Display control device, display control method, and display control program

Abstract

A display control device (10) is provided with: a travel road structure data acquisition unit (12); a control information acquisition unit (13); a predicted trajectory estimation unit (14); a predicted trajectory acquisition unit (15); an abnormal proximity estimation unit (16) that estimates a second moving body, which is a moving body having an abnormal proximity period, from among the plurality of associated moving bodies; a display control unit (17) that causes a display device (40) to display a two-dimensional coordinate system comprising a first coordinate axis indicating the position from the start point to the end point of the first predicted trajectory by the distance and a second coordinate axis indicating the time, a line indicating the first predicted trajectory, and an abnormal proximity region indicating the range of the position and the time of the second moving body; and a trajectory correction unit (19) that causes the display device (40) to display the display member, and corrects the first predicted trajectory such that a line indicating the first predicted trajectory does not overlap the abnormal proximity region when input information for moving the display member is received.

Description

Technical Field

[0001] The present disclosure relates to a display control device, a display control method, and a display control program. Background Art

[0002] A control information display system having a display unit is proposed, which displays the movement path of a mobile body (such as an aircraft, a vehicle, etc.) traveling on the ground in an airport on a two-dimensional plane composed of a coordinate axis representing time and a coordinate axis representing position. For example, refer to patent document 1. The situation that needs to be paid attention to in the selected mobile body is the situation that other mobile bodies share a part of the route of the selected mobile body. In the method of sharing the route, there is a situation where the taxiway constituting the route of the selected mobile body intersects with the taxiway constituting the route of other mobile bodies at an intersection, and there is a situation where the selected mobile body and the other mobile bodies travel in the same direction or opposite directions on the common taxiway. Therefore, in the system of patent document 1, the two-dimensional plane representing the driving condition of the selected mobile body and the other two-dimensional planes representing the driving condition of other mobile bodies are displayed in a manner that intersects with each other, that is, the driving condition of the two mobile bodies is displayed three-dimensionally.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2006-350445 (e.g., claims 1, 2, paragraphs 0038 to 0039, Figures 4 to 6 ) Summary of the invention

[0006] Problems to be solved by the invention

[0007] However, in the case of a display method that three-dimensionally displays the travel conditions of two moving objects, a traffic controller observing the display unit cannot predict the abnormal proximity of the moving objects and cannot easily perform trajectory correction to avoid the abnormal proximity (including collision).

[0008] An object of the present disclosure is to provide a display control device, a display control method, and a display control program that can predict abnormal proximity of moving objects and easily correct predicted trajectories to avoid the abnormal proximity.

[0009] Means for solving problems

[0010] The display control device of the present disclosure is a device of a control system that sends instructions to multiple mobile bodies traveling on multiple driving roads, and is characterized in that the display control device has: a driving road structure data acquisition unit, which acquires driving road structure data representing the structure of the multiple driving roads; a control information acquisition unit, which acquires the control information from a management device that manages control information including the positions and operation schedules of the multiple mobile bodies; a predicted trajectory estimation unit, which estimates multiple predicted trajectories representing the moving paths of the multiple mobile bodies based on the driving road structure data and the control information; a predicted trajectory acquisition unit, which acquires a first predicted trajectory and a plurality of associated predicted trajectories from the plurality of predicted trajectories, wherein the first predicted trajectory represents the moving path of a first mobile body selected as a monitoring object from among the multiple mobile bodies, and the plurality of associated predicted trajectories represent the moving paths of a plurality of associated mobile bodies that are mobile bodies other than the first mobile body; an abnormal proximity estimation unit, which estimates the moving paths of multiple associated mobile bodies based on the driving road structure data, The first predicted trajectory and the multiple associated predicted trajectories estimate the second moving body from the multiple associated moving bodies, wherein the second moving body is a moving body having a period of abnormal proximity with a distance to the first moving body being less than a predetermined reference value; a display control unit, which causes a display device to display a two-dimensional coordinate system composed of a first coordinate axis and a second coordinate axis, a line representing the first predicted trajectory in the two-dimensional coordinate system, and an abnormal proximity area representing the range of the position and time of the second moving body during the abnormal proximity period, wherein the first coordinate axis represents the position from the starting point to the end point of the first predicted trajectory by the distance from the starting point or the end point, and the second coordinate axis represents the time; and a trajectory correction unit, which causes the display device to display a display component for updating the first predicted trajectory, and when receiving input information for moving the display component, corrects the first predicted trajectory in a manner that the line representing the first predicted trajectory does not overlap with the abnormal proximity area.

[0011] The display control method disclosed in the present invention is a method implemented by a display control device of a control system that sends instructions to multiple mobile bodies traveling on multiple driving roads, and is characterized in that the display control method has the following steps: obtaining driving road structure data representing the structures of the multiple driving roads; obtaining the control information from a management device that manages control information including positions and operation schedules of the multiple mobile bodies; estimating multiple predicted trajectories representing the movement paths of the multiple mobile bodies based on the driving road structure data and the control information; obtaining a first predicted trajectory and a plurality of associated predicted trajectories from the plurality of predicted trajectories, wherein the first predicted trajectory represents the movement path of a first mobile body selected as a monitoring object from among the multiple mobile bodies, and the plurality of associated predicted trajectories represent the movement paths of a plurality of associated mobile bodies that are mobile bodies other than the first mobile body; estimating the movement paths of the multiple mobile bodies based on the driving road structure data, the first predicted trajectory, and the associated predicted trajectories The method comprises the steps of: estimating a second moving body from the plurality of associated moving bodies based on the plurality of associated predicted trajectories, wherein the second moving body is a moving body having a period of abnormal proximity with the first moving body at a distance less than a predetermined reference value; causing a display device to display a two-dimensional coordinate system consisting of a first coordinate axis and a second coordinate axis, a line representing the first predicted trajectory in the two-dimensional coordinate system, and an abnormal proximity area representing the range of the position and time of the second moving body during the period of abnormal proximity, wherein the first coordinate axis represents the position from the starting point to the end point of the first predicted trajectory by the distance from the starting point or the end point, and the second coordinate axis represents the time; and causing the display device to display a display component for updating the first predicted trajectory, and upon receiving input information for moving the display component, correcting the first predicted trajectory in such a manner that the line representing the first predicted trajectory does not overlap with the abnormal proximity area.

