its side length proportionally increased by Δt times (e.g., ...). Figure 5 As shown in the diagram, the quadrilateral P1A'D'C' is checked to see if it intersects with the velocity obstacle circle. If they intersect, a conflict is considered to exist within time Δt. Otherwise, the two UAVs are considered not to be in conflict.
[0034] When the two drones are moving in the same or opposite directions, they cannot form two sides of a parallelogram. Their relative velocities are always aligned with the velocities of V1 and V2. In this case, the collision detection calculation method is as follows: 1) For the case of flying towards each other, the feasible range of displacements traveled by the relative velocities of the two UAVs in the time interval Δt is (v1+v2) starting from P1. max A line segment of length ×Δt is used. It is checked whether this line segment intersects with the velocity obstacle circle. If they intersect, a conflict is considered to exist within time Δt. Otherwise, the two UAVs are considered not to be in conflict.
[0035] 2) In the case of flying in the same direction, within the time interval Δt, considering the speed range, the relative speed direction of the two UAVs may be in the same direction as UAV 1 or UAV 2.
[0036] Assuming the speed range of drone 1 is [v1a, v1b] and the speed range of drone 2 is [v2a, v2b], then the relative speed v of drone 1 to drone 2 is...相 ∈ [v1a - v2b, v1b - v2a].
[0037] The minimum value of v 相min = v1a - v2b (when UAV 1 takes the minimum speed and UAV 2 takes the maximum speed); The maximum value of v 相max = v1b - v2a (when UAV 1 takes the maximum speed and UAV 2 takes the minimum speed); There are the following situations for the relative velocity direction: ① The direction is the same as the flight direction of UAV 1 (v 相 > 0), as Figure 6 shown: Given v 相 ∈ [v1a - v2b, v1b - v2a], to ensure v 相 > 0, just let v1a - v2b > 0. When v1a > v2b, all relative velocities are positive, and the direction is the same as that of UAV 1. The feasible range of the displacement traveled by the relative velocity of the two UAVs is a line segment starting from P1, in the direction of the velocity of UAV 1, with a length of (v1b - v2a) × Δt. Check whether this line segment intersects with the velocity obstacle circle. If it intersects, it is considered that there is a conflict within Δt. Otherwise, it is considered that the current two UAVs do not conflict.
[0038] ② The direction is opposite to the flight direction of UAV 1 (v 相 < 0), as Figure 7 shown: Given v 相 ∈ [v1a - v2b, v1b - v2a], to ensure v 相 < 0, just let v1b - v2a < 0. When v1b < v2a, all relative velocities are negative, and the direction is opposite to that of UAV 1. The feasible range of the displacement traveled by the relative velocity of the two UAVs is a line segment starting from P1, in the direction of the velocity of UAV 2, with a length of |v1a - v2b| × Δt. Check whether this line segment intersects with the velocity obstacle circle. If it intersects, it is considered that there is a conflict within Δt. Otherwise, it is considered that the current two UAVs do not conflict.
[0039] ③ The direction has two possibilities (the same or opposite), as Figure 8As shown: When v1a-v2b≤0≤v1b-v2a, the relative velocity may be in the same direction as or opposite to that of UAV 1. The feasible displacement range of the relative velocity of the two UAVs is a combination of a line segment originating from P1, in the direction of UAV 2's velocity, with a length of |v1a-v2b|×Δt, and a line segment originating from P1, in the direction of UAV 1's velocity, with a length of (v1b-v2a)×Δt. The intersection of the velocity obstacle circles of this line segment combination is checked. If they intersect, a conflict is considered to exist within the time interval Δt. Otherwise, the two UAVs are considered not to be in conflict.
[0040] (5) In the case of the above-mentioned conflict, a conflict alarm shall be triggered. In the case of no conflict, wait for the next communication cycle with the UAV to obtain new telemetry data and re-detect the conflict.
[0041] The embodiments of the present invention have been described in detail above, but the present invention is not limited to the described embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalents or substitutions are all included within the scope defined by the claims of the present invention.
Claims
1. A UAV conflict detection method based on cruise speed range and speed obstacle method, characterized in that, Includes the following steps: Acquire telemetry data from at least two drones, and determine the cruising speed range of the corresponding models of the two drones based on the telemetry data; Obtain the time window Δt for predicting the conflict between the two drones; A speed obstacle model containing a speed obstacle circle is constructed based on the speed obstacle method. Combined with the telemetry data, the cruising speed range, and the conflict prediction time window Δt, it is determined whether two UAVs will conflict during cross flight, head-on flight, or same-direction flight. If it is determined that the two drones will collide, a collision alarm will be triggered. If it is determined that the two drones will not conflict, then data from both drones will be acquired again for conflict detection.
