Formation target vehicle simulation combat method and system, electronic equipment and product

Abstract

The invention discloses a formation target vehicle simulation combat method and system, an electronic device and a product, and the method comprises the steps: receiving the coordinate information transmitted back by each target vehicle in a formation in real time, combining with a preset first formation and a route end point region set by an operator, planning an advancing route for each target vehicle, and then distributing the corresponding route to the corresponding target vehicle, and each target vehicle is ensured to sequentially advance in order. Once attack signals sent by one or more target vehicles and related data containing attack azimuth information are received, the position of the attacked target vehicle is immediately determined as an attacked coordinate, and routes of other non-attacked target vehicles are re-planned to enable the non-attacked target vehicles to avoid an attacked point; and meanwhile, the position of the attack source relative to each target vehicle is accurately calculated according to the attack azimuth information and is transmitted to the corresponding target vehicle to drive the target vehicle to perform counterattack action on the attack source, so that the authenticity of simulated combat is effectively improved.

Description

Technical Field

[0001] The invention relates to the field of automatic control, and in particular to a formation target vehicle simulation combat method and system, electronic equipment and products. Background Art

[0002] In modern military training, in order to improve the combat capabilities and coordinated combat level of combatants, it is necessary to simulate the real battlefield environment as realistically as possible.

[0003] The target vehicles currently on the market can simulate some conventional combat actions in relatively simple and stable environmental conditions with the help of common sensors and automatic control technology. For example, in a flat training ground, a relatively simple route simulation can be achieved to create basic dynamic targets for soldiers to conduct shooting training. At the same time, some target vehicle systems also have certain communication capabilities, which can realize basic information exchange between a single or a small number of target vehicles and the command center, complete simple command transmission and status feedback, and play a certain auxiliary role in basic remote control and monitoring.

[0004] However, although it is possible to simulate simple formations, when simulating complex tactical scenarios, the target vehicles have poor coordination, inaccurate position and speed control, and chaotic formations, which affect the training personnel's grasp of real coordination. Communication delays and packet loss when multiple target vehicles transmit data cause problems with the target vehicle status and command issuance, and the simulation is not smooth. When the target vehicle encounters an emergency, the system cannot quickly adjust or re-plan, the simulation scene is easily interrupted or deviates from expectations, and it is difficult to restore battlefield changes, which greatly reduces the authenticity of the simulation training. Summary of the invention

[0005] The present application provides a formation target vehicle simulation combat method and system, electronic equipment and products for improving the authenticity of simulation training.

[0006] In a first aspect, the present application provides a method for simulating combat of a formation target vehicle, the method comprising: an electronic device plans a route for each target vehicle based on the position coordinates of each target vehicle in the formation received and transmitted in real time, as well as a preset first formation and a route terminal area set by an operator, the route being divided into a plurality of points, the distance between adjacent points being equal to the distance traveled by the target vehicle per unit time, and within the same time unit, there can be only one target vehicle at a point; the routes of each target vehicle are distributed to the corresponding target vehicles in the formation, so that each target vehicle travels according to its own route; upon receiving a After receiving the attacked signal and the corresponding related information of the attacked sent by one or more target vehicles, the current position coordinates of the attacked target vehicle are determined as the attacked coordinates, and the related information of the attacked includes the azimuth information of the attacked; the travel routes of other target vehicles in the formation that have not been attacked are replanned so that the replanned travel routes avoid the attacked coordinates; based on the azimuth information of the attacked, the relative position of the attack source relative to each target vehicle is calculated; the calculated relative position of the attack source relative to each target vehicle is transmitted to the corresponding target vehicle in the formation, so that the corresponding target vehicle performs a counterattack operation on the attack source.

[0007] In the above embodiment, when the electronic device receives the attacked signal and related information including the attacked position information sent by one or more target vehicles, the electronic device determines the current position coordinates of the attacked target vehicle as the attacked coordinates, replans the route of the unattacked target vehicle to avoid the attacked coordinates, and calculates the relative position of the attack source relative to each target vehicle based on the attacked position information, and transmits this relative position to the corresponding target vehicle in the formation, prompting it to perform a counterattack operation on the attack source. The target vehicle can simulate the reasonable and complex response actions of the enemy after being attacked, effectively solving the problem of poor authenticity of simulation exercises caused by the inability to organize a counterattack in time, and comprehensively improving the training effect and quality.

[0008] In combination with some embodiments of the first aspect, in some embodiments, the relevant information about the attack also includes information about the degree of damage of various components of the target vehicle, and the various components of the target vehicle include a power system, a driving system, a weapon system, an electronic system, and a protection system. After receiving the attack signal and the corresponding relevant information about the attack sent by one or more target vehicles, after the step of determining that the current position coordinates of the attacked target vehicle are the attack coordinates, the method further includes: based on the damage degree information of various components of the target vehicle, the preset performance indicators and weights of various components, determining the coordinates of the current position of the attacked target vehicle as the attack coordinates. The health of the attacked target vehicle is scored to obtain a comprehensive health score of the attacked target vehicle; whether the attacked target vehicle continues to move forward is determined according to the comprehensive health score of the attacked target vehicle; if the comprehensive health score of the attacked target vehicle is greater than or equal to 80 points, a continue-movement instruction is sent to the attacked target vehicle; if the comprehensive health score of the attacked target vehicle is less than 80 points and greater than or equal to 60 points, a deceleration and retreat to the rear of the team instruction is sent to the attacked target vehicle; if the comprehensive health score of the attacked target vehicle is less than 60 points, a retreat to a preset safe area instruction is sent to the attacked target vehicle.

[0009] In the above embodiment, by collecting and analyzing the damaged information of the attacked target vehicle components and quantifying the health, an accurate basis is provided for electronic equipment decision-making, making the target vehicle status assessment more scientific and comprehensive. The target vehicle action is determined based on the comprehensive health score. The target vehicle with a high comprehensive health score continues to move forward to maintain the combat rhythm. The target vehicle with a medium comprehensive health score retreats to the end of the team to protect itself and the whole. The target vehicle with a low comprehensive health score withdraws to a safe area to avoid interference, thereby improving the safety and combat efficiency of the formation, reducing the impact of being hit, and enhancing overall stability and sustained combat effectiveness. This mechanism of regulating the action of the target vehicle based on the comprehensive health score makes the simulated combat scene more realistic and complex, fits the actual combat handling of damaged equipment, exercises the actual combat response and strategy adjustment capabilities of the training personnel, and effectively improves the actual combat level and training value of simulated combat training.

[0010] In combination with some embodiments of the first aspect, in some embodiments, before the step of scoring the health of the attacked target vehicle based on the damage degree information of each component of the target vehicle, preset performance indicators and weights of each component, and obtaining a comprehensive health score of the attacked target vehicle, the method also includes: generating a repair suggestion report based on the damage degree information, and displaying the damage status of the components of the target vehicle in the form of a 3D model; when the operator clicks on the damaged component in the 3D model, simulating the replacement of the damaged component in the clicked 3D model, and calculating the effect after replacement.

[0011] In the above embodiment, a repair suggestion report is generated based on the damage degree information and the damage of the components is displayed in a 3D model, which can intuitively and clearly show the operator the damage condition of the target vehicle after being attacked, greatly improving the efficiency and accuracy of information transmission. When the operator clicks on the damaged component in the 3D model, the replacement of the component is simulated and the effect after replacement is calculated, providing the operator with a virtual "testing ground". Operators can estimate the feasibility and effect of different repair plans without actual repair, so that they can more calmly and wisely formulate the optimal repair strategy and combat adjustment plan. It can effectively save time, manpower and material resources that may be consumed in the actual repair process.

[0012] In combination with some embodiments of the first aspect, in some embodiments, after the step of sending a deceleration and retreat to the rear of the team instruction to the attacked target vehicle if the comprehensive health score of the attacked target vehicle is less than 80 points and greater than or equal to 60 points, the method also includes: after the attacked target vehicle decelerates and retreats to the rear of the team, issuing a filling instruction to the target vehicle that is located behind the attacked target vehicle and closest to it; issuing filling instructions to the remaining target vehicles in turn based on the preset formation according to the position information of the target vehicle after filling; and re-planning the travel route of each corresponding target vehicle according to the coordinate information of each target vehicle after filling.

[0013] In the above embodiment, when the health of the attacked target vehicle is within a specific range and retreats to the end of the team, quickly arranging for replacement and re-planning the route can effectively ensure the stability and integrity of the formation, maintain the coordinated combat relationship between the target vehicles, avoid overall chaos caused by local changes, and ensure the continuity and effectiveness of the operation. Re-planning the route according to the situation after the replacement can fully consider the new position relationship and combat situation, improve the adaptability and combat efficiency of the formation in complex situations, enable the formation to maintain good mobility and combat rhythm after being attacked, and reduce the waste of resources and action obstacles caused by adjustments. This replacement and re-planning mechanism greatly enhances the authenticity and complexity of simulated combat training, allowing trainees to accumulate experience in responding to emergencies and flexibly adjusting tactics in situations close to actual combat, effectively improving their comprehensive combat capabilities and response levels, making simulated combat training more in-depth and practical value, and better preparing and paving the way for actual combat scenarios.