[0012] Effects of the Invention

[0013] According to the present disclosure, it is possible to predict abnormal proximity of moving objects and easily perform predicted trajectory correction for avoiding the abnormal proximity. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a functional block diagram schematically showing the configuration of a display control device and a control system according to an embodiment.

[0015] Figure 2 It is a diagram showing an example of the hardware configuration of the display control device according to the embodiment.

[0016] Figure 3 This is a flowchart showing the display operation of the display control device according to the embodiment.

[0017] Figure 4This is a plan view showing an example of a runway and a taxiway which are running roads of an airport.

[0018] Figure 5 (A) is a top view showing an example of a predicted trajectory of an aircraft being selected. (B) is a diagram showing an example of a predicted trajectory of an aircraft being selected in a two-dimensional coordinate system consisting of a position coordinate axis and a time coordinate axis.

[0019] Figure 6 (A) is a top view showing an example of a predicted trajectory of a related aircraft. (B) is a diagram showing an example of a predicted trajectory of a related aircraft in a two-dimensional coordinate system consisting of a position coordinate axis and a time coordinate axis.

[0020] Figure 7 (A) is a top view showing an example of predicted trajectories when a selected aircraft and an aircraft associated with it are moving toward each other on the same taxiway. (B) is a diagram showing an example of positions where a selected aircraft and an aircraft associated with it are abnormally close in a two-dimensional coordinate system.

[0021] Figure 8 (A) is a top view showing an example in which the selected aircraft and its associated aircraft start to move toward each other on the same taxiway. (B) is a top view showing Figure 8 (A) is a diagram showing an example of a display of a display device when a head-on collision occurs.

[0022] Fig. 9 (A) is a top view showing a situation where the selected aircraft and the aircraft associated with it are traveling on the same taxiway in a direction approaching each other and the associated aircraft has entered the abnormal approach range of the selected aircraft, i.e., an abnormal approach situation. (B) is a top view showing Fig. 9 (A) is a diagram showing an example of a display on a display device when an abnormal proximity situation occurs.

[0023] Fig.10 (A) is a top view showing an example of an aircraft being selected and an aircraft associated with it being abnormally close to each other at an intersection (in this example, a possible collision). (B) is a top view showing Fig.10 (A) is a diagram of an example of a two-dimensional coordinate system and an enhanced display component when abnormal proximity occurs.

[0024] Fig.11 Yes means Fig.10 (B) is a diagram showing an example of a display when an abnormal approach occurs (in this example, a possible collision at an intersection).

[0025] Fig.12(A) is a top view showing an example of a predicted trajectory of an aircraft associated with the example of a predicted trajectory of the selected aircraft. (B) is a top view showing an example in which the selected aircraft and the aircraft associated with it are traveling on the same taxiway in the same direction.

[0026] Fig.13 Yes means Fig.12 (B) is a diagram showing an example of a display when an abnormal approach occurs (in this example, a possible rear-end collision).

[0027] Fig.14 (A) is a top view showing an example of a predicted trajectory of an aircraft associated with the example of a predicted trajectory of the selected aircraft. (B) is a top view showing an example in which the selected aircraft and the aircraft associated with it are traveling on the same taxiway in the same direction.

[0028] Fig.15 Yes means Fig.14 (B) is a diagram showing an example of a display when an abnormal approach occurs (in this example, a possible rear-end collision).

[0029] Fig.16 This is a flowchart showing a rendering process of the display control device according to the embodiment.

[0030] Fig.17 (A) to (D) are diagrams showing graph screens when the trajectory is corrected by the display control device according to the embodiment.

[0031] Fig.18 This is a flowchart showing the trajectory correction process of the display control device according to the embodiment.

[0032] Fig.19 (A) and (B) are diagrams (part 1) showing examples of a graph screen and a situation screen when correcting a trajectory.

[0033] Fig. 20 (A) and (B) are diagrams (part 2) showing examples of a graph screen and a situation screen when correcting a trajectory.

[0034] Fig.21 (A) and (B) are diagrams showing examples of a graph screen and a situation screen when correcting a trajectory.

[0035] Fig. 22 (A) and (B) are diagrams showing another example of the graph screen and the situation screen when correcting the trajectory. DETAILED DESCRIPTION

[0036] Hereinafter, a display control device, a display control method, and a display control program according to embodiments will be described with reference to the drawings. The following embodiments are merely examples, and the embodiments can be appropriately combined and modified.

[0037] Figure 1 1 is a functional block diagram schematically showing the configuration of the display control device 10 according to the embodiment. The display control device 10 is a device capable of implementing the display control method according to the embodiment. The display control device 10 is, for example, a computer that executes the display control program according to the embodiment.

[0038] The display control device 10 is a part of a control system 1 that sends instructions to multiple mobile bodies traveling on multiple driving roads on the ground. The control system 1 has a control information management device 30 as a management device, and a display device 40 such as a liquid crystal monitor that displays images. The control system 1 is, for example, an airport control system that sends instructions to multiple aircraft as multiple mobile bodies. Multiple driving roads are, for example, runways and taxiways at an airport. Usually, the control system of an airport controls aircraft in flight and aircraft traveling on the ground. However, the mobile body to which the control system 1 of the present disclosure sends instructions is a mobile body traveling on the ground (also including aircraft flying and moving on the runway when the wheels are not in contact with the runway during landing and takeoff). The mobile body is not limited to an aircraft, but may also be a vehicle such as a car. In addition, the mobile body may also include both aircraft and vehicles.

[0039] The control information management device 30 includes a moving object tracking / identification unit 31, an operation management unit 32, and a sensor information acquisition unit 33. The moving object tracking / identification unit 31 tracks the positions of a plurality of moving objects and identifies each of the plurality of moving objects. The operation management unit 32 manages operation management information, which includes the operation time of the plurality of moving objects and the operation paths of the plurality of moving objects from the movement start point (i.e., the starting point) to the destination (i.e., the end point). The sensor information acquisition unit 33 receives detection information of the moving object from a sensor that detects the moving object.

[0040] The display control device 10 includes a travel road structure data acquisition unit 12 , a regulation information acquisition unit 13 , a predicted trajectory estimation unit 14 , a predicted trajectory acquisition unit 15 , an abnormal proximity estimation unit 16 , a display control unit 17 , an input device 18 , and a trajectory correction unit 19 .