2. The UAV conflict detection method based on cruising speed range and speed obstacle method as described in claim 1, characterized in that, The determination of the cruise speed range of the corresponding models of the two UAVs based on the telemetry data includes: Based on the telemetry data, the models of the two drones are identified, and the reference value V of the drone's cruise speed corresponding to the model is obtained. 巡 ; Based on the historical flight records of the UAV of the specified model, the historical flight speed data of the UAV during the cruise phase is obtained, and the deviation dataset on the left and right sides of the cruise speed reference value is statistically analyzed in the historical flight speed data during the cruise phase. Define the coverage ratio of the deviation datasets on the left and right sides. Based on the coverage ratio, calculate the deviation Δv1 below the cruise speed reference value and the deviation Δv2 above the cruise speed reference value, respectively, to obtain the actual cruise speed range as [V]. 巡 -Δv1, V 巡 +Δv2], this speed range is taken as the cruising speed range.
3. The UAV conflict detection method based on cruising speed range and speed obstacle method as described in claim 1, characterized in that, The conflict prediction time window Δt is: in, For conflict prediction time window; Communication delay due to receiving telemetry data; The time is calculated for the software; Communication delay for sending conflict resolution control commands; This represents the maximum maneuvering reaction time of the drone; This represents the maximum maneuver time of the drone; The maximum maneuvering reaction time of the drone is the longest maneuvering reaction time among the two drone models that have been connected to the system, when performing a release maneuver; the maximum maneuvering time of the drone is the maneuvering time under extreme conditions among the two drone models that have been connected to the system, when performing a release maneuver.
4. The UAV conflict detection method based on cruising speed range and speed obstacle method as described in claim 1, characterized in that, Based on the speed obstacle method, a speed obstacle model containing speed obstacle circles is constructed to determine whether two drones will collide. Specifically, this includes: The preset safe zone for the drone is a cylinder with parallel top and bottom surfaces; Two drones are included: a first drone and a second drone. If the first drone is located at point A, the radius of its safe range is r1=AB, the height is h1, and the velocity vector is V1; if the second drone is located at point D, the radius of its safe range is r2=DE, the height is h2, and the velocity vector is V2. The absolute speeds of the two drones are converted into relative speeds, and the safe range of the first drone is superimposed on the safe range of the second drone. A cylinder with radius r = AB + DE and height h = h1 + h2 is constructed. The speed obstacle circle is obtained by looking down at the cylinder. The center of the speed obstacle circle is the position coordinate of the second drone, and the radius is r. A feasible relative velocity domain is established using the velocity vectors of the two UAVs, starting from the position of the first UAV. The feasible relative velocity domain is then mapped to a relative velocity displacement range, and it is determined whether the relative velocity displacement range intersects with the velocity obstacle circle. If they intersect, it is determined that the two drones will collide; wherein, the relative velocity displacement range and the velocity obstacle circle together constitute the velocity obstacle model.
5. The UAV conflict detection method based on cruise speed range and speed obstacle method as described in claim 4, characterized in that, Determining whether two drones will collide during intersecting flights includes: For intersecting flights, a parallelogram relative velocity feasible region is constructed, and the parallelogram relative velocity feasible region is mapped to a quadrilateral of relative velocity displacement range. Then, it is determined whether the quadrilateral of relative velocity displacement range intersects with the velocity obstacle circle. If they intersect, it is determined that the two drones will collide.
6. The UAV conflict detection method based on cruise speed range and speed obstacle method as described in claim 4, characterized in that, Determining whether two drones will collide during intersecting flights includes: For cross-flight, when the velocity directions of the two drones remain unchanged, based on velocity vector V1, velocity vector -V2, and the cruising speed range, the feasible region for the relative velocity of the drones is obtained as a parallelogram. This parallelogram is used as the feasible region for relative velocity. The parallelogram is then connected to the position point of the first drone to obtain an initial quadrilateral. The side length of the initial quadrilateral is proportionally increased by Δt times to obtain a quadrilateral for the relative velocity displacement range. It is then checked whether the quadrilateral for the relative velocity displacement range intersects with the velocity obstacle circle. If they intersect, it is determined that the two drones will collide within a time interval Δt; otherwise, it is determined that the two drones will not collide.