[0014] In combination with some embodiments of the first aspect, in some embodiments, if the comprehensive health score of the attacked target vehicle is less than 60 points, sending an instruction to retreat to a preset safe area to the attacked target vehicle specifically includes: when the comprehensive health score of the attacked target vehicle is less than 60 points, detecting whether the attacked target vehicle can be started; if the attacked target vehicle can be started, sending an instruction to retreat to a preset safe area to the attacked target vehicle; if the attacked target vehicle cannot be started, marking the current position coordinates of the attacked target vehicle as the coordinates of the obstacle location and updating the map; determining based on the updated map data whether there is currently a target vehicle whose route passes through the location of the obstacle; if there are one or more target vehicles whose routes pass through the location of the obstacle, replanning the routes of the one or more target vehicles so that the one or more target vehicles avoid the coordinates of the obstacle location.

[0015] In the above embodiment, when the health of the attacked target vehicle is low, targeted measures are taken according to its startup status. If it can be started, it is ordered to retreat to a safe area to ensure the safety of the vehicle itself; if it cannot be started, its position is marked as an obstacle coordinate to update the map, and based on this, the route of the target vehicle that may be affected is further checked and replanned to avoid collisions with obstacles. It not only ensures the safety of the attacked target vehicle, but also optimizes the accuracy of map information, and effectively prevents route conflicts with other target vehicles, greatly improving the stability, safety and operating efficiency of the overall system in complex scenarios, and reducing various risks and potential losses caused by vehicle damage or improper route planning.

[0016] In combination with some embodiments of the first aspect, in some embodiments, before the step of replanning the travel routes of other unattacked target vehicles in the formation so that the replanned travel routes avoid the hit coordinates, the method also includes: determining the number of target vehicles whose comprehensive health scores of the attacked target vehicles are less than 60 points; when the number of target vehicles whose comprehensive health scores of the attacked target vehicles are less than 60 points is greater than or equal to 3, based on the number of remaining target vehicles, the current position coordinates of the remaining target vehicles and one or more preset formations, according to preset matching rules, selecting a second formation; and replanning the travel routes of the remaining target vehicles based on the second formation.

[0017] In the above embodiment, before the electronic device replans the route of the unattacked target vehicle, it first determines the situation of the attacked target vehicles whose comprehensive health score is less than 60 points and whose number is greater than or equal to 3. Therefore, the second formation is selected according to the number of remaining target vehicles, position coordinates, preset formations and matching rules to replan the routes of the remaining target vehicles. This operation can fully take into account the complex situation where many vehicles cannot operate normally due to large-scale attacks. Through targeted formation switching and route planning, the remaining target vehicles can quickly form a new effective combat formation, ensuring that the overall combat force can still maintain a certain combat effectiveness and tactical coordination after suffering heavy losses, improving the adaptability and combat stability of the entire formation in harsh combat environments, and effectively reducing the risk of combat system collapse caused by damage to multiple vehicles.

[0018] In combination with some embodiments of the first aspect, in some embodiments, after the step of distributing the travel routes of each target vehicle to the corresponding target vehicles in the formation so that each target vehicle travels according to its own travel route, the method also includes: after receiving the surrounding environment information sent by each target vehicle, determining whether the surrounding environment of the target vehicle is the same as the corresponding scene on the map; if not the same, updating the map in real time based on the surrounding environment information of the target vehicle.

[0019] In the above embodiment, after the electronic device distributes the route for each target vehicle to travel, the surrounding environment information of the target vehicle is received and compared with the corresponding scene on the map. If it is found to be inconsistent, the map is updated in real time according to the new environmental information. This helps to maintain a high degree of consistency between the map information and the actual combat or driving environment, so that subsequent route planning, tactical decisions, etc. can be carried out based on accurate and up-to-date map data. Whether it is to deal with sudden terrain changes, new obstacles or other environmental change factors, this information can be integrated into the map in a timely manner, so that the entire target vehicle formation can adapt to the complex and changing external environment more flexibly and accurately, reduce mission errors, collision risks and inefficiency caused by delayed or incorrect map information, and further improve the safety, reliability and overall execution effect of the formation's actions.

[0020] In the second aspect, an embodiment of the present application provides a formation target vehicle simulation combat system, which includes: electronic equipment and a target vehicle; the target vehicle moves according to the travel instructions issued by the electronic equipment based on a planned route; the formation target vehicle simulation combat system is used to execute the method described in the first aspect and any possible implementation method of the first aspect.

[0021] In a third aspect, an embodiment of the present application provides an electronic device, comprising: one or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to enable the electronic device to execute the method described in the first aspect and any possible implementation method of the first aspect.

[0022] In a fourth aspect, an embodiment of the present application provides a computer program product comprising instructions, which, when executed on an electronic device, enables the electronic device to execute the method described in the first aspect and any possible implementation of the first aspect.

[0023] It can be understood that the formation target vehicle simulation combat system provided in the second aspect, the electronic device provided in the third aspect, and the computer program product provided in the fourth aspect are all used to execute the formation target vehicle simulation combat method provided in the embodiment of the present application. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method, which will not be repeated here.

[0024] In summary, the present application includes at least one of the following beneficial technical effects: 1. This application determines the current position coordinates of the attacked target vehicle as the attacked coordinates when the electronic device receives the attacked signal and related information including the attacked position information sent by one or more target vehicles, replans the route of the unattacked target vehicle to avoid the attacked coordinates, and calculates the relative position of the attack source relative to each target vehicle based on the attacked position information, and transmits this relative position to the corresponding target vehicle in the formation, prompting it to perform a counterattack operation on the attack source. The target vehicle can simulate the reasonable and complex response actions of the enemy after being attacked, effectively solving the problem of poor authenticity of simulation exercises caused by the inability to organize a counterattack in time, and comprehensively improving the training effect and quality.

[0025] 2. This application provides an accurate basis for electronic equipment decision-making by collecting and analyzing information on damaged components of the attacked target vehicle and quantifying its health, making the assessment of the target vehicle status more scientific and comprehensive. The target vehicle's actions are determined based on the comprehensive health score. Target vehicles with high comprehensive health scores continue to move forward to maintain the combat rhythm. Target vehicles with medium comprehensive health scores retreat to the end of the team to protect themselves and the whole. Target vehicles with low comprehensive health scores withdraw to a safe area to avoid interference, thereby improving the safety and combat efficiency of the formation, reducing the impact of being hit, and enhancing overall stability and sustained combat effectiveness. This mechanism of regulating the actions of the target vehicle based on the comprehensive health score makes the simulated combat scene more realistic and complex, fits the actual combat handling of damaged equipment, exercises the training personnel's actual combat response and strategy adjustment capabilities, and effectively improves the actual combat level and training value of simulated combat training.

[0026] 3. This application first determines the attacked target vehicles whose comprehensive health score is less than 60 points and whose number is greater than or equal to 3 before the electronic equipment replans the route of the unattacked target vehicles. Therefore, the second formation is selected according to the number of remaining target vehicles, position coordinates, preset formations and matching rules to replan the routes of the remaining target vehicles. This operation can fully take into account the complex situation where multiple vehicles cannot operate normally due to large-scale attacks. Through targeted formation switching and route planning, the remaining target vehicles can quickly form a new effective combat formation to ensure that the overall combat force can still maintain a certain combat effectiveness and tactical coordination after suffering heavy losses, thereby improving the adaptability and combat stability of the entire formation in harsh combat environments, and effectively reducing the risk of combat system collapse caused by damage to multiple vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of an information interaction scenario of the formation target vehicle simulation combat method of this application.

[0028] Figure 2 It is a flow chart of the formation target vehicle simulation combat method in the embodiment of the present application.

[0029] Figure 3 It is another flow chart of the formation target vehicle simulation combat method in the embodiment of the present application.

[0030] Figure 4 It is a hardware schematic diagram of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0031] The terms used in the following embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to be used as limitations to the present application. As used in the specification and appended claims of the present application, the singular expressions "one", "a kind of", "said", "above", "the" and "this" are intended to also include plural expressions, unless there is a clear indication to the contrary in the context. It should also be understood that the term "and / or" used in the present application refers to and includes any or all possible combinations of one or more listed items.

[0032] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features, and in the description of the embodiments of the present application, unless otherwise specified, "plurality" means two or more.

[0033] The following is a description of the formation target vehicle simulation combat system involved in this application: It can be understood that in some embodiments, for the convenience of description, the formation target vehicle simulation combat system in the present application can also be referred to as a simulation system, and can also be referred to as other names, which are not limited here.

