Airport unmanned vehicle safe operation detection method, electronic equipment and storage medium

Abstract

The present invention provides a method for detecting the safe operation of unmanned vehicles at airports, which is used to detect the performance and operation aspects of unmanned vehicles at airports, wherein the performance aspects include communication capabilities, data integrity, position and speed accuracy, and conflict detection capabilities. The operation aspects include the identity, speed, driving route, and parking position of unmanned vehicles at airports. When there is a problem with the performance, the vehicle is judged to be abnormal, and a new vehicle is assigned to perform the task of the vehicle. If there is a problem with the operation, a new vehicle is assigned to perform the task of an unmanned vehicle whose identity is questionable. For unmanned vehicles that exceed the speed limit, deviate from the driving route, or violate parking regulations, real-time control and correction are carried out. The present invention can detect the status of unmanned vehicles at airports in real time.

Description

Technical Field

[0001] The present invention relates to the field of unmanned driving technology, and in particular to a method for detecting safe operation of an unmanned vehicle at an airport, an electronic device, and a storage medium. Background Art

[0002] Unmanned airport vehicles are a new generation of airport equipment. Equipped with advanced sensors and controllers, and utilizing new technologies such as artificial intelligence, they possess autonomous driving capabilities, including complex environment perception, intelligent decision-making, and collaborative control, enabling them to operate and support operations within airport areas. According to relevant domestic and international standards, unmanned driving technology is categorized into six levels (L0 to L5) based on the degree of automation: emergency assistance, partial driving assistance, combined driving assistance, conditional autonomous driving, highly autonomous driving, and fully autonomous driving. Unmanned airport vehicles specifically refer to equipment with highly autonomous driving (L4) and fully autonomous driving (L5) capabilities.

[0003] The use of unmanned vehicles at airports provides a crucial guarantee for safe airport construction. It is an effective means of preventing human error, illegal operations, and resolving unsafe incidents such as apron collisions and runway incursions. It also provides a crucial tool for green airport construction, optimizing ground support efficiency, improving equipment coordination, and reducing resource consumption. It also sets an important precedent for smart airport construction, enhancing airport automation and intelligence, and achieving a typical application for the transformation of high-quality development of civil aviation. Therefore, real-time monitoring of the status of unmanned vehicles at airports is of vital importance to the safe operation of airports. Summary of the Invention

[0004] In view of the above technical problems, the technical solution adopted by the present invention is:

[0005] An embodiment of the present invention provides a method for detecting safe operation of an unmanned vehicle at an airport, the method comprising the following steps:

[0006] S100, at the current detection time t, obtain the corresponding operating parameter set from the current storage queue corresponding to the airport unmanned vehicle i; if the obtained operating parameter set is an empty set, execute S200; otherwise, execute S400; the corresponding operating parameters at least include the U of the airport unmanned vehicle i , △h i t ,△v i t 、Lat i t 、Lut i t 、V i t LA i VA i and Ai t Among them, U i is the ID of the airport unmanned vehicle i, △h i is the lateral offset of the GNSS antenna installation of the airport unmanned vehicle i, △v i The longitudinal offset of the GNSS antenna installation of the airport unmanned vehicle i, Lat i t is the longitude of the airport unmanned vehicle i detected at the current detection time t, Lut i t is the latitude of the airport unmanned vehicle i detected at the current detection time t, V i t is the speed of the airport unmanned vehicle i detected at the current detection time t, LA i is the position accuracy of the airport unmanned vehicle i, VA i is the speed accuracy of airport unmanned vehicle i, A i t is the emergency braking status identifier of the airport unmanned vehicle i detected at the current detection time t; the value of i ranges from 1 to n, where n is the number of airport unmanned vehicles;

[0007] S200, if the number of empty sets p in the current storage queue is greater than p0, then it is determined that the airport unmanned vehicle i is in an abnormal state, and the airport unmanned vehicle is instructed to move to a designated area, and the ID U is stored in the abnormal vehicle ID library; otherwise, execute S300; p0 is a set value;

