A method of assisting a driverless vehicle to safely pass through a guidance area of an aircraft docking station

Abstract

The application discloses a method for assisting an unmanned vehicle to safely pass through an aircraft parking berth guide area, comprising the following steps: determining each berth number and corresponding position coordinates; determining the center point position of the stop line on both sides of the road corresponding to each berth; obtaining the effective detection range of a millimeter wave radar; starting the work of the millimeter wave radar arranged at each berth; an edge computing server receives the data scanned by the millimeter wave radar; the edge server processes the data in combination with the recorded information according to the data scanned by the millimeter wave radar; the edge computing server sends the current berth number, whether there is an aircraft in the berth, and the time to a roadside unit (RSU); the RSU sends the information to an unmanned vehicle with an on-board unit (OBU) within the communication range; and the OBU further judges according to the current received berth guide signal after receiving the information. The method is easy to deploy, simple to calculate, and strong in environmental adaptability.

Description

Technical Field

[0001] This invention belongs to the fields of aircraft parking safety management and vehicle networking technology, and in particular, it is a method to assist unmanned vehicles in safely passing through the aircraft parking guidance area. Background Technology

[0002] Currently, with the advancement of my country's "Four-Type Airports" initiative and the proposal of the "Framework System for High-Quality Development Indicators of China's Civil Aviation," major airports are beginning to explore the application of unmanned vehicles (UAVs) in airports. Ensuring the safe operation of UAVs at airports is the primary condition.

[0003] However, in actual airport environments, there are scenarios where aircraft parking guidance areas intersect with internal airport vehicle routes. According to airport regulations, in order to avoid interfering with aircraft taxiing, vehicles are strictly prohibited from passing between the parking guidance system or between the maintenance commander and the aircraft when the aircraft is being guided into its parking position.

[0004] Currently, for manned vehicles, besides relying on the driver to actively determine whether an aircraft is in a parking space for guidance, other methods include, for example, an airport aircraft parking space warning light safety control system (application number CN202111491072.7). This system, which installs warning lights near airport aircraft parking spaces, can automatically identify whether an aircraft is entering the parking space and alert nearby vehicles with different colored lights when the aircraft is in position, guiding vehicles to drive safely at night when visibility is poor. While this method effectively improves driving safety for manned vehicles in parking space guidance areas, it also has drawbacks such as high algorithm implementation difficulty, susceptibility to external environmental interference, and failure to consider signal acquisition for unmanned vehicles. Summary of the Invention

[0005] The technical problem to be solved by this invention is that existing aircraft parking safety management methods have problems such as high algorithm complexity, susceptibility to external environmental interference, and failure to consider the signal acquisition of unmanned vehicles. In order to solve the above problems, this invention provides a method to assist unmanned vehicles in safely passing through the aircraft parking guidance area.

[0006] The object of this invention is achieved in the following manner:

[0007] A method for assisting unmanned vehicles in safely navigating an aircraft parking guidance area, the method comprising the following steps:

[0008] Step 1: Install millimeter-wave radar, roadside unit (RSU), and edge server at or near the guidance signs of each aircraft parking space;

[0009] Step 2: Determine the station number. And the corresponding position coordinates, specifically represented as follows: ;

[0010] Step 3: Determine the center point of the stop line on both sides of the road corresponding to each camera position. Taking camera position 1 as an example, it can be represented as: Stop line 1: Stop line 2: ;

[0011] Step 4: Obtain the effective detection range of the millimeter-wave radar;

[0012] Step 5: The millimeter-wave radars deployed at each station begin operation;

[0013] Step Six: The edge computing server receives data scanned by the millimeter-wave radar;

[0014] The millimeter-wave radar sends its scan data to the edge computing server at a pre-agreed scanning frequency. This data includes: the distance d between the object and the millimeter-wave radar, and the object's direction of movement. Where 0 represents the object moving towards the parking position, 1 represents the object moving away from the parking position, the object's speed is v, and the object's radar cross-section is... ;