[0034] like Figure 1 As shown, it is a schematic diagram of an information interaction scenario of the formation target vehicle simulation combat method of the present application. The implementation environment of the method includes electronic equipment and multiple formation target vehicles, and a two-way communication connection can be established between the electronic equipment and each target vehicle in the formation. The operator selects a formation of a target vehicle formation through the electronic equipment. The electronic equipment plans a route for each target vehicle based on the formation selected by the operator, and distributes the planned target vehicle route to the target vehicle, so that the target vehicle moves according to the planned route.

[0035] It is understandable that the electronic device can be a computer, an industrial control computer, a server, an embedded industrial computer, an intelligent handheld terminal, etc., which can communicate with the target vehicle and has data processing capabilities, and is not limited here.

[0036] Multiple target vehicles form a formation and follow a preset route to simulate the enemy's movement. The trainers attack the formation's target vehicles. The target vehicles move along the set route in a straight line or curve and continue to move in the training ground. The trainers constantly adjust the attack action based on the position and speed of the target vehicles. When evaluating the training effect, the relevant personnel responsible for monitoring the training situation can understand the training results by checking the trainers' hits on the target vehicles, such as the number of hits, hit parts, etc.

[0037] However, when the target vehicle is attacked, it is difficult for the remaining target vehicles to quickly adjust according to the attack coordinates and avoid the dangerous area. This situation seriously undermines the coordination of the target vehicle formation.

[0038] On the one hand, this may lead to a significant reduction in the overall combat effectiveness of the formation, making it impossible to continue to perform the mission according to the established tactical plan, and the coordination between the target vehicles will become chaotic and disconnected, which will have an extremely adverse impact on the advancement of the entire exercise or actual combat mission.

[0039] On the other hand, due to the inability to organize an effective counterattack strategy in a timely manner, the simulation exercises could not present the real characteristics of the enemy's movement and response scenarios, resulting in a sharp drop in the combat efficiency of the entire formation after being attacked, and the authenticity and effectiveness of the training were greatly reduced.

[0040] The present application provides a method for simulating combat of a formation target vehicle. When a target vehicle is attacked, a signal of being attacked and information related to the attack are immediately sent to the electronic equipment. The electronic equipment determines the attacked coordinates, re-plans the route of the target vehicle that has not been attacked to avoid the attacked coordinates, and at the same time calculates the position of the attack source relative to each target vehicle based on the attacked position information, and transmits it to the corresponding target vehicle to execute a counterattack operation, so that the target vehicle can simulate the enemy's reasonable and complex response actions after being attacked, effectively solving the problem of poor authenticity of simulation exercises caused by the inability to organize a counterattack in time, and comprehensively improving the training effect and quality.

[0041] The following describes the formation target vehicle simulation combat method in the embodiment of the present application: like Figure 2 As shown, it is a flow chart of the formation target vehicle simulation combat method in the embodiment of the present application.

[0042] S201, planning the route of each target vehicle based on the received position coordinates transmitted in real time by each target vehicle in the formation, as well as the preset first formation and route end area set by the operator; When the operator selects the preset first formation, a corresponding route is planned for each target vehicle in the formation based on the position coordinates of each target vehicle in the formation sent back in real time and the preset route end area.

[0043] It is understandable that the position coordinates transmitted back in real time by each target vehicle are based on the plane rectangular coordinate system established in the training ground to represent its current specific location. The coordinate system takes a fixed reference point as the origin and is positioned by horizontal and vertical coordinates. When planning the route, these coordinate information are used for analysis and calculation. By comparing the coordinate differences between the target vehicles, the current spacing and distribution status between the target vehicles can be determined, so that the target vehicle spacing can be calibrated according to the preset first formation selected by the operator to ensure that each target vehicle can be arranged according to the preset formation layout. For example, if the preset first formation requires a relatively tight diamond-shaped offensive formation, the system will calculate the deviation of each target vehicle from the ideal diamond vertex position based on the current coordinates of each target vehicle, and then plan the corresponding adjustment route so that the target vehicle can be gradually moved to a position that meets the requirements of the formation.

[0044] Specifically, the initial direction of travel is determined based on the relative relationship between the position coordinates of the target vehicle and the preset route end area. The route end area is pre-set, and its definition can be defined by delineating a geographical range of a specific shape (such as a rectangle, circle, etc.) on the electronic map of the training site and marking it with a corresponding coordinate range. This area represents the range of the target position that the target vehicle needs to reach in the simulated operation. By analyzing the azimuth relationship between the coordinates of each target vehicle and the boundary coordinates of the end area, a rough initial travel path towards the end area is planned for each target vehicle.

[0045] The operator presets the first formation, which includes the layout of the entire formation and the relative position of each target vehicle in the formation. For example, if a "echelon attack formation" is selected, then the number of rows of target vehicles in the front, middle, and rear, the lateral spacing between each row of target vehicles, and the longitudinal spacing between rows and other parameters will be clearly specified. When planning the route, in addition to ensuring that each target vehicle can move toward the end area, it is also necessary to dynamically adjust the direction and speed of the target vehicle according to the layout requirements of this formation at all times, so that the entire formation always maintains the formation structure during the journey. For example, during the journey, if a target vehicle is displaced due to external factors, the system will re-plan the route based on the position relationship required by the preset echelon attack formation, combined with its current coordinates, so that it can return to its position as soon as possible to ensure the integrity and tactical effectiveness of the entire formation.

[0046] In addition, when planning the route of each target vehicle, a specific path planning algorithm is used, and multiple constraints are taken into consideration. The path planning algorithm used may be a combination of classic algorithm ideas such as Dijkstra algorithm or A* algorithm to find the optimal path from the current position of the target vehicle to the end area of ​​the route (the optimal path here may be a comprehensive consideration of factors such as the shortest distance, passing through a specific terrain area, and avoiding fixed obstacles in the training ground), which is not limited here.

[0047] At the same time, combined with the actual situation of the training ground, such as the existence of impassable obstacle areas (marked as no-go areas in advance on the electronic map, with corresponding coordinate ranges), when planning the route, the algorithm will automatically calculate the path to bypass these areas to ensure the safety and rationality of the target vehicle's movement. Through the comprehensive application of the target vehicle's position coordinates, the preset first formation, and the route end area, with the help of corresponding algorithms and rules, a route that meets the requirements of simulated combat is finally planned for each target vehicle in the formation.

[0048] S202, distributing the travel routes of each target vehicle to the corresponding target vehicles in the formation, so that each target vehicle travels according to its own travel route; The planned route for each target vehicle is distributed to the corresponding target vehicles in the formation, so that each target vehicle moves along the corresponding route.

[0049] Specifically, the electronic device encapsulates the route information of each target vehicle according to a pre-set, unified and standardized communication protocol. The communication protocol specifies in detail the key contents such as data formatting, encoding rules, and packet headers and tails for identifying and distinguishing different information, so that the target vehicle can accurately unpack and parse the information after receiving it. The key contents for identifying and distinguishing different information have multiple possible settings in different communication systems, which are not limited here.

[0050] It is understandable that in the process of route distribution, in order to ensure that the information can be delivered to each target vehicle in a timely manner, a corresponding timeliness guarantee mechanism is also set up. Different communication time slots are allocated to the target vehicles according to their numbers or the established order in the formation (for example, time slots of fixed length are allocated in sequence from the head to the tail of the formation) to avoid communication congestion caused by multiple target vehicles requesting to receive information at the same time. The overall information distribution time threshold is also set, requiring that the route information distribution task for all target vehicles must be completed within [X] seconds. The electronic equipment side will monitor the distribution progress in real time. Once it is found that there is a risk of approaching timeout, the communication transmission rate will be automatically increased. Under the premise of ensuring the accuracy of the information, it can be achieved by adjusting the modulation and demodulation method, etc., which is not limited here, or temporarily increasing the number of communication channels to speed up the distribution speed.

[0051] In some embodiments, when there are target vehicles of different types and different performance characteristics in the formation, targeted adaptation processing is performed when distributing the route information. In the route planning stage, the electronic equipment system collects and analyzes the basic performance parameters of each target vehicle (such as maximum driving speed, minimum turning radius, acceleration and deceleration performance, etc.), and makes corresponding adjustments when generating the route based on these data. For example, for target vehicles with a lower maximum driving speed, when planning their routes, the straight-line driving distance will be appropriately increased, and sharp bends and other sections that require rapid changes of direction will be reduced. Accordingly, in the route information distributed to such target vehicles, the parameters such as the recommended driving speed of each section will be adaptively adjusted so that it can smoothly pass through each section at a reasonable speed that it can achieve; for target vehicles with poor steering flexibility, the turning radius requirements will be increased during route planning, and smoother steering prompt information will be clearly marked in the distributed information to ensure that it can complete the steering action safely and accurately when executing the route.

