Flight obstacle detection avoidance method and device, electronic equipment and storage medium

Abstract

The present disclosure relates to a flight obstacle detection avoidance method and device, electronic equipment and storage medium. The method comprises receiving cooperative obstacle information sent by an information center of a flight vehicle, determining non-cooperative obstacle information other than the cooperative obstacle information through a sensing device of the flight vehicle or the information center, determining corresponding obstacle motion trajectory information and collision warning information according to the cooperative obstacle information and the non-cooperative obstacle information, and displaying the obstacle motion trajectory information and the collision warning information. The embodiment of the present disclosure can simultaneously detect cooperative obstacles and non-cooperative obstacles near the flight vehicle through the sensing device installed on the flight vehicle and the information center connected through communication, thereby improving the comprehensiveness and accuracy of obstacle detection. Meanwhile, the embodiment of the present disclosure can generate and display obstacle motion trajectory information and collision warning information according to the obstacle information, so as to generate avoidance guidance and automatically or manually avoid the obstacles in time, thereby reducing the collision probability of the flight vehicle.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of transportation, and particularly relates to a flight obstacle detection and avoidance method and device, an electronic device, and a storage medium. BACKGROUND

[0002] Modern aircraft is a transportation tool integrating intelligent, monitoring, performance and payload transportation tasks in one. During flight, the aircraft may encounter large and small obstacles in the flight airspace, which may be fixed or mobile, and the position cannot be known in advance. Therefore, it is necessary to detect obstacles near the aircraft in real time during flight and effectively avoid obstacles, so as to avoid catastrophic traffic accidents. SUMMARY

[0003] In view of this, the present disclosure provides a flight obstacle detection and avoidance method, device, electronic device and storage medium, which aims to accurately and comprehensively identify obstacles near the aircraft during flight in a low-cost manner.

[0004] According to a first aspect of the present disclosure, a flight obstacle detection and avoidance method is provided, the method comprising:

[0005] receiving cooperative obstacle information sent by an information center, the cooperative obstacle being another aircraft working cooperatively with the aircraft through air traffic control;

[0006] determining non-cooperative obstacle information other than the cooperative obstacle through a sensing device of the aircraft or the information center;

[0007] determining corresponding obstacle motion trajectory information and collision warning information according to the cooperative obstacle information and the non-cooperative obstacle information;

[0008] displaying the obstacle motion trajectory information and the collision warning information.

[0009] In a possible implementation, the determination of the non-cooperative obstacle information through the sensing device of the aircraft or the information center comprises:

[0010] in response to a distance between the aircraft and a ground monitoring device being greater than a distance threshold, detecting non-cooperative obstacles around the aircraft through the sensing device of the aircraft and obtaining corresponding non-cooperative obstacle information;

[0011] in response to the distance between the aircraft and the ground monitoring device being less than or equal to the distance threshold, turning off the sensing device of the aircraft, and receiving non-cooperative obstacle information obtained by the ground monitoring device detecting non-cooperative obstacles around the aircraft and forwarded by the information center.

[0012] In a possible implementation, the method further includes:

[0013] receiving the cooperative obstacle information sent by the broadcast automatic monitoring system.

[0014] In a possible implementation, the cooperative obstacle information includes at least one of a time identifier, an obstacle identifier, a position latitude and longitude, a ground speed, an altitude, a vertical speed, a pressure altitude, a true heading, and an airspeed of the cooperative obstacle.

[0015] In a possible implementation, the non-cooperative obstacle information includes at least one of a time identifier, an obstacle identifier, a detection range, a detection range accuracy, a distance change rate, a distance change rate accuracy, an inclination angle, an inclination angle accuracy, an azimuth angle, and an azimuth angle accuracy of the non-cooperative obstacle.

[0016] In a possible implementation, the obstacle motion trajectory information includes at least one of a time identifier, an aircraft identifier, an obstacle identifier, an obstacle alert level, an obstacle information source, an air-ground state, a relative horizontal position, a position accuracy, a relative horizontal speed, a speed accuracy, a relative altitude, an altitude accuracy, a relative vertical speed, and a vertical speed accuracy.

[0017] In a possible implementation, the sensing device includes at least one of a camera, a long-wave infrared sensor, a near-infrared photoelectric sensor, and a radar.

[0018] In a possible implementation, the method further includes:

[0019] displaying an information selection page, the information selection page including at least one selection control for displaying the corresponding cooperative obstacle information and / or non-cooperative obstacle information when selected.

[0020] In a possible implementation, the determining of the corresponding obstacle motion trajectory information and collision alert information according to the cooperative obstacle information and the non-cooperative obstacle information includes:

[0021] respectively determining the obstacle motion trajectory information corresponding to each of the cooperative obstacle information and each of the non-cooperative obstacle information.

[0022] determining an alert airspace corresponding to the aircraft, the alert airspace including at least one warning area.

[0023] determining the corresponding collision alert information according to the warning area in which the obstacle position corresponding to the cooperative obstacle information and the non-cooperative obstacle information is located.

[0024] In a possible implementation, the at least one pre-warning area in the alert airspace is determined according to a horizontal position threshold value, a vertical relative position threshold value, and a preset collision point position threshold value of the aircraft.

[0025] In a possible implementation, the collision warning information includes at least one of a warning warning, a corrective warning, and a preventive warning.

[0026] In a possible implementation, the preventive warning includes a distance between the corresponding obstacle and the aircraft, for prompting the aircraft to maintain a flight state.

[0027] In a possible implementation, in response to the collision warning information being a corrective warning, the method further includes:

[0028] sending, to the information center, a request for avoidance information, so as to forward, by the information center, the request for avoidance information to air traffic control.

[0029] In a possible implementation, in response to the collision warning information being a warning warning, the method further includes:

[0030] generating and displaying avoidance guidance information corresponding to the warning warning according to flight state information of the aircraft and cooperative obstacle information or non-cooperative obstacle information corresponding to the warning warning.

[0031] In a possible implementation, the method further includes:

[0032] determining a flight state of the aircraft;

[0033] In response to the flight state being an automatic driving state, generating a corresponding avoidance instruction according to the obstacle motion trajectory information and the collision warning information to control the aircraft to avoid.

[0034] In a possible implementation, the method further includes:

[0035] In response to the flight state being a pilot driving state, displaying an avoidance control interface for performing an avoidance operation, the avoidance control interface being used for the pilot to control the aircraft to avoid.

[0036] In a possible implementation, the method further includes:

[0037] sending flight state information of the aircraft to the information center and / or the air traffic control.

[0038] According to a second aspect of the present disclosure, a flight obstacle detection and avoidance method is provided, the method comprising:

[0039] receiving, from an air traffic control, cooperative obstacle information corresponding to a target aircraft, the cooperative obstacle being another aircraft that cooperates with the target aircraft through the air traffic control;

[0040] receiving, from a ground monitoring device or the target aircraft, non-cooperative obstacle information corresponding to the target aircraft;

[0041] determining a type of the target aircraft;

[0042] in response to the target aircraft being a pilot-driven aircraft, sending the cooperative obstacle information and the non-cooperative obstacle information to the target aircraft.

[0043] In a possible implementation, the method further includes:

[0044] receiving flight state information sent by at least one aircraft;

[0045] determining, according to a type of another aircraft other than the target aircraft and the flight state information, cooperative obstacle information or non-cooperative obstacle information corresponding to the target aircraft.

[0046] In a possible implementation, the method further includes:

[0047] forwarding flight state information of the target aircraft to the air traffic control.

[0048] In a possible implementation, the method further includes:

[0049] determining, according to the cooperative obstacle information and the non-cooperative obstacle information, corresponding obstacle motion trajectory information and collision warning information;

[0050] sending the obstacle motion trajectory information and the collision warning information to the target aircraft.

[0051] In a possible implementation, the method further includes:

[0052] in response to the target aircraft being an unmanned aircraft, generating, according to the obstacle motion trajectory information and the collision warning information, avoidance guidance information and / or avoidance instruction;

[0053] sending the avoidance guidance information and / or the avoidance instruction to the target aircraft to control the target aircraft to avoid obstacles.

[0054] According to a third aspect of the present disclosure, there is provided a flight obstacle detection and avoidance device, the device comprising:

[0055] The first information receiving module is configured to receive cooperative obstacle information sent by the information center, wherein the cooperative obstacle is another aircraft that cooperates with the aircraft through air traffic control;

[0056] The first information determining module is configured to determine non-cooperative obstacle information by using a sensing device of the aircraft or the information center.

[0057] The collision warning information generating module is configured to determine corresponding obstacle motion trajectory information and collision warning information according to the cooperative obstacle information and the non-cooperative obstacle information.

[0058] The first information displaying module is configured to display the obstacle motion trajectory information and the collision warning information.

[0059] In a possible implementation, the first information determining module comprises:

[0060] The first information detecting submodule is configured to detect, by using the sensing device of the aircraft, non-cooperative obstacles around the aircraft and obtain corresponding non-cooperative obstacle information, in response to the distance between the aircraft and the ground monitoring device being greater than a distance threshold.