[0041] The driving road structure data acquisition unit 12 acquires driving road structure data indicating the structure of a plurality of driving roads from the storage device 11. The driving road structure data is, for example, map data of the driving roads. Specifically, the driving road structure data acquisition unit 12 reads the structure of the driving road (for example, the length of the taxiway, etc.) stored in the storage device 11 such as a non-volatile memory, and provides the data to the abnormal proximity estimation unit 16. Figure 1 In FIG. 1 , the storage device 11 is shown as a part of the display control device 10 , but the storage device 11 may be an external storage device that can communicate with the display control device 10 .

[0042] The control information acquisition unit 13 acquires control information from the control information management device 30 , which manages control information including positions and operation schedules of a plurality of mobile bodies. Specifically, the control information acquisition unit 13 acquires the current position and operation management information of the mobile body managed by the control information management device 30 .

[0043] The predicted trajectory estimation unit 14 estimates predicted trajectories indicating the movement paths of the plurality of moving objects (e.g., the planned trajectory of the moving object traveling on the ground) based on the driving road structure data and the control information. Specifically, the predicted trajectory estimation unit 14 estimates the predicted trajectory and the current position of the moving object based on the current position of the moving object and the operation management information obtained from the control information acquisition unit 13. The predicted trajectory also includes the trajectory of an aircraft flying and moving on the runway with its wheels not in contact with the runway during landing and takeoff.

[0044] The predicted trajectory acquisition unit 15 acquires a first predicted trajectory indicating the movement path of a moving object selected as a monitoring object (also referred to as a "selected moving object" or a "first moving object") among a plurality of moving objects from the estimated predicted trajectory, and a plurality of second predicted trajectories indicating the movement paths of a plurality of associated moving objects other than the selected moving object. Specifically, the predicted trajectory acquisition unit 15 reads the predicted trajectory (predicted track) of the moving object calculated by the predicted trajectory estimation unit 14, and provides it to the abnormal proximity estimation unit 16.

[0045] The abnormal proximity estimation unit 16 estimates a moving body, i.e., an abnormally close moving body, which has a period in which the distance from the selected moving body is less than a predetermined reference value (i.e., a threshold value) from a plurality of associated moving bodies based on the driving road structure data, the first predicted trajectory, and the plurality of second predicted trajectories, and estimates the position of the moving body (also referred to as "abnormally close moving body" or "second moving body") during the abnormally close period. Specifically, the abnormal proximity estimation unit 16 estimates the abnormally close area of ​​the moving body with reference to the selected moving body obtained from the input device 18. The estimated abnormally close area is provided to the display control unit 17 and displayed as an enhanced display component on the chart in an overlapping manner. The abnormally close area is calculated based on the structure of the driving road of the moving body obtained from the driving road structure data acquisition unit 12 (e.g., the length of the taxiway, etc.) and the predicted trajectory of the moving body obtained from the predicted trajectory acquisition unit 15.

[0046] The abnormal proximity estimation unit 16 may also obtain information related to the atmospheric visibility (the maximum distance at which the target shape can be confirmed with the naked eye) in a plurality of driving roads from the control information management device 30 (for example, the measured value of a visibility meter), and change the predetermined reference value based on the obtained visibility. For example, depending on the atmospheric conditions such as fog, rain, and snow, the shorter the visibility, the longer the reference value is, thereby achieving the appropriateness of the reference value. In addition, the abnormal proximity estimation unit 16 may also obtain information related to the wind direction and wind speed in a plurality of driving roads from the control information management device 30 (for example, the measured values ​​of a wind vane and anemometer), and change the predetermined reference value based on the wind direction and wind speed. For example, when the wind direction is tailwind and the wind speed is faster, the reference value is extended, thereby achieving the appropriateness of the reference value. Furthermore, the abnormal proximity estimation unit 16 may also obtain information related to the size of the selected moving body and the size of the abnormally approaching moving body (e.g., data related to the aircraft, the size information of the moving body obtained by analyzing the camera image, and the distance information between the moving bodies, etc.) from the control information management device 30, and change the predetermined reference value based on the size of the selected moving body and the size of the abnormally approaching moving body. For example, the larger the size of the selected moving body (i.e., the heavier the weight), and the larger the size of the abnormally approaching moving body, the longer the distance required to stop, i.e., the braking distance, so by extending the reference value, the appropriateness of the reference value can be achieved. This is because the larger the moving body, the heavier the weight, and the longer the distance required to stop, i.e., the braking distance, is.

[0047] The display control unit 17 causes the display device 40 to display a two-dimensional coordinate system and a line representing the first predicted trajectory in the two-dimensional coordinate system, the two-dimensional coordinate system consisting of a first coordinate axis and a second coordinate axis, the first coordinate axis representing the position from the start point to the end point of the first predicted trajectory as a distance from the start point (for example, in [m], or in the distance from the end point), and the second coordinate axis representing the time (for example, the elapsed time from the reference time t0, for example, in [s]). Specifically, in the present embodiment, the display control unit 17 causes the display device 40 to display: a two-dimensional coordinate system consisting of a first coordinate axis and a second coordinate axis, the first coordinate axis representing the position from the start point to the end point of the first predicted trajectory as a distance from the start point or the end point, and the second coordinate axis representing the time; a line representing the first predicted trajectory in the two-dimensional coordinate system; and an abnormal proximity region, which represents the range of the position and time of the second moving body during the abnormal proximity period. The two-dimensional coordinate system and the line representing the predicted trajectory are also referred to as a diagram. The chart is displayed with reference to the selection information of the controller (i.e., the user of the system) input from the input device 18. In addition, the display control unit 17 causes the display device 40 to display an enhanced display component, which indicates the position of the abnormally close moving body during the abnormally close period in the two-dimensional coordinate system. The enhanced display component is displayed overlapping the chart. Specifically, the display control unit 17 causes a graphic, a map, an enhanced display component, etc. representing the moving body to be displayed on the display device 40. The enhanced display component is, for example, a component in which a predetermined graphic (e.g., a circle, a quadrilateral, a star, etc.) is filled with a predetermined color (e.g., yellow, orange, red, etc.). The enhanced display component may also be a component in which a change in brightness, a change in color, and a change in shape caused by flickering, or a combination of two or more of these changes.

[0048] The input device 18 is an operation input unit that receives input from the controller. The input device 18 is, for example, a keyboard, a mouse, a touch panel, a microphone for voice input, etc. The input from the controller is, for example, an operation of selecting the trajectory of the displayed moving object. The input device 18 provides the input from the controller as input data to the display control unit 17.

