An aircraft taxiing warning method based on vehicle-road cooperation

Abstract

The application discloses an airplane taxiing warning method based on vehicle-road cooperation, wherein a roadside device is arranged on the side of a taxiing road, the distance from the roadside device to a crossing road stop line and the current stop line width are measured, an airplane taxiing detection range is set, an edge computing server receives data information of the roadside device arranged on the side of the taxiing road, the edge server judges whether there is an object in the maximum envelope range of the airplane taxiing detection range according to the sensing data of the roadside device, the edge server judges whether the object is close to or far away from the taxiing crossing road according to the data of the roadside device, whether the object detected by the image is an airplane is judged according to an image recognition algorithm, vehicle warning information, a vehicle number and vehicle position information are reported to a cloud service platform, and the cloud service platform displays the vehicle information after receiving the vehicle information, so that the information intercommunication between the vehicle and the roadside is fully realized, and the airplane taxiing warning method based on the vehicle-road cooperation for the future unmanned vehicle driving is more expandable.

Description

Technical Field

[0001] This invention belongs to the fields of airport traffic control engineering technology and vehicle networking technology, and in particular, it is a method for aircraft taxiing warning based on vehicle-road cooperation. Background Technology

[0002] After landing, an aircraft needs to taxi for a period of time to reach the designated parking apron. In actual airport environments, there are situations where aircraft taxiways intersect with internal vehicle routes. This can pose a danger when manned vehicles enter blind spots or when unmanned vehicles approach intersections.

[0003] To avoid such situations, airport pilot manuals require pilots to give way at least 50 meters to the side of an aircraft when it is taxiing or towing, and not to pass within 200 meters in front of or 50 meters behind a taxiing aircraft. Currently, besides airport management, other methods include using cameras for real-time monitoring and early warning of taxiing at the airport. Real-time detection models can quickly detect left- and right-handed aircraft in video footage, further identifying their direction. If a taxiing aircraft is detected within the detection range, an early warning is issued. This method effectively avoids traffic accidents caused by human error and has a relatively fast detection speed. However, it suffers from problems such as significant susceptibility to external environmental interference, low accuracy in distance measurement, and complex algorithms. Furthermore, it does not integrate vehicles, especially unmanned vehicles, into the aircraft taxiing warning system. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides an aircraft taxiing alarm method based on vehicle-road cooperation.

[0005] The specific plan is as follows:

[0006] A vehicle-road cooperative aircraft taxiing warning method includes the following steps:

[0007] Step 1: Deploy roadside equipment on the side of the taxiway, measure the distance from the roadside equipment to the intersection stop line and the current stop line width. The roadside equipment includes a first millimeter-wave radar, a second millimeter-wave radar, a high-definition pan-tilt unit and a roadside unit (RSU).

[0008] Step 2: Set the aircraft taxiing detection range;

[0009] Step 3: The edge computing server receives data information from devices deployed on the side of the taxiway;

[0010] Step 4: The edge server determines whether there is an object within the maximum envelope of the aircraft taxiing detection based on the sensing data from the roadside equipment. If there is, proceed to step 5; otherwise, return to step 3.

[0011] Step 5: The edge server determines whether the object is approaching or moving away from the taxiway based on the data from the roadside equipment. If it is approaching the taxiway, proceed to step 6. If it is moving away from the taxiway, determine whether the object has left the maximum envelope of the aircraft taxiway detection. If it has not left, proceed to step 6. If it has left, return to step 3.

[0012] Step 6: Determine whether the object detected in the image is an airplane based on the image recognition algorithm. If not, the edge server uploads a prompt message to the cloud server, indicating "An unknown object exists on the taxiway". At the same time, the edge server sends the information "Whether there is an object within the maximum envelope of the aircraft taxiing detection, the direction of the object's taxiing, and whether the object is an airplane" to the roadside unit (RSU).

[0013] Step 7: The Roadside Unit (RSU) sends information to vehicles with Onboard Units (OBUs) within the communication range, and the edge computing server restarts the calculation.

[0014] Step 8: After receiving the information, the On-Board Unit (OBU) determines whether the vehicle is within the safe stopping distance based on the distance between the vehicle and the stop line at the taxiway intersection. If it is, it prompts "Stop the vehicle immediately"; otherwise, it distinguishes between the object and an aircraft. If it is an aircraft, it issues a warning "An aircraft is currently taxiing, please be careful"; if it is not an aircraft, it issues a warning "An unidentified object is moving on the current taxiway, please be careful".

