Airport scene guide vehicle task scheduling method and system

Abstract

The invention provides an airport scene guide vehicle task scheduling method and system. The method comprises the following steps: acquiring an external information source of an airport; based on the external information source, constructing a corresponding target flight guiding task for flight task information; and based on the currently detected airport crossing conflict information, optimizing a guiding path in the flight guiding task, and controlling a corresponding guiding vehicle to go to a corresponding task execution ending place based on the optimized guiding path. The flight task information data of the airport is introduced to plan the driving path of the guide vehicle, and the driving path is forwarded to the vehicle-mounted driver end through the communication data link, so that the cognition threshold of the driver can be reduced. Besides, in the running process of the guide vehicle, scene running situation information is obtained in real time, conflicts are avoided, the path is optimized in real time when the conflicts occur, and a new scheme is provided for efficient running of the airport.

Description

Technical Field

[0001] The invention relates to the field of airport surface guide vehicle operation scheduling, in particular to an airport surface guide vehicle task scheduling method and system. Background Art

[0002] With the continuous development of the aviation industry, airport roads are becoming more complex, the number of airport flights is increasing, and the demand for guide vehicles when aircraft enter and leave the airport is more urgent. Therefore, how to achieve scientific and efficient guide vehicle scheduling and ensure the safety of airport field operation under limited time and limited vehicle resources has become an urgent problem to be solved in airport field operation. At present, most airports still use manual scheduling for guide vehicles, which has the following problems: 1. Vehicle scheduling is single-task single-flight scheduling. After the guidance is completed, it returns to the fixed parking point to wait, and the vehicle utilization rate is low, which increases the airport's operating costs; 2. The airport field is complex, and there are many prohibited areas and restricted areas. The guide vehicle driver needs to rely on his own experience to drive after receiving the guidance instruction, which increases the driver's learning cost and reduces the impact of human factors on the safe operation of the field; 3. Under the current airport operation environment, when a traffic conflict occurs at the airport field, other vehicles performing tasks can only wait in place if they do not receive the command and dispatch plan, which affects the airport's operating efficiency. Summary of the invention

[0003] In view of the above technical problems, the technical solution adopted by the present invention is:

[0004] According to a first aspect of the present invention, a method for dispatching tasks of an airport surface guidance vehicle is provided, the method comprising the following steps:

[0005] S100, obtaining external information sources of the airport, wherein the external information sources include aircraft positioning information, vehicle positioning information, airport road network information and flight mission information of the airport.

[0006] S200, based on the external information source, construct a corresponding target flight guidance task for the flight mission information, the flight guidance task includes the flight plan ID, the unique identification code of the guidance vehicle, the task execution status, the task start time, the task end time, the task execution start location, the task execution end location, the guidance target flight number, the guidance path and the flight plan ID corresponding to the associated previous guidance task.

[0007] S300, based on the currently detected airport crossing conflict information, the guidance path in the flight guidance task is optimized, and the corresponding guidance vehicle is controlled to go to the corresponding task execution end location based on the optimized guidance path.

[0008] According to a second aspect of the present invention, there is provided an airport surface guide vehicle task scheduling system, the system comprising an external information source, a server end and a human-computer interaction end, the external information source comprising the airport's aircraft positioning information, vehicle positioning information, airport road network information and flight mission information; the server end comprising a data preprocessing module, a task scheduling module, a conflict resolution module and a path optimization module, the human-computer interaction end comprising a vehicle-mounted display end, an airborne display end and a controller interaction end.

[0009] The data preprocessing module is used to obtain the external information source of the airport and convert the airport road network information in the external information source into graph structure data.

[0010] The task scheduling module is used to construct an initial flight guidance task for the flight mission information based on the external information source, and send it to the controller interaction terminal for confirmation, and generate a target flight guidance task for the flight mission information based on the confirmation result sent by the controller interaction terminal, and send it to the corresponding vehicle display terminal; the flight guidance task includes a flight plan ID, a unique identification code of the guidance vehicle, a task execution status, a task start time, a task end time, a task execution start location, a task execution end location, a guidance target flight number, a guidance path, and a flight plan ID corresponding to the associated previous guidance task.

[0011] The conflict resolution module is used to detect airport crossings with conflicts within the airport scene and generate corresponding conflict resolution end times based on the detection results, form corresponding airport crossing conflict information, and send it to the airborne display terminal and the controller interaction terminal or the vehicle display terminal and the controller interaction terminal.

[0012] The path optimization module is used to optimize the guidance path in the flight guidance task based on the currently detected airport intersection conflict information.

[0013] The present invention has at least the following beneficial effects:

[0014] The airport surface guide vehicle task scheduling method and system provided by the embodiment of the present invention obtains the arrival time of each flight by introducing the flight task information data of the airport, realizes the guide vehicle scheduling method with the flight arrival time as the main target, and simultaneously introduces the road network information and restricted area information of the airport surface, plans the driving path of the guide vehicle, and forwards it to the on-board driver end through the communication data link, which can lower the driver's cognitive threshold. In addition, in order to improve the operation efficiency of the guide vehicle, a continuous guidance method is designed, so that the guide vehicle can go directly from the guidance end point to the next aircraft guidance point, thereby saving a lot of time. During the operation process of the guide vehicle, the surface operation situation information is obtained in real time to avoid conflicts and optimize the path in real time when conflicts occur, providing a new solution for efficient operation of the airport.

[0015] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 A flowchart of a method for dispatching tasks of an airport field guidance vehicle provided by an embodiment of the present invention;

[0018] Figure 2 The present invention provides a structural block diagram of an airport field guidance vehicle task scheduling system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0021] It should be noted that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the steps as sequential processes, many of the steps can be implemented in parallel, concurrently or simultaneously. In addition, the order of the steps can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0022] An embodiment of the present invention provides a method for dispatching tasks of an airport surface guidance vehicle, the method may include: Figure 1 The following steps are shown:

[0023] S100, obtaining external information sources of the airport, wherein the external information sources include aircraft positioning information, vehicle positioning information, airport road network information and flight mission information of the airport.

[0024] In an embodiment of the present invention, the external information source is provided by an airport-related system. Aircraft positioning information may include, for example, information such as the flight number of the aircraft, the AA code of the aircraft, the latitude and longitude coordinates of the aircraft, the speed of the aircraft, and the angle of the nose of the aircraft. Vehicle positioning information may include information such as the unique identification code of the vehicle, the latitude and longitude coordinates of the vehicle, the angle of the nose of the vehicle, the working type of the vehicle (such as a guide vehicle, a fire truck, etc.), and the speed of the vehicle. Airport road network information may include information such as the latitude and longitude coordinates of all routes that vehicles can travel in the airport, the length of each route, and the like. Flight mission information may include information such as the flight model, the runway number used, the stand number used, the flight plan ID, the flight number, the estimated landing time, the estimated take-off time, and the arrival and departure conditions.