[0049] The trajectory correction unit 19 causes the display device 40 to display a display component for updating the first predicted trajectory, and when receiving input information for moving the display component, corrects the first predicted trajectory in such a manner that the line representing the first predicted trajectory does not overlap with the abnormal proximity region. Here, the display component is, for example, a dot-shaped component that overlaps with the line representing the first predicted trajectory displayed on the display device 40 and does not overlap with the abnormal proximity region. The dot-shaped component is, for example, a dot-shaped component described later. Fig.19The display component is displayed at a time position earlier than the time range of the abnormal proximity area. When there is a user input operation to move the display component displayed on the display device 40 in the direction of the second coordinate axis (for example, based on the operation of the input device 18), the trajectory correction unit 19 generates an updated predicted trajectory by moving the part of the line representing the first predicted trajectory that is later in time than the display component in the moving direction of the display component.

[0050] Figure 2 1 is a diagram showing an example of the hardware configuration of the display control device 10. Figure 2 As shown in FIG. 1 , the display control device 10 includes a processor 101 such as a CPU (Central Processing Unit), a memory 102 as a volatile storage device, a nonvolatile storage device 103 such as a hard disk drive (HDD) or a solid state drive (SSD), and an interface 104. The memory 102 is, for example, a semiconductor memory such as a RAM (Random Access Memory). The nonvolatile storage device 103 may also be connected to a CPU. Figure 1 The storage devices 11 shown are identical.

[0051] Each function of the display control device 10 is realized by, for example, a processing circuit. The processing circuit may be dedicated hardware, or may be a processor 101 that executes a program stored in a memory 102. The processor 101 may be any of a processing device, a computing device, a microprocessor, a microcomputer, and a DSP (Digital Signal Processor).

[0052] When the processing circuit is dedicated hardware, the processing circuit is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a circuit formed by combining any of them.

[0053] When the processing circuit is the processor 101, the display control program executed by the display control device 10 is implemented by software, firmware, or a combination of software and firmware. The display control program is installed to the display control device 10 via a network or from a recording medium. The software and firmware are described as programs and stored in the memory 102. The processor 101 can realize the display control program by reading and executing the display control program stored in the memory 102. Figure 1 The functions of each part are shown.

[0054] In addition, the display control device 10 may be partially implemented by dedicated hardware and partially implemented by software or firmware. In this way, the processing circuit can implement the above functions through hardware, software, firmware or any combination thereof.

[0055] Figure 3 It is a flowchart showing the display operation of the display control device 10 . Figure 3 A display control method according to the embodiment is shown which is implemented by the display control device 10 of the control system 1 for sending instructions to a plurality of moving bodies traveling on a plurality of travel roads.

[0056] First, the display control device 10 obtains the driving road structure data indicating the structure of a plurality of driving roads (step S1), and obtains the control information from the control information management device 30 that manages the control information including the positions and operation schedules of a plurality of moving bodies (step S2). Steps S1 and S2 may be performed in reverse order or in parallel.

[0057] The display control device 10 estimates predicted trajectories indicating movement routes of a plurality of moving objects based on the travel road structure data and the regulation information (step S3 ).

[0058] The display control device 10 obtains a first predicted trajectory and a plurality of second predicted trajectories from the estimated predicted trajectory, wherein the first predicted trajectory represents the moving path of a mobile body selected as a monitoring object among a plurality of mobile bodies, and the plurality of second predicted trajectories represent the moving paths of a plurality of associated mobile bodies other than the selected mobile body (step S4).

[0059] The display control device 10 estimates, based on the driving road structure data, the first predicted trajectory and multiple second predicted trajectories, a moving body that has a period in which the distance to the selected moving body is less than a predetermined reference value, i.e., an abnormally close moving body, from multiple associated moving bodies, and estimates the position of the abnormally close moving body when it is in the abnormally close period (step S5).

[0060] In the case where there is an abnormally close moving body ("Yes" in step S6), the display control device 10 causes the display device 40 to display a two-dimensional coordinate system composed of a first coordinate axis (e.g., a horizontal axis) and a second coordinate axis (e.g., a vertical axis), and a line (e.g., a straight line or a curve) representing the first predicted trajectory in the two-dimensional coordinate system, wherein the first coordinate axis represents the position from the start point to the end point of the first predicted trajectory as a distance from the start point, and the second coordinate axis represents the time (step S7). The display device 40 is caused to display an enhanced display component that represents the position of the abnormally close moving body during the abnormally close period in the two-dimensional coordinate system (step S8). In the case where there is no abnormally close moving body ("No" in step S6), the display control device 10 ends the implementation of the display control method of the embodiment.

[0061] Figure 4 It is a top view showing an example of runways 201 to 203 and taxiway 204, which are driving roads of an airport. Runways 201 to 203 are used for takeoff and landing of aircraft. Taxiway 204 is a ground passage for aircraft as a moving body to travel, and is mainly used for movement between the apron and the runway.

[0062] Figure 5 (A) is a plan view showing an example of a predicted trajectory of the selected aircraft TGT01. Figure 5 (B) is a diagram showing an example of the predicted trajectory of the selected aircraft TGT01 in a two-dimensional coordinate system consisting of a position coordinate axis and a time coordinate axis. Figure 5 (A) shows a taxiway 211, a taxiway 212 parallel thereto, and a taxiway 213 intersecting both taxiways 211 and 212. The intersection of taxiway 211 and taxiway 213 is labeled with the symbol Ia. The intersection of taxiway 212 and taxiway 213 is labeled with the symbol Ib. Figure 5 (A) shows an example in which the aircraft TGT01 travels from the starting point P1, which is the starting position of the movement, to the end point D1, which is the destination, in order through the intersections Ia and Ib. Figure 5 In (B), the predicted trajectory (predicted track) of an example in which the aircraft TGT01 travels from the starting position of the movement, i.e., the starting point P1 (time t0), sequentially via the intersections Ia and Ib (times t11 and t12) to the destination, i.e., the end point D1 (time t13), is shown as a straight line in a two-dimensional coordinate system. In addition, times t11, t12, and t13 represent the elapsed time from time t0. The predicted trajectory is not limited to a straight line, but may also be a curve, or a combination of a curve and a straight line, or a combination of multiple straight lines with different slopes, etc. In addition, in Figure 5 (B) shows the predicted trajectory and a mark (here, a square mark) indicating the position of the aircraft TGT01 displayed superimposed thereon.