[0008] S300, set t=t+1; execute S100;

[0009] S400: If the operating parameter set includes all operating parameters, execute S500; otherwise, determine that the airport unmanned vehicle i is in an abnormal state, instruct the airport unmanned vehicle to move to a designated area, and store U in the abnormal vehicle ID library;

[0010] S500, if LA i >LA0, and VA i >VA0, execute S600; otherwise, determine that the airport unmanned vehicle i is in an abnormal state, and instruct the airport unmanned vehicle to move to a designated area, and move the U i Stored in the abnormal vehicle ID database; LA0 is the preset position accuracy value, VA0 is the preset speed accuracy value;

[0011] S600, based on A i, determining whether the conflict detection capability of the airport unmanned vehicle i meets the preset conditions; if so, executing S700; otherwise, determining that the airport unmanned vehicle i is in an abnormal state, instructing the airport unmanned vehicle to move to a designated area, and storing U in an abnormal vehicle ID database;

[0012] S700, based on U i , the airport unmanned vehicle determines whether the airport unmanned vehicle i is a target vehicle. If so, execute S800; otherwise, determine that the airport unmanned vehicle i is in an abnormal state, and instruct the airport unmanned vehicle to move to a designated area, and move the U i Store in the abnormal vehicle ID database;

[0013] S800, if V i t >0, execute S900; if V i t =0, execute S1100;

[0014] S900, based on the current storage queue corresponding to the airport unmanned vehicle i, determine V i t Whether the corresponding setting conditions are met, if so, execute S1000; otherwise, determine that the airport unmanned vehicle i is in an abnormal state, and V i t Adjust so that the adjusted V i t Satisfy the corresponding setting conditions;

[0015] S1000, based on △h i , judging whether the driving route of the airport unmanned vehicle i satisfies the corresponding set conditions; if so, determining that the airport unmanned vehicle i is in a normal state; otherwise, determining that the airport unmanned vehicle i is in an abnormal state, and adjusting the current position of the airport unmanned vehicle i so that the adjusted driving route of the airport unmanned vehicle i satisfies the corresponding set conditions;

[0016] S1100, based on △h i t ,△v i t 、Lat i t 、Lut i t, judging whether the parking position of the airport unmanned vehicle p meets the corresponding set conditions; if so, determining that the airport unmanned vehicle i is in a normal state; otherwise, determining that the airport unmanned vehicle i is in an abnormal state, and adjusting the parking position of the airport unmanned vehicle i so that the adjusted parking position of the airport unmanned vehicle i meets the corresponding set conditions.

[0017] An embodiment of the present invention further provides a non-transitory computer-readable storage medium, in which at least one instruction or at least one program is stored. The at least one instruction or the at least one program is loaded and executed by a processor to implement the aforementioned method.

[0018] An embodiment of the present invention further provides an electronic device, including a processor and the aforementioned non-transitory computer-readable storage medium. The present invention has at least the following beneficial effects:

[0019] The method for detecting safe operation of unmanned vehicles at airports provided by the embodiments of the present invention can perform real-time detection of the status of unmanned vehicles at airports, and can provide a certain guarantee for the safe operation of airports. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 This is a flow chart of a method for detecting safe operation of unmanned vehicles in airports provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0023] An embodiment of the present invention provides a method for detecting the safe operation of unmanned airport vehicles, which is used to monitor the status of unmanned airport vehicles. In this embodiment, the method is used to monitor the performance and operational aspects of unmanned airport vehicles. Performance aspects include communication capabilities, data integrity, position and speed accuracy, and conflict detection capabilities. Operational aspects include the identity, speed, driving route, and parking location of unmanned airport vehicles.