[0052] It is understandable that a unified command dispatch center is set up inside the electronic equipment end, and the command dispatch center will prioritize various system commands (including route distribution commands, weapon system calibration commands, protective device activation commands, etc.) according to their importance, urgency and relevance. For route distribution commands, a higher priority will be given to ensure that they are not interfered with by other low-priority commands during execution, and they will be reasonably interspersed with other commands according to the system's preset rules. For example, when a weapon system calibration command is being executed and the command occupies less communication resources, the route distribution command can be carried out in parallel with it, but the communication resource usage of the two will be monitored in real time. Once a conflict risk is found (such as tight communication bandwidth, etc.), the command dispatch center will suspend the part of the weapon system calibration command that requires more communication resources according to the pre-set coordination strategy, give priority to the distribution of route information, and resume the execution of the weapon system calibration command after the distribution is completed.

[0053] In some embodiments, if some target vehicles fail to receive instructions, the electronic device will immediately mark the target vehicles that have not successfully received the information and try to resend the corresponding route information. The first resending will increase the success rate of information transmission by enhancing signal strength and switching backup communication channels (multiple backup channels are pre-configured for each target vehicle, and the best one is selected in real time according to the channel quality). If there are still target vehicles that cannot receive successfully after multiple resending, the electronic device will mark the location coordinates of the target vehicle on the map and use it as an obstacle in the simulated combat scene. For the target vehicle that has successfully received the instruction, it will determine whether the established target vehicle route passes through the obstacle location of the target vehicle that has not received the instruction. If it passes, the route will be replanned. If not, it will continue to move forward along the established route. At the same time, the electronic device analyzes the possible reasons for the reception failure (such as failure of the communication module on the target vehicle).

[0054] In some embodiments, when multiple target vehicles receive disordered information (such as the received route information corresponds to the wrong target vehicle, etc.), the electronic device will quickly identify the target vehicles with disordered information through the self-identification information sent back by each target vehicle and the information verification mechanism (such as CRC verification, etc., the verification code has been added when the information is encapsulated), and then resend the correct route information to these target vehicles, and require them to clear the received erroneous information. In this process, the target vehicles that have correctly received the route information will remain in the original standby state. After all the target vehicles with disordered information have completed the information correction, the entire formation will start synchronously and continue to move forward according to their respective accurate routes, so as to ensure the orderliness of the formation's movement and the continuity of the simulated combat training.

[0055] In some embodiments, when multiple target vehicles receive disordered information (such as the received route information corresponds to the wrong target vehicle, etc.), the electronic device will quickly identify the target vehicle with disordered information through the coordinate position information sent back by each target vehicle and the information verification mechanism (such as CRC verification, etc., the verification code has been added when the information is encapsulated). For the target vehicle with disordered information, the electronic device resends the correct route information and sends a clear instruction to clear the received erroneous information. At the same time, the electronic device sends an early warning message to the target vehicle that has correctly received the route information. The early warning message includes the situation of the target vehicle with disordered information nearby. The target vehicle that has correctly received the information will appropriately change the route to avoid the area where confusion may occur without affecting the overall combat objectives. After completing the information correction, the target vehicle with disordered information quickly integrates into the formation and continues to move forward according to its own accurate route.

[0056] S203, after receiving the attack signal and the corresponding attack related information sent by one or more target vehicles, determining the current position coordinates of the attacked target vehicle as the attack coordinates, and the attack related information includes the attacked direction information; After receiving the attack signal and corresponding attack related information sent by one or more target vehicles, the electronic device determines the current position coordinates of the attacked target vehicle as the attack coordinates, and the attack related information includes the attack direction information.

[0057] It is understandable that electronic devices prioritize timely and accurate reception of such critical information by dynamically allocating communication bandwidth, avoiding delays in information reception due to factors such as the simultaneous presence of a large number of other data interactions or a complex electromagnetic environment.

[0058] When receiving information sent by multiple target vehicles at the same time or successively, it is processed according to the pre-set rules. First, it is sorted according to the target vehicle number order, and the attack information sent by the target vehicle with a smaller number is processed first. If the numbers are the same, it is processed according to the attack intensity level reflected in the attack information. The value corresponding to the intensity level is set in advance. The higher the value, the greater the intensity. It is processed in order from high to low to ensure the orderliness of information processing.

[0059] Specifically, the electronic device receives the attack-related information sent by the target vehicle, including the attack position information. The electronic device uses fixed surveillance cameras distributed throughout the site and image recognition technology to analyze the images at the moment of the attack and obtain the actual position angle of the attack. At the same time, the surrounding environment data collected by the distributed sensor nodes, such as vibration, sound and other feature data, are referenced. Since attacks from different directions will cause these feature data to differ, they are compared and analyzed with the position information sent by the target vehicle.

[0060] In some embodiments, if the deviation between the two is within a pre-set reasonable range, for example, the azimuth angle deviation does not exceed [X] degrees, the information sent by the target vehicle is determined to be accurate and reliable; if the deviation exceeds this range, the electronic equipment end will send an instruction to the target vehicle to recalibrate and send the information again.

[0061] After receiving the initial attack information, the target vehicle continuously monitors the attack situation. Once the attack continues and the direction changes, or a new attack situation occurs, it will immediately send updated attack information to the electronic device. After receiving the updated information, the electronic device verifies it according to the same accuracy verification mechanism mentioned above. After the verification is passed, the subsequent operations are based on the latest information to ensure that the attack information used throughout the process can always reflect the actual situation.

[0062] After receiving the verified and accurate information of the attacked target vehicle, the current position coordinates of the attacked target vehicle are determined as the attacked coordinates.

[0063] S204, re-planning the travel routes of other target vehicles in the formation that have not been attacked, so that the re-planned travel routes avoid the attacked coordinates; The electronic equipment re-plans the routes of other unattacked target vehicles in the formation so that the re-planned routes avoid the hit coordinates.

[0064] Specifically, when re-planning the route, it is necessary to maintain the tactical integrity of the formation while ensuring that the coordinates that are hit are avoided. For example, if the original formation is intended to achieve a specific tactical encirclement or penetration action, when re-planning the route, it is necessary to try to maintain the feasibility of the overall tactical intention while ensuring that the hit area is avoided.

[0065] In some embodiments, when the hit coordinates are located near key nodes (such as must-pass intersections, narrow passage entrances, etc.) of the formation's route, the electronic device generates multiple new route options based on map information that can avoid the hit coordinates and have a strong correlation with the original planned route. Based on the new route options, the electronic device quickly evaluates and sorts multiple factors such as the degree of fit of the combat mission, the overall length of the journey, and the estimated time, and selects the best new route, which is then distributed to the corresponding target vehicle so that the target vehicle moves along the new route.

[0066] It is understandable that when the target vehicle is moving along the new route, it will continue to exchange information with the electronic equipment. If any new abnormal situation is found, such as the appearance of a new suspected attack area or changes in other obstacles on the original route, the electronic equipment will be promptly fed back. After successfully bypassing the hit area, if the electronic equipment determines that the original planned route is no longer a threat and is most beneficial to completing the mission, for example, by confirming with other monitoring systems that the surrounding area of ​​the original route is safe and that moving along the original route can better connect with the subsequent mission links, it will send an instruction to the unhit target vehicle to return to the original planned route, and the unhit target vehicle will adjust to the original route according to the instruction and continue to move; if the electronic equipment determines that the original route still has hidden dangers or there is a more suitable alternative route, it will send the key node information of the alternative route to the unhit target vehicle, and the unhit target vehicle will switch to the alternative route to continue the subsequent formation moving mission.

[0067] S205, calculating the relative position of the attack source relative to each target vehicle based on the attacked position information; The electronic device calculates the relative position of the attack source relative to each target vehicle based on the attacked position information transmitted back by the attacked target vehicle.

[0068] It is understandable that when the sensors equipped on the target vehicle collect position information, they may be affected by the interference of the complex electromagnetic environment of the battlefield, the angle deviation caused by the changes in its own physical posture, such as bumps and turns during driving, and the enemy's targeted interference methods, resulting in information deviation. In this regard, the target vehicle performs preliminary calibration based on multiple sets of reference data preset in the built-in calibration module, such as the initial position reference calibrated before departure and the stable angle reference provided by the built-in high-precision gyroscope. At the same time, the electronic equipment combines the surrounding environment perception information sent back by other unattacked target vehicles in the formation, such as relatively stable terrain reference points, known landmark object positions, etc., to perform secondary calibration and verification of the position information sent back by the attacked target vehicle.

[0069] In some embodiments, there are situations where multiple attacked target vehicles simultaneously transmit back position information, and these multi-source position information needs to be effectively fused. The electronic device uses a weighted average fusion algorithm to set a corresponding weight value for the position information transmitted back by each target vehicle based on the accuracy level of each target vehicle sensor, the relative geometric relationship between its location and the attack source, and the position information of the target vehicle closer to the attack source, etc. According to the weighted average calculation method, the various position information is fused and processed to obtain comprehensive position information, so as to more accurately reflect the actual position of the attack source, which is convenient for the subsequent calculation of its relative position relative to each target vehicle.