[0015] Step 9: Report vehicle warning information, vehicle number, and vehicle location information to the cloud service platform. The cloud service platform will then display the vehicle information upon receipt.

[0016] Step two, setting the aircraft taxiing detection range includes the following steps:

[0017] S21): Taking the center point of the intersection between the taxiway and the intersection as the origin (0, 0), set the width of the taxiway as... The width of the stop line is The safe avoidance distance on one side of the aircraft is During taxiing, the safe avoidance distance in front of the aircraft is The safe avoidance distance behind the aircraft is ,and ;

[0018] The vertical distance between the first millimeter-wave radar and the intersection is The vertical distance between the second millimeter-wave radar and the intersection is The algorithm recognition time and communication propagation delay are t, and the aircraft taxiing speed is V;

[0019] S22): Set the vertical direction from the intersection to the roadside equipment as the positive direction of the aircraft, and the vertical direction from the roadside equipment to the intersection as the negative direction of the aircraft. Calculate the aircraft taxiing detection range when traveling in the positive direction and the aircraft taxiing detection range when traveling in the negative direction. Determine the maximum envelope range of aircraft taxiing detection based on the aircraft taxiing detection range when traveling in the positive direction and the aircraft taxiing detection range when traveling in the negative direction.

[0020] The detection range for aircraft taxiing in a forward direction is:

[0021]

[0022] in, These are the coordinates of the four vertices of the aircraft's taxiing detection range when it is traveling in the forward direction;

[0023] The detection range for aircraft taxiing in the negative direction is:

[0024]

[0025] in, These are the coordinates of the four vertices of the aircraft's taxiing detection range when traveling in the negative direction;

[0026] The maximum envelope range for aircraft taxiing detection is:

[0027]

[0028] in, The coordinates of the four vertices of the maximum envelope of the aircraft's taxiing range;

[0029] Step four, the method for determining whether there is an object within the maximum envelope of the aircraft taxiing detection, includes the following steps:

[0030] S41): Obtain the vertical distance between the object and the first millimeter-wave radar. The distance of the object from the second millimeter-wave radar for processing. ;

[0031] S42): Judgment If the condition is met, then there is an object within the maximum envelope of the aircraft taxiing detection; or, if met, a judgment is made.

[0032] If the condition is met, then there is an object within the maximum envelope of the aircraft taxiing detection.

[0033] In step five, the method for determining whether an object is approaching or moving away from the taxiway entrance is as follows: the edge server determines the distance based on the current distance from the first millimeter-wave radar. Distance from the previous moment If a comparison is made, This indicates the object is approaching the taxiway intersection and is traveling in the negative direction. Otherwise, it indicates the object is moving away from the taxiway intersection and is traveling in the positive direction.

[0034] Alternatively, the edge server can determine the distance based on the current moment of the second millimeter-wave radar. Distance from the previous moment If a comparison is made, This indicates that the object is approaching the taxiway intersection and is traveling in the forward direction. Otherwise, it indicates that the object is moving away from the taxiway intersection and is traveling in the reverse direction.

[0035] In step five, the method for determining whether an object has left the maximum envelope range of the aircraft's taxiing detection is as follows: if the direction of travel is positive, then determine whether... If yes, it means the object has not moved away yet; otherwise, it means the object has moved away.

[0036] If the driving direction is negative, then determine whether... If yes, it means the object is not far away; otherwise, it means the object has already moved away.

[0037] The safe stopping distance in step eight is the sum of the safe avoidance distance and the vehicle's braking distance.

[0038] This invention discloses an aircraft taxiing warning method based on vehicle-road cooperation. The method incorporates vehicle-road cooperation technology, deploying millimeter-wave radar, an integrated gimbal-mounted high-definition camera, and a roadside unit (RSU) at a suitable location near the aircraft taxiway. Vehicles are equipped with onboard units (OBUs). During taxiing, the roadside facilities identify the aircraft's direction of travel, obtain the distance between the roadside equipment and the aircraft, and provide aircraft taxiing information to nearby vehicles through edge computing. Upon receiving the aircraft taxiing information, the vehicles perform calculations and decisions through their onboard computing units and issue warning information.

[0039] This invention proposes a vehicle-road cooperative aircraft taxiing warning method that takes into account the actual requirements of airport driving vehicles, fully realizes information exchange between vehicles and the roadside, and simultaneously considers the future driving of unmanned vehicles, making it more scalable.