[0024] Specific body, such as Figure 1 As shown, the method may include the following steps:

[0025] S100, at the current detection time t, obtain the corresponding operating parameter set from the current storage queue corresponding to the airport unmanned vehicle i; if the obtained operating parameter set is an empty set, execute S200; otherwise, execute S400; the corresponding operating parameters at least include the U of the airport unmanned vehicle i , L i 、W i , △h i t ,△v i t 、Lat i t 、Lut i t 、V i t LA i VA i and A i t Among them, U i is the ID of the airport unmanned vehicle ii, L i is the length of the airport unmanned vehicle i, W i is the width of the unmanned vehicle i at the airport, △h i is the lateral offset of the GNSS antenna installation of the airport unmanned vehicle i, △v i The longitudinal offset of the GNSS antenna installation of the airport unmanned vehicle i, Lat i t is the longitude of the airport unmanned vehicle i detected at the current detection time t, Lut i t is the latitude of the airport unmanned vehicle i detected at the current detection time t, V i t is the speed of the airport unmanned vehicle i detected at the current detection time t, LA i is the position accuracy of the airport unmanned vehicle i, VA i is the speed accuracy of airport unmanned vehicle i, A i t It is the emergency braking status identifier of the airport unmanned vehicle i detected at the current detection time t; the value of i ranges from 1 to n, where n is the number of airport unmanned vehicles.

[0026] In this embodiment of the present invention, each airport unmanned vehicle transmits its operating parameters to the control center at a set transmission period, such as 0.5 to 1 second. The control center stores the received operating parameters in a corresponding storage queue and obtains the corresponding operating parameters in real time at a set sampling period, such as 0.5 to 1 second.

[0027] S200, if the number of empty sets p in the current storage queue is greater than p0, indicating that the communication capability of the airport unmanned vehicle i does not meet the requirements, then the airport unmanned vehicle i is determined to be in an abnormal state, and the airport unmanned vehicle is instructed to move to a designated area, and U is stored in the abnormal vehicle ID library; otherwise, execute S300; p0 is a set value.

[0028] The control center collects data from all unmanned vehicles operating at the airport via the 5G AeroMACS2.0 communication link. The center then analyzes the data according to the established protocol format and compares it with the set operating parameters to determine if any missing elements are present. If any missing elements are present, it indicates a problem with the data transmission capabilities of the airport's unmanned vehicles.

[0029] In the embodiment of the present invention, p0 may be a user-defined value. In an exemplary embodiment, 3≤p0≤5, preferably, p0=4.

[0030] In an embodiment of the present invention, the designated area may be a garage, and vehicles in abnormal conditions are returned to the garage to wait for repairs.

[0031] S300, set t=t+1; execute S100.

[0032] S400, if the operating parameter set includes all operating parameters, execute S500; otherwise, determine that the airport unmanned vehicle i is in an abnormal state, instruct the airport unmanned vehicle to move to a designated area, and store U in the abnormal vehicle ID library.

[0033] S500, if LA i >LA0, and VA i >VA0, execute S600; otherwise, determine that the airport unmanned vehicle i is in an abnormal state, and instruct the airport unmanned vehicle to move to a designated area, and move the U i Stored in the abnormal vehicle ID library; LA0 is the preset position accuracy value, and VA0 is the preset speed accuracy value.

[0034] In embodiments of the present invention, LA0 may be the horizontal position accuracy obtained by combining positioning sources such as GNSS and inertial navigation systems installed on the unmanned vehicle. In one exemplary embodiment, LA0 is greater than 1 meter. VA0 may be the horizontal velocity accuracy obtained based on LA0. In one exemplary embodiment, VA0 is greater than 0.3 m / s. Those skilled in the art will appreciate that obtaining VA0 based on LA0 is conventional technology.

[0035] S600, based on A i , determine whether the conflict detection capability of the airport unmanned vehicle i meets the preset conditions. If so, execute S700; otherwise, determine that the airport unmanned vehicle i is in an abnormal state, instruct the airport unmanned vehicle to move to a designated area, and store U in the abnormal vehicle ID library.