[0015] Step 7: The edge server processes the data from the millimeter-wave radar scan, combining the recorded aircraft stand numbers, corresponding coordinates, and the center points of the stop lines on both sides of the road corresponding to each stand. The signal indicating whether an aircraft is currently parked at a stand can be represented as... Where 1 represents that an aircraft is currently parked at the parking position, and 0 represents that no aircraft is currently parked at the parking position. The radar cross-section of an aircraft at a typical airport is [value missing]. ;

[0016] if This indicates that an aircraft is currently parked at the parking position and parking guidance has not yet been completed. ,otherwise ;

[0017] Step 8: The edge computing server will assign the current machine number. Is there an aircraft currently parked at the current parking position? Time T is sent to the roadside unit (RSU);

[0018] Step 9: The Roadside Unit (RSU) sends information to autonomous vehicles with Onboard Units (OBUs) within communication range;

[0019] Step 10: After receiving the information, the On-Board Unit (OBU) further determines the location based on the currently received parking guidance signal; whether the vehicle received a parking guidance signal at the previous moment is known as follows: , where 0 means the vehicle did not receive a parking guidance signal at the previous moment, and 1 means the vehicle received a parking guidance signal at the previous moment;

[0020] If the current This indicates that an aircraft is currently parked. First, calculate the distance d between the unmanned vehicle and the stop line of the parking space, and then determine whether the current distance is less than or equal to the vehicle's safe braking distance. If so, the control unit will stop the vehicle immediately; otherwise, it will display the message, "An aircraft is currently guiding you through the parking space. Please slow down." ;in Represents the vehicle's safe braking distance;

[0021] If the current This indicates that no aircraft is in the parking space. It checks whether the vehicle received a parking guidance reminder at the previous moment. This indicates that the vehicle received a parking guidance reminder at the previous moment. Based on the current vehicle status, the control unit determines whether the vehicle should stop. If it has stopped, the control unit restarts the vehicle; if it has not stopped, it displays the message "Current parking guidance has ended." This indicates that the vehicle did not receive a parking guidance reminder in the previous moment, and no reminder information needs to be displayed at this moment;

[0022] Step 11: The on-board unit sends the vehicle number, vehicle speed, vehicle location, and prompt information to the cloud server via cellular mobile communication. The cloud server then displays the vehicle's operating status based on the received information.

[0023] Step four specifically includes: measuring the width of the road where the vehicle travels. Aircraft parking guidance distance Aircraft parking guidance area width Therefore, the effective detection range of millimeter-wave radar is: , .

[0024] In step one, the millimeter-wave radar is connected to the edge server via a network cable. The edge server is connected to the RSU roadside unit via a network cable. The RSU roadside unit communicates with the on-board unit (OBU) via direct link communication. The OBU sends information to the vehicle computing unit via CAN bus communication. After the computing unit performs calculations and makes decisions, it controls the vehicle through the control unit to determine whether the vehicle should stop or slow down. At the same time, the on-board unit sends the vehicle operation information to the cloud server via cellular mobile communication.

[0025] The beneficial effects of this invention are: compared with the prior art, this invention is easy to deploy, simple to calculate, and highly adaptable to the environment. Moreover, this invention is not limited to the application of unmanned vehicles in airport parking guidance scenarios, but is also applicable to manned vehicles. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the calculation process of the present invention.

[0027] Figure 2 Data transmission diagram for each device in the aircraft parking guidance area.

[0028] Figure 3 A schematic diagram showing the deployment of equipment in the aircraft parking guidance area.

[0029] Figure 4 This is a diagram showing the current aircraft being guided to its parking position.

[0030] Figure 5 This is a diagram illustrating the end of aircraft parking guidance. Detailed Implementation

[0031] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0032] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same technical meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0033] The purpose of this invention is to address the current situation where airport vehicles, especially unmanned vehicles (UAVs), are unable to obtain timely aircraft parking position signals when navigating intersections with aircraft parking guidance areas due to limited sensor detection range and obstructions. This can potentially interfere with pilots' parking guidance and cause unpredictable dangers. This invention proposes a method to assist UAVs in safely navigating aircraft parking guidance areas. This invention aims for simplicity, ease of deployment, and scalability. Based on existing vehicle-to-infrastructure (V2I) communication technology, and considering the actual deployment conditions at airports, it leverages sensor characteristics to break down information barriers for vehicles. It provides UAVs with aircraft parking guidance signals for their current positions. This method can also be extended to manned vehicles, further improving airport operational safety.