[0070] In some embodiments, when calculating the relative position of the attack source relative to each target vehicle, a triangulation positioning method combined with vector operations is used. The positions of multiple attacked target vehicles in the formation are taken as known points, and the direction vector pointing from each target vehicle to the attack source is determined based on the azimuth information sent back and calibrated and fused. Then, by constructing a triangular geometric relationship, based on the known relative position coordinates between each target vehicle, geometric parameters such as the side length can be calculated, combined with the angle, length and other elements of the vector, and the trigonometric function principle is used for calculation, so as to obtain the precise relative position coordinates of the attack source relative to each target vehicle.

[0071] In addition, the calculated relative position of the attack source relative to the target vehicle will inevitably have a certain error, and the electronic equipment will evaluate the error range in real time. A reasonable error threshold is set in advance based on factors such as sensor accuracy, environmental interference level, and the number of target vehicles involved in the calculation. When the error of the calculation result exceeds this threshold, the electronic equipment will prompt the operator to pay attention to the situation on the one hand, and will automatically trigger the recalibration and calculation process on the other hand, increase the frequency of azimuth information collection, further optimize the fusion algorithm, and re-analyze the environmental impact, etc., until the error is controlled within an acceptable range, ensuring the reliability of the relative position calculation results and providing accurate data support for subsequent combat decisions.

[0072] S206, transmitting the calculated relative position of the attack source to each target vehicle to the corresponding target vehicle in the formation, so that the corresponding target vehicle performs a counterattack operation on the attack source; The electronic device transmits the calculated relative position of the attack source to each target vehicle to the corresponding target vehicle in the formation, and issues an attack instruction to the corresponding target vehicle, so that the corresponding target vehicle performs a counterattack operation on the attack source.

[0073] Specifically, the electronic equipment selects the target vehicles according to their location, giving priority to target vehicles that are closer to the attack source and within a favorable attack angle range, which can launch a counterattack with a shorter reaction time and a more accurate angle. At the same time, combined with the functional characteristics of the target vehicles themselves, for example, some target vehicles are equipped with weapon systems suitable for long-range precision strikes. For attack sources at a distance, such target vehicles will be arranged to participate in the counterattack; and for attack sources at a close distance, target vehicles with flexible mobility and short-range efficient strike capabilities will be selected.

[0074] It is understandable that when issuing a counterattack operation instruction, specific requirements will be specified to ensure the effectiveness of the counterattack. For the intensity of the counterattack, the electronic equipment will evaluate and set it according to the threat level of the attack source. If the firepower of the attack source is strong and the potential harm to the formation is large, the target vehicle will be instructed to counterattack with high-intensity firepower; otherwise, the intensity of the counterattack will be adjusted appropriately according to the actual situation. In terms of shooting angles, the electronic equipment combines the battlefield environment and the position of other target vehicles to plan the optimal shooting angle range for each target vehicle, avoid mutual interference between the firepower of each target vehicle, and achieve complementary and coordinated firepower coverage. Each target vehicle will share its own counterattack preparation, shooting angle and other information in real time, and form an orderly and efficient counterattack firepower network through mutual cooperation.

[0075] In an embodiment of the present application, by receiving the position coordinates transmitted back in real time by each target vehicle in the formation, as well as the preset first needle type and the route end area set by the operator, the route of each target vehicle is planned, and the route of each target vehicle is distributed to the corresponding target vehicles in the formation, so that the target vehicles travel according to their respective routes. After receiving the attack signal and the corresponding related information of the attack sent by one or more target vehicles, the current position coordinates of the attacked target vehicle are determined as the attacked coordinates, and the related information of the attack includes the azimuth information of the attack. The routes of other unattacked target vehicles in the formation are re-planned so that the re-planned routes avoid the attacked coordinates. The electronic device calculates the relative position of the attack source relative to each target vehicle based on the azimuth information of the attack, and transmits the calculated relative position of the attack source to each target vehicle to the corresponding target vehicle in the formation, so that the corresponding target vehicle performs a counterattack operation on the attack source. This method effectively solves the problem of how to accurately plan the routes of each target vehicle based on the preset formation and complex site environment, overcomes the problem of uncoordinated movement caused by differences in target vehicle performance, and greatly improves the authenticity and effectiveness of formation target vehicle simulation combat training.

[0076] like Figure 3 As shown, it is another flow chart of the formation target vehicle simulation combat method in the embodiment of the present application.

[0077] S301, planning the travel route of each target vehicle based on the received position coordinates transmitted in real time by each target vehicle in the formation, as well as the preset first formation and route end area set by the operator; S302, distributing the travel routes of each target vehicle to the corresponding target vehicles in the formation, so that each target vehicle travels according to its own travel route; S303, after receiving the attack signal and the corresponding attack related information sent by one or more target vehicles, determining the current position coordinates of the attacked target vehicle as the attack coordinates, wherein the attack related information includes the attacked position information and the damage degree information of each component; S304, after receiving the surrounding environment information sent by each target vehicle, determining whether the surrounding environment of the target vehicle is the same as the corresponding scene on the map; If they are the same, execute step S306; If they are not the same, execute step S305; Specifically, after receiving the surrounding environment information sent by each target vehicle, the electronic equipment defines a circular area based on the current position coordinates of the target vehicle, with it as the center and combined with the effective detection range of the target vehicle's own sensors. The radius of the area is determined by the sensor performance, so as to determine the corresponding comparison scene range on the map, ensuring that the area where all potential environmental elements that can be perceived around the target vehicle are located is covered, so as to fully correspond to the actual surrounding environment for comparison, which is not limited here.

[0078] It is understandable that in terms of comparison dimensions and standards, the main focus is on topography and geomorphology, checking whether the distribution position and general shape of macro-topography such as mountains, valleys, and plains are consistent, and at the same time comparing the micro-situations such as ground flatness and slope. The overall similarity of the terrain contour must reach a certain proportion, and the ground slope error must be controlled within a reasonable range to be considered consistent; artificial buildings must also be checked, and the location, number, and type of artificial facilities such as buildings and roads marked on the map must be consistent with the actual environment. There are corresponding requirements for position coordinate deviation, number, and building type; there is also the distribution of natural objects, observing the existence, location, and distribution of natural objects such as trees, stones, and rivers. There are corresponding conditions for matching the location and overall coverage, density, etc. Under different meteorological conditions and task types, the judgment criteria can be appropriately adjusted, and the requirements of some dimensions under severe meteorological conditions can be appropriately relaxed. The strictness of various aspects of the verification will also vary for different task types, which are not limited here.

[0079] After comparative analysis of each dimension, if the surrounding environment of the target vehicle and the corresponding scene on the map meet the corresponding standards in various comparative indicators, they are determined to be the same, and then step S306 is executed; If there is a situation that does not meet the standard, it is determined to be different and step S305 is executed.

[0080] S305, updating the map in real time according to the surrounding environment information received from each target vehicle; In some cases, the environmental information transmitted by multiple target vehicles may overlap or conflict. In the case of overlapping environmental information, the map is updated based on more accurate and reliable information. For example, when different target vehicles provide the same information on the terrain of a certain area, the data provided by the target vehicle with higher sensor accuracy and better observation environment at the time is used to update the terrain of the corresponding area in the map. When the feedback information conflicts, the cause is analyzed in depth, and the impact of the target vehicle's perspective, distance relative to the observation area, and the surrounding electromagnetic environment at the time on the sensor is comprehensively analyzed, and then more reasonable environmental information is determined for map update. For example, in response to whether a new object has been added to a certain area, some target vehicles detect it, while others do not. The relative position and angle of each target vehicle and the area are compared, as well as whether there are electromagnetic interference and other factors in the surrounding area that affect the detection effect of the sensor. If there is no influence of the above factors, the time feedback time is used as the basis, and the map is updated according to the latest feedback information.

[0081] It is understandable that the scope of map updates is usually based on the location of the target vehicle, combined with the surrounding area determined by its sensor detection range. If the environmental changes in the area will affect the traffic conditions and tactical layout in a larger area, such as changes in the terrain at a key intersection, which may affect the route planning of multiple target vehicles, then the update range can be appropriately expanded, and the surrounding map data associated with it can also be updated together to ensure the overall consistency and practicality of the map, so that the map can fully reflect the actual environmental conditions.

[0082] S306, re-planning the travel routes of other target vehicles in the formation that have not been attacked, so that the re-planned travel routes avoid the attacked coordinates; S307, generating a repair suggestion report based on the damage degree information, and displaying the damage status of the target vehicle components in the form of a 3D model; After receiving the attack signal and the corresponding attack related information sent by one or more target vehicles, based on the damage degree information of each component in the attack related information, a repair suggestion report is generated according to the damage degree information of each component. First, the damage degree information collected from multiple channels is integrated, such as the target vehicle's own sensor feedback, the target vehicle's vehicle-to-vehicle interaction notification, and the data collected by external monitoring equipment, etc., and the specific damage status of each component is determined after comprehensive analysis. The report must cover the overall damage overview of the target vehicle, such as the type of attack suffered and the overall damage severity rating. For each damaged component, the component name and specific damage description must be stated, and then the corresponding repair suggestions should be given, including the specific repair method, the list of required repair tools and materials, and the estimated repair time and labor costs, etc., to facilitate subsequent maintenance work.