[0036] Maintaining a driverless vehicle's conflict detection capability is crucial for its safe operation. Therefore, autonomous vehicles must be capable of proactive conflict detection at distances greater than a certain threshold, such as 300 meters. When a conflict warning is triggered, the vehicle should automatically initiate emergency braking, such as slowing down or stopping.

[0037] Furthermore, S600 may specifically include:

[0038] S601, determine whether the airport unmanned vehicle i is currently in a traffic conflict risk state. If so, execute S602; otherwise, execute S700.

[0039] The airport's intelligent operations control center uses optical, radar and other surveillance sensors deployed at the airport, combined with operational plans such as work plans, route planning, and traffic rules, to provide conflict warnings for the entire airport's traffic situation. This means it can determine in real time whether an airport's unmanned vehicle i is currently at risk of a traffic conflict.

[0040] S602: Obtain the distance D between the airport unmanned vehicle i and the corresponding collision object at the current detection time t. i t , if D i t ≤ D0; execute S603; otherwise, execute S700; D0 is a preset distance threshold. In an exemplary embodiment, D0 is 300 meters.

[0041] S603, if A i If the first state is marked, execute S700; if A i The second state flag determines that the airport unmanned vehicle i is in an abnormal state, instructs the airport unmanned vehicle to move to a designated area, and i Stored in the abnormal vehicle ID database.

[0042] In the embodiment of the present invention, the first state identifier and the second state identifier can be set based on actual needs, as long as they are different identifiers, and the present invention does not make any special restrictions. i , the airport unmanned vehicle determines whether the airport unmanned vehicle i is a target vehicle. If so, execute S800; otherwise, determine that the airport unmanned vehicle i is in an abnormal state, and instruct the airport unmanned vehicle to move to a designated area, and move the U i Stored in the abnormal vehicle ID database.

[0043] Airport surfaces are critical areas for aircraft operations, requiring strict oversight of vehicle identities. Unmanned vehicles permitted to operate within these areas must undergo rigorous inspection and meet pre-defined performance requirements. They must also be registered with the Airport Operations Support Resource Management Center and possess unique identification information. Ultra-high-definition optical sensors deployed at the airport capture and identify the license plates of unmanned vehicles operating at the airport, ensuring compliance with their identities.

[0044] Furthermore, S700 may specifically include:

[0045] Take U i A search is performed in a preset vehicle ID library using the search term U. If a corresponding ID is found, the airport unmanned vehicle i is determined to be the target vehicle, and S800 is executed. Otherwise, the airport unmanned vehicle i is determined to be in an abnormal state, and the airport unmanned vehicle is instructed to move to a designated area, and U is stored in the abnormal vehicle ID library.

[0046] S800, if V i t >0, execute S900; if V i t =0, execute S1100.

[0047] S900, based on the current storage queue corresponding to the airport unmanned vehicle i, determine V i t Whether the corresponding setting conditions are met, if so, execute S1000; otherwise, determine that the airport unmanned vehicle i is in an abnormal state, and V i t Adjust so that the adjusted V i t Satisfy the corresponding setting conditions.

[0048] Airports implement speed limits for vehicles in designated areas based on their actual conditions, with a maximum speed generally not exceeding 50 km / h. For example, a domestic airport stipulates a 15 km / h speed limit around the terminal satellite hall, a 30 km / h speed limit for straight-through roads in the west area, and a 25 km / h speed limit for turning roads. Therefore, speed limits are determined by the area in which the unmanned vehicle is traveling and its state of motion (straight or turning). The area in which the unmanned vehicle is traveling is determined based on the location information of the minimum data item set and the high-precision map of the airport, while its state of motion is determined based on the results of heading change tracking.

[0049] Furthermore, S900 may specifically include:

[0050] S901: If the operating parameter sets corresponding to the two detection moments before the current detection moment t are not empty sets, execute S902; otherwise, execute S300.