[0061] The second information detecting submodule is configured to turn off the sensing device of the aircraft and receive non-cooperative obstacle information obtained by the ground monitoring device detecting non-cooperative obstacles around the aircraft and forwarded by the information center, in response to the distance between the aircraft and the ground monitoring device being less than or equal to the distance threshold.

[0062] In a possible implementation, the apparatus further comprises:

[0063] The monitoring system information receiving module is configured to receive cooperative obstacle information sent by a broadcast automatic monitoring system.

[0064] In a possible implementation, the cooperative obstacle information comprises at least one of a time identifier, an obstacle identifier, a position latitude and longitude, a ground speed, an altitude, a vertical speed, a pressure altitude, a true heading and an airspeed of the cooperative obstacle.

[0065] In a possible implementation, the non-cooperative obstacle information comprises at least one of a time identifier, an obstacle identifier, a detection range, a detection range accuracy, a distance change rate, a distance change rate accuracy, an inclination angle, an inclination angle accuracy, an azimuth angle and an azimuth angle accuracy of the non-cooperative obstacle.

[0066] In a possible implementation, the obstacle movement track information includes at least one of a time identifier, an aircraft identifier, an obstacle identifier, an obstacle alert level, an obstacle information source, an air-ground state, a relative horizontal position, a position accuracy, a relative horizontal speed, a speed accuracy, a relative height, a height accuracy, a relative vertical speed, and a vertical speed accuracy.

[0067] In a possible implementation, the sensing device includes at least one of a camera, a long-wave infrared sensor, a near-infrared photoelectric sensor, and a radar.

[0068] In a possible implementation, the apparatus further includes:

[0069] The second information display module is configured to display an information selection page, the information selection page including at least one selection control, which is configured to display corresponding cooperative obstacle information and / or non-cooperative obstacle information when selected.

[0070] In a possible implementation, the collision alert information generation module includes:

[0071] The track information generation submodule is configured to determine obstacle movement track information corresponding to each piece of cooperative obstacle information and each piece of non-cooperative obstacle information, respectively.

[0072] The alert airspace determination submodule is configured to determine an alert airspace corresponding to the aircraft, the alert airspace including at least one pre-warning region.

[0073] The alert information generation submodule is configured to determine corresponding collision alert information according to a pre-warning region in which an obstacle position corresponding to the cooperative obstacle information and the non-cooperative obstacle information is located.

[0074] In a possible implementation, at least one pre-warning region in the alert airspace is determined according to a horizontal position threshold value of the aircraft, a vertical relative position threshold value, and a preset collision point position threshold value.

[0075] In a possible implementation, the collision alert information includes at least one of a warning alert, a corrective alert, and a preventive alert.

[0076] In a possible implementation, the preventive alert includes a distance between a corresponding obstacle and the aircraft, and is configured to prompt the aircraft to maintain a flight state.

[0077] In a possible implementation, in response to the collision alert information being a corrective alert, the apparatus further includes:

[0078] The avoidance information sending module is configured to send request avoidance information to the information center, so that the information center forwards the request avoidance information to air traffic control.

[0079] In a possible implementation, in response to the collision warning information being a warning warning, the device further includes:

[0080] The guidance information generating module is configured to generate and display avoidance guidance information corresponding to the warning warning according to cooperative obstacle information or non-cooperative obstacle information corresponding to the warning warning and flight state information of the aircraft.

[0081] In a possible implementation, the device further includes:

[0082] The flight state determining module is configured to determine a flight state of the aircraft.

[0083] The automatic avoidance module is configured to, in response to the flight state being an automatic driving state, generate a corresponding avoidance instruction according to the obstacle movement trajectory information and the collision warning information to control the aircraft to avoid.

[0084] In a possible implementation, the device further includes:

[0085] The manual avoidance module is configured to, in response to the flight state being a pilot driving state, display an avoidance control interface for performing an avoidance operation, and the avoidance control interface is used for the pilot to control the aircraft to avoid.

[0086] In a possible implementation, the device further includes:

[0087] The flight state information uploading module is configured to send flight state information of the aircraft to the information center and / or the air traffic control.

[0088] According to a fourth aspect of the present disclosure, a flight obstacle detection and avoidance device is provided, and the device includes:

[0089] The second information receiving module is configured to receive cooperative obstacle information corresponding to a target aircraft sent by air traffic control, and the cooperative obstacle is another aircraft that cooperates with the target aircraft through air traffic control;

[0090] The third information receiving module is configured to receive non-cooperative obstacle information corresponding to the target aircraft sent by a ground monitoring device or the target aircraft;

[0091] The type determining module is configured to determine a type of the target aircraft.

[0092] The obstacle information sending module is configured to, in response to the target aircraft being a pilot-driven aircraft, send the cooperative obstacle information and the non-cooperative obstacle information to the target aircraft.

[0093] In a possible implementation, the apparatus further includes:

[0094] The flight state information receiving module is configured to receive flight state information sent by at least one aircraft.

[0095] The cooperative obstacle information or the non-cooperative obstacle information corresponding to the target aircraft is determined according to the type of the other aircraft than the target aircraft and the flight state information.

[0096] In a possible implementation, the apparatus further includes:

[0097] The flight state information forwarding module is configured to forward the flight state information of the target aircraft to the air traffic control.

[0098] In a possible implementation, the apparatus further includes:

[0099] The obstacle information processing module is configured to determine corresponding obstacle motion trajectory information and collision warning information according to the cooperative obstacle information and the non-cooperative obstacle information.

[0100] The warning information sending module is configured to send the obstacle motion trajectory information and the collision warning information to the target aircraft.

[0101] In a possible implementation, the apparatus further includes:

[0102] The avoidance information generating module is configured to, in response to the target aircraft being an unmanned aircraft, generate avoidance guidance information and / or avoidance instructions according to the obstacle motion trajectory information and the collision warning information.

[0103] The avoidance information sending module is configured to send the avoidance guidance information and / or the avoidance instructions to the target aircraft to control the target aircraft to avoid the obstacle.

[0104] According to a fifth aspect of the present disclosure, an electronic device is provided, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the above method when executing the instructions stored in the memory.

[0105] According to a sixth aspect of the present disclosure, a non-volatile computer readable storage medium is provided, which stores computer program instructions, wherein the computer program instructions are executed by a processor to implement the above method.

[0106] According to a seventh aspect of the present disclosure, there is provided a computer program product comprising computer readable code, or a non-transitory computer readable storage medium carrying computer readable code, which when run in a processor of an electronic device, the processor in the electronic device performs the above method.

[0107] In the embodiments of the present disclosure, the cooperative obstacles and non-cooperative obstacles near the aircraft can be detected simultaneously by the sensing device installed on the aircraft and the information center connected in communication, the comprehensiveness and accuracy of obstacle detection are improved. At the same time, the present disclosure can generate and display obstacle motion trajectory information and collision warning information according to the obstacle information, and generate guidance for avoidance, so as to avoid obstacles in time and reduce the probability of aircraft collision.

[0108] Other features and aspects of the present disclosure will become apparent from the following detailed description of example embodiments, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0109] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate example embodiments, features, and aspects of the present disclosure and serve to explain the principles of the present disclosure.

[0110] Figure 1 A schematic diagram showing an application system of a flight obstacle detection and avoidance method according to an embodiment of the present disclosure;

[0111] Figure 2 A flowchart showing a flight obstacle detection and avoidance method on the aircraft side according to an embodiment of the present disclosure;

[0112] Figure 3 A schematic diagram showing a sensing device of an aircraft according to an embodiment of the present disclosure;

[0113] Figure 4 A schematic diagram showing collision warning information display according to an embodiment of the present disclosure;

[0114] Figure 5 A schematic diagram showing a detection and detection control panel according to an embodiment of the present disclosure;

[0115] Figure 6 A flowchart showing a flight obstacle detection and avoidance method on the information center side according to an embodiment of the present disclosure;

[0116] Figure 7 A schematic diagram showing a flight obstacle detection and avoidance device on the aircraft side according to an embodiment of the present disclosure;

[0117] Figure 8FIG. 1 shows a schematic diagram of an information center side flight obstacle detection avoidance device according to an embodiment of the present disclosure;

[0118] Figure 9 FIG. 2 shows a schematic diagram of an electronic device according to an embodiment of the present disclosure;

[0119] Figure 10 FIG. 3 shows a schematic diagram of another electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0120] Various exemplary embodiments, features, and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numbers in different drawings represent the same or similar elements. Although various aspects of the embodiments are illustrated in the drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

[0121] The word "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations.

[0122] In addition, for the purpose of convenience and brevity, detailed descriptions of well-known functions and structures incorporated in the present disclosure can be omitted. It will be appreciated that the present disclosure can be practiced with the exact details as

[0123] Figure 1 FIG. 1 shows a schematic diagram of an information center side flight obstacle detection avoidance device according to an embodiment of the present disclosure; Figure 1 As shown in FIG. 1, the flight obstacle detection avoidance method of the present disclosure can be implemented by a system composed of an aircraft 10 and an information center 11.

