Air-ground unmanned cluster consensus decision-making method and device for conflict resolution

Abstract

The embodiment of the invention provides a conflict resolution-oriented air-ground unmanned cluster consensus decision-making method and device. The method comprises the following steps of: acquiring an initial passing state of an air-ground cluster group, state information of each air-ground cluster included in the air-ground cluster group and coordinate information of obstacles in a detection range of the air-ground cluster group; determining a target passing distance and a target reference point according to the coordinate information of the obstacles in the detection range of the air-ground cluster group; and according to the initial passing state of the air-ground cluster group, the state information of each air-ground cluster, the target passing distance and the target reference point, determining a target passing state of the air-ground cluster group passing through obstacles in the detection range of the air-ground cluster group. And the effectiveness of cooperatively passing through the narrow lane under the multi-space-ground cluster is ensured.

Description

Technical Field

[0001] The present invention relates to the fields of computer technology and related technologies, and in particular to an air-to-ground unmanned cluster consensus decision-making method and device suitable for conflict resolution. Background Art

[0002] In modern military operations, heterogeneous multi-platform collaborative operations have become a necessary condition for improving combat efficiency and flexibility. However, in a heterogeneous multi-platform battlefield environment, conflict resolution remains a complex and challenging problem. In actual combat missions, different platforms often have different physical properties. Taking drones and ground robots as an example, drones have faster movement speeds and wider fields of view, while ground robots can carry larger payloads. They have significant complementarity in terms of speed, sensing, communication, and payload capacity. The collaboration between the two provides new breakthroughs for the effective application of land and air unmanned equipment, which can be widely used in battlefield situation awareness and penetration, border control, urban operations, logistics and transportation, and other scenarios. How to use the advantages of different heterogeneous platforms to resolve conflicts, reach cluster consensus, and maximize the benefits of cluster operations has become a crucial issue.

[0003] The spatial self-organizing behavior method is one of the efficient technologies for cluster collaborative control, among which cluster collaborative control is one of the effective means to deal with heterogeneous cluster control. In the field of cluster collaborative control, the existing technology generally adopts cluster consensus algorithm. However, the problem of consensus decision-making of air-to-ground unmanned clusters for conflict resolution in heterogeneous clusters under combat background is a complex and critical challenge. Traditional algorithms have some difficulties in facing this problem, mainly manifested in that the spatial self-organizing behavior method is difficult to truly apply to heterogeneous unmanned cluster objects, and cluster collaborative control cannot break through the limitations of relying on fixed communication topology and fixed changing formation configuration. Summary of the invention

[0004] The embodiments described in this article provide a method and device for consensus decision-making of an air-to-ground unmanned cluster for conflict resolution, which solves the problems existing in the prior art.

[0005] In a first aspect, according to the content of the present disclosure, a method for air-to-ground unmanned cluster consensus decision-making for conflict resolution is provided, comprising:

[0006] Acquire the initial traffic state of the air-ground cluster group, the state information of each air-ground cluster included in the air-ground cluster group, and the coordinate information of obstacles within the detection range of the air-ground cluster group, wherein the initial traffic state of the air-ground cluster includes an undeformed side-by-side state, an undeformed order state, a deformed side-by-side state, and a deformed order state, and the state information of each air-ground cluster included in the air-ground cluster group includes current position information, speed information, and detection diameter;

[0007] Determine the target clearance distance and target reference point according to the coordinate information of obstacles within the detection range of the air-ground cluster group;

[0008] The target passage state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group is determined according to the initial passage state of the open-ground cluster group, the state information of each of the open-ground clusters, the target passage distance and the target reference point.

[0009] In some embodiments of the present disclosure, determining the target passage distance and the target reference point according to the coordinate information of the obstacles within the detection range of the air-ground cluster group includes:

[0010] Determine an obstacle point set group according to the coordinate information of obstacles within the detection range of the air-ground cluster group, wherein the obstacle point set group includes multiple obstacle point sets, and any obstacle point set includes multiple obstacle points;

[0011] Determine a first pass distance between any two obstacle point sets in the obstacle point set group, wherein the first pass distance is the shortest pass distance between any two obstacle point sets;

[0012] Selecting the shortest passing distance between the first passing distances of any two obstacle point sets in the obstacle point set group as the target passing distance;

[0013] Determine a target obstacle point according to the target clearance distance;

[0014] The target reference point is determined according to the coordinate information of the target obstacle point.

[0015] In some embodiments of the present disclosure, determining the obstacle point set group according to the coordinate information of obstacles within the detection range of the air-ground cluster group includes:

[0016] Selecting an obstacle point from obstacles within the detection range of the open-ground cluster group as a first matching obstacle point;

[0017] Determine, according to the relationship between the coordinate information of the first matching obstacle point and the coordinate information of other obstacle points within the detection range of the open-ground cluster group, a first target matching obstacle point that matches the first matching obstacle point, so that the first matching obstacle point and the first target matching obstacle point form a first obstacle point set;

[0018] After eliminating the first matching obstacle point and the first target matching obstacle point, an obstacle point is selected again from the obstacles within the detection range of the open-ground cluster group as a second matching obstacle point, and a second obstacle point set is determined based on the second matching obstacle point.

[0019] In some embodiments of the present disclosure, the determining a first pass distance between any two obstacle point sets in the obstacle point set group includes:

[0020] Randomly selecting two obstacle point sets from the obstacle point set group to form a sub-obstacle point set group, wherein any sub-obstacle point set group includes a first obstacle point set and a second obstacle point set;

[0021] Selecting a first target obstacle point from the first obstacle point set of the first sub-obstacle point set group, and obtaining coordinate information of the first target obstacle point;

[0022] determining, according to the coordinate information of the first target obstacle point and the coordinate information of any second obstacle point in the second obstacle point set, the distance information between the first obstacle point and any second obstacle point in the second obstacle point set;

[0023] Determine, according to the distance information between the first obstacle point and any second obstacle point in the second obstacle point set of the first sub-obstacle point set group, a second target obstacle point in the second obstacle point set having the shortest distance information to the first target obstacle point;

[0024] Determine a sub-passing distance of the first sub-obstacle point set group according to the coordinate information of the first target obstacle point and the coordinate information of the second target obstacle point, and select a first target obstacle point from the first obstacle point set of the first sub-obstacle point set group again;

[0025] A shortest passage spacing is selected from a plurality of sub-pass spacings to form a target sub-pass spacing of a first sub-obstacle group, wherein the target sub-pass spacing is a first passage spacing of the first obstacle point set and the second obstacle point set.

[0026] In some embodiments of the present disclosure, the open space cluster group includes a first open space cluster and a second open space cluster;

[0027] The determining, according to the initial traffic state of the open-ground cluster group, the state information of each of the open-ground clusters, the target traffic distance and the target reference point, the target traffic state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group includes:

[0028] When the initial passage state of the open-ground cluster group is an undeformed side-by-side state, if the target passage spacing is greater than or equal to the sum of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, it is determined that the target passage state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group is an undeformed side-by-side state;

[0029] If the target passage distance is less than the sum of the detection diameters of the first open-ground cluster and the second open-ground cluster, and is greater than the maximum value of the detection diameters of the first open-ground cluster and the second open-ground cluster, determine the first time information when the first open-ground cluster moves to the target reference point and the second time information when the second open-ground cluster moves to the first reference point according to the current position information of the first open-ground cluster, the current position information of the second open-ground cluster, the speed information of the first open-ground cluster, the speed information of the second open-ground cluster and the target reference point;

[0030] When the absolute value of the difference between the first time information and the second time information is less than a preset time, it is determined that the target passage state of the air-ground cluster group passing through obstacles within the detection range of the air-ground cluster group is a deformed side-by-side state; when the absolute value of the difference between the first time information and the second time information is greater than or equal to the preset time, it is determined that the target passage state of the air-ground cluster group passing through obstacles within the detection range of the air-ground cluster group is an undeformed sequential state, and the air-ground cluster corresponding to the smaller time information between the first time information and the second time information is selected to pass first;

[0031] If the target passage spacing is less than or equal to the maximum value of the detection diameter of the first open space cluster and the detection diameter of the second open space cluster, the target passage state of the open space cluster group passing through obstacles within the detection range of the open space cluster group is determined to be a deformation order state, and the open space cluster corresponding to the smaller time information between the first time information and the second time information is selected to pass first.