[0063] Figure 6 (A) is a plan view showing an example of a predicted trajectory of the aircraft TGT02 associated with the currently selected aircraft TGT01. Figure 6 (B) is a diagram showing an example of the predicted trajectory of the aircraft TGT02 in a two-dimensional coordinate system consisting of a position coordinate axis and a time coordinate axis. Figure 6 (A) shows an example in which the aircraft TGT02 travels from the starting point P2, which is the starting position of the movement, to the end point D2, which is the destination, in sequence via the intersections Ib and Ia. Figure 6 In (B), an example of the aircraft TGT01 traveling from the starting position of the movement, i.e., the starting point P2 (time t0), to the destination, i.e., the end point D2 (time t23), is shown as a straight line in the two-dimensional coordinate system. In addition, the times t21, t22, and t23 represent the elapsed time from the time t0. The predicted trajectory is not limited to a straight line, but may also be a curve, or a combination of a curve and a straight line, or a combination of multiple straight lines with different slopes, etc. In addition, in Figure 6 (B) shows the predicted trajectory and a mark (here, a triangle mark) indicating the position of the aircraft TGT02 displayed superimposed thereon.

[0064] Figure 7 (A) is a plan view showing an example of predicted trajectories when the selected aircraft TGT01 and the associated aircraft TGT02 are moving toward each other on the same taxiway 213 (when approaching each other head-on, that is, a situation in which a head-on collision may occur). Figure 7 (B) is a diagram showing an example of positions where the selected aircraft TGT01 and the related aircraft TGT02 are abnormally close to each other in the two-dimensional coordinate system.

[0065] Figure 8 (A) is a plan view showing an example in which the selected aircraft TGT01 and the aircraft TGT02 associated therewith start traveling on the same taxiway 213 in a direction approaching each other. Figure 8 (B) means Figure 8 (A) is a diagram showing an example of a display of the display device 40 when a head-on approach occurs. Figure 8As shown in (B), when two aircraft TGT01 and TGT02 start traveling in the same taxiway 213 in a direction approaching each other, the area where a head-on collision may occur, that is, the head-on approach area 223 (including the area between the intersections Ia and Ib in the taxiway 213) is set as an enhanced area filled with a color (for example, a predetermined color) representing the head-on approach area 223. The enhanced area is an area that is enhanced and displayed to attract the attention of the observer. The display method of the enhanced area is not limited to filling with color, and may also be a method such as a change in color, a change in brightness, a change in pattern, or a combination of two or more of them.

[0066] Fig. 9 (A) is a top view showing a situation in which the selected aircraft TGT01 and the associated aircraft TGT02 are traveling on the same taxiway 213 in a direction approaching each other and the aircraft TGT02 has entered the abnormal approach range 222 of the aircraft TGT01, that is, an abnormal approach situation. Fig. 9 (B) means Fig. 9 FIG. 4 is a diagram showing an example of a display of the display device 40 when an abnormal approach condition occurs. Fig. 9 As shown in (B), there are two aircraft traveling on the same taxiway 213 in a direction approaching each other, and when aircraft TGT02 enters the abnormal approach range 222 of aircraft TGT01, the display control device 10, in addition to displaying the oncoming approach area 223, also displays an enhanced display component 221 of the position of aircraft TGT02 associated with the selected aircraft TGT01 when the abnormal approach occurs. Figure 8 (B) corresponds to Figure 3 The status of step S8 in .

[0067] Fig.10 (A) is a top view showing the predicted trajectory between the selected aircraft TGT01 and the associated aircraft TGT02. Fig.10 (B) is a plan view showing an example in which the selected aircraft TGT01 and the related aircraft TGT02 are abnormally close to each other (in this example, there is a possibility of collision) at an intersection. Fig.11 Yes means Fig.10 (B) is a diagram showing an example of a display when an abnormal approach occurs (in this example, a possible collision at an intersection). Fig.10 (A) shows an example in which the aircraft TGT01 travels from the starting point P1, which is the starting position of the movement, to the destination D1, which is the end point, in order through the intersections Ia and Ib. Fig.10 (A) shows an example in which the aircraft TGT02 travels from the starting point P2, which is the start position of the movement, to the end point D2, which is the destination, in order through the intersections Ib and Ia. Fig.11 In FIG. 1 , an example of aircraft TGT01 traveling on the ground from the starting point P1 (time t0), which is the starting position of the movement, to the destination D1, which is the end point, is shown as a straight line in the two-dimensional coordinate system. Fig.11 As shown, the display device 40 displays the enhanced display component 221 at the position of the aircraft TGT02 associated with the selected aircraft TGT01 when the abnormal approach occurs. Fig.11 Corresponds to Figure 3 The status of step S8 in .

[0068] Fig.12 (A) is a top view showing the predicted trajectory between the selected aircraft TGT01 and the associated aircraft TGT02. Fig.12 (B) is a plan view showing an example in which the selected aircraft TGT01 and the associated aircraft TGT02 are abnormally close to each other on the taxiway 212 (in this example, a possible rear-end collision). Fig.13 Yes means Fig.12 (B) is a diagram showing an example of a display when an abnormal approach occurs (in this example, a possible collision at an intersection). Fig.12 (A) shows an example in which the aircraft TGT01 travels from the starting point P1, which is the starting position of the movement, to the destination D1, which is the end point, in order through the intersections Ia and Ib. Fig.12 (B) shows an example in which the aircraft TGT02 travels on the ground from the starting point P2, which is the start position of the movement, to the destination, which is the end point D2, in sequence via the intersections Ib and Ia. Fig.13 In FIG. 1 , an example in which the aircraft TGT01 travels from the starting position of the movement, i.e., the starting point P1 (time t0), to the destination, i.e., the end point D1, in order via the intersections Ia and Ib is shown as a straight line in the two-dimensional coordinate system. Fig.13 As shown, the display device 40 displays the enhanced display component 221 at the position of the aircraft TGT02 associated with the selected aircraft TGT01 when the abnormal approach occurs. Fig.13 Corresponds to Figure 3 The status of step S8 in .