[0034] like Figures 1-3 As shown, a method for assisting unmanned vehicles in safely navigating an aircraft parking guidance area includes:

[0035] Step 1: Install millimeter-wave radar, roadside units (RSUs), and edge servers at or near the guidance signs of each aircraft parking space.

[0036] Step 2: Determine the station number. And the corresponding position coordinates, specifically represented as follows: ;

[0037] Step 3: Determine the center point of the stop line on both sides of the road corresponding to each camera position. Taking camera position 1 as an example, it can be represented as: Stop line 1: Stop line 2: ;

[0038] Step 4: Obtain the effective detection range of the millimeter-wave radar;

[0039] The width of the road for vehicles to travel was measured. Aircraft parking guidance distance Aircraft parking guidance area width Therefore, the effective detection range of millimeter-wave radar is: , .

[0040] Step 5: The millimeter-wave radars deployed at each station begin operation;

[0041] Step Six: The edge computing server receives data scanned by the millimeter-wave radar;

[0042] The millimeter-wave radar sends its scan data to the edge computing server at a pre-agreed scanning frequency. This data includes: the distance d between the object and the millimeter-wave radar, and the object's direction of movement. Where 0 represents the object moving towards the parking position, 1 represents the object moving away from the parking position, the object's velocity is v, and the object's radar cross section (RSC) is . ;

[0043] Step 7: The edge server processes the data from the millimeter-wave radar scan, combining the recorded aircraft stand numbers, corresponding coordinates, and the center points of the stop lines on both sides of the road corresponding to each stand. The signal indicating whether an aircraft is currently parked at a stand can be represented as... Where 1 represents that an aircraft is currently parked at the parking position, and 0 represents that no aircraft is currently parked at the parking position. The radar cross-section of an aircraft at a typical airport is [value missing]. ;

[0044] if This indicates that an aircraft is currently parked at the parking position and parking guidance has not yet been completed. ,otherwise ;

[0045] Step 8: The edge computing server will assign the current machine number. Is there an aircraft currently parked at the current parking position? Time T is sent to the roadside unit (RSU);

[0046] Step 9: The Roadside Unit (RSU) sends information to autonomous vehicles with Onboard Units (OBUs) within communication range;

[0047] Step 10: After receiving the information, the On-Board Unit (OBU) further determines the location based on the currently received parking guidance signal; whether the vehicle received a parking guidance signal at the previous moment is known as follows: , where 0 means the vehicle did not receive a parking guidance signal at the previous moment, and 1 means the vehicle received a parking guidance signal at the previous moment;

[0048] If the current This indicates that an aircraft is currently parked. First, calculate the distance d between the unmanned vehicle and the stop line of the parking space, and then determine whether the current distance is less than or equal to the vehicle's safe braking distance. If so, the control unit will stop the vehicle immediately; otherwise, it will display the message, "An aircraft is currently guiding you through the parking space. Please slow down." ;in Represents the vehicle's safe braking distance;

[0049] If the current This indicates that no aircraft is in the parking space. It checks whether the vehicle received a parking guidance reminder at the previous moment. This indicates that the vehicle received a parking guidance reminder at the previous moment. Based on the current vehicle status, the control unit determines whether the vehicle should stop. If it has stopped, the control unit restarts the vehicle; if it has not stopped, it displays the message "Current parking guidance has ended." This indicates that the vehicle did not receive a parking guidance reminder in the previous moment, and no reminder information needs to be displayed at this moment;

[0050] Step 11: The on-board unit sends the vehicle number, vehicle speed, vehicle location, and prompt information to the cloud server via cellular mobile communication. The cloud server then displays the vehicle's operating status based on the received information.

[0051] Please see Figure 4 , Figure 5 This invention proposes a method to assist unmanned vehicles in safely passing through aircraft parking guidance areas, comprising the following steps:

[0052] 1. Taking camera position 1 as an example, clarify the camera position number A1 and its corresponding position coordinates. .