[0025] In the embodiment of the present invention, the acquired external information source may be stored in a MySQL database.

[0026] S200, based on the external information source, construct a corresponding target flight guidance task for the flight mission information, the flight guidance task includes the flight plan ID, the unique identification code of the guidance vehicle, the task execution status, the task start time, the task end time, the task execution start location, the task execution end location, the guidance target flight number, the guidance path and the flight plan ID corresponding to the associated previous guidance task.

[0027] In the embodiment of the present invention, a corresponding unique flight guidance task can be created in advance for each flight in the flight task information, and the initial value of each content item in the flight guidance task can be empty. Then, the content items of the empty flight guidance task are supplemented based on the external information source. In the embodiment of the present invention, the created flight guidance task can realize the creation of a vehicle guidance task chain through the association between guidance tasks, so as to facilitate the realization of continuous guidance work.

[0028] Furthermore, S200 specifically includes:

[0029] S210, determining the task execution end location of the current flight task information.

[0030] S210 may specifically include:

[0031] S2101, if the flight corresponding to the current flight mission information is an inbound flight, the pick-up point location of the guide vehicle of the flight is obtained through the flight runway number and the aircraft stand number in the flight mission information and the airport road network information as the end point of the mission execution.

[0032] In the embodiment of the present invention, the pick-up point location of the guide vehicle of the flight can be obtained based on expert experience in combination with the airport road network information.

[0033] S2102, if the flight corresponding to the current flight mission information is a departing flight, the current location of the flight is determined by the flight stand number in the flight mission information as the end location of the mission execution. The guide vehicle can directly go to the location of the corresponding stand number to pick up the flight.

[0034] S220, determining the starting point for the execution of the mission of the guide vehicle currently operating on the airport surface.

[0035] After the destination of the flight mission is determined, it is necessary to determine the starting position of the guide vehicle, and to determine whether the guide vehicle is in the guiding working state by traversing the guide vehicles operating on the airport surface. Further, S220 may specifically include:

[0036] S2201, if the i-th guide vehicle currently operating on the airport surface is in a state of not executing a guide mission, the current position of the i-th guide vehicle is used as the starting point LS for the i-th guide vehicle to execute its mission i ; The value of i ranges from 1 to n, where n is the number of guidance vehicles currently operating on the airport surface.

[0037] S2202: If the ith guide vehicle currently operating on the airport surface is in the state of executing a guide task, the task execution end location of the latest guide task in the task chain associated with the ith guide vehicle is used as the LS i S230, based on the airport road network information, the starting location of the guide vehicle's mission execution and the ending location of the mission execution of the current flight mission information, determine the unique identification code and initial guidance path of the initial guide vehicle corresponding to the current flight mission information, and generate the corresponding initial flight guidance mission.

[0038] Further, S230 may specifically include:

[0039] S2301, converting the airport road network information into graph structure data, and setting the corresponding road network in the graph structure data to an unavailable state according to the restricted area of ​​the airport, to obtain an airport road network map.

[0040] S2302, based on the airport road network map, LS i and the mission execution end location of the current flight mission information, determine the LS i The shortest path between the task execution end point of the current flight task information is used as the guidance path R of the i-th guide vehicle i .

[0041] In the embodiment of the present invention, LS can be obtained by Dijkstra algorithm. iThe shortest path between the mission execution end point of the current flight mission information.

[0042] S2303, based on the guidance task status of the i-th guidance vehicle, R i and reference speed V0, obtain the i-th guide vehicle by LS i The arrival time TA at the task execution end location of the current flight task information i .

[0043] In the embodiment of the present invention, V0 may be set based on the speed of the guide vehicles on the airport surface, for example, it may be the average speed of all guide vehicles on the airport surface. In an illustrative embodiment, V0=20 km / h.

[0044] In the embodiment of the present invention, if the i-th guide vehicle is a vehicle that has not performed the guide task, then its arrival time at the pick-up point is the current time plus the time TN required from the task execution start point to the task execution end point. i For example, if the current time is 9:00, the time required from the task execution start point to the task execution end point is TN i = 20min, the corresponding arrival time is 9:20. If the i-th guide vehicle is a vehicle that is currently performing a guide task, its arrival time at the pick-up point needs to be the end time of the guide task in the latest task in the task chain plus the time TN required from the start point of the task to the end point of the task. i .

[0045] In the embodiment of the present invention, TN i =R i / V0.

[0046] S2304, obtain min(TA1, TA2, ..., TA i ,……,TA n ) are used as the unique identification code and initial guidance path of the initial guidance vehicle corresponding to the current flight mission information, and min() is the minimum value.

[0047] S240: Based on the current operating status of the guide vehicle corresponding to the unique identification code of the initial guide vehicle, the initial flight guidance task is updated, and the updated initial flight guidance task is used as the corresponding target flight guidance task.

[0048] In the embodiment of the present invention, after the initial guidance task is formed, it will be sent to the controller interaction terminal, and the controller will further confirm whether the current vehicle can perform the guidance task. If the current vehicle can perform the task, it will be judged based on the vehicle's operating status.

[0049] Furthermore, S240 may specifically include:

[0050] S2401: If the guide vehicle corresponding to the unique identification code of the initial guide vehicle is in the first operating state, the initial flight guidance task is not updated, and the initial flight guidance task is used as the corresponding target flight guidance task.

[0051] In the embodiment of the present invention, the first operating state is a state of normal operation. If the guide vehicle is in a normal operating state, it means that the guide vehicle can perform the corresponding guide task. When the guide vehicle is not performing a task, the task will be sent to the on-board display terminal of the guide vehicle; when the guide vehicle is performing a task, the task will be stored in the MySQL database, and the task will be sent to the corresponding on-board display terminal after the previous task of the guide vehicle is completed.

[0052] S2402: If the guide vehicle corresponding to the unique identification code of the initial guide vehicle is in the second operating state, a new guide vehicle is assigned for the current flight mission information, and a guide path of the new guide vehicle is obtained.

[0053] In an embodiment of the present invention, the second operating state is an abnormal operating state, such as a state where the task cannot be performed due to an emergency. If the guide vehicle is in an abnormal state, the controller will reassign the guide vehicle to perform the task. At this time, the relevant status information of the assigned guide vehicle is obtained to perform a new round of path planning, and the path calculation of other guide vehicles is no longer performed. The obtained path planning results are sent to the vehicle display terminal. In addition, the controller can also manually draw path points for the designated guide vehicle, determine the end point and end time of the task, and manually construct a task. The task will also enter the task chain system of the guide vehicle and be sent to the vehicle display terminal.

[0054] S2403: Update the initial flight guidance task based on the new guide vehicle and the guidance path of the new guide vehicle, and use the updated initial flight guidance task as the corresponding target flight guidance task.