[0124] In a possible implementation, the aircraft 10 and the information center 11 can be abstracted as an electronic device, and the flight obstacle detection avoidance can be implemented by executing codes by a processor built in the electronic device. The aircraft 10 can be abstracted as a terminal device, and the information center 11 can be a terminal device or a server. The server can be a single server or a server cluster composed of multiple servers.

[0125] During the flight of the aircraft 10, the aircraft 10 can obtain the obstacle information of at least one of the cooperative obstacle 12 and the non-cooperative obstacle 13 through the built-in sensing device 16, the information center 11, the automatic dependent surveillance-broadcast (ADS-B in), and process the obtained obstacle information through the processing unit 18 to detect and avoid the flight obstacles, and the warning system 1A can give an alarm according to the detection result, and the control system 1B can also control the aircraft to avoid the obstacles based on the detection result. Optionally, the aircraft 10 transmits information to the information center 11 through the information communication unit 19, the information center 11 sends the cooperative obstacle 12 information to the aircraft, and the non-cooperative obstacle 13 is obtained through the ground detection device 15.

[0126] The embodiments of the present disclosure can be applied to obstacle detection during the flight of any type of aircraft, for example, the application scenarios of detecting the obstacles around the aircraft piloted by the pilot, and the application scenarios of detecting the obstacles around the unmanned aircraft.

[0127] Figure 2 A flowchart of a flight obstacle detection and avoidance method on the aircraft side according to an embodiment of the present disclosure is shown. As shown in Figure 2 The flight obstacle detection and avoidance method performed by the aircraft according to the embodiments of the present disclosure can include the following steps S10-S40.

[0128] Step S10, receiving the cooperative obstacle information sent by the information center.

[0129] In a possible implementation, the aircraft can receive the cooperative obstacle information sent by the information center through communication with the information center during the flight to determine the information of the cooperative obstacle with a certain collision risk near the aircraft. The cooperative obstacle can be another aircraft working cooperatively with the aircraft through air traffic control (ATC), that is, the information center can obtain the cooperative obstacle information through the air traffic control and forward the cooperative obstacle information to the aircraft. Optionally, the aircraft implementing the embodiments of the present disclosure can be any aircraft with flight capability, including traditional runway aircraft, vertical take-off and landing aircraft, manned aircraft and unmanned aircraft, and the power source of the aircraft can include any power source such as electricity, hydrogen and fuel. The vertical take-off and landing aircraft can also include a helicopter, a compound wing type or a tilt-rotor type, etc.

[0130] Optionally, the cooperative obstacle can be an aircraft participating in the same traffic collision avoidance system as the aircraft, which allows each participating aircraft to be positioned and collision avoidance. Wherein each aircraft participating in the traffic collision avoidance system can work cooperatively by installing a cooperative sensor. For example, the aircraft can be equipped with a transponder and a continuous message sending device. The cooperative aircraft can send position and flight state information such as heading through the continuous message sending device, which is received by other aircraft through the transponder. And the traffic collision avoidance system can be in communication with the information center, and after the aircraft receives the information of other cooperative aircraft through the transponder, it is sent to the information center, and the information center determines the cooperative obstacle information therein and sends it to the aircraft that needs to detect the nearby obstacles. Or, each aircraft participating in the traffic collision system can also send flight state information to the electronic equipment of air traffic control in real time, which is sent to the information center by air traffic control, and the information center determines the cooperative obstacle information therein and sends it to the aircraft that needs to detect the nearby obstacles.

[0131] Optionally, in the case of installing a receiving device (Automatic dependent surveillance-broadcast out, ADS-B in) of the broadcast automatic monitoring system on the aircraft, the cooperative obstacle information can also be obtained directly by the ADS-B in installed on the aircraft. The flight state information uploaded by other cooperative aircraft through ADS-B out, and the flight state information that may exist in the collision as cooperative obstacle information. Wherein, the flight state information can include time identifier, aircraft identifier, position latitude and longitude, position accuracy and integrity, horizontal north / south speed, horizontal east / west speed, speed accuracy, altitude, altitude accuracy, vertical rate, vertical rate accuracy, barometric altitude, air / ground state, true heading, airspeed, pitch / roll, pitch rate / roll rate and turning rate, etc.

[0132] In one possible implementation, the cooperative obstacle information obtained by the aircraft can be used to represent the position characteristics, motion characteristics and nearby environmental information of the cooperative obstacle. For example, it can include at least one of the time identifier of the cooperative obstacle, the obstacle identifier, the position latitude and longitude, the ground speed, the altitude, the vertical rate, the barometric altitude, the true heading and the airspeed.

[0133] Step S20, determining non-cooperative obstacle information other than the cooperative obstacle through the sensing device of the aircraft or the information center.

[0134] In a possible implementation, the aircraft may encounter non-cooperative obstacles other than the cooperative obstacles during the flight, in addition to the cooperative obstacles coordinated by the air traffic control. The non-cooperative obstacles include not only the aircrafts not coordinated by the air traffic control, but also obstacles other than the aircrafts such as birds. Optionally, the non-cooperative obstacles can be detected by the sensing device of the aircraft to determine the corresponding non-cooperative obstacle information, or obtained by the information center and uploaded to the aircraft.

[0135] Optionally, the sensing device of the aircraft can include at least one of a camera, a long-wave infrared sensor, a near-infrared photoelectric sensor, and a radar. The sensing device can detect the non-cooperative obstacles around the aircraft, and determine at least one of the position characteristics, motion characteristics, and environmental characteristics of the detected non-cooperative obstacles as the non-cooperative obstacle information. For example, the non-cooperative obstacle information can include at least one of a time identifier, an obstacle identifier, a detection range, a detection range accuracy, a distance change rate, a distance change rate accuracy, an inclination angle, an inclination angle accuracy, an azimuth angle, and an azimuth angle accuracy. The aircraft can further send the non-cooperative obstacle information obtained by the sensing device to the information center for further information processing.

[0136] Figure 3 A schematic diagram of a sensing device of an aircraft according to an embodiment of the present disclosure is shown. As shown in Figure 3 The sensing device can be installed at any position of the aircraft, such as the nose, the belly, the upper fuselage, the wing, and the rocker arm. Optionally, different sensing devices can be installed at different positions of the aircraft. For example, the radar can be installed at the nose position to scan the fan area in the direction in which the aircraft advances. The camera can be installed at the belly position to detect the non-cooperative obstacles in the downward view of the aircraft, and the camera can be a camera device including a long-wave infrared sensor or a near-infrared photoelectric sensor. The detection sensor can be installed at the upper fuselage, the wing, and the rocker arm positions to detect the obstacles above, behind, and on the side of the aircraft. In the case of the aircraft being a pilot-controlled aircraft, each sensing device can have a corresponding physical switch control or a virtual switch control displayed through a display interface, and the pilot can control the corresponding sensing device to be turned on or off through the switch control.

[0137] In a possible implementation, the non-cooperative obstacle information sent by the information center can be obtained by a ground monitoring device. The ground monitoring device can be a monitoring device arranged near an airport or a specific aircraft landing position, configured to detect non-cooperative obstacles, and can include a radar, a flight state information receiving network, a long-wave infrared sensor, a near-infrared photoelectric sensor, a radio frequency sensor, and the like. The ground monitoring device can have a corresponding monitoring range, and when the aircraft enters the monitoring range, the non-cooperative obstacles near the aircraft are detected to obtain corresponding obstacle attribute information, which is sent to the information center, and the information center determines the corresponding non-obstacle information and sends it to the aircraft. The obstacle attribute information sent by the ground monitoring system to the information center can include time identifier, obstacle identifier, horizontal latitude and longitude position, position accuracy, horizontal north / south speed, horizontal east / west speed, speed accuracy, height, height accuracy, vertical speed, vertical speed accuracy, true heading, and airspeed.

[0138] Optionally, to avoid the aircraft repeatedly obtaining the non-cooperative obstacle information obtained by the information center and the sensing device, the non-cooperative obstacle detection ranges of the information center and the sensing device can be determined in advance, and the non-cooperative obstacles are detected respectively. The detection ranges of the information center and the sensing device can be divided according to the monitoring range of the ground monitoring device, that is, the detection range of the ground monitoring device is determined in advance, and the other areas are the detection range of the sensing device of the aircraft.

[0139] Exemplarily, the monitoring area of the ground monitoring device can be an area outside a preset distance threshold around the ground monitoring device. The embodiment of the disclosure can detect the non-cooperative obstacles around the aircraft by the sensing device of the aircraft in response to the distance between the aircraft and the ground monitoring device being greater than the distance threshold, and obtain the corresponding non-cooperative obstacle information. In response to the distance between the aircraft and the ground monitoring device being less than or equal to the distance threshold, the sensing device of the aircraft is turned off, and the non-cooperative obstacle information obtained by the ground monitoring device detecting the non-cooperative obstacles around the aircraft is received by the information center.