[0053] 2. Position of the center point of stop line 1 at machine station 1 The center point of stop line 2 .

[0054] 3. Obtain the effective detection range of millimeter-wave radar.

[0055] Assuming the width of the road the vehicle travels on Aircraft parking guidance distance aircraft parking guidance area width Therefore, the effective detection range of millimeter-wave radar is: , The millimeter-wave radar will only be triggered when an object enters this range.

[0056] 4. The millimeter-wave radar deployed at position 1 begins operation.

[0057] 5. When an object moves within the effective detection range of the millimeter-wave radar, the millimeter-wave radar sends the scanned data to the edge computing server.

[0058] by Figure 4 For example, the distance between an object and a millimeter-wave radar. The direction of the object's movement The speed of an object radar cross-section of an object .

[0059] 6. The edge server processes data based on millimeter-wave radar scans and previously recorded data. (The last sentence appears to be incomplete and possibly refers to a separate topic: "Known...") ,when This indicates that the object is moving towards the parking position. It indicates that the object is in motion. This indicates that the object is an airplane, meaning there is an airplane currently berthed at parking position 1 and the parking guidance process is not yet complete. .

[0060] 7. After the edge server completes its calculations, it will assign "Station Number A1, The current time T is sent to the roadside unit RSU.

[0061] 8. The Roadside Unit (RSU) sends information to the autonomous vehicles with Onboard Units (OBUs) within communication range: Vehicle 1, Vehicle 2, etc. Figure 4 As shown.

[0062] 9. After the on-board unit (OBU) receives the information, due to... This indicates that an aircraft is currently parked in the parking space. Calculations show that the distance d1 between vehicle 1 and the parking space is less than the vehicle's braking distance. The control unit stops the vehicle, and at the same time The distance d2 between vehicle 2 and the parking position is greater than the vehicle's braking distance. The system displays the message: "An aircraft is currently being guided at the parking space. Please slow down." ;

[0063] 10. Once the aircraft is in position, the edge server processes the data and displays "Aircraft Stand Number A1". Current time "Sent to the roadside unit (RSU)."

[0064] 11. The Roadside Unit (RSU) sends information to the autonomous vehicles with Onboard Units (OBUs) within its communication range: Vehicle 1, Vehicle 2, and Vehicle 3, as detailed below. Figure 5 As shown.

[0065] 12. After the on-board unit (OBU) receives the information, due to... This indicates that there are currently no aircraft in the parking space. For vehicle 1: The vehicle received a parking guidance signal at the previous moment and needs to be restarted. For vehicle 2: The vehicle received the parking guidance signal at the previous moment, displaying "Current parking guidance has ended". For vehicle 3: No berth guidance information was received in the previous moment, so no prompt information is currently displayed.

[0066] 13. The vehicle unit sends the vehicle number, vehicle speed, vehicle location, and prompt information of vehicle 1, vehicle 2, and vehicle 3 to the cloud server at a certain frequency.

[0067] This invention addresses the challenge of information exchange between berth guidance systems and vehicle dispatching systems in actual airport deployments, where these systems are separate. It introduces vehicle-road cooperative technology, installing millimeter-wave radar, roadside units (RSUs), and edge computing servers near aircraft berth guidance devices or areas. Vehicles are equipped with onboard units (OBUs). When an aircraft turns into the berth guidance area, the millimeter-wave radar sends the scanned information to the edge computing server. The edge computing server processes the data and sends information about whether an aircraft is currently berthing to the roadside unit. The roadside unit then transmits the received information to the onboard unit via direct-link communication. The onboard unit then sends the information to the vehicle's computing unit via CAN bus communication. After calculation and decision-making, the computing unit controls the vehicle through the control unit, determining actions such as stopping or slowing down. Simultaneously, the onboard unit sends vehicle operation information to a cloud server.

[0068] The above description is only a preferred embodiment of the present invention. It should be noted that those skilled in the art can make several changes and improvements without departing from the overall concept of the present invention, and these should also be considered within the scope of protection of the present invention.