[0069] Fig.14 (A) is a top view showing the predicted trajectory between the selected aircraft TGT02 and the aircraft TGT01 associated therewith. Fig.14 (B) is a plan view showing an example in which the selected aircraft TGT02 and the aircraft TGT01 associated therewith are abnormally close to each other on the taxiway 212 (in this example, a rear-end collision is possible).

[0070] Fig.15 Yes means Fig.14(B) is a diagram showing an example of a display when an abnormal approach occurs (in this example, a possible rear-end collision). Fig.14 (A) shows an example where the aircraft TGT01 travels from the starting point P1, which is the starting point of the movement, to the destination D1 via the intersections Ia and Ib in order, and the aircraft TGT02 travels from the starting point P2, which is the starting point of the movement, to the destination D2 by going straight at the intersection Ib. Fig.14 (B) shows an example in which the aircraft TGT02 travels from the starting point P2, which is the starting position of the movement, to the end point D2, which is the destination, via the intersection Ib. Fig.15 In FIG. 1 , an example of aircraft TGT02 traveling from the starting point P2 (time t0) at the start of movement to the destination D2 at the intersection Ib is shown as a straight line in the two-dimensional coordinate system. Fig.15 As shown, the display device 40 displays the enhanced display component 221 at the position of the aircraft TGT01 associated with the selected aircraft TGT02 when the abnormal approach occurs. Fig.15 Corresponds to Figure 3 The status of step S8 in .

[0071] Fig.16 1 is a flowchart showing the rendering process of the display control device 10 according to the embodiment. First, the display control device 10 obtains the position of the selected aircraft based on the predicted trajectory of the selected aircraft and the obtained driving road structure data (step S11). Next, the display control device 10 obtains the position of the aircraft associated with the selected aircraft based on the predicted trajectory of the associated aircraft and the obtained driving road structure data (step S12). Steps S11 and S12 may be executed in reverse order or in parallel.

[0072] The display control device 10 obtains the distance between the selected aircraft and the aircraft associated therewith (step S13), and determines whether the obtained distance is less than a predetermined reference value (i.e., a threshold value) (step S14). If the obtained distance is longer than the predetermined threshold value ("No" in step S14), the process returns to step S11. If the obtained distance is less than the predetermined threshold value ("Yes" in step S14), the process proceeds to step S15.

[0073] In step S15, the display control device 10 fills the small area including the position of the selected aircraft with a color indicating abnormal proximity (for example, possible collision, rear-end collision, head-on collision at an intersection). The small area is, for example, an area of ​​predetermined size and shape. The size of the small area is specified, for example, by the number of pixels in the longitudinal and lateral directions. The shape of the small area is, for example, a quadrilateral, a circle, an ellipse, a triangle, etc. It is also possible to add a color, brightness, pattern, or a combination of two or more thereof for indicating abnormal proximity to a small area related to an associated aircraft through the processing of steps S11 to S15.

[0074] Next, the display control device 10 estimates the intersection Ia that the selected aircraft passed last and the intersection Ib that it will pass next (step S16). Next, the display control device 10 estimates the intersection Ic that the aircraft associated with the selected aircraft passed last and the intersection Id that it will pass next (step S17). The display control device 10 determines whether Ia=Id and Ib=Ic (step S18).

[0075] If the requirements of Ia=Id and Ib=Ic are not satisfied (No in step S18), the process returns to step S16. If the requirements of Ia=Id and Ib=Ic are satisfied (Yes in step S18), the process proceeds to step S19. In step S19, the display control device 10 determines that a head-on approach has occurred between the selected aircraft and the aircraft associated therewith, and fills the head-on approach area with a predetermined color.

[0076] For all associated aircraft Fig.16 The processing of steps S11 to S19 is performed. In addition, this processing is performed for all positions in the chart. In other words, by Fig.16 Through the processing of steps S11 to S15, one micro area including the position of abnormal approach is colored, and through the processing of steps S16 to S19, one micro area including the position of head-on approach is colored.

[0077] In this embodiment, the predicted trajectory in the two-dimensional coordinate system, the enhanced display component 221, and the head-on approach area 223 (when head-on approach occurs) are used to display the occurrence of abnormal approach between the selected moving body and the moving body associated with it. When using the two-dimensional display in this way, the controller can easily grasp the occurrence of abnormal approach, the position of abnormal approach, and the type of abnormal approach (whether it is crossing, rear-end collision, or head-on approach).

[0078] In addition, by simultaneously displaying whether the selected moving object and a plurality of related moving objects are abnormally close to each other, it is possible to simultaneously understand whether the trajectory set for the moving object is safe.

[0079] Next, trajectory correction using a graph screen will be described. Fig.17 (A) to (D) are diagrams showing graph screens when the trajectory is corrected by the display control device 10 according to the embodiment.

[0080] Fig.17 (A) indicates that the display control unit 17 causes the display device 40 to display a two-dimensional coordinate system consisting of a first coordinate axis (horizontal axis) and a second coordinate axis (vertical axis), a line (a straight line in the figure) 301 representing the first predicted trajectory in the two-dimensional coordinate system, and a chart screen of an abnormal proximity area 302, wherein the first coordinate axis represents the position of the first predicted trajectory of the aircraft DEP001 from the starting point (time = 0) to the end point using the distance from the starting point or the end point, the second coordinate axis represents the time, and the abnormal proximity area 302 represents the range of the position and time of the second mobile body during the period of abnormal proximity.

[0081] Fig.17 (B) shows that the trajectory correction unit 19 displays a state of a dot-shaped component (i.e., a display component), i.e., a "knob 304", which is superimposed on the line 301 representing the first predicted trajectory and does not overlap the abnormal proximity region 302, at a position earlier in time than the abnormal proximity region 302 when receiving input information for moving the cursor 303 to the line 301 representing the first predicted trajectory of the aircraft DEP001. The input information for moving the cursor 303 is input by a user operation such as operation of a mouse or a touch operation on a touch panel. However, the cursor 303 can also be automatically displayed at a position earlier in time than the abnormal proximity region 302.

[0082] Fig.17 (C) shows the following state: when the "knob 304" is moved in the time axis direction (forward direction) due to user operation, the trajectory correction unit 19 generates a corrected predicted trajectory by moving the part of the line 301 representing the first predicted trajectory of the aircraft DEP001 that is later in time than the "knob 304" in the moving direction of the "knob 304" (upward in the figure) by the same distance as the moving distance of the "knob 304".