[0032] In some embodiments of the present disclosure, the open space cluster group includes a first open space cluster and a second open space cluster;

[0033] The determining, according to the initial traffic state of the open-ground cluster group, the state information of each of the open-ground clusters, the target traffic distance and the target reference point, the target traffic state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group includes:

[0034] When the initial passage state of the open-ground cluster group is the undeformed sequential state, if the target passage spacing is greater than or equal to the sum of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, it is determined that the target passage state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group is the undeformed side-by-side state;

[0035] If the target passage spacing is smaller than the sum of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, and larger than the maximum of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, it is determined that the target passage state of the open-ground cluster group passing through the obstacle within the detection range of the open-ground cluster group is an undeformed order state;

[0036] If the target passing distance is less than or equal to the maximum value of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, determine the first time information when the first open-ground cluster moves to the target reference point and the second time information when the second open-ground cluster moves to the first reference point according to the current position information of the first open-ground cluster, the current position information of the second open-ground cluster, the speed information of the first open-ground cluster, the speed information of the second open-ground cluster and the target reference point;

[0037] When the absolute value of the difference between the first time information and the second time information is greater than or equal to the preset time, it is determined that the target passage state of the air-ground cluster group passing through obstacles within the detection range of the air-ground cluster group is a deformation order state, and the air-ground cluster corresponding to the smaller time information between the first time information and the second time information is selected to pass first.

[0038] In some embodiments of the present disclosure, the open space cluster group includes a first open space cluster and a second open space cluster;

[0039] The determining, according to the initial traffic state of the open-ground cluster group, the state information of each of the open-ground clusters, the target traffic distance and the target reference point, the target traffic state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group includes:

[0040] When the initial passage state of the open-ground cluster group is a deformed side-by-side state, if the target passage spacing is greater than or equal to the sum of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, it is determined that the target passage state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group is a non-deformed side-by-side state;

[0041] If the target passage distance is smaller than the sum of the detection diameter of the first open space cluster and the detection diameter of the second open space cluster, and larger than the maximum value of the detection diameter of the first open space cluster and the detection diameter of the second open space cluster, it is determined that the target passage state of the open space cluster group passing through the obstacle within the detection range of the open space cluster group is a deformed side-by-side state;

[0042] If the target passing distance is less than or equal to the maximum value of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, determine the first time information when the first open-ground cluster moves to the target reference point and the second time information when the second open-ground cluster moves to the first reference point according to the current position information of the first open-ground cluster, the current position information of the second open-ground cluster, the speed information of the first open-ground cluster, the speed information of the second open-ground cluster and the target reference point;

[0043] When the absolute value of the difference between the first time information and the second time information is greater than or equal to the preset time, it is determined that the target passage state of the air-ground cluster group passing through obstacles within the detection range of the air-ground cluster group is a deformation order state, and the air-ground cluster corresponding to the smaller time information between the first time information and the second time information is selected to pass first.

[0044] In some embodiments of the present disclosure, the open space cluster group includes a first open space cluster and a second open space cluster;

[0045] The determining, according to the initial traffic state of the open-ground cluster group, the state information of each of the open-ground clusters, the target traffic distance and the target reference point, the target traffic state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group includes:

[0046] When the initial passage state of the open-ground cluster group is the deformed order state, if the target passage spacing is greater than or equal to the sum of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, it is determined that the target passage state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group is the non-deformed side-by-side state;

[0047] If the target passage spacing is smaller than the sum of the detection diameter of the first open space cluster and the detection diameter of the second open space cluster, it is determined that the target passage state of the open space cluster group passing through obstacles within the detection range of the open space cluster group is a deformation order state.

[0048] In some embodiments of the present disclosure, before determining the target passage state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group according to the initial passage state of the open-ground cluster group, the state information of each of the open-ground clusters, the target passage distance and the target reference point, the method further includes:

[0049] The deformation ratio is determined according to the target passage distance and the detection diameter of each of the open space clusters.

[0050] In a second aspect, according to the content of the present disclosure, a consensus decision-making device for air-to-ground unmanned clusters for conflict resolution is provided, comprising:

[0051] An information acquisition module is used to acquire the initial traffic state of the air-ground cluster group, the state information of each air-ground cluster included in the air-ground cluster group, and the coordinate information of obstacles within the detection range of the air-ground cluster group, wherein the initial traffic state of the air-ground cluster includes an undeformed side-by-side state, an undeformed order state, a deformed side-by-side state, and a deformed order state, and the state information of each air-ground cluster included in the air-ground cluster group includes current position information, speed information, and detection diameter;

[0052] A target information determination module, used to determine the target clearance distance and target reference point according to the coordinate information of obstacles within the detection range of the air-ground cluster group;

[0053] The target traffic state determination module is used to determine the target traffic state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group according to the initial traffic state of the open-ground cluster group, the state information of each of the open-ground clusters, the target traffic distance and the target reference point.

[0054] The air-ground unmanned cluster consensus decision method and device for conflict resolution provided by the embodiment of the present disclosure first obtain the initial traffic state of the air-ground cluster group, the state information of each air-ground cluster included in the air-ground cluster group, and the coordinate information of the obstacles within the detection range of the air-ground cluster group, and then determine the target traffic spacing and target reference point according to the coordinate information of the obstacles within the detection range of the air-ground cluster group; finally, according to the initial traffic state of the air-ground cluster group, the state information of each air-ground cluster, the target traffic spacing and the target reference point, determine the target traffic state of the air-ground cluster group passing through the obstacles within the detection range of the air-ground cluster group. By decomposing the complex air-ground coordination problem into four basic sub-problems and then designing specific decisions, and automatically switching to the corresponding target traffic state based on the initial traffic state of the air-ground cluster group and the obstacles within the detection range of the air-ground cluster group, consensus decision-making of heterogeneous clusters is realized. The method disclosed in the embodiment of the present disclosure combines the perception advantages of drones and the self-organization advantages of ground robots, solves the problem that the traditional space self-organization behavior method cannot solve the coordination of heterogeneous clusters, and realizes the dynamic adaptive changes of ground robots, thereby ensuring the effectiveness of coordinated passage through narrow roads under multiple air-ground clusters.

[0055] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly described below. It should be noted that the drawings described below only relate to some embodiments of the present disclosure, but are not intended to limit the present disclosure, wherein:

[0057] Figure 1 It is a flow chart of a consensus decision-making method for air-to-ground unmanned clusters for conflict resolution provided by an embodiment of the present disclosure;

[0058] Figure 2 is a schematic diagram of the relationship between an open-air cluster group and obstacles provided by an embodiment of the present disclosure;

[0059] Figure 3 It is a structural schematic diagram of an air-to-ground unmanned cluster consensus decision-making device for conflict resolution provided by an embodiment of the present disclosure;

[0060] Figure 4 It is a structural diagram of a computer device provided in an embodiment of the present disclosure.