Claims

1. A method for assisting unmanned vehicles in safely passing through an aircraft parking guidance area, characterized in that: The method includes the following steps: Step 1: Install millimeter-wave radar, roadside unit (RSU), and edge server at or near the guidance signs of each aircraft parking space; Step 2: Determine the station number. And the corresponding position coordinates, specifically represented as follows: ; Step 3: Determine the center point of the stop line on both sides of the road corresponding to each camera position. Taking camera position 1 as an example, it can be represented as: Stop line 1: Stop line 2: ; Step 4: Obtain the effective detection range of the millimeter-wave radar; Step 5: The millimeter-wave radars deployed at each station begin operation; Step Six: The edge computing server receives data scanned by the millimeter-wave radar; The millimeter-wave radar sends its scan data to the edge computing server at a pre-agreed scanning frequency. This data includes: the distance d between the object and the millimeter-wave radar, and the object's direction of movement. Where 0 represents the object moving towards the parking position, 1 represents the object moving away from the parking position, the object's speed is v, and the object's radar cross-section is... ; Step 7: The edge server processes the data from the millimeter-wave radar scan, combining the recorded aircraft stand numbers, corresponding coordinates, and the center points of the stop lines on both sides of the road corresponding to each stand. The signal indicating whether an aircraft is currently parked at a stand can be represented as... Where 1 represents that an aircraft is currently parked at the parking position, and 0 represents that no aircraft is currently parked at the parking position. The radar cross-section of an aircraft at a typical airport is [value missing]. ; if This indicates that an aircraft is currently parked at the parking position and parking guidance has not yet been completed. ,otherwise ; Step 8: The edge computing server will assign the current machine number. Is there an aircraft currently parked at the current parking position? Time T is sent to the roadside unit (RSU); Step 9: The Roadside Unit (RSU) sends information to autonomous vehicles with Onboard Units (OBUs) within communication range; Step 10: After receiving the information, the On-Board Unit (OBU) further determines the location based on the currently received parking guidance signal; whether the vehicle received a parking guidance signal at the previous moment is known as follows: , where 0 means the vehicle did not receive a parking guidance signal at the previous moment, and 1 means the vehicle received a parking guidance signal at the previous moment; If the current This indicates that an aircraft is currently parked. First, calculate the distance d between the unmanned vehicle and the stop line of the parking space, and then determine whether the current distance is less than or equal to the vehicle's safe braking distance. If so, the control unit will immediately stop the vehicle; otherwise, it will display the message, "An aircraft is currently guiding you through the parking space. Please slow down." ;in Represents the vehicle's safe braking distance; If the current This indicates that no aircraft is in the parking space. It checks whether the vehicle received a parking guidance reminder at the previous moment. This indicates that the vehicle received a parking guidance reminder at the previous moment. Based on the current vehicle status, the control unit determines whether the vehicle should stop. If it has stopped, the control unit restarts the vehicle; if it has not stopped, it displays "Current parking guidance has ended." This indicates that the vehicle did not receive a parking guidance reminder in the previous moment, and no reminder information needs to be displayed at this moment; Step 11: The on-board unit sends the vehicle number, vehicle speed, vehicle location, and prompt information to the cloud server via cellular mobile communication. The cloud server then displays the vehicle's operating status based on the received information.

2. The method for assisting unmanned vehicles to safely pass through aircraft parking guidance areas according to claim 1, characterized in that: Step four specifically includes: measuring the width of the road where the vehicle travels. Aircraft parking guidance distance Aircraft parking guidance area width Therefore, the effective detection range of millimeter-wave radar is: , .

3. The method for assisting unmanned vehicles to safely pass through aircraft parking guidance areas according to claim 1, characterized in that: In step one, the millimeter-wave radar is connected to the edge server via a network cable. The edge server is connected to the RSU roadside unit via a network cable. The RSU roadside unit communicates with the on-board unit (OBU) via direct link communication. The OBU sends information to the vehicle computing unit via CAN bus communication. After the computing unit performs calculations and makes decisions, it controls the vehicle through the control unit to determine whether the vehicle should stop or slow down. At the same time, the on-board unit sends the vehicle operation information to the cloud server via cellular mobile communication.

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