[0083] After generating a repair recommendation report based on the damage degree information of each component, the damage status of the target vehicle components is displayed in the form of a 3D model. The 3D model of the target vehicle is constructed according to the target vehicle design drawings. According to the damage information of the components obtained through analysis, the corresponding damage effects are rendered on the model, such as adding holes to damaged parts, changing the shape of deformed parts, etc. Different colors are used to identify different degrees of damage. The model also has interactive functions, which facilitates operators to fully understand the damage status and assists in the formulation of maintenance plans and the implementation of repair work.

[0084] S308, when the operator clicks on a damaged component in the 3D model, simulate replacing the damaged component in the clicked 3D model, and calculate the effect after the replacement; When the operator clicks on a damaged component in the 3D model, the electronic device assigns a unique identification mark to each component in the model, and confirms the clicked component by comparing the click coordinates with the component's spatial coordinate range and mark. Based on the component's original design specifications and the available replacement component information in stock, the standard model data of the intact component is called out, and the damaged component is replaced and displayed in the correct installation and connection method. At the same time, the overall structure and function are adjusted accordingly based on the differences in the replacement components. The evaluation is carried out from multiple dimensions such as mechanical performance, electrical system, and appearance, and the actual effect after replacement is accurately presented based on the target vehicle design parameters, component performance indicators, and past test data, so that operators can understand the feasibility of maintenance and replacement and the expected results.

[0085] S309, scoring the health of the attacked target vehicle based on the damage degree information of each component of the target vehicle, the preset performance index and weight of each component, and obtaining a comprehensive health score of the attacked target vehicle; The electronic device scores the health of the attacked target vehicle based on the damage degree information of each component of the target vehicle, the preset performance indicators and weights of each component, and obtains a comprehensive health score of the attacked target vehicle.

[0086] Specifically, the main components of the target vehicle are divided into: power system, chassis system, electrical system, and body and appearance system, of which the power system accounts for 35% of the weight, including the engine (15%), transmission (8%) and fuel supply system (fuel vehicle) or battery and charging system (electric vehicle) (12%); the chassis system accounts for 30% of the weight, including: frame (10%), suspension system (8%), wheels and tires (8%) and braking system (4%); the electrical system accounts for 20% of the weight, including the on-board computer (electronic control unit) (8%), generator and battery (non-pure electric target vehicle) (4%) and various sensors (8%), including but not limited to pressure sensors, displacement sensors, image sensors, temperature sensors, etc., which are not limited here; the body and appearance system accounts for 15% of the weight, including: body shell (6%), interior components (5%) and external decorative parts (such as lights, bumpers, etc.) (4%).

[0087] S310, determining whether the attacked target vehicle continues to move forward according to the comprehensive health score of the attacked target vehicle; If the comprehensive health score of the attacked target vehicle is greater than or equal to 80 points, execute step S315; If the comprehensive health score of the attacked target vehicle is greater than or equal to 60 points and less than 80 points, execute step S311; If the comprehensive health score of the attacked target vehicle is less than 60 points, step S317 is executed.

[0088] It is understandable that, according to the obtained comprehensive health score of the target vehicle, the comprehensive health score is then compared with the set different score ranges. When the comprehensive health score is greater than or equal to 80 points, it is determined that the damage to the target vehicle is relatively light, and the performance of the attacked target vehicle can still support the continued execution of the mission, then step S315 is executed; when the comprehensive health score is greater than or equal to 60 points and less than 80 points, it is determined that the damage to the target vehicle is relatively serious, and it has suffered a certain degree of damage, but still has a certain ability to move, then step S311 is executed to retreat; and when the score is less than 60 points, it means that the target vehicle is seriously damaged and can no longer move forward normally, then step S317 is executed.

[0089] S311, sending a command to the attacked target vehicle to slow down and retreat to the rear of the team; If the comprehensive health score of the attacked target vehicle is greater than or equal to 60 points and less than 80 points, a command is sent to the attacked target vehicle to slow down and retreat to the back of the team; After receiving the command, the attacked target vehicle controls the deceleration based on its current speed and other conditions to slow down smoothly. At the same time, it obtains the position information of other target vehicles in the formation, determines its own relative position, and gradually retreats to the back of the team.

[0090] S312, issuing a replacement command to the target vehicle that is located behind the attacked target vehicle and closest to it; After the attacked target vehicle with a comprehensive health score greater than or equal to 60 points and less than 80 points slows down and retreats to the back of the team, the electronic equipment determines the position of the target vehicle behind the attacked target vehicle and closest to it based on the real-time position information fed back by each target vehicle, and then issues a command to the target vehicle to fill the position where the attacked target vehicle originally was; In some embodiments, if the formation is moving quickly, the replacement target vehicle needs to first accelerate moderately to quickly approach the target position, and then decelerate smoothly to complete the replacement; if the formation is moving slowly, it only needs to maintain a constant speed to prevent the formation from being destroyed or causing a collision hazard due to sudden changes in speed.

[0091] It is worth noting that during the target vehicle's replacement, the replacement target vehicle and the adjacent target vehicle must maintain a safe distance determined by the preset formation. Adjacent target vehicles will make small position adjustments synchronously based on the coordination instructions sent by the electronic equipment, such as slightly increasing the horizontal or vertical interval, to open up a safe and smooth moving channel for the replacement target vehicle.

[0092] In addition, the electronic equipment monitors the replacement process in real time. Once communication fluctuations cause poor command reception, the backup communication link is immediately activated to resend the command and confirm the reception status. If an obstacle suddenly appears on the replacement path, the replacement target vehicle uses its own sensors to detect it and then feeds back to the electronic equipment. The electronic equipment will plan an alternative path for the replacement target vehicle based on the overall situation of the current formation and the position of other target vehicles, without affecting the overall formation and direction of travel, and promptly convey the path information to the replacement target vehicle to ensure that it can successfully complete the replacement operation.

[0093] S313, issuing filling instructions to the remaining target vehicles in turn based on the preset formation; After the target vehicle behind the attacked target vehicle and closest to it fills the position of the attacked target vehicle, the electronic equipment will issue a filling command based on the preset formation to other related target vehicles in the formation. The electronic equipment calculates the target position and travel path of each target vehicle that needs to fill the position according to the overall layout of the current formation and the standard formation preset by the mission requirements. The target vehicles that receive the command move according to their corresponding target positions planned by the electronic equipment, and continue to communicate with the electronic equipment during the period, and receive the route fine-tuning commands made by the electronic equipment according to the dynamic situation in real time, to ensure that the entire formation always maintains the compactness and coordination of the formation during the filling process.

[0094] S314, re-planning the travel route of each corresponding target vehicle; After each target vehicle completes its replacement, the electronic equipment replans the travel route of each corresponding target vehicle based on the position coordinates of each target vehicle after the replacement.

[0095] Specifically, when each target vehicle completes the replacement operation, the original route is no longer applicable due to the change in the position of the target vehicle. At this time, the electronic equipment will obtain the new position coordinates of each target vehicle after the replacement, and re-plan the route based on the new position coordinates of each target vehicle. During the planning process, the electronic equipment comprehensively considers the preset formation requirements of the formation, the distribution of obstacles in the venue, and the goals and directions of the combat mission to ensure that the re-planned new route can return the target vehicle to a position that conforms to the tactical layout and avoid collisions between the re-planned route and obstacles.

[0096] S315, sending a continue moving instruction to the attacked target vehicle; If the comprehensive health score of the attacked target vehicle is greater than or equal to 80 points, a continue forward instruction is sent to the attacked target vehicle.

[0097] S316, detecting whether the attacked target vehicle can be started; After receiving the retreat command, the attacked target vehicle checks whether it can start; If it can be started, execute step S319; If it cannot be started, execute step S317; S317, marking the current position coordinates of the attacked target vehicle as the position coordinates of the obstacle and updating the map; In the case that the attacked target vehicle cannot be started, the current position coordinates of the attacked target vehicle are marked as the position coordinates of the obstacle and the map is updated.

[0098] S318, determining whether there is currently a target vehicle whose route passes through the location of the obstacle; Based on the coordinates of the location of the obstacle, check one by one whether the coordinates of the points in the route of each target vehicle coincide with the coordinates of the obstacle; If they overlap, execute step S320; If they do not overlap, execute step S321.

[0099] Use spatial indexing technology to construct an index area centered on the obstacle location, quickly compare the key nodes of the target vehicle's route with the area, screen out routes that may pass near obstacles, avoid one-by-one coordinate comparison, improve inspection efficiency, and adapt to complex scenarios. Secondly, set up a dynamic monitoring mechanism. Once a target vehicle route change or obstacle position update is detected, immediately re-check the affected target vehicle and related areas to prevent omissions due to dynamic changes. For target vehicles with multiple routes and some of them passing through obstacles, they are processed according to preset priority rules, and routes that have not been passed and have small deviations from the original plan are given priority. If there are no routes that pass through obstacles, re-plan the routes that pass through obstacles, comprehensively consider the surrounding environment and formation layout, and ensure that the new routes avoid obstacles and maintain the effectiveness of formation collaborative operations.