[0061] In the drawings, reference numerals with the same last two digits correspond to the same elements. It should be noted that the elements in the drawings are schematic and not drawn to scale. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative work also fall within the scope of protection of the present disclosure.

[0063] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by a person skilled in the art to which the subject matter of the present disclosure belongs. It will be further understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the specification and the relevant art, and will not be interpreted in an idealized or overly formal form unless otherwise explicitly defined herein. As used herein, a statement that two or more parts are "connected" or "coupled" together shall mean that the parts are joined together directly or through one or more intermediate components.

[0064] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase "embodiments" in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0065] The term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists, A and B exist at the same time, and B exists. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0066] Furthermore, in all embodiments of the present disclosure, terms such as “first” and “second” are used only to distinguish one component (or a part of a component) from another component (or another part of a component).

[0067] In the description of the present application, unless otherwise specified, "plurality" means more than two (including two), and similarly, "multiple groups" means more than two groups (including two).

[0068] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0069] Based on the problems existing in the prior art, the present disclosure provides a consensus decision-making method for an air-to-ground unmanned cluster. Figure 1 is a flow chart of the air-to-ground unmanned cluster consensus decision-making method provided by the embodiment of the present disclosure, such as Figure 1 As shown in the figure, the consensus decision-making method of air-ground unmanned cluster includes:

[0070] S110, acquiring the initial traffic status of the air-ground cluster group, the status information of each air-ground cluster included in the air-ground cluster group, and the coordinate information of obstacles within the detection range of the air-ground cluster group.

[0071] The initial traffic states of the air-ground clusters include an undeformed side-by-side state, an undeformed order state, a deformed side-by-side state and a deformed order state, and the state information of each air-ground cluster included in the air-ground cluster group includes current position information, speed information and detection diameter.

[0072] Specifically, in the disclosed embodiment, the air-ground cluster group includes a first air-ground cluster and a second air-ground cluster. Each air-ground cluster includes a drone and several ground robots. For each air-ground cluster, only the drone can obtain the corresponding target location information. Both the drone and the ground robot can obtain their current location information. Within the same air-ground cluster, the drone can communicate with all ground robots, and drones between different air-ground clusters can communicate. Figure 2 , the detection diameter of the first open space cluster is 2r1, the current position information of the first open space cluster is (x1, y1), the speed information of the first open space cluster is v1, the detection diameter of the second open space cluster is 2r2, the current position information of the second open space cluster is (x2, y2), and the speed information of the first open space cluster is v2.

[0073] It should be noted that the current position information, speed information and detection diameter of the embodiment of the present disclosure are the current position information of the drones in each air-to-ground cluster, the speed information of the drones and the detection diameter of the drones.

[0074] Figure 2 The bold solid lines in the middle are obstacles within the detection range of the air-ground cluster group, where X1 is an obstacle within the detection range of the first air-ground cluster, and X2 is an obstacle within the detection range of the second air-ground cluster.

[0075] S120. Determine the target clearance distance and target reference point according to the coordinate information of obstacles within the detection range of the air-ground cluster group.

[0076] After determining the coordinate information of the obstacles within the detection range of the air-ground cluster group, the target clearance distance and the target reference point can be determined based on the coordinate information of the obstacles within the detection range of the air-ground cluster group.

[0077] In a specific implementation, the target passage spacing and the target reference point are determined according to the coordinate information of obstacles within the detection range of the air-ground cluster group, including: determining an obstacle point set group according to the coordinate information of obstacles within the detection range of the air-ground cluster group, wherein the obstacle point set group includes multiple obstacle point sets, and any obstacle point set includes multiple obstacle points; determining a first passage spacing between any two obstacle point sets in the obstacle point set group, wherein the first passage spacing is the shortest passage spacing between any two obstacle point sets; selecting the shortest passage spacing among the first passage spacings between any two obstacle point sets in the obstacle point set group as the target passage spacing; determining the target obstacle point according to the target passage spacing; and determining the target reference point according to the coordinate information of the target obstacle point.

[0078] Combination Figure 2, the obstacle points on the X1 line segment constitute a first obstacle point set, the obstacle points on the X2 line segment constitute a second obstacle point set, the obstacle point set composed of the first obstacle point set and the second obstacle point set constitutes an obstacle point set group, and the first passing distance is determined by determining the shortest passing distance between the first obstacle point set and the second obstacle point set. Since the obstacle point set group only includes one obstacle point set, the target passing distance is also the first passing distance. After determining the target passing distance, two target obstacle points can be determined according to the target passing distance, and the coordinate information of the target reference point is determined by taking the average value of the coordinate information of the two target obstacle points.

[0079] In a specific implementation, an obstacle point set group is determined based on the coordinate information of obstacles within the detection range of the air-ground cluster group, including: selecting an obstacle point from the obstacles within the detection range of the air-ground cluster group as a first matching obstacle point; determining a first target matching obstacle point that matches the first matching obstacle point based on the relationship between the coordinate information of the first matching obstacle point and the coordinate information of other obstacle points within the detection range of the air-ground cluster group, so that the first matching obstacle point and the first target matching obstacle point constitute a first obstacle point set; after eliminating the first matching obstacle point and the first target matching obstacle point, selecting an obstacle point from the obstacles within the detection range of the air-ground cluster group again as a second matching obstacle point, and determining a second obstacle point set based on the second matching obstacle point.

[0080] Specifically, the specific process of determining the obstacle point set group is: if the obstacle points included in the obstacles within the detection range of the air-ground cluster group are n0, n1, n2, ..., ni, first select n0 as the first matching obstacle point, and match the coordinate information of the obstacle point n0 with the coordinate information of other obstacle points (n1, n2, ..., ni) within the detection range of the air-ground cluster group; if there are obstacle points (n1, n2, n8, n9, n12, n18, ..., ni) with the coordinate information of the obstacle points, then match them with the coordinate information of the obstacle points (n1, n2, n8, n9, n12, n18, ..., ni). When the distance of the coordinate information of the object point n0 is less than or equal to the preset distance, the obstacle point (n1, n2, n8, n9, n12, n18, ..., ni) is determined as the first target matching obstacle point of the obstacle point n0, and the matched first target matching obstacle point and the first matching obstacle point are formed into a first obstacle point set, and the obstacle points included in the first obstacle point set are (n0, n1, n2, n8, n9, n12, n18, ..., ni); then n3 is selected as the second Match the obstacle points, match the coordinate information of the obstacle point n3 with the coordinate information of other obstacle points (n4, n5, ..., ni-1) within the detection range of the air-ground cluster group except the obstacle points included in the first obstacle point set, if there is an obstacle point (n4, n5, n6, n7, n10, n11, ..., ni-1) whose coordinate information is less than or equal to the preset distance from the coordinate information of the obstacle point n3, determine the obstacle point (n4, n5, n6, n7, n10, n11, ..., ni-1) 1, ..., ni-1) is the second target matching obstacle point of obstacle point n3, the matched second target matching obstacle point and the second matching obstacle point form a second obstacle point set, and the obstacle points included in the second obstacle point set are (n3, n4, n5, n6, n7, n10, n11, ..., ni-1) respectively; and so on, multiple obstacle point sets are matched in sequence until the obstacle points included in the obstacles within the detection range of the air-ground cluster group are matched, and the cycle process is terminated.