[0055] S300, based on the currently detected airport crossing conflict information, the guidance path in the flight guidance task is optimized, and the corresponding guidance vehicle is controlled to go to the corresponding task execution end location based on the optimized guidance path.

[0056] Furthermore, the currently detected airport crossing conflict information includes the conflicting airport crossings and the corresponding conflict resolution end time. The currently detected airport crossing conflict information is obtained by the following steps:

[0057] S301, if the number of targets N in the conflict detection distance ring of the currently detected r-th airport intersection r≤2, set the conflict mark of the rth airport intersection as the first conflict mark indicating no conflict. If N r >2, execute S302; the value of r is 1 to p, and p is the number of airport intersections obtained based on the airport road network information.

[0058] In an embodiment of the present invention, the airport crossing coordinates in the airport road network information are obtained from the MySQL database as the conflict detection target point. The conflict detection distance ring of the airport crossing can be a ring area with the airport crossing as the center and a preset value R as the radius. R can be modified according to the traffic complexity of the crossing. The more complex and busy the crossing is, the smaller the distance ring is required for more accurate judgment, and vice versa. The minimum R is not less than 30 meters, and the maximum range is ensured not to include other crossings. Generally, the maximum can be set to about 100 meters.

[0059] In the embodiment of the present invention, the target may include two types of vehicles: a guide vehicle and an airplane. When the number of targets in the crossing is less than two, there is no possibility of conflict at the current crossing, and no conflict detection is performed. When the number of targets is greater than two, it is further determined whether there is a difference between the targets at the crossing and those at the last detection.

[0060] S302, if the target within the conflict detection distance ring of the currently detected r-th airport crossing is the same as the target within the conflict detection distance ring of the last detected r-th airport crossing, it means that the conflict detection distance ring of the r-th airport crossing has been detected and no new conflict has occurred, and no conflict detection is performed, and S301 is executed. Otherwise, it means that a new conflict may have occurred in the conflict detection distance ring of the r-th airport crossing, and conflict detection is required, and S303 is executed.

[0061] S303: If the number of first targets of the first target type N1(r) among the targets within the conflict detection distance ring of the rth airport crossing currently detected is greater than 1 and the number of second targets of the second target type N2(r) is greater than 1, the movement trends of the first target and the second target are analyzed, and whether there is a conflict based on the analysis result is determined. If it is determined that there is a conflict, the corresponding conflict resolution end time TC is generated. r .

[0062] In the embodiment of the present invention, the first target may be a vehicle on the airport surface, and the second target may be an airplane on the airport surface.

[0063] S304: if N1(r)=0 and N2(r)>2, analyze the movement trend of the second target and determine whether there is a conflict based on the analysis result. If it is determined that there is a conflict, generate the corresponding conflict resolution end time TC. r .

[0064] Further, in S303, the movement trends of the first target and the second target are analyzed, and based on the analysis results, it is determined whether there is a conflict. If it is determined that there is a conflict, a corresponding conflict resolution end time TC is generated. r , specifically including:

[0065] S31, setting a first target counting variable k=1.

[0066] S32, if k≤N1(r), set the second target counting variable s=1, and execute S33; if k>N1(r), execute S42.

[0067] S33, if s≤N2(r), execute S34, otherwise, execute S41.

[0068] S34, obtaining the angle θ between the kth first target and the sth second target 12 ks .

[0069] In the embodiment of the present invention, θ 12 ks =arctan(C1 / D1), where C1 and D1 are both intermediate quantities, C1 = sin(rad(X2 s -X1 k ))×cos(rad(Y2 s )), D1=cos(rad(Y1 k ))×sin(rad(Y2 s ))-sin(rad(Y1 k ))×cos(rad(Y2 s )×cos(rad(X2 s -X1 k ));X1 k and Y1 k are the longitude and latitude coordinates of the kth first target, respectively, X2 s and Y2 s are respectively the longitude coordinates and latitude coordinates of the sth second target, rad() is a rad function, indicating the conversion of angles into radians; execute S35.

[0070] S35, based on X1 k 、Y1 k , X2 s and Y2 s , determine whether the kth first target and the sth second target are located on the same side and the same road of the rth airport intersection, if so, execute S37, otherwise, execute S36.

[0071] In the embodiment of the present invention, if X1 k =X2s , or Y1 k =Y2 s , indicating whether the kth first target and the sth second target are located on the same side and the same road of the rth airport intersection.

[0072] S36, based on θ 12 ks and the azimuth angle θ1 of the kth first target k , determine the position of the s-th second target in the rectangular coordinate system corresponding to the k-th first target. If it is determined that the s-th second target is located in the first quadrant or the fourth quadrant of the rectangular coordinate system corresponding to the k-th first target, execute S37. If it is determined that the s-th second target is located in the second quadrant or the third quadrant of the rectangular coordinate system corresponding to the k-th first target, set the conflict resolution end time TC that the k-th first target needs to wait for the s-th second target rk s =T now , execute S40; the Y axis of the rectangular coordinate system corresponding to the kth first target is directly in front of the kth first target, and the quadrants of the coordinate system start with the Y axis angle as 0 and are divided clockwise to increase the angle, that is, in the coordinate system corresponding to the first target, the first quadrant is the right front of the first target, the second quadrant is the right rear of the first target, the third quadrant is the left rear of the first target, and the fourth quadrant is the left front of the first target. T now is the current time.

[0073] In the embodiment of the present invention, the quadrant in which the second target is located in the rectangular coordinate system corresponding to the first target is determined based on the following conditions:

[0074] If 0<(2π-θ1+θ 12 )% 2π<π / 2, it is determined that the second target is located in the first quadrant;

[0075] If π / 2<(2π-θ1+θ 12 )%2π<π, it is determined that the second target is located in the second quadrant;

[0076] If π<(2π-θ1+θ 12 )% 2π<3π / 2, it is determined that the second target is located in the third quadrant;

[0077] If 3π / 2<(2π-θ1+θ 12 )%2π<2π, it is determined that the second target is located in the fourth quadrant.

[0078] Among them, θ1 is the azimuth of the first target, θ 12 is the angle between the first target and the second target, and “%” is the remainder operator.

[0079] S37, obtaining the angle θ between the sth second target and the rth airport intersection 23 sr .

[0080] In the embodiment of the present invention, θ 23 sr =arctan(C2 / D2), C2 and D2 are both intermediate variables, C2 = sin(rad(X3 r -X2 s ))×cos(rad(Y3 r )), D2=cos(rad(Y2 s ))×sin(rad(Y3 r ))-sin(rad(Y2 s ))×cos(rad(Y3 r )×cos(rad(X3 r -X2 s )), X3 r and Y3 r are respectively the longitude coordinate and latitude coordinate of the rth airport crossing; execute S38.