[0140] Optionally, in the case that the aircraft is installed with a receiving device (Automatic dependent surveillance-broadcast out, ADS-B in) of a broadcast automatic monitoring system, the non-cooperative obstacle information can also be obtained directly by the ADS-B in installed on the aircraft. The flight state information uploaded by other cooperative aircraft through ADS-B out is directly determined as non-cooperative obstacle information in which there is a possibility of collision.

[0141] In a possible implementation, the aircraft can further delete the non-cooperative obstacle information with the same cooperative obstacle information according to the cooperative obstacle information and the non-cooperative obstacle information after obtaining the cooperative obstacle information as the non-cooperative obstacle information through the ground monitoring device, the sensing device or the ADB-Sin. Optionally, the current aircraft can further send the flight state information of the aircraft to the information center or the air traffic control, so as to determine whether the current aircraft is an obstacle of other aircraft through the information center or the air traffic control, and send the flight state information as the cooperative obstacle information or the non-cooperative obstacle information in the case of being an obstacle of other aircraft. Meanwhile, the aircraft can also send the obstacle information detected by the sensing device to the information center for further information processing.

[0142] Optionally, the aircraft can selectively display the required obstacle information through the display information selection page. The information selection page can include at least one selection control for displaying the corresponding cooperative obstacle information and / or non-cooperative obstacle information when selected. The selection control can correspond to any kind of obstacle information attribute. In the case of corresponding to the information source, the obstacle information of one type of source can be selected and displayed by triggering the corresponding selection control. For example, three selection controls can correspond to three sources of ground monitoring device, aircraft sensing device and air traffic control respectively. When the selection control corresponding to the ground monitoring device is triggered, the obstacle information obtained through the ground monitoring device is displayed. Alternatively, different selection controls can correspond to different detection ranges, or different selection controls can correspond to different obstacle categories.

[0143] Step S30, determining the corresponding obstacle motion trajectory prediction information and collision warning information according to the cooperative obstacle information and the non-cooperative obstacle information.

[0144] In a possible implementation, after determining the cooperative obstacle information or the non-cooperative obstacle information of the cooperative obstacle near the aircraft, the aircraft can analyze and process the cooperative obstacle information and the non-cooperative obstacle information to obtain the obstacle motion trajectory information of each obstacle near the aircraft and the collision warning information for prompting the aircraft. Optionally, the obstacle motion trajectory information can represent the motion of the obstacle, and can include at least one of the time identifier, the aircraft identifier, the obstacle identifier, the obstacle warning level, the obstacle information source, the air-ground state, the relative horizontal position, the position accuracy, the relative horizontal speed, the speed accuracy, the relative height, the height accuracy, the relative vertical rate and the vertical rate accuracy. The collision warning information can be divided according to the danger level, and can include at least one of the warning warning, the corrective warning and the preventive warning.

[0145] Optionally, the preventive warning is used to prompt the obstacle within a specific distance from the aircraft in the vertical direction, and further serious warning will be generated if the obstacle continues to approach. The distance between the obstacle and the aircraft can be included, which is used to prompt the aircraft to maintain the flight state, and in the case of further approach of the obstacle leading to serious warning, it can also be used to prompt the aircraft to change the flight state, including the flight height or angle. The pilot can maintain the flight height or be ready to change the flight height at any time upon receiving the preventive warning, and such warning will not be displayed in busy airspace such as airports. The corrective warning can send a request for avoidance information to the information center in the case of closer distance between the aircraft and the obstacle, so as to forward the request for avoidance information to air traffic control through the information center. That is, the corrective warning can generate in the time interval of waiting for the reply of air traffic control ATC when the pilot communicates with air traffic control ATC through the information center as a communication hub to request avoidance action, and will not be displayed in busy airspace such as airports. Further, in the case of further approach of the obstacle and the aircraft, the warning warning is upgraded, at which time the aircraft needs to take immediate avoidance action, and different warning information is generated according to different avoidance actions, and such warning is used in any airspace.

[0146] Optionally, the aircraft can determine the obstacle motion trajectory information corresponding to each cooperative obstacle information and each non-cooperative obstacle information respectively in the case of determining the obstacle motion trajectory information and the collision warning information, that is, the obstacle motion trajectory information is obtained by directly analyzing and processing the information corresponding to the obstacle. And determine the warning airspace corresponding to the aircraft, which includes at least one warning area. Then determine the corresponding collision warning information according to the warning area where the obstacle position corresponding to the cooperative obstacle information and the non-cooperative obstacle information is located. That is, a region around the aircraft is determined as the warning airspace, and the collision warning information is generated in the case that the obstacle is located in the warning airspace. The type of the generated collision warning information can also be determined according to the warning area where the obstacle is located in the warning airspace. For example, in the case that the warning airspace includes warning area 1, warning area 2 and warning area 3 nested in turn from outside to inside, when the obstacle is in the warning area 1, the corresponding preventive warning is generated, when the obstacle is in the warning area 2, the corresponding corrective warning is generated, and when the obstacle is in the warning area 3, the corresponding warning warning is generated.

[0147] Optionally, the alert airspace and the warning area included therein can be determined in real time according to a horizontal position threshold value, a vertical relative position threshold value and a preset collision point position threshold value of the aircraft. Illustratively, the horizontal position threshold value, the vertical relative position threshold value and the preset collision point position threshold value corresponding to each warning area can be determined, and then the warning area in which each obstacle is located can be determined according to the threshold value satisfied by the distance between the obstacle and the aircraft, and the corresponding collision warning information can be generated. For example, the horizontal position threshold value can be preset as S * , the vertical relative position threshold value can be preset as HMD * , and the preset collision point position threshold value can be preset as h * . Then, the warning area corresponding to each obstacle can be determined according to the horizontal relative position r between the obstacle and the aircraft, the vertical position d h between the obstacle and the aircraft, and the horizontal relative position HMD p of the predicted collision point of the obstacle and the aircraft, [r≤S * ] AND [HMD p ≤HMD * ] AND [d h ≤h * ], and the corresponding collision warning information can be generated according to the preset threshold value.

[0148] In a possible implementation, when the collision warning information is a warning alarm, it indicates that the corresponding obstacle has approached the aircraft too close and there is a greater collision risk, and the flight state of the aircraft needs to be adjusted for obstacle avoidance. Therefore, the aircraft can generate and display avoidance guidance information corresponding to the warning alarm according to the cooperative obstacle information or the non-cooperative obstacle information corresponding to the warning alarm and the flight state information of the aircraft in response to the collision warning information being a warning alarm. That is, the aircraft can generate avoidance guidance information for guiding the aircraft to avoid the obstacle according to the position, motion characteristics and environmental characteristics of the obstacle corresponding to the warning alarm and the position, motion characteristics and environmental characteristics of the aircraft.

[0149] Optionally, the avoidance guidance information can include instructions for controlling the aircraft to climb or descend at a preset rate in the vertical direction, and instructions for avoiding a preset angle in the horizontal direction. The avoidance guidance information can also be generated in the case of a corrective alarm.

[0150] For example, for a corrective alarm that needs to control the aircraft to avoid in the vertical direction, the avoidance guidance information described in Table 1 can be generated. For a warning alarm that needs to control the aircraft to avoid in the vertical direction, the avoidance guidance information described in Table 2 can be generated. For a warning alarm that needs to control the aircraft to avoid in the horizontal direction, the avoidance guidance information described in Table 3 can be generated.

[0151] Table 1

[0152]

[0153] Table II

[0154]

[0155] Table III

[0156]

[0157] Optionally, in the case that the aerial vehicle is a pilotless unmanned aerial vehicle or the like, at least one of the obstacle motion trajectory information, the collision warning information and the avoidance guidance information can be generated by the information center based on the cooperative obstacle information and the non-cooperative obstacle information processing, and directly sent to the aerial vehicle. That is, the aerial vehicle can determine at least one of the obstacle motion trajectory information, the collision warning information and the avoidance guidance information by direct reception.

[0158] Step S40, display the obstacle motion trajectory information and the collision warning information.

[0159] In one possible implementation, the aerial vehicle is provided with a display device for displaying the obstacle motion trajectory information and the collision warning information after determination. In the case that the aerial vehicle has a pilot, the obstacle motion trajectory information and the collision warning information displayed by the display device can be used to control the aerial vehicle to avoid obstacles. Further, when the aerial vehicle also generates corresponding avoidance guidance information based on the obstacle motion trajectory information, the display device can also display the avoidance guidance information at the same time. Optionally, in the case that there are obstacle motion trajectory information and collision warning information corresponding to multiple obstacles, the collision warning information with the highest priority can be displayed according to the type priority.