[0100] The system will first use an efficient spatial indexing algorithm to construct an index area with the location of the obstacle as the core. By quickly comparing the key nodes of the target vehicle's route with the index area, it can quickly screen out the target vehicle routes that may pass near obstacles, greatly improving the inspection efficiency and avoiding the tedious process of detailed coordinate point comparison of all target vehicle routes one by one. It is especially suitable for scenarios with large-scale formations and complex route planning, ensuring that the system can complete preliminary screening in a short time.

[0101] During the inspection process, the system keeps monitoring the dynamic situation at all times. Once it detects that a target vehicle's route has changed, such as changing its direction and path to avoid sudden danger or execute new tactical instructions, or when the obstacle location information is updated due to environmental factors (such as simulated earthquakes and explosions that cause terrain changes and turn non-obstacle areas into obstacles), the system will immediately initiate a targeted re-inspection procedure. The re-inspection is not a comprehensive and repeated inspection of all target vehicles in the entire formation, but only focuses on the target vehicles and their surrounding related areas affected by the above changes, effectively saving system resources and time overhead. For example, if a target vehicle changes its route urgently due to a simulated enemy fire attack, the system can quickly identify this change and re-evaluate whether its new route will pass through the marked obstacle location in a very short time to ensure that potential route conflicts are not missed due to dynamic changes.

[0102] For target vehicles with multiple routes, the system has a set of priority rules built in for processing. When some routes pass through obstacles and some do not, the system gives priority to routes that do not pass through obstacles and whose deviations from the original planned routes are within an acceptable range. The definition of the acceptable range is pre-set based on the tactical requirements of the formation and the actual site conditions. For example, under the premise of ensuring that it does not affect the overall combat formation and combat rhythm, the route is allowed to deviate within a certain angle and distance range. If there is no such ideal route that does not pass through obstacles and has a small deviation, the system will re-plan the route that passes through obstacles. During the re-planning process, the system fully combines factors such as the surrounding terrain, the location distribution of other target vehicles, and the combat intentions of the entire formation, and uses advanced path planning algorithms (such as an improved algorithm that integrates the Dijkstra algorithm and the A* algorithm). It comprehensively considers factors such as distance, safety, and the impact on the coordination of the formation to generate a new reasonable route, ensuring that the newly planned route can not only effectively avoid obstacles, but also maintain the formation's coordinated combat capabilities and tactical execution effects to the greatest extent, thereby ensuring the stability and efficiency of the entire simulated combat process, and further enhancing the true restoration and training value of simulated training for complex battlefield environments.

[0103] In step S318, the processing logic should be further refined for the operation of determining whether there is a target vehicle whose route passes through the location of the obstacle. First, the system needs to use an efficient algorithm or data structure to make a judgment. For example, the spatial indexing technology can be used to construct an index area with the obstacle location as the center, and the target vehicle routes that may pass through the area can be quickly screened out, rather than simply comparing all the route points of each target vehicle with the obstacle coordinates one by one, so as to improve the inspection efficiency, especially to ensure the real-time performance of the system when facing large-scale formations and complex routes.

[0104] Secondly, the handling mechanism of dynamic situations should be considered. During the inspection process, if the target vehicle route changes or the obstacle location information is updated, the system should immediately trigger the re-inspection procedure, and the re-inspection scope should be limited to the affected target vehicle and related areas to avoid the waste of resources and time delay caused by comprehensive and repeated inspections of the entire formation. For example, when a target vehicle temporarily changes its route to avoid a new danger, the system can quickly identify and re-evaluate whether its new route passes through the obstacle location.

[0105] In addition, in the case where the target vehicle has multiple routes, if some routes pass through obstacles and some do not, the system needs to process them according to the preset priority rules. Priority can be given to routes that do not pass through obstacles and have a small deviation from the original planned route. If such a route does not exist, the route that passes through obstacles will be replanned. In the planning process, the surrounding environment and the overall layout of the formation will be fully considered to ensure that the newly planned route can avoid obstacles and maintain the coordination and combat effectiveness of the formation to the greatest extent, thereby making the entire simulated combat process more stable and efficient, and enhancing the authenticity and reliability of the simulated training.

[0106] S319, sending a retreat instruction to a preset safe area to the attacked target vehicle; If the comprehensive health score of the attacked target vehicle is less than 60 points and the current attacked target vehicle can be started, a command to retreat to a preset safe area will be sent to the attacked target vehicle.

[0107] The electronic equipment plans a retreat route for the attacked target vehicle based on map data and the real-time location information of each target vehicle. During the planning process, it focuses on avoiding known active attack routes of the enemy and areas with potential dangers. At the same time, considering the impact of terrain on the retreat speed, it gives priority to flat and open roads that are conducive to fast driving to ensure that the target vehicle can reach a safe area as soon as possible.

[0108] After receiving the retreat command, the attacked target vehicle will start to retreat according to the route planned by the electronic equipment, and will provide real-time feedback to the electronic equipment system on its own position, speed, vehicle status and other information. The electronic equipment can monitor the entire retreat process of the target vehicle, so that in case of emergencies, such as harassment by a small group of enemy troops or road obstruction due to unexpected events, the command can be adjusted in time or the route can be re-planned.

[0109] S320, making one or more target vehicles avoid the coordinates of the location of obstacles; If there are one or more target vehicles passing the location of the obstacle, the electronic equipment re-plans the route for the target vehicles passing the location of the obstacle to ensure that the planned route avoids the coordinates of the location of the obstacle.

[0110] S321, determining the number of the attacked target vehicles whose comprehensive health scores are less than 60 points; The electronic device determines the number of the attacked target vehicles whose comprehensive health scores are less than 60 points based on the comprehensive health scores of the attacked target vehicles; If the number of vehicles whose comprehensive health scores of the attacked target vehicles are less than 60 points is greater than or equal to 3, execute step S322; If the number of vehicles whose comprehensive health scores of the attacked target vehicles are less than 60 points is less than 3, step S324 is executed.

[0111] S322, the electronic device selects a second formation based on the number of remaining target vehicles, the current position coordinates of the remaining target vehicles, and one or more preset formations and according to a preset matching rule; If the number of vehicles whose comprehensive health scores of the attacked target vehicles are less than 60 points is greater than or equal to 3, the number of remaining target vehicles is calculated, and according to the preset formation matching rules, the second formation is selected from one or more preset formations based on the current number of remaining target vehicles and their position coordinates.

[0112] S323, replanning the routes of the remaining target vehicles based on the second formation; The electronics re-route the remaining target vehicles based on the selected second formation.

[0113] S324, calculating the relative position of the attack source relative to each target vehicle based on the attacked position information; S325, transmitting the calculated relative position of the attack source to each target vehicle to the corresponding target vehicle in the formation, so that the corresponding target vehicle performs a counterattack operation on the attack source; Among them, steps S301, S302 and S303 are Figure 2 In the illustrated embodiment, steps S201, S202 and S203 are similar, and the descriptions of steps S201, S202 and S203 may be referred to; Step S306 and Figure 2 The step S204 in the illustrated embodiment is similar, and the description in step S204 may be referred to; Steps S324 and S325 are Figure 2 In the illustrated embodiment, steps S205 and S206 are similar, and the descriptions of steps S205 and S206 may be referred to, and will not be repeated here.

[0114] In summary, the method provided in this embodiment plans the route based on the real-time position coordinates of the target vehicle, the preset formation and the route end area, and dynamically adjusts the route when attacked or encounters obstacles; comprehensively scores the health of the target vehicle according to the damage of the target vehicle and determines whether the damaged target vehicle continues to move forward based on the comprehensive health score; compares the surrounding environment of the target vehicle with the map scene in multiple dimensions and updates the map according to information overlap and conflict processing rules; generates a detailed repair suggestion report and 3D display based on the damage degree information, combined with the comprehensive health score evaluation based on component performance indicators and weights and the corresponding subsequent operation arrangements; calculates the relative position of the attack source and transmits information to guide the counterattack, and flexibly selects the formation and plans the route based on the comprehensive health score and the number of attacked target vehicles. This method effectively solves the problem that it is difficult for the formation to maintain an orderly formation and cope with complex scene changes to ensure the advancement of the mission during its march, thereby improving the scientific nature of the simulated combat and ensuring the efficient implementation of the mission; it solves the problem of inaccurate target vehicle health assessment and lack of basis for subsequent action decisions, resulting in waste of resources and disruption of the mission, thereby improving training efficiency and reducing resource loss; it solves the problem of target vehicle navigation errors and falling into dangerous environments due to inaccurate map information, and effectively enhances the stability of the formation's overall combat system; it handles the problem of unreasonable disposal of damaged target vehicles affecting the overall combat effectiveness of the formation, significantly improving the utilization rate of the target vehicles and optimizing the overall combat effectiveness; it resolves the problem of the formation's slow self-defense response when attacked and the inability to effectively adjust combat strategies according to the damaged condition to maintain combat capability, greatly improving the authenticity of the simulated combat.