[0081] S38, if 0≤|θ2 s -θ 23 sr |<π / 2, indicating that the second target is heading for the intersection, it is determined that there is a conflict between the kth first target and the sth second target, and S39 is executed; if π / 2≤|θ2 s -θ 23 sr |<π, indicating that the second target is leaving the intersection, confirming that there is no conflict between the kth first target and the sth second target, and setting the conflict resolution end time TC that the kth first target needs to wait for the sth second target rk s =T now , execute S40; θ2 s is the azimuth of the sth second target.

[0082] If the second target is leaving the intersection, the route of the second target will not affect the route of the first target, and there is no possibility of conflict. If the second target is heading towards the intersection, the route of the first target will intersect, and an accident may occur. It is necessary to calculate the time the vehicle waits for the second target.

[0083] S39, obtaining the time TC of the end of the conflict resolution of the kth first target and the sth second target rk s .

[0084] In the embodiment of the present invention, TC rks =T now +(6371×2×arc((p1) 1 / 2 / (1-p1) 1 / 2 )+L s ) / V s , p1 is the intermediate quantity, p1 = sin(rad(Y3 r -Y2 s ) / 2) 2 +cos(rad(Y2 s ))×cos(rad(Y3 r )×sin(rad(X3 r -X2 s ) / 2) 2 , L s is the length of the sth second target, V s is the speed of the s-th second target; execute S40.

[0085] S40, set s=s+1, and execute S33.

[0086] S41, get max(TC rk 1 , TC rk 2 ,……,TC rk s ,……,TC rk N2(r) ) as the conflict resolution end time TC of the kth first target rk ; Set k=k+1, execute S32; max() means taking the maximum value.

[0087] S42, if the conflict resolution end time set TCS corresponding to the rth airport intersection r All conflict resolution end times in are equal to the current time, and it is determined that there is no conflict at the r-th airport intersection. If the conflict resolution end time set TCS corresponding to the r-th airport intersection r There is at least one conflict resolution end time greater than the current time, determine that there is a conflict at the rth airport intersection, and obtain max(TCS r ) as TC r , among which, TCS r =(TC r1 , TC r2 ,……,TC rk ,……,TC rN1(r) ).

[0088] In an embodiment of the present invention, the calculated conflict resolution end time of the first target is the time the first target waits for the second target to leave before moving forward. This time will be sent to the corresponding display terminal, such as the vehicle-mounted display terminal and the controller interaction terminal, as a conflict resolution solution for display.

[0089] Further, in S304, the movement trend of the second target is analyzed, and based on the analysis result, it is determined whether there is a conflict. If it is determined that there is a conflict, a corresponding conflict resolution end time TC is generated. r , specifically including:

[0090] S51, set the second target counting variable g=1.

[0091] S52: If g≤N2(r), set the second target count variable h=1.

[0092] S53, if h≤N2(r)-1, execute S54; otherwise, execute S62.

[0093] S54, obtaining an angle θ between the g-th second target and the h-th second target among other second targets 22 gh .

[0094] Wherein, the other second targets are the second targets other than the g-th second target among the N2(r) second targets; execute S55; θ 22 gh =arctan(E1 / H1), where E1 and H1 are both intermediate quantities, E1 = sin(rad(X2 h -X2 g ))×cos(rad(Y2 h )), D1=cos(rad(Y2 g ))×sin(rad(Y2 h ))-sin(rad(Y2 g ))×cos(rad(Y2 h )×cos(rad(X2 h -X2 g ));X2 g and Y2 g are the longitude and latitude coordinates of the g-th second target, X2 h and Y2 h are the longitude and latitude coordinates of the hth second target respectively, and rad() means converting the angle into radians.

[0095] S55, based on θ 22 gh and the azimuth angle θ2 of the hth second target h, determine the position of the hth second target in the rectangular coordinate system corresponding to the gth second target. If it is determined that the hth second target is located in the fourth quadrant of the rectangular coordinate system corresponding to the gth first target, execute S56; otherwise, set the gth second target to wait for the conflict resolution end time TC of the hth second target rg h =T now , execute S50; the Y axis of the rectangular coordinate system corresponding to the g-th second target is directly in front of the g-th second target, and the quadrants of the coordinate system are divided by increasing the angle clockwise starting from the Y axis angle of 0. That is, in the rectangular coordinate system corresponding to the second target, the first quadrant is the right front of the second target, the second quadrant is the right rear of the second target, the third quadrant is the left rear of the second target, and the fourth quadrant is the left front of the second target. now is the current time.

[0096] In the embodiment of the present invention, one of the two second targets to be judged whether there is a conflict is referred to as second target A, and the other second target is referred to as second target B. The quadrant where the second target A is located in the rectangular coordinate system corresponding to the second target B is judged based on the following conditions:

[0097] If 0<(2π-θ2+θ 22 )% 2π<π / 2, it is determined that the second target is located in the first quadrant;

[0098] If π / 2<(2π-θ2+θ 22 )%2π<π, it is determined that the second target is located in the second quadrant;

[0099] If π<(2π-θ2+θ 22 )% 2π<3π / 2, it is determined that the second target is located in the third quadrant;

[0100] If 3π / 2<(2π-θ2+θ 22 )%2π<2π, it is determined that the second target is located in the fourth quadrant.

[0101] Where θ2 is the azimuth of the second target A, θ 22 is the angle between the second target A and the second target B.

[0102] S56, obtaining the angle θ between the hth second target and the rth airport intersection 23 hr .

[0103] In the embodiment of the present invention, θ 23 hr =arctan(E2 / F2), E2 and H2 are intermediate variables, E2 = sin(rad(X3 r -X2h ))×cos(rad(Y3 r )), H2=cos(rad(Y2 h ))×sin(rad(Y3 r ))-sin(rad(Y2 h ))×cos(rad(Y3 r )×cos(rad(X3 r -X2 h )), X3 r and Y3 r are the longitude and latitude coordinates of the rth airport crossing respectively; execute S58,

[0104] S58, if 0≤|θ2 h -θ 23 hr |<π / 2, indicating that the hth second target is heading for the intersection, it is determined that there is a conflict between the gth second target and the hth second target, and S59 is executed; if π / 2≤|θ2 h -θ 23 hr |<π, indicating that the hth second target leaves the intersection, confirming that there is no conflict between the gth second target and the hth second target, and setting the conflict resolution end time TC that the gth second target needs to wait for the hth second target rg h =T now , execute S50; θ2 h is the azimuth of the hth second target.

[0105] If the second target A is leaving the intersection, the route of the second target B will not affect each other and there is no possibility of conflict; if the second target A is heading towards the intersection, the route of the second target B will intersect and an accident may occur. It is necessary to calculate the time that the second target B waits for the second target A.