[0081] Specifically, the obstacle point set within the detection range of the air-ground cluster group is divided into the following obstacle point set groups: {O1, O2, ..., O m}.

[0082] In a specific implementation, determining a first pass distance between any two obstacle point sets in an obstacle point set group includes: selecting any two obstacle point sets from the obstacle point set group to form a sub-obstacle point set group, wherein any one of the sub-obstacle point set groups includes a first obstacle point set and a second obstacle point set; selecting a first target obstacle point from a first obstacle point set of the first sub-obstacle point set group, and obtaining coordinate information of the first target obstacle point; determining the first obstacle point and any one of the second obstacle points in the second obstacle point set of the first sub-obstacle point set group according to the coordinate information of the first target obstacle point and the coordinate information of any one of the second obstacle points in the second obstacle point set of the first sub-obstacle point set group. distance information of the first obstacle point and any second obstacle point in the second obstacle point set; determining the second target obstacle point in the second obstacle point set whose distance information to the first target obstacle point is the shortest according to the distance information of the first obstacle point and any second obstacle point in the second obstacle point set; determining a sub-passing spacing of the first sub-obstacle point set according to the coordinate information of the first target obstacle point and the coordinate information of the second target obstacle point, and selecting a first target obstacle point from the first obstacle point set of the first sub-obstacle point set again; selecting the shortest passing spacing from the multiple sub-passing spacings to form a target sub-passing spacing of the first sub-obstacle group, and the target sub-passing spacing is the first passing spacing of the first obstacle point set and the second obstacle point set.

[0083] Specifically, the obstacle point set within the detection range of the air-ground cluster group is divided into the following obstacle point set groups: {O1, O2, ..., O m}, then the sub-obstacle point set includes: {O1,O2}, {O1,O3}, {O1,O4}, ..., {O1,O m-1}, {O1,O m-2}, {O2,O3}, {O2,O4}, {O2,O5}, ..., {O2,O m-1}, {O2,O m-2}, {O3,O4}, {O3,O5}, {O3,O6},..., {O3,O m-1}, {O3,O m-2}、{O m-2 ,O m-1}、{O m-1 ,O m}.

[0084] For example, {O1, O2} is the first sub-obstacle point set, {O1, O3} is the second sub-obstacle point set, {O m-1 ,O m} is the jth sub-obstacle point set. For the first sub-obstacle point set {O1, O2}, O1 is selected as the first obstacle point set and O2 is selected as the second obstacle point set. If the obstacle points included in the first obstacle point set O1 are (n0, n1, n2, n8, n9, n12, n18, ..., ni) and the obstacle points included in the second obstacle point set O2 are (n3, n4, n5, n6, n7, n10, n11, ..., ni-1), then n0 is first selected from the first obstacle point set O1 as the first target obstacle point. According to the coordinate information of the first target obstacle point n0 of the first obstacle point set O1 and the second obstacle points (n3, n4, n5, n6, n7, n10, n11, ..., ni-1) included in the second obstacle point set O2, The coordinate information of the first obstacle point n0 and any second obstacle point (n3, n4, n5, n6, n7, n10, n11, ..., ni-1) in the second obstacle point set O2 is determined, and a sub-passing distance of the first sub-obstacle point set {O1, O2} is determined by selecting the second obstacle point with the shortest distance information, that is, the first passing distance of a sub-obstacle point set composed of the first obstacle point set O1 and the second obstacle point set O2. Similarly, the first passing distance of a sub-obstacle point set composed of the first obstacle point set O1 and the third obstacle point set O2 is determined in sequence, ..., the first obstacle point set O1 is the first obstacle point set of the first obstacle point set. m-1 and the second obstacle point set O m The first pass distance of a sub-obstacle point set.

[0085] After determining the first pass distance of a sub-obstacle point set group composed of any two obstacle point sets, the first pass distance of a sub-obstacle point set group composed of the first obstacle point set O1 and the second obstacle point set O2, the first pass distance of a sub-obstacle point set group composed of the first obstacle point set O1 and the third obstacle point set O2, ..., the first obstacle point set O m-1 and the second obstacle point set O m The first pass spacing of a sub-obstacle point set group is selected as the target pass spacing.

[0086] For example, the first travel distance of the sub-obstacle point set {O1, O2} is d min (O1,O2), the first pass distance of the sub-obstacle point set {O1,O3} is d min (O1,O3),..., the sub-obstacle point set {O m-1 ,O m The first passing distance of} is d min (O m-1 ,O m), the target clearance expression is as follows:

[0087] d=min(d min (O1,O2),d min (O1,O3),...,d min (O m-1 ,O m ))

[0088] S130, determining a target passage state of the air-ground cluster group passing through obstacles within a detection range of the air-ground cluster group according to an initial passage state of the air-ground cluster group, state information of each air-ground cluster, a target passage distance, and a target reference point.

[0089] Since the passage states of the air-ground cluster group include an undeformed side-by-side state, an undeformed order state, a deformed side-by-side state and a deformed order state, according to the initial passage state of the air-ground cluster group, the state information of each air-ground cluster included in the air-ground cluster group and the obstacles within the detection range of the air-ground cluster group, the target passage state of the air-ground cluster group passing through the obstacles within the detection range of the air-ground cluster group can be determined, that is, the target passage state can be an undeformed side-by-side state, an undeformed order state, a deformed side-by-side state and a deformed order state.

[0090] The following will be illustrated by specific embodiments.

[0091] As an implementation method, an example analysis is performed by taking the initial traffic state of the open space cluster group as an undeformed side-by-side state.

[0092] If the target passage spacing is greater than or equal to the sum of the detection diameters of the first open-ground cluster and the second open-ground cluster, determine that the target passage state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group is an undeformed side-by-side state; if the target passage spacing is less than the sum of the detection diameters of the first open-ground cluster and the second open-ground cluster, and greater than the maximum value of the detection diameters of the first open-ground cluster and the second open-ground cluster, determine the first time information of the first open-ground cluster moving to the target reference point and the second time information of the second open-ground cluster moving to the first reference point based on the current position information of the first open-ground cluster, the current position information of the second open-ground cluster, the speed information of the first open-ground cluster, the speed information of the second open-ground cluster and the target reference point; the difference between the first time information and the second time information When the absolute value is less than the preset time, it is determined that the target passage state of the air-ground cluster group passing through the obstacle within the detection range of the air-ground cluster group is a deformed side-by-side state; when the absolute value of the difference between the first time information and the second time information is greater than or equal to the preset time, it is determined that the target passage state of the air-ground cluster group passing through the obstacle within the detection range of the air-ground cluster group is a non-deformed order state, and the air-ground cluster corresponding to the smaller time information in the first time information and the second time information is selected to pass first; if the target passage spacing is less than or equal to the maximum value of the detection diameter of the first air-ground cluster and the detection diameter of the second air-ground cluster, it is determined that the target passage state of the air-ground cluster group passing through the obstacle within the detection range of the air-ground cluster group is a deformed order state, and the air-ground cluster corresponding to the smaller time information in the first time information and the second time information is selected to pass first.

[0093] As another implementation, an example analysis is performed by taking the initial traffic state of the open space cluster group as the non-deformed order state.