[0160] Optionally, the use of avoidance guidance information is different for different types of aerial vehicles. Therefore, the aerial vehicle can determine the flight state of the aerial vehicle, and in response to the flight state being an automatic driving state, generate corresponding avoidance instructions according to the obstacle motion trajectory information and the collision warning information to control the aerial vehicle to avoid. In response to the flight state being a pilot driving state, an avoidance control interface for performing avoidance operations is displayed, and the detection control panel is used by the pilot to control the aerial vehicle to avoid. That is, in the case that the aerial vehicle is a pilotless unmanned aerial vehicle, or in the automatic driving state of a manned aerial vehicle, the aerial vehicle directly generates avoidance instructions according to the avoidance guidance information and executes the avoidance instructions to avoid obstacles. In the case that the aerial vehicle is in a pilot driving state, or the pilot manually cancels the automatic driving state and enters a pilot driving state, a detection control panel including at least one control control for controlling the aerial vehicle is displayed, so that the pilot controls the aerial vehicle to avoid obstacles by triggering the control control included in the detection control panel.

[0161] Further, in the case that the aircraft is an unmanned aircraft, the information center can also generate and display the obstacle movement trajectory information and collision warning information according to the information of the obstacle. Further, the obstacle movement trajectory information and collision warning information are displayed by the information center and corresponding avoidance instructions are generated, which are sent to the aircraft by the information center. The aircraft avoids the obstacle by receiving the avoidance instructions.

[0162] Figure 4 A schematic diagram of displaying collision warning information according to an embodiment of the present disclosure is shown. As shown, the embodiment of the present disclosure can display collision warning information by different identifiers, for example, a red square identifier can represent a warning warning of the obstacle, a yellow circular identifier can represent a corrective warning of the obstacle, and a green diamond identifier can represent a preventive warning of the obstacle. When displaying the collision warning information, the position of the aircraft itself can be displayed by a triangle in the center of the circle, and the height of the aircraft, the obstacle avoidance target height, and the target vertical speed information can be displayed by the right rectangular. Figure 4

[0163] Optionally, the identifier of each collision warning information also includes a textual identifier, which includes a relative obstacle height represented by a numerical value. When the numerical value is positive, it represents that the obstacle is above the aircraft, and when the numerical value is negative, it represents that the obstacle is below the aircraft. When the numerical value is 00, it represents that the height of the aircraft and the obstacle is the same, when the numerical value is +01, it represents that the obstacle is 100 ft higher than the aircraft, and when the numerical value is -02, it represents that the obstacle is 200 ft lower than the aircraft.

[0164] Further, when displaying collision warning information of multiple obstacles at the same time, the aircraft can also display the collision warning information of different obstacles by different shaped identifiers, for example, a square identifier represents the collision warning information of obstacle 1, a circular identifier represents the collision warning information of obstacle 2, and a diamond identifier represents the collision warning information of obstacle 3. At the same time, different colors can be filled in each identifier to represent the collision warning type of each obstacle, for example, red represents a warning warning, yellow represents a corrective warning, and green represents a preventive warning.

[0165] Optionally, when the collision warning information has corresponding avoidance guidance information, the avoidance guidance information can also be displayed at the same time or broadcast in the form of voice.

[0166] Figure 5 A schematic diagram of a detection control panel according to an embodiment of the present disclosure is shown. As shown, Figure 5 ​As shown, when the collision warning type is a warning alarm, the aircraft can switch the operation state of the aircraft to the pilot driving state and display a detection control panel to avoid obstacles by the pilot controlling the aircraft. The detection control panel includes display lights for displaying system states, which display green when the system is normal and red when the system fails. Meanwhile, the detection control panel also includes a switch button and multiple adjustable parameters, such as IDENT (identification), HOR (horizontal), Below, and Above, which can be selected by triggering the switch button and inputting corresponding parameter values through the digital keys. The digital keys also include a CLR key for canceling input and a Set key for setting parameters. Optionally, IDENT is the aircraft itself identification; HOR is the traffic information within the horizontal position of the aircraft itself. The detection control panel also includes a knob for displaying information. When the knob selects BLW, only the set traffic information within the relative Below&Above height airspace of the aircraft is displayed. When the knob selects ABV, only the set traffic information outside the relative Below&Above height airspace of the aircraft is displayed. When the knob selects ALL, all the traffic information within the height airspace that can be detected by the aircraft is displayed.

[0167] Meanwhile, the right knob is used to switch among four modes of STBY (standby), GBSS (ground based surveillance system), ATC / GBSS and ATAR (air to air radar). Among them, the STBY mode is used to set the DAA (Detect and avoid) system to standby, and no obstacle movement trajectory information and collision warning information are displayed. The ATC / GBSS mode is used to set the DAA operation mode to the normal mode, which is applicable to the entire flight stage, and all aircraft obstacles can be displayed, and the vertical speed instruction for indicating the vertical action of the aircraft and / or the horizontal heading / track instruction for indicating the horizontal action of the aircraft can also be displayed to avoid the collision between the aircraft and the obstacle. The GBSS mode is applied to the aircraft in the airport airspace stage, that is, in the take-off stage, the climbing stage, the approach stage and the landing stage of the flight process of the aircraft. Alternatively, the GBSS mode can be selected by manual selection, automatic selection, triggering the stall warning, triggering the ground proximity warning and the DAA working in the GBSS mode, and the GBSS only mode working selection can be displayed on the MFD (multi-function display). Among them, the automatic selection condition is that the previous mode is the ATC / GBSS mode and the current aircraft is in one of the take-off stage, the climbing stage, the approach stage and the landing stage. The ATAR mode can be used to detect the obstacles by using only the airborne sensor device, for example, the ATAR only mode working can be displayed on the MFD when the DAA works in the ATAR mode.

[0168] Alternatively, the aircraft can avoid the obstacles according to the displayed obstacle movement trajectory information and collision warning information to avoid the collision between the aircraft and the obstacles and ensure the safety of the flight process.

[0169] Based on the above technical features, the embodiments of the present disclosure can obtain the cooperative obstacle information and the non-cooperative obstacle information through the sensor device set by the aircraft and the interaction with the information center, and can accurately detect any type of obstacle near the aircraft. Meanwhile, the above detection method does not need to install an air-to-air radar array for each aircraft, which reduces the cost of the detection process. Moreover, the embodiments of the present disclosure can be applied to any type of aircraft, which improves the universality and ensures the safety of the driving process of various aircrafts.

[0170] Figure 6 A flow chart of a flight obstacle detection and avoidance method on the information center side according to an embodiment of the present disclosure is shown. As shown in FIG. 1, the information center side flight obstacle detection and avoidance method comprises the following steps. Figure 6The flight obstacle avoidance method performed by the information center according to the embodiments of the present disclosure can include the following steps S50-S80.

[0171] In step S50, the cooperative obstacle information corresponding to the target aircraft is received, which is sent by the air traffic control.

[0172] In one possible implementation, the information center is configured to receive the cooperative obstacle information sent by the air traffic control, to determine the cooperative obstacle near the target aircraft. The cooperative obstacle is another aircraft that cooperates with the target aircraft through the air traffic control. Optionally, the target aircraft is one of a plurality of aircraft in communication connection with the information center, which can be any aircraft with flight capability, including a traditional runway aircraft, a vertical take-off and landing aircraft, a manned aircraft and an unmanned aircraft, and the power source of the aircraft can include any power source such as electricity, hydrogen and fuel. The vertical take-off and landing aircraft can further include a helicopter, a compound wing aircraft or a tilt-rotor aircraft, etc.

[0173] Optionally, the cooperative obstacle can be an aircraft participating in the same traffic collision avoidance system as the target aircraft, which allows each aircraft participating in the system to be positioned and collision-avoided. Each aircraft participating in the traffic collision avoidance system can work cooperatively by installing a cooperative sensor. For example, the aircraft can be equipped with a transponder and a continuous message sending device. The cooperative aircraft can send flight state information such as position and heading through the continuous message sending device, which is received by other aircraft through the transponder. The traffic collision avoidance system can be in communication connection with the information center, and after the aircraft receives the information of other cooperative aircraft through the transponder, the information is sent to the information center, which determines the protocol obstacle information and sends it to the aircraft that needs to detect the nearby obstacle. Alternatively, each aircraft participating in the traffic collision system can send the flight state information to the electronic device of the air traffic control in real time, which is sent to the information center by the air traffic control.

[0174] Optionally, the cooperative obstacle information can also be determined by the information center through uploading flight state information of the cooperative aircraft, i.e., the information center determines the flight state information of the potential collision from the obtained flight state information as the cooperative obstacle information. The flight state information can include time identifier, aircraft identifier, position longitude and latitude, position accuracy and integrity, horizontal north / south speed, horizontal east / west speed, speed accuracy, altitude, altitude accuracy, vertical speed, vertical speed accuracy, barometric altitude, air / ground state, true heading, airspeed, pitch / roll, pitch / roll rate, and turning rate, etc. Further, the information center can also receive the flight state information of the target aircraft, and after receiving the flight state information of the target aircraft, the information center can also forward the flight state information of the target aircraft to the air traffic control to determine whether the target aircraft is an obstacle for other cooperative aircraft through the traffic control.