[0106] S59, obtaining the time TC that the g-th second target needs to wait for the h-th second target to resolve the conflict rk s =T now +(6371×2×arc((p2) 1 / 2 / (1-p2) 1 / 2 )+L h ) / V h , p2 is the intermediate quantity, p2 = sin(rad(Y3 r -Y2 h ) / 2) 2 +cos(rad(Y2 h ))×cos(rad(Y3 r)×sin(rad(X3 r -X2 h ) / 2) 2 , L h is the length of the hth second target, V h is the speed of the hth second target; execute S50.

[0107] S60, set h=h+1, and execute S53.

[0108] S61, obtain max(TC rg 1 , TC rg 2 ,……,TC rg h ,……,TC rh N2(r) ) as the conflict resolution end time TC of the g-th second target rk ; Set g=g+1, execute S52; max() means taking the maximum value.

[0109] S62, if the conflict resolution end time set TCS corresponding to the rth airport intersection r All conflict resolution end times in are equal to the current time, and it is determined that there is no conflict at the r-th airport intersection. If the conflict resolution end time set TCS corresponding to the r-th airport intersection r There is at least one conflict resolution end time greater than the current time, determine that there is a conflict at the rth airport intersection, and obtain max(TCS r ) as TC r , among which, TCS r =(TC r1 , TC r2 ,……,TC rg ,……,TC gN2(r) ).

[0110] In an embodiment of the present invention, the calculated conflict resolution end time of the second target B is the time the second target B waits for the second target A to leave before moving forward. This time will be sent to the corresponding display terminal, such as the onboard display terminal and the controller interaction terminal, as a conflict resolution solution for display.

[0111] In an embodiment of the present invention, when the guide vehicle is traveling along the path planned by the flight guidance mission, if a conflict is detected at an intersection on the current route, it is necessary to select a new route for the current vehicle to detour based on the time consumption or wait for the conflict to end before moving forward, thereby realizing real-time regulation of vehicle operations on the airport surface.

[0112] Furthermore, S300 may specifically include:

[0113] S310, traverse the flight guidance tasks, for any guidance path of a flight guidance task, if the guidance path contains a conflicting airport intersection in the currently detected airport intersection conflict information, add the flight guidance task to the pending set, and the initial value of the pending set is empty.

[0114] In the embodiment of the present invention, the planned path is a JSON format data consisting of path longitude and latitude points. For any flight guidance task's guidance path, if the guidance path contains the longitude and latitude coordinates of the conflicting airport intersection in the currently detected airport intersection conflict information, it means that the longitude and latitude of the conflicting intersection are located in the planned path, and path optimization is required.

[0115] S320, if the set to be processed is an empty set, the guidance path in the flight guidance task scheduling information is not optimized; if the set to be processed is not an empty set, execute S330.

[0116] S330, in the current airport road network map, setting the airport intersections with conflicts in the currently detected airport intersection conflict information to an unavailable state, and obtaining an updated airport road network map.

[0117] S340, traverse the pending collection. If a flight guidance task in the pending collection is in a task state of unexecuted, obtain a new guidance path for the flight guidance task based on the updated airport road network map as the new guidance path, and execute S350; if a flight guidance task in the pending collection is in a task state of being executed, obtain a new guidance path for the flight guidance task based on the current position of the guidance vehicle corresponding to the flight guidance task and the updated airport road network map as the new guidance path, and execute S360.

[0118] S350, if (TC-T now )<(TS+(L3 / V0)-T now ), determine that the guide vehicle corresponding to the flight guidance task does not need to wait and follows the current guidance path; if (L2 / V)≥(L1 / V0)+TC, determine that the guide vehicle corresponding to the flight guidance task follows the current guidance path after waiting for time TC; if (L2 / V0)<(L1 / V0)+TC, determine that the guide vehicle corresponding to the flight guidance task follows the new guidance path; where TC is the conflict resolution end time T corresponding to the conflicting airport intersection contained in the current guidance path corresponding to the flight guidance task now is the current time, TS is the task start time corresponding to the flight guidance task; L1 is the length of the current guidance path corresponding to the flight guidance task, L2 is the length of the new guidance path corresponding to the flight guidance task, and L3 is the distance between the starting point of the current guidance path corresponding to the flight guidance task and the corresponding conflicting airport intersection.

[0119] S360, if (TC-T now )<(L4 / V0), it is determined that the guide vehicle corresponding to the flight guidance task does not need to wait and follows the current guidance path; if (L2 / V0)≥((L1-L3+L4) / V0)+TC, it is determined that the guide vehicle corresponding to the flight guidance task follows the current guidance path after waiting for time TC; if (L2 / V0)<((L1-L3+L4) / V0)+TC, it is determined that the guide vehicle corresponding to the flight guidance task follows the new guidance path, and L4 is the distance between the current position of the guide vehicle corresponding to the flight guidance task and the corresponding conflicting airport intersection.

[0120] In the embodiment of the present invention, after the path optimization plan is obtained, the optimized plan will be sent to the vehicle display terminal and the controller interaction terminal for display.

[0121] In summary, the airport field guidance vehicle task scheduling method provided by the embodiment of the present invention has at least the following advantages:

[0122] 1. Through the priority dispatching strategy of the guide vehicle, the Dijkstra algorithm is used to plan the path and complete the guidance task distribution according to the real-time position of the field guide vehicle. At the same time, the guidance task chain system is added to further improve the follow-up work efficiency of the field guide vehicle, which can solve the problem of low efficiency of manual dispatching.

[0123] 2. The location information of each intersection at the airport is counted, and different conflict detection distance rings are designed for each intersection according to the airport's operating rules and actual operating conditions. Automatic conflict detection is performed through unit changes within the conflict detection distance ring, and solutions are provided for conflicting units, providing a new conflict resolution system for field operations.

[0124] 3. According to the real-time operating status of the guide vehicle and the conflicts occurring on the planned route, a path optimization solution is provided for the guide vehicle that is disturbed by the conflict, so as to assist the guide vehicle to complete the task more efficiently and improve the efficiency of airport operation.

[0125] 4. Through autonomous operation, the dispatching and monitoring burdens of controllers are greatly reduced.

[0126] 5. In the airport operation deployment, you only need to change the airport's surface operation route map to operate, which has high deployment flexibility.

[0127] Based on the same inventive concept, an embodiment of the present invention provides an airport field guide vehicle task scheduling system, such as Figure 2As shown, the system includes an external information source, a server end and a human-computer interaction end. The external information source includes the airport's aircraft positioning information, vehicle positioning information, airport road network information and flight mission information; the server end includes a data preprocessing module, a task scheduling module, a conflict resolution module and a path optimization module, and the human-computer interaction end includes a vehicle-mounted display end, an airborne display end and a controller interaction end.