[0051] S902, obtain φ i t 、φ i t-1 、φ i t-2 , if (φ i t -φ i t-1 )<φ0, and (φ i t-1 -φ i t-2 )<φ0, it means that the airport unmanned vehicle i is driving in a straight line, and execute S903; otherwise, it means that it is turning, and execute S804; i t 、φ i t-1 、φ i t-2 are the heading angles of the airport unmanned vehicle i corresponding to the current detection time t, the moment before the detection time t, and the two moments before the detection time t, respectively; φ0 is the preset heading angle threshold, which can be an empirical value.

[0052] In the embodiment of the present invention, the heading angle can be obtained by the existing technology. For example, φ i t =tan -1 (y i t / x i t ), where y i t is the current north-south speed of the airport unmanned vehicle i, x i t is the current east-west speed of the airport unmanned vehicle i.

[0053] S903, if V i t < V1, execute S1000, otherwise, determine that the airport unmanned vehicle i is in an abnormal state, and i t Adjust so that the adjusted V i t Less than V1; V1 is the first set speed threshold corresponding to the airport unmanned vehicle.

[0054] S904, if V i t < V2, execute S1000; otherwise, determine that the airport unmanned vehicle i is in an abnormal state, and i t Adjust so that the adjusted V i t Less than V2, where V2 is a second set speed threshold corresponding to the airport unmanned vehicle.

[0055] In the implementation of the present invention, V1 and V2 are determined based on the speed limit rules of the area and the airport to which the airport unmanned vehicle i belongs.

[0056] S1000, based on △h i , judging whether the driving route of the airport unmanned vehicle i meets the corresponding set conditions; if so, determining that the airport unmanned vehicle i is in a normal state; otherwise, determining that the airport unmanned vehicle i is in an abnormal state, and adjusting the current position of the airport unmanned vehicle i so that the adjusted driving route of the airport unmanned vehicle i meets the corresponding set conditions.

[0057] Furthermore, S1000 may specifically include:

[0058] S1001, based on △h i , obtain the left lateral position x of the airport unmanned vehicle corresponding to the current detection time t iL t and right lateral position x iR t .

[0059] Those skilled in the art know that based on Δh i , get x iL t and x iR t It may be existing technology.

[0060] S1002: Based on the high-precision map data of the airport corresponding to the airport unmanned vehicle, the position x of the left line of the taxiway corresponding to the current detection time t is obtained. i1 t and the position x of the right sideline i2 t .

[0061] S1003, if |x iL t -x i1 t ∣<∣x iL t-1 -x i1 t-1 ∣, and ∣x iL t -x i1 t |<x0, or, if |x iR t -x i2 t ∣<∣x iR t-1 -x i2 t-1 ∣, and ∣x iR t -x i2 t |<x0, it is determined that the driving route of the airport unmanned vehicle i does not meet the corresponding set conditions, that is, a lane deviation occurs, and the airport unmanned vehicle i is determined to be in an abnormal state, and x iL t and x iR t Adjustments are made to make the airport unmanned vehicle i travel on the corresponding driving route. S1100, based on △h i t ,△v i t 、Lat i t 、Lut i t , judging whether the parking position of the airport unmanned vehicle p meets the corresponding set conditions; if so, determining that the airport unmanned vehicle i is in a normal state; otherwise, determining that the airport unmanned vehicle i is in an abnormal state, and adjusting the parking position of the airport unmanned vehicle i so that the adjusted parking position of the airport unmanned vehicle i meets the corresponding set conditions.

[0062] Unmanned vehicles operating at the airport must be parked in the equipment area or parking space designated by the airport management agency and must be parked in the direction indicated by the ground markings on the parking space.

[0063] Furthermore, S1100 specifically includes:

[0064] S1101, obtaining the position G1 of the front, rear, left and right sides of the airport unmanned vehicle in the parking space i , G2 i 、G4 i and G4 i .

[0065] S1102, obtain L1 i , L2 i , L3 i and L4 i , Lj i Based on Gj i The distance between the corresponding side of the corresponding parking space, j ranges from 1 to 4.