[0040] The solution proposed in this invention is easy to implement, stable, and comprehensive, while also taking into account situations where vehicles moving on the taxiway, instead of aircraft, also need to give way. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the calculation process of the present invention.

[0042] Figure 2 This diagram shows the data transmission of various devices for aircraft taxiing alarms.

[0043] Figure 3 This is a schematic diagram of the detection range for forward-facing aircraft taxiing.

[0044] Figure 4 This is a schematic diagram of the negative aircraft taxiing detection range.

[0045] Figure 5 This is a schematic diagram of the first type of roadside deployment for aircraft taxiing in the negative direction. Detailed Implementation

[0046] The technical solutions in the embodiments of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the implementation of the present invention, and not all of it. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0047] The purpose of this invention is to address the potential traffic accidents caused by human error and the inability of unmanned airport vehicles to perceive aircraft taxiing information when vehicles (manned or unmanned) are traveling at aircraft taxiway intersections. This invention proposes an aircraft taxiing warning method based on vehicle-road cooperation. With reliability and ease of implementation as objectives, this invention builds upon existing vehicle-road cooperative communication technologies, considers the actual requirements of airport driving vehicles, and fully realizes information exchange between the roadside and vehicles. It provides aircraft taxiing warning information to participating vehicles, further improving airport operational safety.

[0048] like Figures 1 to 2 As shown, an aircraft taxiing warning method based on vehicle-road cooperation includes the following steps:

[0049] Step 1: Deploy roadside equipment on the side of the taxiway, and measure the distance from the roadside equipment to the stop line at the intersection and the current stop line width. The roadside equipment includes a first millimeter-wave radar, a second millimeter-wave radar, a high-definition pan-tilt unit, and a roadside unit (RSU). According to the actual requirements of the airport, install the first millimeter-wave radar, the second millimeter-wave radar, the integrated high-definition pan-tilt unit, and the roadside unit (RSU) near the deployable area of ​​the taxiway. The first and second millimeter-wave radars send taxiway information, including the distance and speed of objects from the current sensor, to the edge server at a certain frequency. The integrated high-definition pan-tilt unit sends taxiway video information to the edge server.

[0050] Step 2: Set the aircraft taxiing detection range;

[0051] Step two, setting the aircraft taxiing detection range includes the following steps:

[0052] S21): Taking the center point of the intersection between the taxiway and the intersection as the origin (0, 0), set the width of the taxiway as... The width of the stop line is The safe avoidance distance on one side of the aircraft is During taxiing, the safe avoidance distance in front of the aircraft is The safe avoidance distance behind the aircraft is ,and ;

[0053] The vertical distance between the first millimeter-wave radar and the intersection is The vertical distance between the second millimeter-wave radar and the intersection is The algorithm recognition time and communication propagation delay are t, and the aircraft taxiing speed is V;

[0054] S22): Set the vertical direction from the intersection to the roadside equipment as the positive direction of the aircraft, and the vertical direction from the roadside equipment to the intersection as the negative direction of the aircraft. Calculate the aircraft taxiing detection range when traveling in the positive direction and the aircraft taxiing detection range when traveling in the negative direction. Determine the maximum envelope range of aircraft taxiing detection based on the aircraft taxiing detection range when traveling in the positive direction and the aircraft taxiing detection range when traveling in the negative direction.

[0055] like Figure 3 As shown, the detection range for aircraft taxiing in the forward direction is:

[0056]

[0057] in, These are the coordinates of the four vertices of the aircraft's taxiing detection range when it is traveling in the forward direction;

[0058] like Figure 4 As shown, the detection range for aircraft taxiing in the negative direction is:

[0059]

[0060] in, These are the coordinates of the four vertices of the aircraft's taxiing detection range when traveling in the negative direction;

[0061] The maximum envelope range for aircraft taxiing detection is:

[0062]

[0063] in, The coordinates of the four vertices of the maximum envelope of the aircraft's taxiing range;

[0064] Step 3: The edge computing server receives data information from devices deployed on the side of the taxiway;

[0065] Step 4: The edge server determines whether there is an object within the maximum envelope of the aircraft taxiing detection based on the sensing data from the roadside equipment. If there is, proceed to step 5; otherwise, return to step 3.

[0066] Step four, the method for determining whether there is an object within the maximum envelope of the aircraft taxiing detection, includes the following steps:

[0067] S41): Obtain the vertical distance between the object and the first millimeter-wave radar. The distance of the object from the second millimeter-wave radar for processing. ;

[0068] S42): Judgment If the condition is met, then there is an object within the maximum envelope of the aircraft taxiing detection.