[0175] Optionally, the data transmission network for data transmission with the information center needs to meet the remote transmission of control and instruction functions, which can be ground transmission device VHF (Very High Frequency), ACARS (Aircraft Communication Addressing and Reporting System) or satellite communication, and the network performance meets the performance requirements specified in RTCA DO-377.

[0176] Step S60, receiving the non-cooperative obstacle information corresponding to the target aircraft sent by the ground monitoring device or the target aircraft.

[0177] In a possible implementation, when the target aircraft is flying within the monitoring range of the ground monitoring device, the non-cooperative obstacle information near the target aircraft is monitored by the ground monitoring device and sent to the information center. The non-cooperative obstacle includes not only the aircraft that does not coordinate with the target aircraft through the air traffic control, but also the obstacles other than the aircraft such as birds. Alternatively, the obstacles near the target aircraft can also be detected by the sensing device installed on the target aircraft, and the non-cooperative obstacle information of the non-cooperative obstacles is sent to the information center. Optionally, the sensing device of the aircraft can include at least one of a camera, a long-wave infrared sensor, a near-infrared photoelectric sensor, and a radar. The sensing device can detect the non-cooperative obstacles near the aircraft, and determine at least one information representing the position feature, motion feature, and environment feature of the detected non-cooperative obstacles as the non-cooperative obstacle information. For example, the information can include at least one of the time identifier of the non-cooperative obstacle, the obstacle identifier, the detection range, the detection range accuracy, the distance change rate, the distance change rate accuracy, the inclination angle, the inclination angle accuracy, the azimuth angle, and the azimuth angle accuracy.

[0178] Optionally, the ground monitoring device can be a monitoring device arranged near an airport or a specific aircraft landing position, for detecting non-cooperative obstacles, and can include radar, flight state information receiving network, long-wave infrared sensor, near-infrared photoelectric sensor, radio frequency sensor and the like. The ground monitoring device can have a corresponding monitoring range, and when the target aircraft enters the monitoring range, the non-cooperative obstacles near the target aircraft are detected to obtain corresponding obstacle attribute information and send the information to the information center. The obstacle attribute information sent by the ground monitoring system to the information center can include time identifier, obstacle identifier, horizontal latitude and longitude position, position accuracy, horizontal north / south speed, horizontal east / west speed, speed accuracy, height, height accuracy, vertical speed, vertical speed accuracy, true heading and airspeed and the like.

[0179] Optionally, the non-cooperative obstacle information can also be determined by uploading flight state information of the non-cooperative aircraft to the information center, that is, the information center determines the flight state information of the non-cooperative aircraft that may collide in the obtained flight state information as the non-cooperative obstacle information.

[0180] Step S70, determining the type of the target aircraft.

[0181] In a possible implementation, the type of the target aircraft is determined by the information center, so as to further process the cooperative obstacle information and the non-cooperative obstacle information according to the type of the target aircraft. The target aircraft can include any type, for example, can include a pilot-driven aircraft controlled by a pilot or an unmanned aircraft.

[0182] Step S80, in response to the target aircraft being a pilot-driven aircraft, sending the cooperative obstacle information and the non-cooperative obstacle information to the target aircraft.

[0183] In a possible implementation, in a case where the information center determines that the target aircraft is a pilot-driven aircraft, the information center can directly send the coordinated obstacle information and the non-coordinated obstacle information corresponding to the target aircraft to the target aircraft. The target aircraft can perform information processing according to the received coordinated obstacle information and non-coordinated obstacle information, generate corresponding obstacle motion trajectory information and collision warning information, and prompt the pilot to perform an obstacle avoidance operation. Alternatively, the information center can also determine the obstacle motion trajectory information and the collision warning information according to the coordinated obstacle information and the non-coordinated obstacle information, and then send the obstacle motion trajectory information and the collision warning information to the target aircraft. That is, the information center can also perform information processing according to the coordinated obstacle information and the non-coordinated obstacle information to obtain the obstacle motion trajectory information and the collision warning information for the target aircraft to avoid obstacles.

[0184] Alternatively, in a case where the target aircraft is an unmanned aircraft, the information center can generate avoidance guidance information and / or avoidance instructions according to the obstacle motion trajectory information and the collision warning information, and send the avoidance guidance information and / or the avoidance instructions to the target aircraft to control the target aircraft to avoid obstacles. The avoidance guidance information is used to instruct the target aircraft to avoid obstacles, and the avoidance instructions are used to directly control the target aircraft to automatically avoid obstacles. That is, the information center can include a display device, and in a case where the target aircraft is an unmanned aircraft remotely controlled by the information center, the information center can automatically generate avoidance instructions for controlling the target aircraft to avoid obstacles. Alternatively, the information center can display the obstacle motion trajectory information and the collision warning information through the display device, and then generate corresponding avoidance instructions through human-computer interaction. After the information center obtains the avoidance instructions, the information center sends the avoidance instructions to the target aircraft to control the target aircraft to avoid obstacles, so as to avoid air collision accidents.

[0185] Based on the above technical features, the embodiments of the present disclosure can interact with the aircraft, the air traffic control, and the ground monitoring device through the information center, simultaneously acquire the coordinated obstacle information and the non-coordinated obstacle information, and accurately detect any type of obstacle near the target aircraft. Further, the obstacle information or the instructions or the warning information for avoiding obstacles is sent to the target aircraft to prompt the target aircraft to avoid obstacles. This detection method does not need to install an air-to-air radar array for each aircraft, thereby reducing the cost of the detection process. In addition to being applied to the pilot-driven aircraft, the embodiments of the present disclosure can also be applied to unmanned aircraft, thereby improving the universality and ensuring the safety of the driving process of various aircraft.

[0186] Figure 7 A schematic diagram of a flight obstacle detection and avoidance device on the aircraft side is shown according to an embodiment of the present disclosure. As shown in FIG. 1, the flight obstacle detection and avoidance device on the aircraft side includes an obstacle detection device 101, an obstacle avoidance device 102, and a display device 103. Figure 7As shown, the flight obstacle avoidance device of the aircraft side of the embodiment of the present disclosure can include a first information receiving module 70, a first information determining module 71, a collision warning information generating module 72, and a first information display module 73.

[0187] In a possible implementation, the first information receiving module 70 is configured to receive cooperative obstacle information sent by an information center, the cooperative obstacle being another aircraft that cooperates with the aircraft through air traffic control;

[0188] The first information determining module 71 is configured to determine non-cooperative obstacle information through a sensing device of the aircraft or the information center;

[0189] The collision warning information generating module 72 is configured to determine corresponding obstacle motion trajectory information and collision warning information according to the cooperative obstacle information and the non-cooperative obstacle information;

[0190] The first information display module 73 is configured to display the obstacle motion trajectory information and the collision warning information.

[0191] In a possible implementation, the first information determining module 71 includes:

[0192] A first information detecting sub-module is configured to, in response to a distance between the aircraft and a ground monitoring device being greater than a distance threshold, detect a non-cooperative obstacle around the aircraft through a sensing device of the aircraft, and obtain corresponding non-cooperative obstacle information;

[0193] A second information detecting sub-module is configured to, in response to the distance between the aircraft and the ground monitoring device being less than or equal to the distance threshold, turn off the sensing device of the aircraft, and receive non-cooperative obstacle information obtained by the ground monitoring device detecting a non-cooperative obstacle around the aircraft and forwarded by the information center.

[0194] In a possible implementation, the device further includes:

[0195] A surveillance system information receiving module is configured to receive cooperative obstacle information sent through a broadcast automatic surveillance system.

[0196] In a possible implementation, the cooperative obstacle information includes at least one of a time identifier, an obstacle identifier, a position latitude and longitude, a ground speed, an altitude, a vertical speed, a pressure altitude, a true heading, and an airspeed of the cooperative obstacle.

[0197] In a possible implementation, the non-cooperative obstacle information comprises at least one of the following: a time identifier of the non-cooperative obstacle, an obstacle identifier, a detection range, a detection range accuracy, a distance change rate, a distance change rate accuracy, an inclination angle, an inclination angle accuracy, an azimuth angle, and an azimuth angle accuracy.

[0198] In a possible implementation, the obstacle motion trajectory information comprises at least one of the following: a time identifier, an aircraft identifier, an obstacle identifier, an obstacle alert level, an obstacle information source, an air-ground state, a relative horizontal position, a position accuracy, a relative horizontal speed, a speed accuracy, a relative height, a height accuracy, a relative vertical speed, and a vertical speed accuracy.

[0199] In a possible implementation, the sensing device comprises at least one of the following: a camera, a long-wave infrared sensor, a near-infrared photoelectric sensor, and a radar.

[0200] In a possible implementation, the apparatus further comprises:

[0201] The second information display module is configured to display an information selection page, wherein the information selection page comprises at least one selection control, and the selection control is configured to display corresponding cooperative obstacle information and / or non-cooperative obstacle information when selected.