[0066] S1103, if Lj i ≠Lj0, then for G1 i , G2 i 、G4 i and G4 i Adjust so that Lj i =Lj0, where Lj0 is Gj i and the specified distance between the corresponding side of the corresponding parking space.

[0067] Lj0 can be determined based on the corresponding parking rules.

[0068] Furthermore, in another embodiment of the present invention, S500 is replaced by:

[0069] S510, if LA i >LA0, and VA i >VA0, and LA1 i >LA0, and VA1 i >VA0, execute S600; otherwise, determine that the airport unmanned vehicle i is in an abnormal state, and instruct the airport unmanned vehicle to move to a designated area, and move the U i Stored in the abnormal vehicle ID library; LA0 is the preset position accuracy value, VA0 is the preset speed accuracy value; LA1 i =S1 i t -S2 i t , S1 i t Based on Lat it 、Lut i t The relative distance between the airport unmanned vehicle i and the corresponding taxiway edge obtained from the high-precision map data of the corresponding airport, S2 i t VA1 is the relative distance between the airport unmanned vehicle i and the corresponding taxiway edge line, obtained based on the vehicle positioning data obtained from the image detection device set up at the airport corresponding to the airport unmanned vehicle i and the high-precision map data, i t Based on LA1 i t The specific obtaining method can be the existing technology.

[0070] Compared with S500, S510 can make the judgment of position accuracy and speed accuracy more accurate.

[0071] Furthermore, the corresponding operating parameters also include the mission type C of the airport unmanned vehicle;

[0072] The method further comprises:

[0073] In response to receiving the U in the abnormal vehicle ID database, another airport unmanned vehicle with a mission type of C and a normal status is indicated to replace the airport unmanned vehicle i.

[0074] Furthermore, the operating parameters also include the length and width of the airport unmanned vehicle.

[0075] An embodiment of the present invention also provides a non-transitory computer-readable storage medium, which can be set in an electronic device to store at least one instruction or at least one program related to implementing a method in a method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement the method provided in the above embodiment.

[0076] An embodiment of the present invention further provides an electronic device including a processor and the aforementioned non-transitory computer-readable storage medium.

[0077] An embodiment of the present invention further provides a computer program product comprising program code. When the program product is run on an electronic device, the program code is used to enable the electronic device to execute the steps of the method according to various exemplary embodiments of the present invention described above in this specification.