[0069] Or judgment If the condition is met, then there is an object within the maximum envelope of the aircraft taxiing detection.

[0070] Step 5: The edge server determines whether the object is approaching or moving away from the taxiway based on the data from the roadside equipment. If it is approaching the taxiway, proceed to step 6. If it is moving away from the taxiway, determine whether the object has left the maximum envelope of the aircraft taxiway detection. If it has not left, proceed to step 6. If it has left, return to step 3.

[0071] In step five, the method for determining whether an object is approaching or moving away from the taxiway entrance is as follows: the edge server determines the distance based on the current distance from the first millimeter-wave radar. Distance from the previous moment If a comparison is made, This indicates the object is approaching the taxiway intersection and is traveling in the negative direction. Otherwise, it indicates the object is moving away from the taxiway intersection and is traveling in the positive direction.

[0072] Alternatively, the edge server can determine the distance based on the current moment of the second millimeter-wave radar. Distance from the previous moment If a comparison is made, This indicates that the object is approaching the taxiway intersection and is traveling in the forward direction. Otherwise, it indicates that the object is moving away from the taxiway intersection and is traveling in the reverse direction.

[0073] In step five, the method for determining whether an object has left the maximum envelope range of the aircraft's taxiing detection is as follows: if the direction of travel is positive, then determine whether... If yes, it means the object has not moved away yet; otherwise, it means the object has moved away.

[0074] If the driving direction is negative, then determine whether... If yes, it means the object is not far away; otherwise, it means the object has already moved away.

[0075] Step 6: Determine whether the object detected in the image is an airplane based on the image recognition algorithm. If not, the edge server uploads a prompt message to the cloud server, indicating "An unknown object exists on the taxiway". At the same time, the edge server sends the information "Whether there is an object within the maximum envelope of the aircraft taxiing detection, the direction of the object's taxiing, and whether the object is an airplane" to the roadside unit (RSU).

[0076] Step 7: The Roadside Unit (RSU) sends information to vehicles with Onboard Units (OBUs) within the communication range, and the edge computing server restarts the calculation.

[0077] Step 8: After receiving the information, the On-Board Unit (OBU) determines whether the vehicle is within the safe stopping distance based on the distance between the vehicle and the stop line at the taxiway intersection. If it is, it prompts "Stop the vehicle immediately"; otherwise, it distinguishes between the object and an aircraft. If it is an aircraft, it issues a warning "An aircraft is currently taxiing, please be careful"; if it is not an aircraft, it issues a warning "An unidentified object is moving on the current taxiway, please be careful".

[0078] The safe stopping distance in step eight is the sum of the safe avoidance distance and the vehicle's braking distance. The safe avoidance distance is known. Vehicle braking distance Then the safe stopping distance ,in .

[0079] Step 9: Report vehicle warning information, vehicle number, and vehicle location information to the cloud service platform. The cloud service platform will then display the vehicle information upon receipt.

[0080] The actual working process of an aircraft taxiing alarm method based on vehicle-road cooperation is as follows:

[0081] Measure the distance from the roadside equipment to the intersection stop line and the current stop line width;

[0082] The distance from the intersection was obtained using a measuring device from the first millimeter-wave radar. The distance of the second millimeter-wave radar from the intersection Current stop line width .

[0083] Set the aircraft taxiing detection range;

[0084] According to the pilot's manual of a certain airport, when an aircraft is taxiing, vehicles must give way at least 50 meters to one side of the aircraft and are not allowed to pass within 200 meters in front of or 50 meters behind the taxiing aircraft. It is agreed that aircraft taxi in two directions: forward and backward. This direction is for distinguishing the direction of aircraft taxiing and has no practical significance. Taking the center point of the intersection of the taxiway and the road as (0,0), the taxiway width is 60 meters, considering the algorithm recognition time and communication propagation delay of 0.5 seconds, and the aircraft taxiing speed is 10 m / s.

[0085] The coasting detection range for forward travel is as follows, see details below. Figure 3 :

[0086]

[0087] The coasting detection range for negative-direction driving is as follows, see details below. Figure 4 :

[0088]

[0089] The maximum envelope range for aircraft taxiing detection is:

[0090]

[0091] The edge computing server receives data information from devices deployed on the side of the taxiway.