[0202] In a possible implementation, the collision alert information generation module 72 comprises:

[0203] The trajectory information generation submodule is configured to determine obstacle motion trajectory information corresponding to each piece of cooperative obstacle information and each piece of non-cooperative obstacle information, respectively.

[0204] The alert airspace determination submodule is configured to determine an alert airspace corresponding to the aircraft, wherein the alert airspace comprises at least one pre-warning region.

[0205] The alert information generation submodule is configured to determine corresponding collision alert information according to a pre-warning region in which an obstacle position corresponding to the cooperative obstacle information and the non-cooperative obstacle information is located.

[0206] In a possible implementation, at least one pre-warning region in the alert airspace is determined according to a horizontal position threshold value of the aircraft, a vertical relative position threshold value, and a preset collision point position threshold value.

[0207] In a possible implementation, the collision alert information comprises at least one of the following: a warning alert, a corrective alert, and a preventive alert.

[0208] In a possible implementation, the preventive warning comprises a distance between the corresponding obstacle and the aerial vehicle, for prompting the aerial vehicle to keep a flight state.

[0209] In a possible implementation, in response to the collision warning information being a corrective warning, the apparatus further comprises:

[0210] an avoidance information sending module, configured to send request avoidance information to the information center, so as to forward the request avoidance information to air traffic control by the information center.

[0211] In a possible implementation, in response to the collision warning information being a warning warning, the apparatus further comprises:

[0212] a guidance information generating module, configured to generate and display avoidance guidance information corresponding to the warning warning according to cooperative obstacle information or non-cooperative obstacle information corresponding to the warning warning and flight state information of the aerial vehicle.

[0213] In a possible implementation, the apparatus further comprises:

[0214] a flight state determining module, configured to determine a flight state of the aerial vehicle;

[0215] an automatic avoidance module, configured to, in response to the flight state being an automatic driving state, generate corresponding avoidance instructions according to the obstacle motion trajectory information and the collision warning information to control the aerial vehicle to avoid.

[0216] In a possible implementation, the apparatus further comprises:

[0217] a manual avoidance module, configured to, in response to the flight state being a pilot driving state, display an avoidance control interface for performing an avoidance operation, the avoidance control interface being used for the pilot to control the aerial vehicle to avoid.

[0218] In a possible implementation, the apparatus further comprises:

[0219] a flight state information uploading module, configured to send flight state information of the aerial vehicle to the information center and / or the air traffic control.

[0220] Figure 8 FIG. 1 shows a schematic diagram of an aerial vehicle obstacle avoidance apparatus according to an embodiment of the present disclosure. As shown in the figure, the aerial vehicle obstacle avoidance apparatus can comprise a first information receiving module 10, a second information receiving module 20, a type determining module 30, a collision warning information generating module 40, a flight state determining module 50, an automatic avoidance module 60, a manual avoidance module 70, a flight state information uploading module 80, and a flight state information sending module 90. Figure 8

[0221] ​In a possible implementation, the second information receiving module 80 is configured to receive, from the air traffic control, cooperative obstacle information corresponding to the target aircraft, the cooperative obstacle being another aircraft that cooperates with the target aircraft under the air traffic control;

[0222] The third information receiving module 81 is configured to receive, from a ground monitoring device or from the target aircraft, non-cooperative obstacle information corresponding to the target aircraft;

[0223] The type determining module 82 is configured to determine the type of the target aircraft.

[0224] The obstacle information sending module 83 is configured to, in response to the target aircraft being a pilot-driven aircraft, send the cooperative obstacle information and the non-cooperative obstacle information to the target aircraft.

[0225] In a possible implementation, the apparatus further includes:

[0226] The flight state information receiving module is configured to receive flight state information sent by at least one aircraft.

[0227] The cooperative obstacle information or the non-cooperative obstacle information corresponding to the target aircraft is determined according to the type of the other aircraft than the target aircraft and the flight state information.

[0228] In a possible implementation, the apparatus further includes:

[0229] The flight state information forwarding module is configured to forward the flight state information of the target aircraft to the air traffic control.

[0230] In a possible implementation, the apparatus further includes:

[0231] The obstacle information processing module is configured to determine corresponding obstacle motion trajectory information and collision warning information according to the cooperative obstacle information and the non-cooperative obstacle information.

[0232] The warning information sending module is configured to send the obstacle motion trajectory information and the collision warning information to the target aircraft.

[0233] In a possible implementation, the apparatus further includes:

[0234] The avoidance information generating module is configured to, in response to the target aircraft being an unmanned aircraft, generate avoidance guidance information and / or avoidance instructions according to the obstacle motion trajectory information and the collision warning information.

[0235] The avoidance information sending module is configured to send the avoidance guidance information and / or the avoidance instruction to the target aircraft to control the target aircraft to avoid the obstacle.

[0236] In some embodiments, the apparatus provided by the embodiments of the present disclosure has functions or includes modules that can be used to perform the methods described in the above method embodiments, and the specific implementation can refer to the description of the above method embodiments. For brevity, details are not repeated here.

[0237] The embodiments of the present disclosure also provide a computer-readable storage medium having computer program instructions stored therein, and the computer program instructions are executed by a processor to implement the above method. The computer-readable storage medium can be a volatile or non-volatile computer-readable storage medium.

[0238] The embodiments of the present disclosure also provide an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the above method when executing the instructions stored in the memory.

[0239] The embodiments of the present disclosure also provide a computer program product, including computer readable code or a non-volatile computer readable storage medium carrying computer readable code, when the computer readable code is run in the processor of the electronic device, the processor in the electronic device executes the above method.

[0240] Figure 9 An electronic device 800 according to an embodiment of the present disclosure is shown in a schematic diagram. The electronic device 800 can be a device corresponding to the aircraft or information center in the embodiments of the present disclosure. For example, the electronic device 800 can be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0241] Referring to Figure 9 The electronic device 800 can include one or more of the following components: a processing component 802, a memory 804, a power supply component 806, a multimedia component 808, an audio component 810, an input / output (I / O) interface 812, a sensor component 814, and a communication component 816.

[0242] The processing component 802 generally controls the overall operations of the electronic device 800, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 802 can include one or more processors 820 to execute instructions to complete the steps of the methods described above, in whole or in part. Moreover, the processing component 802 can include one or more modules to facilitate the interaction between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.

[0243] The memory 804 is configured to store various types of data to support the operations of the electronic device 800. Examples of these data include instructions to operate any applications or methods on the electronic device 800, contact data, phonebook data, messages, pictures, videos, and so on. The memory 804 can be realized by any type of volatile or nonvolatile storage devices or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disc, or optical disc.

[0244] The power component 806 provides power to the various components of the electronic device 800. The power component 806 can include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 800.

[0245] The multimedia component 808 includes a screen to provide an output interface between the electronic device 800 and a user. In some embodiments, the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes the touch panel, the screen can be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense a touch, a slide, and a gesture on the touch panel. The touch sensors can not only sense a boundary of a touching or sliding action, but also detect duration and pressure related to the touching or sliding action. In some embodiments, the multimedia component 808 includes a front camera and / or a back camera. The front camera and / or the back camera can receive external multimedia data when the electronic device 800 is in an operating mode, such as a shooting mode or a video mode. Each of the front camera and the back camera can be a fixed optical lens system or have a focal length and optical zoom capability.

[0246] The audio component 810 is configured to output and / or input audio signals. For example, the audio component 810 includes a microphone (MIC) that is configured to receive an external audio signal when the electronic device 800 is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal can be further stored in the memory 804 or transmitted via the communication component 816. In some embodiments, the audio component 810 also includes a speaker for outputting audio signals.

[0247] The I / O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which can be a keypad, a click wheel, buttons, and the like. The buttons can include, but are not limited to, a home button, a volume button, a start button, and a lock button.

[0248] The sensor component 814 includes one or more sensors for providing status assessments of various aspects of the electronic device 800. For example, the sensor component 814 can detect an open / closed position of the electronic device 800, relative positioning of components, such as a display and a keypad of the electronic device 800, a change of position of the electronic device 800 or a component of the electronic device 800, presence or absence of user contact with the electronic device 800, orientation or acceleration / deceleration of the electronic device 800, and a temperature change of the electronic device 800. The sensor component 814 can include a proximity sensor configured to detect presence of a nearby object without any physical touch. The sensor component 814 can also include a light sensor, such as a CMOS or CCD image sensor, for use in an imaging application. In some embodiments, the sensor component 814 can also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0249] The communication component 816 is configured to facilitate wired or wireless communication between the electronic device 800 and other devices. The electronic device 800 can access a wireless network based on a communication standard, such as WiFi, 2G, or 3G, or a combination thereof. In an example embodiment, the communication component 816 receives broadcast signals or broadcast-related information from an external broadcasting management system via a broadcast channel. In an example embodiment, the communication component 816 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technology.