[0128] In the embodiment of the present invention, the vehicle-mounted display terminal and the aircraft-mounted display terminal are generally tablet computers or HUD devices, which provide a visual interface for the driver and the pilot, including:

[0129] (1) Map information of the airport scene;

[0130] (2) Vehicle and aircraft positioning information from external information sources is used to display other vehicles and aircraft within a 300-meter radius around the vehicle in the visualization interface;

[0131] (3) Task path information and conflict resolution information sent by the server. The task path information is sent to the vehicle display terminal, and the driver can operate in the airport scene according to the visualized task route from the vehicle display terminal. The conflict resolution information is sent to the vehicle display terminal or the aircraft display terminal according to whether the conflict target is a vehicle or an aircraft. It mainly pops up a window to remind the current conflict target of the waiting time and the cause of the conflict.

[0132] In the embodiment of the present invention, the controller interaction terminal is a web page terminal, which provides an interactive visual interface for the controller, including:

[0133] 1) Map information of the airport scene;

[0134] 2) Vehicle and aircraft positioning information from external information sources, which facilitates controllers to monitor the operational status of all targets on the ground;

[0135] 3) The task path information and conflict resolution information sent by the server. The task path information highlights the path on the airport scene map. The controller can display and hide the path and cancel the task. At the same time, the path is bound to the number of the guiding vehicle and the flight number of the guided aircraft. The conflict resolution information highlights the conflict point on the airport map and describes the conflict situation of the current conflict point and the time required for conflict resolution.

[0136] 4) The controller manually assigns the vehicle and manually adds a task to the vehicle by drawing a task path for the vehicle, specifying the task destination and the task end time.

[0137] Furthermore, the data preprocessing module is used to obtain the external information source of the airport and convert the airport road network information in the external information source into graph structure data. The data preprocessing module is also used to store the received external information source and the converted graph structure data into a MySQL database for use.

[0138] The task scheduling module is mainly based on flight task information, creates flight guidance tasks, calculates the distance and time taken by the guidance vehicle to the flight pick-up point, increases the task chain of the guidance vehicle's continuous work, minimizes the number of dispatched vehicles, and realizes the efficient operation of the guidance vehicle at the airport. Specifically used for: based on the external information source, constructing the initial flight guidance task for the flight task information, and sending it to the controller interaction terminal for determination, and generating the target flight guidance task of the flight task information based on the determination result received from the controller interaction terminal, and sending it to the corresponding vehicle display terminal; the flight guidance task includes the flight plan ID, the unique identification code of the guidance vehicle, the task execution status, the task start time, the task end time, the task execution start location, the task execution end location, the guidance target flight number, the guidance path, and the flight plan ID corresponding to the associated previous guidance task.

[0139] The main function of the conflict resolution module is to predict the possible vehicle-aircraft conflicts and aircraft-aircraft conflicts at the airport surface crossings, and to issue early warnings and solutions to the units that may conflict, so as to improve the safety of airport surface operations by avoiding conflicts. Specifically, it is used to detect the airport crossings with conflicts in the airport surface and generate the corresponding conflict resolution end time based on the detection results, form the corresponding airport crossing conflict information, and send it to the airborne display terminal and the controller interaction terminal or the vehicle display terminal and the controller interaction terminal.

[0140] The path optimization module obtains further solutions based on the results of the task scheduling module and the conflict resolution module. When the guide vehicle travels along the path planned by the task scheduling module, if the conflict resolution module detects a conflict at a certain intersection on the current route, the current vehicle will choose a new route to detour or wait for the conflict to end before moving forward based on the time consumption, thus achieving real-time control of the operation of the airport field vehicle. Specifically used for: optimizing the guidance path in the flight guidance task based on the currently detected airport intersection conflict information.

[0141] Task scheduling module, conflict resolution module and path optimization module can be used to execute Figure 1 Therefore, for the functions that can be realized by each functional module, please refer to Figure 1 The description of the illustrated embodiment is not repeated in detail.

[0142] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and this document does not limit this.

[0143] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for dispatching tasks of airport field guidance vehicles, characterized in that: The method comprises the following steps: S100, obtaining external information sources of the airport, wherein the external information sources include aircraft positioning information, vehicle positioning information, airport road network information and flight mission information of the airport; S200, based on the external information source, construct a corresponding target flight guidance task for the flight task information, the flight guidance task including a flight plan ID, a unique identification code of a guidance vehicle, a task execution status, a task start time, a task end time, a task execution start location, a task execution end location, a guidance target flight number, a guidance path, and a flight plan ID corresponding to an associated previous guidance task; S300, based on the currently detected airport crossing conflict information, the guidance path in the flight guidance task is optimized, and the corresponding guidance vehicle is controlled to go to the corresponding task execution end location based on the optimized guidance path.

2. The method according to claim 1, characterized in that S200 specifically includes: S210, determining the task execution end location of the current flight task information; S220, determining the starting location for the mission execution of the guide vehicle currently operating on the airport surface; S230, based on the airport road network information, the starting location of the guide vehicle's mission execution and the ending location of the mission execution of the current flight mission information, determining the unique identification code and initial guidance path of the initial guide vehicle corresponding to the current flight mission information, and generating the corresponding initial flight guidance mission; S240: Based on the current operating status of the guide vehicle corresponding to the unique identification code of the initial guide vehicle, the initial flight guidance task is updated, and the updated initial flight guidance task is used as the corresponding target flight guidance task.

3. The method according to claim 2, characterized in that S210 specifically includes: S2101, if the flight corresponding to the current flight mission information is an inbound flight, the pick-up point of the guide vehicle of the flight is obtained by using the flight runway number and the aircraft stand number in the flight mission information and the airport road network information as the mission execution end point; S2102: If the flight corresponding to the current flight mission information is a departing flight, the current position of the flight is determined by the flight stand number in the flight mission information as the end point of the mission execution.

4. The method according to claim 2, characterized in that: S220 specifically includes: S2201, if the i-th guide vehicle currently operating on the airport surface is in a state of not executing a guide mission, the current position of the i-th guide vehicle is used as the starting point LS for the i-th guide vehicle to execute its mission i ; The value of i ranges from 1 to n, where n is the number of pilot vehicles currently operating on the airport surface; S2202, if the ith guide vehicle currently operating on the airport surface is in the state of executing a guidance task, the task execution end location of the latest guidance task associated with the ith guide vehicle is used as the LS i .

5. The method according to claim 4, characterized in that S230 specifically includes: S2301, converting the airport road network information into graph structure data, and setting the corresponding road network in the graph structure data to an unavailable state according to the restricted area of ​​the airport, to obtain an airport road network map; S2302, based on the airport road network map, LS i and the mission execution end location of the current flight mission information, determine the LS i The shortest path between the task execution end point of the current flight task information is used as the guidance path R of the i-th guide vehicle i ; S2303, based on the guidance task status of the i-th guidance vehicle, R i and reference speed V0, obtain the i-th guide vehicle by LS i The arrival time TA at the task execution end location of the current flight task information i ;; S2404, obtain min(TA1, TA2, ..., TA i ,……,TA n ) are used as the unique identification code and initial guidance path of the initial guidance vehicle corresponding to the current flight mission information, and min() is the minimum value.