[0094] If the target passage spacing is greater than or equal to the sum of the detection diameters of the first open space cluster and the second open space cluster, the target passage state of the open space cluster group passing through obstacles within the detection range of the open space cluster group is determined to be an undeformed side-by-side state; if the target passage spacing is less than the sum of the detection diameters of the first open space cluster and the second open space cluster, and is greater than the maximum value of the detection diameters of the first open space cluster and the second open space cluster, the target passage state of the open space cluster group passing through obstacles within the detection range of the open space cluster group is determined to be an undeformed sequential state; if the target passage spacing is less than or equal to the detection diameters of the first open space cluster and the detection diameters of the second open space cluster When the maximum value is reached, the first time information of the first air-ground cluster moving to the target reference point and the second time information of the second air-ground cluster moving to the first reference point are determined according to the current position information of the first air-ground cluster, the current position information of the second air-ground cluster, the speed information of the first air-ground cluster, the speed information of the second air-ground cluster and the target reference point; when the absolute value of the difference between the first time information and the second time information is greater than or equal to the preset time, it is determined that the target passage state of the air-ground cluster group passing through the obstacle within the detection range of the air-ground cluster group is the deformation order state, and the air-ground cluster corresponding to the smaller time information in the first time information and the second time information is selected to pass first.

[0095] As another implementation, an example analysis is performed by taking the initial traffic state of the open space cluster group as a deformed side-by-side state.

[0096] If the target passage spacing is greater than or equal to the sum of the detection diameters of the first open space cluster and the second open space cluster, it is determined that the target passage state of the open space cluster group passing through the obstacles within the detection range of the open space cluster group is an undeformed side-by-side state; if the target passage spacing is less than the sum of the detection diameters of the first open space cluster and the second open space cluster, and is greater than the maximum value of the detection diameters of the first open space cluster and the second open space cluster, it is determined that the target passage state of the open space cluster group passing through the obstacles within the detection range of the open space cluster group is a deformed side-by-side state; if the target passage spacing is less than or equal to the detection diameters of the first open space cluster and the second open space cluster, it is determined that the target passage state of the open space cluster group passing through the obstacles within the detection range of the open space cluster group is a deformed side-by-side state. When the maximum value in the path is reached, the first time information of the first air-ground cluster moving to the target reference point and the second time information of the second air-ground cluster moving to the first reference point are determined according to the current position information of the first air-ground cluster, the current position information of the second air-ground cluster, the speed information of the first air-ground cluster, the speed information of the second air-ground cluster and the target reference point; when the absolute value of the difference between the first time information and the second time information is greater than or equal to the preset time, it is determined that the target passage state of the air-ground cluster group passing through the obstacle within the detection range of the air-ground cluster group is the deformation order state, and the air-ground cluster corresponding to the smaller time information in the first time information and the second time information is selected to pass first.

[0097] As another implementation, an example analysis is performed by taking the initial traffic state of the open space cluster group as the deformation order state.

[0098] If the target passage spacing is greater than or equal to the sum of the detection diameters of the first open space cluster and the second open space cluster, the target passage state of the open space cluster group passing through obstacles within the detection range of the open space cluster group is determined to be an undeformed side-by-side state; if the target passage spacing is less than the sum of the detection diameters of the first open space cluster and the second open space cluster, the target passage state of the open space cluster group passing through obstacles within the detection range of the open space cluster group is determined to be a deformed order state.

[0099] In addition, before executing step S130, the method further includes: determining a deformation ratio according to the target traffic spacing and the detection diameter of each open space cluster.

[0100] When the air-ground cluster group changes from an undeformed side-by-side state or an undeformed sequential state to a deformed side-by-side state or a deformed sequential state, it is necessary to determine the deformation ratio of the air-ground cluster to ensure that the deformed air-ground cluster can smoothly pass through obstacles within the detection range of the air-ground cluster.

[0101] Specifically, the deformation ratio needs to be greater than the maximum value of the ratio of the target passage distance to the detection diameter of each open space cluster.

[0102] The air-ground unmanned cluster consensus decision method for conflict resolution provided by the embodiment of the present disclosure first obtains the initial traffic state of the air-ground cluster group, the state information of each air-ground cluster included in the air-ground cluster group, and the coordinate information of the obstacles within the detection range of the air-ground cluster group, and then determines the target traffic spacing and the target reference point according to the coordinate information of the obstacles within the detection range of the air-ground cluster group; finally, according to the initial traffic state of the air-ground cluster group, the state information of each air-ground cluster, the target traffic spacing and the target reference point, the target traffic state of the air-ground cluster group passing through the obstacles within the detection range of the air-ground cluster group is determined. By decomposing the complex air-ground coordination problem into four basic sub-problems and then designing specific decisions, and automatically switching to the corresponding target traffic state based on the initial traffic state of the air-ground cluster group and the obstacles within the detection range of the air-ground cluster group, the consensus decision of the heterogeneous cluster is realized. The method disclosed in the embodiment of the present disclosure combines the perception advantages of drones and the self-organization advantages of ground robots, solves the problem that the traditional space self-organization behavior method cannot solve the coordination of heterogeneous clusters, and realizes the dynamic adaptive changes of ground robots, thereby ensuring the effectiveness of coordinated passage through narrow roads under multiple air-ground clusters.

[0103] Based on the above embodiments, the present disclosure also provides an air-to-ground unmanned cluster consensus decision-making device for conflict resolution. Figure 3 is a schematic diagram of the structure of the air-to-ground unmanned cluster consensus decision-making device for conflict resolution provided by an embodiment of the present disclosure, such as Figure 3As shown, the air-to-ground unmanned cluster consensus decision-making device for conflict resolution includes:

[0104] The information acquisition module 310 is used to acquire the initial traffic state of the air-ground cluster group, the state information of each air-ground cluster included in the air-ground cluster group, and the coordinate information of obstacles within the detection range of the air-ground cluster group, wherein the initial traffic state of the air-ground cluster includes the non-deformed side-by-side state, the non-deformed order state, the deformed side-by-side state, and the deformed order state, and the state information of each air-ground cluster included in the air-ground cluster group includes the current position information, speed information, and detection diameter;

[0105] The target information determination module 320 is used to determine the target clearance distance and the target reference point according to the coordinate information of the obstacles within the detection range of the air-ground cluster group;

[0106] The target traffic state determination module 330 is used to determine the target traffic state of the air-ground cluster group passing through obstacles within the detection range of the air-ground cluster group according to the initial traffic state of the air-ground cluster group, the state information of each air-ground cluster, the target traffic distance and the target reference point.

[0107] The air-ground unmanned cluster consensus decision-making device for conflict resolution provided by the embodiment of the present disclosure first obtains the initial traffic state of the air-ground cluster group, the state information of each air-ground cluster included in the air-ground cluster group, and the coordinate information of the obstacles within the detection range of the air-ground cluster group, and then determines the target traffic spacing and the target reference point according to the coordinate information of the obstacles within the detection range of the air-ground cluster group; finally, according to the initial traffic state of the air-ground cluster group, the state information of each air-ground cluster, the target traffic spacing and the target reference point, the target traffic state of the air-ground cluster group passing through the obstacles within the detection range of the air-ground cluster group is determined. By decomposing the complex air-ground coordination problem into four basic sub-problems and then designing specific decisions, and automatically switching to the corresponding target traffic state based on the initial traffic state of the air-ground cluster group and the obstacles within the detection range of the air-ground cluster group, the consensus decision of the heterogeneous cluster is realized. The method disclosed in the embodiment of the present disclosure combines the perception advantages of drones and the self-organization advantages of ground robots, solves the problem that the traditional space self-organization behavior method cannot solve the coordination of heterogeneous clusters, and realizes the dynamic adaptive changes of ground robots, thereby ensuring the effectiveness of coordinated passage through narrow roads under multiple air-ground clusters.