[0078] Although some specific embodiments of the present invention have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It should also be understood by those skilled in the art that various modifications may be made to the embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A method for detecting safe operation of unmanned vehicles at an airport, characterized in that: The method comprises the following steps: S100, at the current detection time t, obtain the corresponding operating parameter set from the current storage queue corresponding to the airport unmanned vehicle i; if the obtained operating parameter set is an empty set, execute S200; Otherwise, execute S400; the corresponding operating parameters at least include the U i , △h i t ,△v i t 、Lat i t 、Lut i t 、V i t LA i VA i and A i t Among them, U i is the ID of the airport unmanned vehicle i, △h i is the lateral offset of the GNSS antenna installation of the airport unmanned vehicle i, △v i The longitudinal offset of the GNSS antenna installation of the airport unmanned vehicle i, Lat i t is the longitude of the airport unmanned vehicle i detected at the current detection time t, Lut i t is the latitude of the airport unmanned vehicle i detected at the current detection time t, V i t is the speed of the airport unmanned vehicle i detected at the current detection time t, LA i is the position accuracy of the airport unmanned vehicle i, VA i is the speed accuracy of airport unmanned vehicle i, A i t is the emergency braking status identifier of the airport unmanned vehicle i detected at the current detection time t; the value of i ranges from 1 to n, where n is the number of airport unmanned vehicles; S200, if the number of empty sets p in the current storage queue is greater than p0, it is determined that the airport unmanned vehicle i is in an abnormal state, and the airport unmanned vehicle is instructed to move to a designated area, and the U i Store in the abnormal vehicle ID database; otherwise, execute S300; p0 is the set value; S300, set t=t+1; execute S100; S400, if the operating parameter set includes all the operating parameters, execute S500; otherwise, determine that the airport unmanned vehicle i is in an abnormal state, and instruct the airport unmanned vehicle to move to a designated area, and move the U i Store in the abnormal vehicle ID database; S500, if LA i >LA0, and VA i >VA0, execute S600; otherwise, determine that the airport unmanned vehicle i is in an abnormal state, and instruct the airport unmanned vehicle to move to a designated area, and move the U i Stored in the abnormal vehicle ID database; LA0 is the preset position accuracy value, VA0 is the preset speed accuracy value; S600, based on A i , determine whether the conflict detection capability of the airport unmanned vehicle i meets the preset conditions, if so, execute S700; otherwise, determine that the airport unmanned vehicle i is in an abnormal state, and instruct the airport unmanned vehicle to move to a designated area, and move the U i Store in the abnormal vehicle ID database; S700, based on U i , the airport unmanned vehicle determines whether the airport unmanned vehicle i is a target vehicle. If so, execute S800; otherwise, determine that the airport unmanned vehicle i is in an abnormal state, and instruct the airport unmanned vehicle to move to a designated area, and move the U i Store in the abnormal vehicle ID database; S800, if V i t >0, execute S900; if V i t =0, execute S1100; S900, based on the current storage queue corresponding to the airport unmanned vehicle i, determine V i t Whether the corresponding setting conditions are met, if so, execute S1000; otherwise, determine that the airport unmanned vehicle i is in an abnormal state, and V i t Adjust so that the adjusted V i t Satisfy the corresponding setting conditions; S1000, based on △h i , judging whether the driving route of the airport unmanned vehicle i satisfies the corresponding set conditions; if so, determining that the airport unmanned vehicle i is in a normal state; otherwise, determining that the airport unmanned vehicle i is in an abnormal state, and adjusting the current position of the airport unmanned vehicle i so that the adjusted driving route of the airport unmanned vehicle i satisfies the corresponding set conditions; S1100, based on △h i t ,△v i t 、Lat i t 、Lut i t , judging whether the parking position of the airport unmanned vehicle i meets the corresponding set conditions; if so, determining that the airport unmanned vehicle i is in a normal state; otherwise, determining that the airport unmanned vehicle i is in an abnormal state, and adjusting the parking position of the airport unmanned vehicle i so that the adjusted parking position of the airport unmanned vehicle i meets the corresponding set conditions.

2. The method according to claim 1, characterized in that The S500 is replaced by: S510, if LA i >LA0, and VA i >VA0, and LA1 i >LA0, and VA1 i >VA0, execute S600; otherwise, determine that the airport unmanned vehicle i is in an abnormal state, and instruct the airport unmanned vehicle to move to a designated area, and move the U i Stored in the abnormal vehicle ID database; LA0 is the preset position accuracy value, VA0 is the preset speed accuracy value; LA1 i =S1 i t -S2 i t , S1 i t Based on Lat i t 、Lut i t The relative distance between the airport unmanned vehicle i and the corresponding taxiway edge obtained from the high-precision map data of the corresponding airport, S2 i t VA1 is the relative distance between the airport unmanned vehicle i and the corresponding taxiway edge line, obtained based on the vehicle positioning data obtained from the image detection device set up at the airport corresponding to the airport unmanned vehicle i and the high-precision map data, i t Based on LA1 i t get.

3. The method according to claim 1, characterized in that S600 specifically includes: S601, determining whether the airport unmanned vehicle i is currently in a traffic conflict risk state, if yes, executing S602; otherwise, executing S700; S602: Obtain the distance D between the airport unmanned vehicle i and the corresponding collision object at the current detection time t. i t , if D i t ≤D0; execute S603; otherwise, execute S700; D0 is the preset distance threshold; S603, if A i If the first state is marked, execute S700; if A i The second state flag determines that the airport unmanned vehicle i is in an abnormal state, instructs the airport unmanned vehicle to move to a designated area, and i Stored in the abnormal vehicle ID database.