[0083] Fig.17 (D) shows the line 301 representing the corrected predicted trajectory after the "knob 304" is moved in the time axis direction (positive direction). The line 301 representing the corrected predicted trajectory is composed of a line segment in a range earlier than the "knob 304" in time, that is, a first part 301a, a line segment in a range later than the "knob 304" in time, that is, a third part 301c, and a line segment connecting the first part 301a and the third part 301c, that is, a second part 301b.

[0084] Without correcting the predicted trajectory by "knob 304", Fig.17 As shown in (B), the aircraft DEP001, which is a moving object moving along the line 301, passes through the abnormal approach area 302 where an abnormal approach (including collision) with another moving object occurs. However, when the predicted trajectory is corrected by the "knob 304", as shown in FIG. Fig.17 As shown in (D), the aircraft DEP001 which is a moving object moving along the line 301 stops until the time when it passes the second portion 301 b , and therefore does not pass through the abnormal proximity area 302 .

[0085] Fig.18 FIG. 1 is a flowchart showing the trajectory correction process of the display control device 10 according to the embodiment. In step S21, when the cursor 303 is placed on the trajectory (straight line), as shown in FIG. Fig.17 As shown in (A), "knob 304" is displayed.

[0086] In the next step S22, when the cursor 303 is started to be dragged and the "knob 304" is moved in the time axis direction, as shown in FIG. Fig.17 As shown in (C), the trajectory correction unit 19 shifts the portion of the trajectory that is later in time than the “knob 304” (ie, the third portion 301c) along with the movement of the “knob 304”.

[0087] In the next step S23, when the dragging of the cursor 303 ends, the trajectory correction unit 19 records the stop position and time at this time, such as Fig.17 The fixed trajectory shown in (D).

[0088] In the next step S24 , the trajectory correction unit 19 supplies the corrected trajectory to the predicted trajectory acquisition unit 15 .

[0089] Fig.19 (A) and (B) are diagrams (part 1) showing examples of a graph screen and a situation screen when correcting a trajectory. Fig. 20 (A) and (B) are diagrams (part 2) showing examples of a chart screen and a situation screen when correcting a trajectory. Fig.19 The drag bar 311 of (A) moves along the time axis and is placed Fig. 20 When the position of (A) is Fig.19 (B) and Fig. 20As shown in the situation screen (B), the moving body 401 moves from its starting point (the position shown by the dotted hexagon) to the position before the intersection (the position shown by the solid hexagon), and the moving body 402 moves from its starting point (the position shown by the dotted triangle) to the position before the intersection (the position shown by the solid triangle). In this way, by moving the drag bar 311 of the chart screen through user operation (for example, movement of the cursor), the positions of the moving bodies 401 and 402 at the time indicated by the drag bar 311 can be moved on the situation screen.

[0090] Fig.21 (A) and (B) are diagrams showing examples of a graph screen and a situation screen when the trajectory is corrected. Fig.21 The collision occurred at the intersection 403 of (B). Fig.21 As shown in (A), by moving the "knob 304" upward to correct the trajectory, the moving body 401 waits for a time corresponding to the displacement amount of the "knob 304", so, as shown in Fig.21 As shown in the situation screen (B), the collision between the moving bodies 401 and 402 at the intersection 403 does not occur.

[0091] Fig. 22 (A) and (B) are diagrams showing another example of a graph screen and a situation screen when correcting a trajectory. Fig.19 In the diagram screen (A), an example of displaying "knob 304" when the cursor is placed on line 301 representing the track is described, but the "knob" used to correct the track can also be displayed at a predetermined position (for example, a position on the diagram screen corresponding to the position immediately before the intersection of the driving road). Fig. 22 In (A), in Fig. 22 The positions corresponding to the positions 401a, 401b, 401c of (B) display "knobs 304a, 304b, 304c", respectively.

[0092] As described above, according to the present embodiment, the stop position and stop time of the moving body can be set by operating the "knob" (display component) for correcting the trajectory displayed on the graph screen using a mouse or a touch panel, etc. That is, in the present embodiment, an operation for avoiding abnormal approach (including collision) of the moving body can be performed on the graph screen of the two-dimensional coordinate system, and therefore, a route setting for avoiding abnormal approach areas can be performed by an intuitive method such as setting the stop time and the stop position in a manner that the straight line representing the trajectory does not overlap with the dangerous area.

[0093] In addition, according to this embodiment, for example, AI (artificial intelligence) that operates using a learning model generated by a learning device automatically operates a "knob" (display component) for correcting the trajectory displayed on the graph screen, thereby enabling the stop position and stop time of the moving body to be set.

[0094] Description of symbols

[0095] 1: control system; 10: display control device; 11: storage device; 12: driving road structure data acquisition unit; 13: control information acquisition unit; 14: predicted trajectory estimation unit; 15: predicted trajectory acquisition unit; 16: abnormal approach estimation unit; 17: display control unit; 18: input device; 19: trajectory correction unit; 30: control information management device (management device); 40: display device; 201~203: runway (driving road); 204: taxiway (driving road); 221: enhanced display component; 302: abnormal approach area; 223: oncoming approach area (enhanced area); 301: line indicating trajectory (predicted trajectory); 303: cursor; 304, 304a~304c: knob (display component); 401, 402: moving body.

Claims

1. A display control device for a control system, which sends instructions to a plurality of moving objects traveling on a plurality of driving roads, characterized in that: The display control device of the control system comprises: a travel road structure data acquisition unit that acquires travel road structure data indicating structures of the plurality of travel roads; a control information acquisition unit that acquires the control information from a management device that manages control information including positions and operation schedules of the plurality of moving objects; a predicted trajectory estimation unit that estimates a plurality of predicted trajectories indicating movement paths of the plurality of moving bodies based on the travel road structure data and the regulation information; a predicted trajectory acquisition unit that acquires a first predicted trajectory and a plurality of associated predicted trajectories from the plurality of predicted trajectories, wherein the first predicted trajectory indicates a movement path of a first moving object selected as a monitoring object from among the plurality of moving objects, and the plurality of associated predicted trajectories indicates movement paths of a plurality of associated moving objects that are moving objects other than the first moving object; an abnormal proximity estimating unit that estimates a second moving object from among the plurality of associated moving objects based on the travel road structure data, the first predicted trajectory, and the plurality of associated predicted trajectories, wherein the second moving object is a moving object that has a period of abnormal proximity in which the distance to the first moving object is less than a predetermined reference value; a display control unit that causes a display device to display a two-dimensional coordinate system composed of a first coordinate axis and a second coordinate axis, a line representing the first predicted trajectory in the two-dimensional coordinate system, and an abnormal proximity region representing a range of a position and a time of the second moving body during the abnormal proximity period, wherein the first coordinate axis represents the position from a start point to an end point of the first predicted trajectory as a distance from the start point or the end point, and the second coordinate axis represents a time; and The trajectory correction unit causes the display device to display a display component for updating the first predicted trajectory, and when receiving input information for moving the display component, corrects the first predicted trajectory so that the line representing the first predicted trajectory does not overlap the abnormal proximity area.