[0250] In exemplary embodiments, the electronic device 800 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic elements, for performing the above-described methods.

[0251] In exemplary embodiments, a non-transitory computer-readable storage medium, such as the memory 804 including computer program instructions, is also provided, which can be executed by the processor 820 of the electronic device 800 to complete the above-described methods.

[0252] Figure 10 A schematic diagram of another electronic device 1900 according to embodiments of the present disclosure is shown. The electronic device 1900 can be a device corresponding to the information center in embodiments of the present disclosure. For example, the electronic device 1900 can be provided as a server or a terminal device. Referring to Figure 10 The electronic device 1900 includes a processing component 1922, which further includes one or more processors, and memory resources represented by a memory 1932, for storing instructions executable by the processing component 1922, such as application programs. The application programs stored in the memory 1932 can include one or more than one module each corresponding to a set of instructions. In addition, the processing component 1922 is configured to execute the instructions to perform the above-described methods.

[0253] The electronic device 1900 can also include a power supply component 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to a network, and an input / output (I / O) interface 1958. The electronic device 1900 can operate based on an operating system stored in the memory 1932, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, or the like.

[0254] In exemplary embodiments, a non-transitory computer-readable storage medium, such as the memory 1932 including computer program instructions, is also provided, which can be executed by the processing component 1922 of the electronic device 1900 to complete the above-described methods.

[0255] The present disclosure can be a system, a method, and / or a computer program product. The computer program product can include a computer readable storage medium (or media) having computer readable program instructions thereon for causing a processor to carry out aspects of the present disclosure.

[0256] Computer readable storage media can be tangible storage media which can retain and store instructions for use by an instruction execution device. Computer readable storage media can be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer readable storage media include the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0257] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0258] Computer readable program instructions for carrying out operations of the present disclosure can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate array (FPGA), or programmable logic array (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present disclosure.

[0259] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0260] These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can include random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other data storage device. When the computer readable program instructions are loaded into the computer and other programmable data processing apparatus, a series of operational steps are implemented that provide processes such that the instructions which operate on the computer or other programmable data processing apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0261] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0262] The flow diagrams and the block diagrams in the drawings are presented to illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flow diagrams and the block diagrams can represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logic functions. In some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flow diagrams, and combinations thereof, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and

[0263] Embodiments of the present disclosure have been described above, and the description is intended to be illustrative of the embodiments and not restrictive. Many modifications and variations of the described embodiments are possible and are within the scope of the disclosure. The selection of terms is intended to best describe the principles of the embodiments, practical application, or technical improvements in the art, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A flight obstacle detection avoidance method for an aircraft, characterized by, The method comprises: receiving cooperative obstacle information sent by an information center, the cooperative obstacle being other aircrafts working cooperatively with the aircraft through air traffic control; determining non-cooperative obstacle information other than the cooperative obstacle through a sensing device of the aircraft or the information center; determining corresponding obstacle motion trajectory information and collision warning information according to the cooperative obstacle information and the non-cooperative obstacle information; displaying the obstacle motion trajectory information and the collision warning information; wherein the determination of the non-cooperative obstacle information other than the cooperative obstacle through the sensing device of the aircraft or the information center comprises: in response to the distance between the aircraft and a ground monitoring device being greater than a distance threshold, detecting non-cooperative obstacles around the aircraft through the sensing device of the aircraft and obtaining corresponding non-cooperative obstacle information; in response to the distance between the aircraft and the ground monitoring device being less than or equal to the distance threshold, turning off the sensing device of the aircraft and receiving non-cooperative obstacle information obtained by the ground monitoring device detecting non-cooperative obstacles around the aircraft and forwarded by the information center; wherein the determination of the corresponding obstacle motion trajectory information and collision warning information according to the cooperative obstacle information and the non-cooperative obstacle information comprises: determining obstacle motion trajectory information corresponding to each of the cooperative obstacle information and each of the non-cooperative obstacle information, respectively; determining a warning airspace corresponding to the aircraft, the warning airspace including at least one warning area; determining corresponding collision warning information according to the warning area in which the obstacle position corresponding to the cooperative obstacle information and the non-cooperative obstacle information is located.

2. The method of claim 1, wherein, The method further comprises: receiving cooperative obstacle information sent by a broadcast automatic monitoring system.

3. The method according to any one of claims 1-2, characterized in that, The cooperative obstacle information comprises at least one of time identification, obstacle identification, position latitude and longitude, ground speed, altitude, vertical speed, barometric altitude, true heading and airspeed of the cooperative obstacle.

4. The method according to claim 1 or 2, characterized in that, The non-cooperative obstacle information comprises at least one of time identification, obstacle identification, detection range, detection range accuracy, distance change rate, distance change rate accuracy, inclination angle, inclination angle accuracy, azimuth angle and azimuth angle accuracy of the non-cooperative obstacle.

5. The method according to claim 1 or 2, characterized in that, The obstacle motion trajectory information comprises at least one of time identification, aircraft identification, obstacle identification, obstacle warning level, obstacle information source, air-ground state, relative horizontal position, position accuracy, relative horizontal speed, speed accuracy, relative altitude, altitude accuracy, relative vertical speed and vertical speed accuracy.

6. The method of claim 1 or 2, wherein, The sensing device comprises at least one of a camera, a long-wave infrared sensor, a near-infrared photoelectric sensor and a radar.

7. The method according to claim 1 or 2, characterized in that, The method further comprises: displaying an information selection page, the information selection page comprising at least one selection control for displaying corresponding cooperative obstacle information and / or non-cooperative obstacle information when selected.

8. The method of claim 1, wherein, The at least one pre-warning area in the warning airspace is determined according to a horizontal position threshold value, a vertical relative position threshold value and a preset collision point position threshold value of the aircraft.

9. The method of claim 1 or 2, wherein, The collision warning information comprises at least one of a warning warning, a corrective warning and a preventive warning.

10. The method of claim 9, wherein, The preventive warning comprises a distance between the corresponding obstacle and the aircraft, for prompting the aircraft to maintain a flight state.

11. The method of claim 9, wherein, In response to the collision warning information being the corrective warning, the method further comprises: sending a request avoidance information to the information center, so as to forward the request avoidance information to air traffic control through the information center.

12. The method of claim 9, wherein, In response to the collision warning information being the warning warning, the method further comprises: generating and displaying avoidance guidance information corresponding to the warning warning according to cooperative obstacle information or non-cooperative obstacle information corresponding to the warning warning and flight state information of the aircraft.

13. The method of claim 12, wherein, The method further comprises: determining a flight state of the aircraft; in response to the flight state being an automatic driving state, generating a corresponding avoidance instruction according to the obstacle motion trajectory information and the collision warning information to control the aircraft to avoid.

14. The method of claim 13, wherein, The method further comprises: in response to the flight state being a pilot driving state, displaying an avoidance control interface for performing an avoidance operation, the avoidance control interface being used for the pilot to control the aircraft to avoid.

15. The method of claim 1 or 2, wherein, The method further comprises: sending flight state information of the aircraft to the information center and / or the air traffic control.

16. A flight obstacle detection avoidance apparatus for an aircraft, comprising: The device comprises: a first information receiving module configured to receive cooperative obstacle information sent by an information center, the cooperative obstacle being another aircraft working cooperatively with the aircraft through air traffic control; a first information determining module configured to determine non-cooperative obstacle information through a sensing device of the aircraft or the information center; a collision warning information generating module configured to determine corresponding obstacle motion trajectory information and collision warning information according to the cooperative obstacle information and the non-cooperative obstacle information; a first information displaying module configured to display the obstacle motion trajectory information and the collision warning information; wherein the first information determining module comprises: a first information detecting submodule configured to, in response to a distance between the aircraft and a ground monitoring device being greater than a distance threshold value, detect non-cooperative obstacles around the aircraft through the sensing device of the aircraft and obtain corresponding non-cooperative obstacle information; a second information detecting submodule configured to, in response to the distance between the aircraft and the ground monitoring device being less than or equal to the distance threshold value, turn off the sensing device of the aircraft and receive non-cooperative obstacle information obtained by the ground monitoring device detecting non-cooperative obstacles around the aircraft and forwarded by the information center; wherein the collision warning information generating module comprises: a trajectory information generating submodule configured to determine obstacle motion trajectory information corresponding to each of the cooperative obstacle information and each of the non-cooperative obstacle information, respectively; a warning airspace determining submodule configured to determine a warning airspace corresponding to the aircraft, the warning airspace comprising at least one pre-warning area. The alarm information generation submodule is configured to determine corresponding collision alarm information according to a pre-warning area in which a position of a corresponding obstacle corresponding to the cooperative obstacle information and the non-cooperative obstacle information is located.

17. An electronic device, comprising: The computer program product comprises: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the method of any one of claims 1 to 15 when executing the instructions stored in the memory.

18. A non-transitory computer readable storage medium having stored thereon computer program instructions, wherein, The computer program instructions, when executed by the processor, implement the method of any one of claims 1 to 15.

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