6. The method according to claim 1, characterized in that The currently detected airport crossing conflict information includes the conflicting airport crossings and the corresponding conflict resolution end time. The currently detected airport crossing conflict information is obtained through the following steps: S301, if the number of targets N in the conflict detection distance ring of the currently detected r-th airport intersection r ≤2, set the conflict mark of the rth airport intersection as the first conflict mark indicating no conflict. If N r >2, execute S302; r is 1 to p, where p is the number of airport intersections obtained based on the airport road network information; S302, if the target within the conflict detection distance ring of the r-th airport crossing currently detected is the same as the target within the conflict detection distance ring of the r-th airport crossing detected last time, execute S301, otherwise, execute S303; S303: If the number of first targets of the first target type N1(r) among the targets within the conflict detection distance ring of the rth airport crossing currently detected is greater than 1 and the number of second targets of the second target type N2(r) is greater than 1, the movement trends of the first target and the second target are analyzed, and whether there is a conflict based on the analysis result is determined. If it is determined that there is a conflict, the corresponding conflict resolution end time TC is generated. r ; S304: if N1(r)=0 and N2(r)>2, analyze the movement trend of the second target and determine whether there is a conflict based on the analysis result. If it is determined that there is a conflict, generate the corresponding conflict resolution end time TC. r .

7. The method according to claim 6, characterized in that In S303, the movement trends of the first target and the second target are analyzed, and based on the analysis results, it is determined whether there is a conflict. If it is determined that there is a conflict, a corresponding conflict resolution end time TC is generated. r , specifically including: S31, setting the first target counting variable k=1; S32, if k≤N1(r), set the second target count variable s=1, and execute S33; if k>N1(r), execute S42; S33, if s≤N2(r), execute S34, otherwise, execute S41; S34, obtaining the angle θ between the kth first target and the sth second target 12 ks θ 12 ks =arctan(C1 / D1), where C1 and D1 are both intermediate quantities, C1 = sin(rad(X2 s -X1 k ))×cos(rad(Y2 s )), D1=cos(rad(Y1 k ))×sin(rad(Y2 s ))-sin(rad(Y1 k ))×cos(rad(Y2 s )×cos(rad(X2 s -X1 k ));X1 k and Y1 k are the longitude and latitude coordinates of the kth first target, respectively, X2 s and Y2 s are respectively the longitude coordinate and latitude coordinate of the s-th second target, rad() represents converting the angle into radians; execute S35; S35, based on X1 k 、Y1 k , X2 s and Y2 s , determine whether the kth first target and the sth second target are located on the same side and the same road of the rth airport intersection, if yes, execute S37, otherwise, execute S36; S36, based on θ 12 ks and the azimuth angle θ1 of the kth first target k , determine the position of the s-th second target in the rectangular coordinate system corresponding to the k-th first target. If it is determined that the s-th second target is located in the first quadrant or the fourth quadrant of the rectangular coordinate system corresponding to the k-th first target, execute S37. If it is determined that the s-th second target is located in the second quadrant or the third quadrant of the rectangular coordinate system corresponding to the k-th first target, set the conflict resolution end time TC that the k-th first target needs to wait for the s-th second target rk s =T now , execute S40; the Y axis of the rectangular coordinate system corresponding to the kth first target is directly in front of the kth first target, and the quadrant of the coordinate system starts with the Y axis angle as 0 and is divided clockwise to increase the angle; T now is the current time; S37, obtaining the angle θ between the sth second target and the rth airport intersection 23 sr ,θ 23 sr =arctan(C2 / D2), C2 and D2 are both intermediate variables, C2 = sin(rad(X3 r -X2 s ))×cos(rad(Y3 r )), D2=cos(rad(Y2 s ))×sin(rad(Y3 r ))-sin(rad(Y2 s ))×cos(rad(Y3 r )×cos(rad(X3 r -X2 s )), X3 r and Y3 r are respectively the longitude coordinate and the latitude coordinate of the rth airport crossing; executing S38; S38, if 0≤|θ2 s -θ 23 sr |<π / 2, it is determined that there is a conflict between the kth first target and the sth second target, and S39 is executed; if π / 2≤|θ2 s -θ 23 sr |<π, determine that there is no conflict between the kth first target and the sth second target, and set the conflict resolution end time TC that the kth first target needs to wait for the sth second target rk s =T now , execute S40; θ2 s is the azimuth of the sth second target; S39, obtaining the time TC of the kth first target to wait for the conflict resolution of the sth second target rk s =T now +(6371×2×arc((p1) 1 / 2 / (1-p1) 1 / 2 )+L s ) / V s , p1 is the intermediate quantity, p1 = sin(rad(Y3 r -Y2 s ) / 2) 2 +cos(rad(Y2 s ))×cos(rad(Y3 r )×sin(rad(X3 r -X2 s ) / 2) 2 , L s is the length of the sth second target, V s is the speed of the s-th second target; executing S40; S40, set s=s+1, and execute S33; S41, get max(TC rk 1 , TC rk 2 ,……,TC rk s ,……,TC rk N2(r) ) as the conflict resolution end time TC of the kth first target rk ; Set k = k + 1, execute S32; max() means taking the maximum value; S42, if the conflict resolution end time set TCS corresponding to the rth airport intersection r All conflict resolution end times in are equal to the current time, and it is determined that there is no conflict at the r-th airport intersection. If the conflict resolution end time set TCS corresponding to the r-th airport intersection r There is at least one conflict resolution end time greater than the current time, determine that there is a conflict at the rth airport intersection, and obtain max(TCS r ) as TC r , among which, TCS r =(TC r1 , TC r2 ,……,TC rk ,……,TC rN1(r) ).