2. The display control device according to claim 1, characterized in that: The display component is a dot-shaped component that overlaps with the line indicating the first predicted trajectory displayed on the display device and does not overlap with the abnormal proximity region.

3. The display control device according to claim 1 or 2, characterized in that: The display means is displayed at a position of a time earlier in time than the range of the time of the abnormal proximity region.

4. The display control device according to any one of claims 1 to 3, characterized in that: When there is a user input operation to move the display component displayed on the display device in the direction of the second coordinate axis, the trajectory correction unit moves the portion of the line representing the first predicted trajectory that is later in time than the display component in the moving direction of the display component, thereby generating an updated predicted trajectory.

5. The display control device according to claim 4, characterized in that: The line representing the updated predicted trajectory comprises: Part 1, which is a line segment within a range preceding the display component in time; A third portion, which is a line segment within a range later in time than the display component; as well as The second portion is a line segment connecting the first portion and the third portion.

6. The display control device according to any one of claims 1 to 5, characterized in that: The abnormal approach occurs between the first moving object traveling on the first traveling road and the second moving object traveling on the second traveling road at an intersection of a first traveling road and a second traveling road intersecting among the plurality of traveling roads.

7. The display control device according to any one of claims 1 to 6, characterized in that: The abnormal approach occurs between the first moving object and the second moving object traveling in the same direction on one of the plurality of traveling roads.

8. The display control device according to any one of claims 1 to 7, characterized in that: The abnormal approach occurs between the first moving object and the second moving object that are approaching each other and traveling in opposite directions on one of the plurality of traveling roads.

9. The display control device according to any one of claims 1 to 8, characterized in that: The abnormal proximity estimation unit changes the baseline value based on one or more of information related to the visibility of the atmosphere in the multiple driving roads obtained from the management device, information related to the wind direction and wind speed in the multiple driving roads obtained from the management device, and information related to the size of the first mobile body obtained from the management device.

10. The display control device according to any one of claims 1 to 9, characterized in that: The display control device further includes a storage device for storing the travel road structure data.

11. The display control device according to any one of claims 1 to 10, characterized in that: The display control device further includes an input device operated by a user to input input information for moving the display member.

12. The display control device according to any one of claims 1 to 11, characterized in that: The plurality of mobile bodies include aircraft, vehicles, or both aircraft and vehicles. The plurality of driving roads include taxiways and runways in an airport.

13. A display control method implemented by a display control device of a control system for sending instructions to a plurality of moving bodies traveling on a plurality of travel roads, characterized in that: The display control method comprises the following steps: acquiring travel road structure data indicating structures of the plurality of travel roads; acquiring the control information from a management device that manages control information including positions and operation schedules of the plurality of moving bodies; estimating a plurality of predicted trajectories representing movement paths of the plurality of mobile bodies based on the travel road configuration data and the regulation information; Acquire a first predicted trajectory and a plurality of associated predicted trajectories from the plurality of predicted trajectories, wherein the first predicted trajectory represents a moving path of a first moving object selected as a monitoring object from among the plurality of moving objects, and the plurality of associated predicted trajectories represent moving paths of a plurality of associated moving objects that are moving objects other than the first moving object; estimating a second moving object from among the plurality of associated moving objects based on the travel road structure data, the first predicted trajectory, and the plurality of associated predicted trajectories, wherein the second moving object is a moving object having a period of abnormal proximity with the first moving object at a distance equal to or less than a predetermined reference value; causing a display device to display a two-dimensional coordinate system consisting of a first coordinate axis and a second coordinate axis, a line representing the first predicted trajectory in the two-dimensional coordinate system, and an abnormal proximity region representing a range of a position and a time of the second moving body during the abnormal proximity period, wherein the first coordinate axis represents the position from a starting point to an end point of the first predicted trajectory as a distance from the starting point or the end point, and the second coordinate axis represents a time; and The display device is caused to display a display component for updating the first predicted trajectory, and when input information for moving the display component is received, the first predicted trajectory is corrected so that the line representing the first predicted trajectory does not overlap the abnormal proximity region.

14. A display control program, characterized in that: The display control program causes a display control device of a control system for sending instructions to a plurality of moving bodies traveling on a plurality of travel roads to execute the following steps: acquiring travel road structure data indicating structures of the plurality of travel roads; acquiring the control information from a management device that manages control information including positions and operation schedules of the plurality of moving bodies; estimating a plurality of predicted trajectories representing movement paths of the plurality of mobile bodies based on the travel road configuration data and the regulation information; Acquire a first predicted trajectory and a plurality of associated predicted trajectories from the plurality of predicted trajectories, wherein the first predicted trajectory represents a moving path of a first moving object selected as a monitoring object from among the plurality of moving objects, and the plurality of associated predicted trajectories represent moving paths of a plurality of associated moving objects that are moving objects other than the first moving object; estimating a second moving object from among the plurality of associated moving objects based on the travel road structure data, the first predicted trajectory, and the plurality of associated predicted trajectories, wherein the second moving object is a moving object having a period of abnormal proximity with the first moving object at a distance equal to or less than a predetermined reference value; causing a display device to display a two-dimensional coordinate system consisting of a first coordinate axis and a second coordinate axis, a line representing the first predicted trajectory in the two-dimensional coordinate system, and an abnormal proximity region representing a range of a position and a time of the second moving body during the abnormal proximity period, wherein the first coordinate axis represents the position from a starting point to an end point of the first predicted trajectory as a distance from the starting point or the end point, and the second coordinate axis represents a time; and The display device is caused to display a display component for updating the first predicted trajectory, and when input information for moving the display component is received, the first predicted trajectory is corrected so that the line representing the first predicted trajectory does not overlap the abnormal proximity region.

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