[0108] In a specific implementation, determining the target clearance distance and the target reference point according to the coordinate information of the obstacles within the detection range of the air-ground cluster group includes:

[0109] Determine an obstacle point set group according to the coordinate information of obstacles within the detection range of the air-ground cluster group, wherein the obstacle point set group includes multiple obstacle point sets, and any obstacle point set includes multiple obstacle points;

[0110] Determine a first pass distance between any two obstacle point sets in the obstacle point set group, wherein the first pass distance is the shortest pass distance between any two obstacle point sets;

[0111] The shortest passing distance between the first passing distances of any two obstacle point sets in the obstacle point set group is selected as the target passing distance;

[0112] Determine the target obstacle point according to the target clearance distance;

[0113] The target reference point is determined according to the coordinate information of the target obstacle point.

[0114] In a specific implementation, determining the obstacle point set group according to the coordinate information of the obstacles within the detection range of the air-ground cluster group includes:

[0115] Select an obstacle point from obstacles within the detection range of the open-ground cluster group as the first matching obstacle point;

[0116] Determine a first target matching obstacle point that matches the first matching obstacle point according to the relationship between the coordinate information of the first matching obstacle point and the coordinate information of other obstacle points within the detection range of the air-ground cluster group, so that the first matching obstacle point and the first target matching obstacle point form a first obstacle point set;

[0117] After the first matching obstacle point and the first target matching obstacle point are eliminated, an obstacle point is selected from the obstacles within the detection range of the open-ground cluster group as the second matching obstacle point, and a second obstacle point set is determined based on the second matching obstacle point.

[0118] In a specific implementation, determining a first pass distance between any two obstacle point sets in the obstacle point set group includes:

[0119] Randomly selecting two obstacle point sets from the obstacle point set group to form a sub-obstacle point set group, wherein any sub-obstacle point set group includes a first obstacle point set and a second obstacle point set;

[0120] Selecting a first target obstacle point from the first obstacle point set of the first sub-obstacle point set group, and obtaining coordinate information of the first target obstacle point;

[0121] Determine distance information between the first obstacle point and any one of the second obstacle points in the second obstacle point set according to the coordinate information of the first target obstacle point and the coordinate information of any one of the second obstacle points in the second obstacle point set;

[0122] Determine, according to the distance information between the first obstacle point and any second obstacle point in the second obstacle point set of the first sub-obstacle point set group, a second target obstacle point in the second obstacle point set having the shortest distance information to the first target obstacle point;

[0123] Determine a sub-passing distance of the first sub-obstacle point set according to the coordinate information of the first target obstacle point and the coordinate information of the second target obstacle point, and select a first target obstacle point from the first obstacle point set of the first sub-obstacle point set again;

[0124] A shortest passage spacing is selected from a plurality of sub-pass spacings to form a target sub-pass spacing of the first obstacle sub-group, and the target sub-pass spacing is the first passage spacing of the first obstacle point set and the second obstacle point set.

[0125] In a specific embodiment, the open space cluster group includes a first open space cluster and a second open space cluster;

[0126] According to the initial traffic state of the air-ground cluster group, the state information of each air-ground cluster, the target traffic distance and the target reference point, the target traffic state of the air-ground cluster group passing through obstacles within the detection range of the air-ground cluster group is determined, including:

[0127] When the initial passage state of the open-ground cluster group is the non-deformed side-by-side state, if the target passage spacing is greater than or equal to the sum of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, it is determined that the target passage state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group is the non-deformed side-by-side state;

[0128] If the target passage distance is less than the sum of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, and is greater than the maximum value of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, determine the first time information when the first open-ground cluster moves to the target reference point and the second time information when the second open-ground cluster moves to the first reference point according to the current position information of the first open-ground cluster, the current position information of the second open-ground cluster, the speed information of the first open-ground cluster, the speed information of the second open-ground cluster and the target reference point;

[0129] When the absolute value of the difference between the first time information and the second time information is less than the preset time, it is determined that the target passage state of the air-ground cluster group passing through the obstacle within the detection range of the air-ground cluster group is a deformed side-by-side state; when the absolute value of the difference between the first time information and the second time information is greater than or equal to the preset time, it is determined that the target passage state of the air-ground cluster group passing through the obstacle within the detection range of the air-ground cluster group is a non-deformed sequential state, and the air-ground cluster corresponding to the smaller time information in the first time information and the second time information is selected to pass first;

[0130] If the target passage spacing is less than or equal to the maximum value of the detection diameter of the first open space cluster and the detection diameter of the second open space cluster, the target passage state of the open space cluster group passing through the obstacles within the detection range of the open space cluster group is determined to be the deformation order state, and the open space cluster corresponding to the smaller time information in the first time information and the second time information is selected to pass first.

[0131] In a specific embodiment, the open space cluster group includes a first open space cluster and a second open space cluster;

[0132] According to the initial traffic state of the air-ground cluster group, the state information of each air-ground cluster, the target traffic distance and the target reference point, the target traffic state of the air-ground cluster group passing through obstacles within the detection range of the air-ground cluster group is determined, including:

[0133] When the initial passage state of the open-ground cluster group is the undeformed sequential state, if the target passage spacing is greater than or equal to the sum of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, it is determined that the target passage state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group is the undeformed side-by-side state;

[0134] If the target passage distance is smaller than the sum of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, and larger than the maximum value of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, it is determined that the target passage state of the open-ground cluster group passing through the obstacle within the detection range of the open-ground cluster group is the non-deformed order state;

[0135] If the target passage spacing is less than or equal to the maximum value of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, determine the first time information when the first open-ground cluster moves to the target reference point and the second time information when the second open-ground cluster moves to the first reference point according to the current position information of the first open-ground cluster, the current position information of the second open-ground cluster, the speed information of the first open-ground cluster, the speed information of the second open-ground cluster and the target reference point;

[0136] When the absolute value of the difference between the first time information and the second time information is greater than or equal to the preset time, it is determined that the target passage state of the air-ground cluster group passing through the obstacles within the detection range of the air-ground cluster group is the deformation order state, and the air-ground cluster corresponding to the smaller time information in the first time information and the second time information is selected to pass first.

[0137] In a specific embodiment, the open space cluster group includes a first open space cluster and a second open space cluster;

[0138] According to the initial traffic state of the air-ground cluster group, the state information of each air-ground cluster, the target traffic distance and the target reference point, the target traffic state of the air-ground cluster group passing through obstacles within the detection range of the air-ground cluster group is determined, including:

[0139] When the initial passage state of the open-ground cluster group is a deformed parallel state, if the target passage spacing is greater than or equal to the sum of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, it is determined that the target passage state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group is a non-deformed parallel state;

[0140] If the target passage distance is smaller than the sum of the detection diameter of the first open space cluster and the detection diameter of the second open space cluster, and larger than the maximum value of the detection diameter of the first open space cluster and the detection diameter of the second open space cluster, it is determined that the target passage state of the open space cluster group passing through the obstacle within the detection range of the open space cluster group is a deformed side-by-side state;

[0141] If the target passage spacing is less than or equal to the maximum value of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, determine the first time information when the first open-ground cluster moves to the target reference point and the second time information when the second open-ground cluster moves to the first reference point according to the current position information of the first open-ground cluster, the current position information of the second open-ground cluster, the speed information of the first open-ground cluster, the speed information of the second open-ground cluster and the target reference point;

[0142] When the absolute value of the difference between the first time information and the second time information is greater than or equal to the preset time, it is determined that the target passage state of the air-ground cluster group passing through the obstacles within the detection range of the air-ground cluster group is the deformation order state, and the air-ground cluster corresponding to the smaller time information in the first time information and the second time information is selected to pass first.