7. The UAV conflict detection method based on cruise speed range and speed obstacle method as described in claim 4, characterized in that, Determining whether two drones will collide while flying in opposite directions includes: For oncoming flights, a one-dimensional relative velocity feasible region is calculated, and the one-dimensional relative velocity feasible region is mapped to a displacement line segment in the same direction within the relative velocity displacement range. It is then determined whether the displacement line segment in the same direction within the relative velocity displacement range intersects with the velocity obstacle circle. If they intersect, it is determined that the two drones will collide.
8. The UAV conflict detection method based on cruise speed range and speed obstacle method as described in claim 4, characterized in that, Determining whether two drones will collide while flying in opposite directions includes: For opposing flights, the feasible range of displacements traversed by the relative velocities of the two drones within the time interval Δt is (v1+v2) starting from the position of the first drone. max A line segment of length ×Δt is used to detect whether the line segment intersects with the velocity obstacle circle. If they intersect, it is determined that the two drones will collide within time Δt. Otherwise, it is determined that the two drones do not collide. Here, v1 is the velocity of the first drone and v2 is the velocity of the second drone.
9. The UAV conflict detection method based on cruise speed range and speed obstacle method as described in claim 4, characterized in that, Determining whether two drones will collide while flying in the same direction includes: For flights in the same direction, calculate the feasible region of one-dimensional relative velocity and determine the sign of the relative velocity: When the relative velocity is positive, the one-dimensional relative velocity feasible region is mapped to a displacement line segment in the same direction of the relative velocity displacement range. It is determined whether the displacement line segment in the same direction of the relative velocity displacement range intersects with the velocity obstacle circle. If they intersect, it is determined that the two drones will collide. When the relative velocity is negative, the one-dimensional relative velocity feasible region is mapped to the reverse displacement line segment of the relative velocity displacement range. It is determined whether the reverse displacement line segment of the relative velocity displacement range intersects with the velocity obstacle circle. If they intersect, it is determined that the two drones will collide. When the relative velocity crosses zero, the one-dimensional relative velocity feasible region is mapped to a bidirectional combination line segment of the relative velocity displacement range. It is then determined whether the bidirectional combination line of the relative velocity displacement range intersects with the velocity obstacle circle. If they intersect, it is determined that the two drones will collide.
10. The UAV conflict detection method based on cruise speed range and speed obstacle method as described in claim 4, characterized in that, Determining whether two drones will collide while flying in the same direction includes: For flights in the same direction, assuming the speed range of the first drone is [v1a, v1b] and the speed range of the second drone is [v2a, v2b], then the relative speed v of the first drone to the second drone is... 相 ∈[v1a-v2b, v1b-v2a]; Minimum value v 相min = v1a-v2b, at which point the first drone takes the minimum speed and the second drone takes the maximum speed; Maximum value v 相max = v1b-v2a, at which point the first drone takes the maximum speed and the second drone takes the minimum speed; The relative velocity directions include: The relative velocity direction is the same as the flight direction of the first UAV, v 相 >0: When v1a>v2b, all relative velocities are positive and their directions are consistent with the direction of the first drone. The feasible displacement range of the relative velocity between the two drones is a line segment with the first drone's position as the starting point, the direction of the first drone's velocity, and a length of (v1b-v2a)×Δt. It is checked whether this line segment intersects with the velocity obstacle circle. If they intersect, it is determined that the two drones will collide within Δt time; otherwise, it is determined that the two drones do not collide at present. The relative velocity direction is opposite to the flight direction of the first drone, v 相 <0: When v1b < v2a, all relative velocities are negative, and the direction is opposite to the direction of the first drone; the feasible range of the displacement traveled by the relative velocity of the two drones is a line segment starting from the position of the first drone, in the direction of the velocity of the second drone, and with a length of |v1a - v2b|×Δt; check whether this line segment intersects with the velocity obstacle circle. If they intersect, it is determined that the two drones will conflict within Δt time; otherwise, it is determined that the current two drones do not conflict; The relative velocity direction is the same as or opposite to the flight direction of the first UAV: when v1a-v2b≤0≤v1b-v2a, the relative velocity is the same as or opposite to the direction of the first UAV; the feasible range of displacement traversed by the relative velocity of the two UAVs is a combination of a line segment with the position of the first UAV as the starting point, the direction of the velocity of the second UAV as the direction of the velocity, and a length of |v1a-v2b|×Δt, and a line segment with the position of the first UAV as the starting point, the direction of the velocity of the first UAV as the direction of the velocity, and a length of (v1b-v2a)×Δt; it is detected whether this combination of line segments intersects with the velocity obstacle circle. If they intersect, it is determined that the two UAVs will collide within Δt time; otherwise, it is determined that the two UAVs do not collide at present.