4. The method according to claim 1, wherein S700 specifically includes: Take U i The search term is used to search in the preset vehicle ID library. If the corresponding ID is found, the airport unmanned vehicle i is determined to be the target vehicle and S800 is executed. Otherwise, the airport unmanned vehicle i is determined to be in an abnormal state and the airport unmanned vehicle is instructed to move to a designated area and the U i Stored in the abnormal vehicle ID database.

5. The method according to claim 1, wherein S900 specifically includes: S901: If the operating parameter sets corresponding to the two detection times before the current detection time t are not empty sets, execute S902; otherwise, execute S300; S902, obtain φ i t 、φ i t-1 、φ i t-2 , if (φ i t -φ i t-1 )<φ0, and (φ i t-1 -φ i t-2 )<φ0, execute S903, otherwise, execute S804; φ i t 、φ i t-1 、φ i t-2 are the heading angles of the airport unmanned vehicle i corresponding to the current detection time t, the moment before the detection time t, and the two moments before the detection time t, respectively; φ0 is the preset heading angle threshold; S903, if V i t < V1, execute S1000, otherwise, determine that the airport unmanned vehicle i is in an abnormal state, and i t Adjust so that the adjusted V i t Less than V1; V1 is the first set speed threshold corresponding to the unmanned vehicle at the airport; S904, if V i t < V2, execute S1000; otherwise, determine that the airport unmanned vehicle i is in an abnormal state, and i t Adjust so that the adjusted V i t Less than V2, where V2 is a second set speed threshold corresponding to the airport unmanned vehicle.

6. The method according to claim 1, characterized in that S1000 specifically includes: S1001, based on △h i , obtain the left lateral position x of the airport unmanned vehicle corresponding to the current detection time t iL t and right lateral position x iR t ; S1002: Based on the high-precision map data of the airport corresponding to the airport unmanned vehicle, the position x of the left line of the taxiway corresponding to the current detection time t is obtained. i1 t and the position x of the right sideline i2 t ; S1003, if |x iL t -x i1 t ∣<∣x iL t-1 -x i1 t-1 ∣, and ∣x iL t -x i1 t |<x0, or, if |x iR t -x i2 t ∣<∣x iR t-1 -x i2 t-1 ∣, and ∣x iR t -x i2 t |<x0, it is determined that the driving route of the airport unmanned vehicle i does not meet the corresponding set conditions, and the airport unmanned vehicle i is determined to be in an abnormal state, and x iL t and x iR t Make adjustments.

7. The method according to claim 1, characterized in that S1100 specifically includes: S1101, obtaining the position G1 of the front, rear, left and right sides of the airport unmanned vehicle in the parking space i , G2 i 、G4 i and G4 i ; S1102, obtain L1 i , L2 i , L3 i and L4 i , Lj i Based on Gj i The distance between the corresponding side of the corresponding parking space, j ranges from 1 to 4; S1103, if Lj i ≠Lj0, then for G1 i , G2 i 、G4 i and G4 i Adjust so that Lj i =Lj0, where Lj0 is Gj i and the specified distance between the corresponding side of the corresponding parking space.

8. The method according to claim 1, characterized in that The corresponding operating parameters also include the mission type C of the airport unmanned vehicle; The method further comprises: In response to receiving the U in the abnormal vehicle ID library i , indicating that other airport unmanned vehicles with a mission type of C and a normal status replace the airport unmanned vehicle i.

9. A non-transitory computer-readable storage medium, wherein at least one instruction or at least one program is stored in the storage medium, characterized in that: The at least one instruction or the at least one program is loaded and executed by a processor to implement the method according to any one of claims 1 to 8.

10. An electronic device, characterized in that: The device comprises a processor and the non-transitory computer-readable storage medium as claimed in claim 9.

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