[0143] In a specific embodiment, the open space cluster group includes a first open space cluster and a second open space cluster;

[0144] According to the initial traffic state of the air-ground cluster group, the state information of each air-ground cluster, the target traffic distance and the target reference point, the target traffic state of the air-ground cluster group passing through obstacles within the detection range of the air-ground cluster group is determined, including:

[0145] When the initial passage state of the open-ground cluster group is the deformed order state, if the target passage spacing is greater than or equal to the sum of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, it is determined that the target passage state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group is the non-deformed side-by-side state;

[0146] If the target passage distance is smaller than the sum of the detection diameter of the first open space cluster and the detection diameter of the second open space cluster, it is determined that the target passage state of the open space cluster group passing through the obstacle within the detection range of the open space cluster group is the deformation order state.

[0147] In a specific implementation, according to the initial traffic state of the air-ground cluster group, the state information of each air-ground cluster, the target traffic spacing and the target reference point, before determining the target traffic state of the air-ground cluster group passing through obstacles within the detection range of the air-ground cluster group, it also includes:

[0148] The deformation ratio is determined based on the target traffic spacing and the detection diameter of each open space cluster.

[0149] The present application also provides a computer device. Figure 4 , Figure 4 This is a basic structural block diagram of the computer device in this embodiment.

[0150] The computer device includes a memory 510 and a processor 520 that are connected to each other through a system bus. It should be noted that the figure only shows a computer device with components 510-520, but it should be understood that it is not required to implement all the components shown, and more or fewer components can be implemented instead. Among them, those skilled in the art can understand that the computer device here is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable gate arrays (Field-Programmable Gate Array, FPGA), digital processors (Digital Signal Processor, DSP), embedded devices, etc.

[0151] Computer devices can be computing devices such as desktop computers, notebooks, PDAs, and cloud servers. Computer devices can interact with users through keyboards, mice, remote controls, touch pads, or voice control devices.

[0152] The memory 510 includes at least one type of readable storage medium, and the readable storage medium includes a non-volatile memory or a volatile memory, such as a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc., and the RAM may include a static RAM or a dynamic RAM. In some embodiments, the memory 510 may be an internal storage unit of a computer device, such as a hard disk or a memory of the computer device. In other embodiments, the memory 510 may also be an external storage device of a computer device, such as a plug-in hard disk, a smart memory card (SMC), a secure digital (SD) card, or a flash card (Flash Card), etc., equipped on the computer device. Of course, the memory 510 may also include both an internal storage unit of the computer device and an external storage device thereof. In this embodiment, the memory 510 is generally used to store an operating system and various application software installed on the computer device, such as the program code of the above method, etc. In addition, the memory 510 may also be used to temporarily store various data that have been output or are to be output.

[0153] The processor 520 is generally used to perform the overall operation of the computer device. In this embodiment, the memory 510 is used to store program codes or instructions, the program code includes computer operation instructions, and the processor 520 is used to execute the program codes or instructions stored in the memory 510 or process data, such as running the program code of the above method.

[0154] In this article, the bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus system can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0155] Another embodiment of the present application also provides a computer-readable medium, which may be a computer-readable signal medium or a computer-readable medium. A processor in a computer reads a computer-readable program code stored in the computer-readable medium, so that the processor can execute the functional actions specified in each step or a combination of steps in the above method; and generate a device for implementing the functional actions specified in each block or a combination of blocks in the block diagram.

[0156] Computer-readable media include but are not limited to electronic, magnetic, optical, electromagnetic, infrared memory or semiconductor systems, devices or apparatuses, or any appropriate combination of the foregoing, the memory is used to store program codes or instructions, the program codes include computer operating instructions, and the processor is used to execute the program codes or instructions of the above methods stored in the memory.

[0157] For the definitions of memory and processor, please refer to the description of the aforementioned computer device embodiment and will not be repeated here.

[0158] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0159] Each functional unit or module in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0160] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program code.

[0161] Unless the context clearly indicates otherwise, the singular form of the words used herein and in the appended claims includes the plural and vice versa. Thus, when referring to the singular, the plural form of the corresponding term is generally included. Similarly, the words "comprise" and "include" are to be interpreted as inclusive rather than exclusive. Likewise, the terms "include" and "or" should be interpreted as inclusive unless such interpretation is expressly prohibited herein. Where the term "example" is used herein, particularly when it is located after a group of terms, the "example" is merely exemplary and illustrative and should not be considered exclusive or comprehensive.

[0162] Further aspects and scopes of adaptability become apparent from the description provided herein. It should be understood that various aspects of the present application can be implemented individually or in combination with one or more other aspects. It should also be understood that the description and specific embodiments herein are intended for purposes of illustration only and are not intended to limit the scope of the present application.

[0163] Several embodiments of the present disclosure are described in detail above, but it is obvious that those skilled in the art can make various modifications and variations to the embodiments of the present disclosure without departing from the spirit and scope of the present disclosure. The protection scope of the present disclosure is defined by the attached claims.

Claims

1. A consensus decision-making method for air-ground unmanned clusters for conflict resolution, characterized by: include: Acquire the initial traffic state of the air-ground cluster group, the state information of each air-ground cluster included in the air-ground cluster group, and the coordinate information of obstacles within the detection range of the air-ground cluster group, wherein the initial traffic state of the air-ground cluster includes an undeformed side-by-side state, an undeformed order state, a deformed side-by-side state, and a deformed order state, and the state information of each air-ground cluster included in the air-ground cluster group includes current position information, speed information, and detection diameter; Determine the target clearance distance and target reference point according to the coordinate information of obstacles within the detection range of the air-ground cluster group; The target passage state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group is determined according to the initial passage state of the open-ground cluster group, the state information of each of the open-ground clusters, the target passage distance and the target reference point.

2. The method according to claim 1, characterized in that Determining the target clearance distance and the target reference point according to the coordinate information of the obstacles within the detection range of the air-ground cluster group includes: Determine an obstacle point set group according to the coordinate information of obstacles within the detection range of the air-ground cluster group, wherein the obstacle point set group includes multiple obstacle point sets, and any obstacle point set includes multiple obstacle points; Determine a first pass distance between any two obstacle point sets in the obstacle point set group, wherein the first pass distance is the shortest pass distance between any two obstacle point sets; Selecting the shortest passing distance between the first passing distances of any two obstacle point sets in the obstacle point set group as the target passing distance; Determine a target obstacle point according to the target clearance distance; The target reference point is determined according to the coordinate information of the target obstacle point.

3. The method according to claim 2, characterized in that The step of determining the obstacle point set group according to the coordinate information of the obstacles within the detection range of the open-ground cluster group includes: Selecting an obstacle point from obstacles within the detection range of the open-ground cluster group as a first matching obstacle point; Determine, according to the relationship between the coordinate information of the first matching obstacle point and the coordinate information of other obstacle points within the detection range of the open-ground cluster group, a first target matching obstacle point that matches the first matching obstacle point, so that the first matching obstacle point and the first target matching obstacle point form a first obstacle point set; After eliminating the first matching obstacle point and the first target matching obstacle point, an obstacle point is selected again from the obstacles within the detection range of the open-ground cluster group as a second matching obstacle point, and a second obstacle point set is determined based on the second matching obstacle point.