[0092] As shown in Figure 5, the edge server performs fusion processing on the input data from the first millimeter-wave radar. If an object is moving at 5.14 m / s and the vertical distance between the object and the first millimeter-wave radar is 175 m, which is equal to (209-30-4)=175 m, then it means that the object has entered the gliding detection range, but the direction is unknown.

[0093] Given that the millimeter-wave radar data update rate is 100ms, what is the vertical distance between the object and the first millimeter-wave radar at the current moment?

[0094] 175m - 0.514m = 174.486m. Since 174.486m < 175m, it means that the object is approaching the intersection of the ski lanes and is traveling in the negative direction.

[0095] The image recognition algorithm determined that the detected object in the image was an airplane.

[0096] The edge server sends the information "There is an object within the current maximum envelope of the taxiing detection range, the object is taxiing in the negative direction, and the object is an aircraft" to the roadside unit (RSU).

[0097] The Roadside Unit (RSU) sends information to vehicles with Onboard Units (OBUs) within its communication range, while the Edge Computing Server restarts its calculations.

[0098] Given a safe avoidance distance of 50m and a vehicle braking distance of 9m, the safe stopping distance for the vehicle is 59m. When a vehicle traveling on the road receives information from the roadside unit (OBU), it calculates the distance between the vehicle and the safe stop line. If the distance is greater than 59m, a warning of "An aircraft is currently taxiing, please be careful" is issued. If the distance is less than 59m, a warning of "Vehicle must stop immediately" is issued, and the information is reported to the cloud service platform.

[0099] The edge server performs fusion processing on the input data from the second millimeter-wave radar. If the object enters the detection range of the second millimeter-wave radar at a speed of 5.14 m / s from the first millimeter-wave radar, and the vertical distance between the object and the second millimeter-wave radar is 10 m, which is less than (200+5+20+8)=233 m, then it means that the object has entered the gliding detection range, but the direction is unknown.

[0100] Given that the millimeter-wave radar data update rate is 100ms, what is the vertical distance between the object and the second millimeter-wave radar at the current moment?

[0101] 10m + 0.514m = 10.514m. Since 10.514m > 10m, it means that the object is far away from the intersection of the skid track and is traveling in the negative direction.

[0102] Because the vertical distance between the object and the second millimeter-wave radar is 10.514m, which is less than (45+20+8)=73m, the object has not yet moved away.

[0103] The image recognition algorithm determined that the detected object in the image was an airplane.

[0104] The edge server sends the information "There is an object within the current maximum envelope of the taxiing detection range, the object is taxiing in the negative direction, and the object is an aircraft" to the roadside unit (RSU).

[0105] The Roadside Unit (RSU) sends information to vehicles with Onboard Units (OBUs) within the communication range, while the Edge Computing Server restarts its calculations.

[0106] When a vehicle traveling on the road receives information from the roadside unit, it calculates the distance between the vehicle and the safety stop line. If the distance is greater than 59m, it issues a warning: "An aircraft is currently taxiing, please be careful." If the distance is less than 59m, it issues a warning: "Stop immediately." The vehicle warning information, vehicle number, and vehicle location information are then reported to the cloud service platform, which displays the information upon receiving it.

[0107] This calculation is repeated until the vertical distance between the object and the millimeter-wave radar 2 is greater than 73m, indicating that the object has moved away.

[0108] The image recognition algorithm determined that the detected object in the image was an airplane.

[0109] The edge server sends the message "No object is detected within the current negative driving coasting detection range" to the roadside unit (RSU).

[0110] The Roadside Unit (RSU) sends information to vehicles with Onboard Units (OBUs) within the communication range, while the Edge Computing Server restarts its calculations.

[0111] Once a vehicle traveling on the road receives the roadside information, the coasting lane warning information is canceled.

[0112] The technical means disclosed in this invention are not limited to those disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications are also considered within the scope of protection of this invention.