8. The method according to claim 6, characterized in that In S304, the second target movement trend is analyzed, and based on the analysis result, it is determined whether there is a conflict. If it is determined that there is a conflict, a corresponding conflict resolution end time TC is generated. r , specifically including: S51, set the second target counting variable g=1; S52, if g≤N2(r), set the second target count variable h=1; S53, if h≤N2(r)-1, execute S54; otherwise, execute S62; S54, obtaining an angle θ between the g-th second target and the h-th second target among other second targets 22 gh ; Wherein, the other second targets are the second targets other than the g-th second target among the N2(r) second targets; Execute S55; θ 22 gh =arctan(E1 / H1), where E1 and H1 are both intermediate quantities, E1 = sin(rad(X2 h -X2 g ))×cos(rad(Y2 h )), D1=cos(rad(Y2 g ))×sin(rad(Y2 h ))-sin(rad(Y2 g ))×cos(rad(Y2 h )×cos(rad(X2 h -X2 g ));X2 g and Y2 g are the longitude and latitude coordinates of the g-th second target, X2 h and Y2 h are the longitude and latitude coordinates of the hth second target, respectively, and rad() represents the conversion of angle into radians; S55, based on θ 22 gh and the azimuth angle θ2 of the hth second target h , determine the position of the hth second target in the rectangular coordinate system corresponding to the gth second target. If it is determined that the hth second target is located in the fourth quadrant of the rectangular coordinate system corresponding to the gth first target, execute S56; otherwise, set the gth second target to wait for the conflict resolution end time TC of the hth second target rg h =T now , execute S50; the Y axis of the rectangular coordinate system corresponding to the g-th second target is directly in front of the g-th second target, and the quadrant of the coordinate system is divided by increasing the angle clockwise starting from the Y axis angle of 0; S56, obtaining the angle θ between the hth second target and the rth airport intersection 23 hr ,θ 23 hr =arctan(E2 / F2), E2 and H2 are intermediate variables, E2 = sin(rad(X3 r -X2 h ))×cos(rad(Y3 r )), H2=cos(rad(Y2 h ))×sin(rad(Y3 r ))-sin(rad(Y2 h ))×cos(rad(Y3 r )×cos(rad(X3 r -X2 h )), X3 r and Y3 r are respectively the longitude coordinate and the latitude coordinate of the rth airport crossing; executing S58; S58, if 0≤|θ2 h -θ 23 hr |<π / 2, it is determined that there is a conflict between the g-th second target and the h-th second target, and S59 is executed; if π / 2≤|θ2 h -θ 23 hr |<π, determine that there is no conflict between the g-th second target and the h-th second target, and set the g-th second target to wait for the h-th second target to resolve the conflict before the end of the conflict TC rg h =T now , execute S50; θ2 h is the azimuth of the hth second target; S59, obtaining the time TC that the g-th second target needs to wait for the h-th second target to resolve the conflict rk s =T now +(6371×2×arc((p2) 1 / 2 / (1-p2) 1 / 2 )+L h ) / V h , p2 is the intermediate quantity, p2 = sin(rad(Y3 r -Y2 h ) / 2) 2 +cos(rad(Y2 h ))×cos(rad(Y3 r )×sin(rad(X3 r -X2 h ) / 2) 2 , L h is the length of the hth second target, V h is the speed of the hth second target; executing S50; S60, set h=h+1, and execute S53; S61, obtain max(TC rg 1 , TC rg 2 ,……,TC rg h ,……,TC rh N2(r) ) as the conflict resolution end time TC of the g-th second target rk ; Set g = g + 1, execute S52; max() means taking the maximum value; S62, if the conflict resolution end time set TCS corresponding to the rth airport intersection r All conflict resolution end times in are equal to the current time, and it is determined that there is no conflict at the r-th airport intersection. If the conflict resolution end time set TCS corresponding to the r-th airport intersection r There is at least one conflict resolution end time greater than the current time, determine that there is a conflict at the rth airport intersection, and obtain max(TCS r ) as TC r , among which, TCS r =(TC r1 , TC r2 ,……,TC rg ,……,TC gN2(r) ).

9. The method according to claim 6, characterized in that S300 specifically includes: S310, traversing the flight guidance tasks, for any guidance path of a flight guidance task, if the guidance path contains a conflicting airport intersection in the currently detected airport intersection conflict information, adding the flight guidance task to a pending set, and the initial value of the pending set is empty; S320, if the set to be processed is an empty set, the guidance path in the flight guidance task scheduling information is not optimized; if the set to be processed is not an empty set, execute S330; S330, in the current airport road network map, setting the airport road crossings with conflicts in the currently detected airport road crossing conflict information to an unavailable state, to obtain an updated airport road network map; S340, traverse the pending set, if a flight guidance task in the pending set is in a task state of unexecuted, obtain a new guidance path for the flight guidance task based on the updated airport road network map as the new guidance path, and execute S350; if a flight guidance task in the pending set is in a task state of being executed, obtain a new guidance path for the flight guidance task based on the current position of the guidance vehicle corresponding to the flight guidance task and the updated airport road network map as the new guidance path, and execute S360; S350, if (TC-T now )<(TS+(L3 / V0)-T now ), determine that the guide vehicle corresponding to the flight guidance task does not need to wait and follows the current guidance path; if (L2 / V)≥(L1 / V0)+TC, determine that the guide vehicle corresponding to the flight guidance task follows the current guidance path after waiting for time TC; if (L2 / V0)<(L1 / V0)+TC, determine that the guide vehicle corresponding to the flight guidance task follows the new guidance path; where TC is the conflict resolution end time T corresponding to the conflicting airport intersection contained in the current guidance path corresponding to the flight guidance task now is the current time, TS is the task start time corresponding to the flight guidance task; L1 is the length of the current guidance path corresponding to the flight guidance task, L2 is the length of the new guidance path corresponding to the flight guidance task, and L3 is the distance between the starting point of the current guidance path corresponding to the flight guidance task and the corresponding conflicting airport intersection; S360, if (TC-T now )<(L4 / V0), it is determined that the guide vehicle corresponding to the flight guidance task does not need to wait and follows the current guidance path; if (L2 / V0)≥((L1-L3+L4) / V0)+TC, it is determined that the guide vehicle corresponding to the flight guidance task follows the current guidance path after waiting for time TC; if (L2 / V0)<((L1-L3+L4) / V0)+TC, it is determined that the guide vehicle corresponding to the flight guidance task follows the new guidance path, and L4 is the distance between the current position of the guide vehicle corresponding to the flight guidance task and the corresponding conflicting airport intersection.

10. An airport field guidance vehicle task dispatching system, characterized in that: The system includes an external information source, a server end and a human-computer interaction end, wherein the external information source includes aircraft positioning information, vehicle positioning information, airport road network information and flight mission information of the airport; The server end includes a data preprocessing module, a task scheduling module, a conflict resolution module and a path optimization module, and the human-computer interaction end includes a vehicle display end, an airborne display end and a controller interaction end; The data preprocessing module is used to obtain the external information source of the airport and convert the airport road network information in the external information source into graph structure data; The task scheduling module is used to construct an initial flight guidance task for the flight mission information based on the external information source, and send it to the controller interaction terminal for determination, and generate a target flight guidance task for the flight mission information based on the determination result sent by the controller interaction terminal, and send it to the corresponding vehicle display terminal; the flight guidance task includes a flight plan ID, a unique identification code of the guidance vehicle, a task execution status, a task start time, a task end time, a task execution start location, a task execution end location, a guidance target flight number, a guidance path, and a flight plan ID corresponding to the associated previous guidance task; The conflict resolution module is used to detect the airport crossings with conflicts in the airport scene and generate corresponding conflict resolution end time based on the detection result, form corresponding airport crossing conflict information, and send it to the airborne display terminal and the controller interaction terminal or the vehicle display terminal and the controller interaction terminal; The path optimization module is used to optimize the guidance path in the flight guidance task based on the currently detected airport intersection conflict information.

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