[0115] The electronic device in the embodiment of the present invention is described below from the perspective of hardware processing. Figure 4 , is a schematic diagram of a physical device structure of an electronic device in an embodiment of the present invention.

[0116] It should be noted that Figure 4 The structure of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0117] In some embodiments, the electronic device 400 can be any electronic device that has data processing capabilities and can communicate with the target vehicle. The electronic device includes a central processor 401, a memory 402, a network interface card 403, a graphics processing unit 404, a wireless communication module 405, an input device 406, and an output device 407 connected through a terminal bus. Among them, the central processor 401 of the electronic device is used to receive target vehicle information, plan travel and counterattack routes, evaluate the health of the target vehicle and command actions, adjust the formation, and update the map. The memory 402 of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operation terminal, a computer program, and a database. The internal memory provides an environment for the operation of the operation terminal and the computer program in the non-volatile storage medium. The database is used to store data. The network interface card 403 of the electronic device is used to realize the transmission of various types of data (such as position, attack, environmental information, and instructions, etc.) between the target vehicle and the electronic device. The graphics processing unit 404 of the electronic device is used to build and display a 3D target vehicle model to simulate the effect of component replacement. The wireless communication module 405 of the electronic device is used to establish a wireless link between the target vehicle and the electronic device in the formation target vehicle simulation combat system to achieve data transmission and command reception. The input device 406 of the electronic device is used for the operator to input combat parameters. The output device 406 of the electronic device is used to intuitively display data such as the target vehicle's route planning, health assessment results, attack conditions, map update information, etc. to the operator. When the computer program is executed by the central processing unit 401, the formation target vehicle simulation combat method in the embodiment of the present application is implemented.

[0118] Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0119] In some embodiments of the present application, a computer-readable storage medium is also provided, including instructions. When the instructions are executed on the electronic device 400, the electronic device 400 can execute the formation target vehicle simulation combat method in the embodiments of the present application.

[0120] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

[0121] As used in the above embodiments, the term "when..." may be interpreted to mean "if..." or "after..." or "in response to determining..." or "in response to detecting...", depending on the context. Similarly, the phrases "upon determining..." or "if (the stated condition or event) is detected" may be interpreted to mean "if determining..." or "in response to determining..." or "upon detecting (the stated condition or event)" or "in response to detecting (the stated condition or event)", depending on the context.

[0122] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk), etc.

[0123] Those skilled in the art can understand that to implement all or part of the processes in the above-mentioned embodiments, the processes can be completed by computer programs to instruct related hardware, and the programs can be stored in computer-readable storage media. When the programs are executed, they can include the processes of the above-mentioned method embodiments. The aforementioned storage media include: ROM or random access memory RAM, magnetic disk or optical disk and other media that can store program codes.

Claims

1. A formation target vehicle simulation combat method, characterized in that: The method comprises: Based on the position coordinates of each target vehicle in the formation received in real time, as well as the preset first formation and route end area set by the operator, the travel route of each target vehicle is planned; the travel route is divided into multiple points, and the distance between adjacent points is equal to the travel distance of the target vehicle per unit time. In the same time unit, there can only be one target vehicle at one point; Distributing the travel routes of each target vehicle to the corresponding target vehicles in the formation, so that each target vehicle travels according to its own travel route; After receiving the attack signal and the corresponding attack related information sent by one or more target vehicles, determining the current position coordinates of the attacked target vehicle as the attack coordinates; the attack related information includes the attack direction information; Replanning the travel routes of other target vehicles in the formation that have not been attacked, so that the replanned travel routes avoid the attacked coordinates; Based on the attacked position information, the relative position of the attack source relative to each target vehicle is calculated; The calculated relative position of the attack source to each target vehicle is transmitted to the corresponding target vehicle in the formation, so that the corresponding target vehicle performs a counterattack operation on the attack source.

2. The method according to claim 1, characterized in that: The relevant information about the attack also includes information about the degree of damage of various components of the target vehicle, and the various components of the target vehicle include a power system, a chassis system, an electrical system, and a body and appearance system. After receiving the attack signal and the corresponding relevant information about the attack sent by one or more target vehicles, after determining that the current position coordinates of the attacked target vehicle are the attack coordinates, the method further includes: Scoring the health of the attacked target vehicle based on the damage degree information of each component of the target vehicle, the preset performance index and weight of each component, and obtaining a comprehensive health score of the attacked target vehicle; Determining whether the attacked target vehicle continues to move forward according to the comprehensive health score of the attacked target vehicle, and sending a continue moving instruction to the attacked target vehicle if the comprehensive health score of the attacked target vehicle is greater than or equal to 80 points; If the comprehensive health score of the attacked target vehicle is less than 80 points and greater than or equal to 60 points, a command to slow down and retreat to the rear of the team is sent to the attacked target vehicle; If the comprehensive health score of the attacked target vehicle is less than 60 points, an instruction to retreat to a preset safe area is sent to the attacked target vehicle.

3. The method according to claim 2, characterized in that Before the step of scoring the health of the attacked target vehicle based on the damage degree information of each component of the target vehicle, the preset performance index and weight of each component to obtain the comprehensive health score of the attacked target vehicle, the method further includes: Generate a repair suggestion report based on the damage degree information, and display the damage status of the target vehicle components in the form of a 3D model; When it is detected that the operator clicks on a damaged component in the 3D model, a replacement of the clicked damaged component in the 3D model is simulated, and an effect after the replacement is calculated.

4. The method according to claim 2, characterized in that: After the step of sending a command to the attacked target vehicle to slow down and retreat to the rear of the team if the comprehensive health score of the attacked target vehicle is less than 80 points and greater than or equal to 60 points, the method further includes: After the attacked target vehicle slows down and retreats to the rear of the team, a replacement command is issued to the target vehicle that is behind the attacked target vehicle and closest to it; According to the position information of the target vehicle after filling the position, the filling-in command is issued to the other target vehicles in sequence based on the preset formation; According to the coordinate information of each target vehicle after it is repositioned, the travel route of each corresponding target vehicle is replanned.

5. The method according to claim 2, characterized in that: If the comprehensive health score of the attacked target vehicle is less than 60 points, a retreat instruction to a preset safe area is sent to the attacked target vehicle, specifically including: When the comprehensive health score of the attacked target vehicle is less than 60 points, detecting whether the attacked target vehicle can be started; If the attacked target vehicle can be started, a retreat instruction to a preset safe area is sent to the attacked target vehicle; If the attacked target vehicle cannot be started, the current position coordinates of the attacked target vehicle are marked as the position coordinates of the obstacle and the map is updated; Determine based on the updated map data whether there is currently a target vehicle whose route passes through the location of the obstacle; If there are one or more target vehicles whose travel routes pass through the location of the obstacle, the routes of the one or more target vehicles are replanned so that the one or more target vehicles avoid the coordinates of the location of the obstacle.

6. The method according to claim 1, characterized in that Before the step of replanning the travel routes of other unattacked target vehicles in the formation so that the replanned travel routes avoid the hit coordinates, the method further includes: Determine the number of the attacked target vehicles whose comprehensive health score is less than 60 points; When the number of the target vehicles whose comprehensive health scores are less than 60 points is greater than or equal to 3, based on the number of remaining target vehicles, the current position coordinates of the remaining target vehicles and one or more preset formations, a second formation is selected according to a preset matching rule; The remaining target vehicles are replanned to move along their routes based on the second formation.

7. The method according to claim 1, characterized in that After the step of distributing the travel routes of each target vehicle to the corresponding target vehicles in the formation so that each target vehicle travels according to its own travel route, the method further includes: After receiving the surrounding environment information sent by each target vehicle, determining whether the surrounding environment of the target vehicle is the same as the corresponding scene on the map; In different situations, the map is updated in real time based on the surrounding environment information of the target vehicle.

8. A formation target vehicle simulation combat system, characterized in that: The formation target vehicle simulation combat system comprises: electronic equipment and a target vehicle; the target vehicle moves according to the travel instructions issued by the electronic equipment according to the planned travel route; the formation target vehicle simulation combat system is used to execute the method as described in any one of claims 1-7.

9. An electronic device, characterized in that: The electronic device is used as an electronic device in the formation target vehicle simulation combat system, and the electronic device includes: one or more processors and memories; The memory is coupled to the one or more processors, and the memory is used to store computer program codes, wherein the computer program codes include computer instructions, and the one or more processors call the computer instructions to enable the electronic device to execute the method according to any one of claims 1 to 7.

10. A computer program product, characterized in that When the computer program product is executed on an electronic device, the electronic device is enabled to execute the method according to any one of claims 1 to 7.

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