4. The method according to claim 2, characterized in that: The determining of a first pass distance between any two obstacle point sets in the obstacle point set group comprises: Randomly selecting two obstacle point sets from the obstacle point set group to form a sub-obstacle point set group, wherein any sub-obstacle point set group includes a first obstacle point set and a second obstacle point set; Selecting a first target obstacle point from the first obstacle point set of the first sub-obstacle point set group, and obtaining coordinate information of the first target obstacle point; determining, according to the coordinate information of the first target obstacle point and the coordinate information of any second obstacle point in the second obstacle point set, the distance information between the first obstacle point and any second obstacle point in the second obstacle point set; Determine, according to the distance information between the first obstacle point and any second obstacle point in the second obstacle point set of the first sub-obstacle point set group, a second target obstacle point in the second obstacle point set having the shortest distance information to the first target obstacle point; Determine a sub-passing distance of the first sub-obstacle point set group according to the coordinate information of the first target obstacle point and the coordinate information of the second target obstacle point, and select a first target obstacle point from the first obstacle point set of the first sub-obstacle point set group again; A shortest passage spacing is selected from a plurality of sub-pass spacings to form a target sub-pass spacing of a first sub-obstacle group, wherein the target sub-pass spacing is a first passage spacing of the first obstacle point set and the second obstacle point set.

5. The method according to claim 1, characterized in that The open space cluster group includes a first open space cluster and a second open space cluster; The determining, according to the initial traffic state of the open-ground cluster group, the state information of each of the open-ground clusters, the target traffic distance and the target reference point, the target traffic state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group includes: When the initial passage state of the open-ground cluster group is an undeformed side-by-side state, if the target passage spacing is greater than or equal to the sum of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, it is determined that the target passage state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group is an undeformed side-by-side state; If the target passage distance is less than the sum of the detection diameters of the first open-ground cluster and the second open-ground cluster, and is greater than the maximum value of the detection diameters of the first open-ground cluster and the second open-ground cluster, determine the first time information when the first open-ground cluster moves to the target reference point and the second time information when the second open-ground cluster moves to the first reference point according to the current position information of the first open-ground cluster, the current position information of the second open-ground cluster, the speed information of the first open-ground cluster, the speed information of the second open-ground cluster and the target reference point; When the absolute value of the difference between the first time information and the second time information is less than a preset time, it is determined that the target passage state of the air-ground cluster group passing through obstacles within the detection range of the air-ground cluster group is a deformed side-by-side state; when the absolute value of the difference between the first time information and the second time information is greater than or equal to the preset time, it is determined that the target passage state of the air-ground cluster group passing through obstacles within the detection range of the air-ground cluster group is an undeformed sequential state, and the air-ground cluster corresponding to the smaller time information between the first time information and the second time information is selected to pass first; If the target passage spacing is less than or equal to the maximum value of the detection diameter of the first open space cluster and the detection diameter of the second open space cluster, the target passage state of the open space cluster group passing through obstacles within the detection range of the open space cluster group is determined to be a deformation order state, and the open space cluster corresponding to the smaller time information between the first time information and the second time information is selected to pass first.

6. The method according to claim 1, characterized in that The open space cluster group includes a first open space cluster and a second open space cluster; The determining, according to the initial traffic state of the open-ground cluster group, the state information of each of the open-ground clusters, the target traffic distance and the target reference point, the target traffic state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group includes: When the initial passage state of the open-ground cluster group is the undeformed sequential state, if the target passage spacing is greater than or equal to the sum of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, it is determined that the target passage state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group is the undeformed side-by-side state; If the target passage spacing is smaller than the sum of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, and larger than the maximum of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, it is determined that the target passage state of the open-ground cluster group passing through the obstacle within the detection range of the open-ground cluster group is an undeformed order state; If the target passing distance is less than or equal to the maximum value of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, determine the first time information when the first open-ground cluster moves to the target reference point and the second time information when the second open-ground cluster moves to the first reference point according to the current position information of the first open-ground cluster, the current position information of the second open-ground cluster, the speed information of the first open-ground cluster, the speed information of the second open-ground cluster and the target reference point; When the absolute value of the difference between the first time information and the second time information is greater than or equal to the preset time, it is determined that the target passage state of the air-ground cluster group passing through obstacles within the detection range of the air-ground cluster group is a deformation order state, and the air-ground cluster corresponding to the smaller time information between the first time information and the second time information is selected to pass first.

7. The method according to claim 1, characterized in that The open space cluster group includes a first open space cluster and a second open space cluster; The determining, according to the initial traffic state of the open-ground cluster group, the state information of each of the open-ground clusters, the target traffic distance and the target reference point, the target traffic state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group includes: When the initial passage state of the open-ground cluster group is a deformed side-by-side state, if the target passage spacing is greater than or equal to the sum of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, it is determined that the target passage state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group is a non-deformed side-by-side state; If the target passage distance is smaller than the sum of the detection diameter of the first open space cluster and the detection diameter of the second open space cluster, and larger than the maximum value of the detection diameter of the first open space cluster and the detection diameter of the second open space cluster, it is determined that the target passage state of the open space cluster group passing through the obstacle within the detection range of the open space cluster group is a deformed side-by-side state; If the target passing distance is less than or equal to the maximum value of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, determine the first time information when the first open-ground cluster moves to the target reference point and the second time information when the second open-ground cluster moves to the first reference point according to the current position information of the first open-ground cluster, the current position information of the second open-ground cluster, the speed information of the first open-ground cluster, the speed information of the second open-ground cluster and the target reference point; When the absolute value of the difference between the first time information and the second time information is greater than or equal to the preset time, it is determined that the target passage state of the air-ground cluster group passing through obstacles within the detection range of the air-ground cluster group is a deformation order state, and the air-ground cluster corresponding to the smaller time information between the first time information and the second time information is selected to pass first.

8. The method according to claim 1, characterized in that The open space cluster group includes a first open space cluster and a second open space cluster; The determining, according to the initial traffic state of the open-ground cluster group, the state information of each of the open-ground clusters, the target traffic distance and the target reference point, the target traffic state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group includes: When the initial passage state of the open-ground cluster group is the deformed order state, if the target passage spacing is greater than or equal to the sum of the detection diameter of the first open-ground cluster and the detection diameter of the second open-ground cluster, it is determined that the target passage state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group is the non-deformed side-by-side state; If the target passage spacing is smaller than the sum of the detection diameter of the first open space cluster and the detection diameter of the second open space cluster, it is determined that the target passage state of the open space cluster group passing through obstacles within the detection range of the open space cluster group is a deformation order state.

9. The method according to claim 1, characterized in that: Before determining the target passage state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group according to the initial passage state of the open-ground cluster group, the state information of each of the open-ground clusters, the target passage distance and the target reference point, the method further includes: The deformation ratio is determined according to the target passage distance and the detection diameter of each of the open space clusters.

10. A consensus decision-making device for air-ground unmanned clusters for conflict resolution, characterized in that: include: An information acquisition module is used to acquire the initial traffic state of the air-ground cluster group, the state information of each air-ground cluster included in the air-ground cluster group, and the coordinate information of obstacles within the detection range of the air-ground cluster group, wherein the initial traffic state of the air-ground cluster includes an undeformed side-by-side state, an undeformed order state, a deformed side-by-side state, and a deformed order state, and the state information of each air-ground cluster included in the air-ground cluster group includes current position information, speed information, and detection diameter; A target information determination module, used to determine the target clearance distance and target reference point according to the coordinate information of obstacles within the detection range of the air-ground cluster group; The target traffic state determination module is used to determine the target traffic state of the open-ground cluster group passing through obstacles within the detection range of the open-ground cluster group according to the initial traffic state of the open-ground cluster group, the state information of each of the open-ground clusters, the target traffic distance and the target reference point.

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