Claims

1. A method for aircraft taxiing warning based on vehicle-road cooperation, characterized in that: The method comprises the following steps, Step one: deploying a roadside device on the side of the taxiway, measuring the distance from the roadside device to the intersection stop line and the current stop line width, the roadside device comprising a first millimeter wave radar, a second millimeter wave radar, a high-definition holder and a roadside unit RSU; Step two: setting an aircraft taxiway detection range; Step three: an edge computing server receiving data information of the device deployed on the side of the taxiway; Step four: the edge server judging whether there is an object in the maximum envelope range of the aircraft taxiway detection according to the roadside device sensing data, if yes, entering step five, if no, returning to step three; Step five: the edge server judging whether the object is approaching the taxiway or moving away from the taxiway according to the roadside device data, if approaching the taxiway, entering step six, if moving away from the taxiway, judging whether the object has left the maximum envelope range of the aircraft taxiway detection, if not, entering step six, if yes, returning to step three; Step six: judging whether the object detected by the image is an aircraft according to the image recognition algorithm, if not, the edge server uploading prompt information to the cloud server, prompting "unknown object exists in the taxiway", at the same time, the edge server sending "whether there is an object in the maximum envelope range of the aircraft taxiway detection, the taxiway direction of the object and whether the object is an aircraft" information to the roadside unit RSU; Step seven: the roadside unit RSU sending the information to vehicles with on-board units OBU within the communication range, at the same time, the edge computing server restarting the calculation; Step eight: after receiving the information, the on-board unit OBU judges whether it is within the safe parking distance in combination with the distance from the current vehicle to the intersection stop line of the taxiway, if yes, prompting "vehicle stop immediately"; if not, distinguishing according to whether the object is an aircraft, if yes, performing "current aircraft is taxiing, please pay attention" warning, if not, performing "unknown object is moving in the taxiway, please pay attention" warning; Step nine: reporting the vehicle warning information, vehicle number and vehicle position information to the cloud service platform, and displaying the vehicle information after the cloud service platform receives the vehicle information; In step two, setting the aircraft taxiway detection range comprises the following steps: S21): taking the intersection center point of the taxiway and the intersection as the origin (0, 0), setting the taxiway width as , the width of the stop line as , the safety distance of one side of the airplane as , the safety distance in front of the airplane during taxiing as , the safety distance behind the airplane during taxiing as , and ; The vertical distance of the first millimeter wave radar from the intersection is The vertical distance of the second millimeter wave radar from the intersection is The algorithm recognition time and communication propagation delay are t, and the airplane taxi speed is V. S22): setting the vertical direction of the intersection to the roadside device as the forward driving direction of the aircraft, and the vertical direction of the roadside device to the intersection as the negative driving direction of the aircraft, calculating the aircraft taxiway detection range in the forward driving direction and the aircraft taxiway detection range in the negative driving direction, and determining the maximum envelope range of the aircraft taxiway detection according to the aircraft taxiway detection range in the forward driving direction and the aircraft taxiway detection range in the negative driving direction; The aircraft taxiway detection range in the forward driving direction is: wherein, are the four vertex coordinates of the aircraft taxi detection range when driving forward; The aircraft taxiway detection range in the negative driving direction is: wherein, are the four vertex coordinates of the aircraft taxi detection range when driving in reverse. The maximum envelope range of the aircraft taxiway detection is: wherein, are the four vertex coordinates of the maximum envelope range for the aircraft taxiing.

2. The vehicle-to-everything based aircraft taxi warning method of claim 1, wherein: In step four, the method for judging whether there is an object in the maximum envelope range of the aircraft taxiway detection comprises the following steps, S41): Obtain the vertical distance of the object from the first millimeter wave radar , the treatment distance of the object from the second millimeter wave radar ; S42): determine whether the following is true: if true, there is an object within the maximum envelope range of the aircraft taxi detection; Or determine If true, there is an object within the maximum envelope range of the aircraft taxi detection. 3.The vehicle infrastructure integration based aircraft taxiing alerting method of claim 2, wherein: In step five, the method for determining whether the object is approaching or moving away from the slip road is as follows: the edge server compares the distance of the first millimeter wave radar at the current time with the distance at the previous time If represents that the object is approaching the slip road intersection, and the object is moving in a negative direction. Otherwise, it represents that the object is moving away from the intersection of the taxiway, and the object is driving forward; Or the edge server compares the distance of the second millimeter wave radar at the current time With the distance at the last time If It represents that the object is approaching the intersection of the slip road, and the object is driving forward; Otherwise, it represents that the object is moving away from the intersection of the taxiway, and the object is driving backward.

4. The vehicle-to-everything based aircraft taxi warning method of claim 3, wherein: In step five, the method for judging whether the object has left the maximum envelope range of the aircraft taxiway detection is that, if the driving direction is forward, judging whether if yes, the object has not yet moved away, if no, the object has moved away; If the driving direction is negative, it is determined whether If yes, it means that the object is not yet far away, and if no, it means that the object is already far away.

5. The cooperative vehicle infrastructure system based aircraft taxi warning method of claim 1, wherein: The safe stopping distance in step eight is the sum of the safe avoidance distance and the vehicle braking distance.

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