A horizontal reference path calculation method for eVTOL standby mode

Abstract

The application relates to the technical field of eVTOL, and provides a horizontal reference path calculation method for an eVTOL waiting mode, which comprises the following steps: collecting the position, track angle, ground speed and waiting mode type of the current eVTOL; the waiting mode comprises a positioning point waiting mode, a manual instruction waiting mode and a height layer waiting mode; a waiting positioning point is determined according to the collected information, and an entry track is constructed; an auxiliary segmentation line is established with the entry side as a reference to divide the space into four quadrants, and the entry path type is determined according to the quadrant where the entry track is located; an entry section is constructed according to the path type by calling corresponding path node generation rules, an execution section is constructed, and an exit section is generated when the end condition is met; the translation distance of the outbound arc in the entry section is limited and interference checking is performed, and the circular arc parameters or the waiting point position are adjusted if necessary, so that a complete reference path is finally formed. The method improves the dynamic adaptability, geometric coordination and flight safety of path planning.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric vertical take-off and landing aircraft, path planning, etc., and particularly relates to a horizontal reference path calculation method for eVTOL waiting mode. BACKGROUND

[0002] With the rapid development of urban air mobility (UAM) concept, electric vertical take-off and landing aircraft (eVTOL) is gradually becoming an important tool for future urban short-distance transportation. In a typical urban airspace scheduling, eVTOL often needs to wait in the air in a designated area when performing connection, take-off or waiting tasks, in order to avoid route congestion, take-off resource conflict or temporary flight restriction. In order to ensure flight safety and flight path specification, eVTOL needs to generate a horizontal reference path according to the set rules and fly in a loop until the exit condition is met during the air waiting process. In the prior art, the path design method of eVTOL waiting mode often refers to the air waiting link of traditional aircraft, and uses a fixed trajectory template (such as a standard elliptical route or a ring-shaped orbit) or a preset path library for matching and calling. This method lacks flexibility and cannot dynamically generate personalized waiting paths that meet the operation requirements according to the current flight state of eVTOL, such as heading, speed and entry angle. In addition, some methods ignore the geometric coordination relationship between different trajectory segments in the waiting path configuration, which may cause discontinuity, non-smoothness or trajectory conflict between the entry path and the waiting path, and even spatial interference between path segments, thereby increasing the flight control complexity and operation risk.

[0003] In summary, in the prior art, the path planning technology of eVTOL waiting mode lacks dynamic generation of waiting path planning based on the real-time flight state of eVTOL, the path classification method is rough, and the entering type cannot be accurately determined according to the entry angle and quadrant relationship, which makes it difficult to balance the coordination between the feasibility of flight path and spatial constraints. SUMMARY

[0004] In view of the above technical problems in the prior art, the present application provides a horizontal reference path calculation method for eVTOL waiting mode, which solves the technical problems of insufficient flexibility, rough entry path selection and easy occurrence of trajectory conflict in the prior art, and further improves the dynamic adaptability, geometric coordination and flight safety of path generation.

[0005] The horizontal reference path calculation method for eVTOL waiting mode provided by the present application comprises:

[0006] Collect the current eVTOL position, track angle, ground speed and waiting mode type, the waiting mode type includes positioning point waiting HF, manual instruction waiting HM and height layer waiting HA, determine the waiting positioning point according to the collected current eVTOL information, define the straight line of the current eVTOL flying to the waiting positioning point as the entering track;

[0007] Create an auxiliary division line with the entry edge as the reference, the auxiliary division line points to the waiting positioning point, and divide the plane where the waiting positioning point is located into four quadrants;Determine the waiting entering path type according to the quadrant where the entering track is located, wherein when the entering track is located in the fourth or third quadrant, it is a direct entering type, when it is located in the second quadrant, it is a modified angle entering type, and when it is located in the first quadrant, it is a parallel entering type;When the entering track flies to the positioning point along the exit edge direction, the modified angle entering type is forcibly selected;

[0008] According to the determined waiting entering path type, the corresponding path node generation rule is called, the nodes E1 to E7 are connected with the entry arc, the exit arc, the entry edge and the exit edge to construct the entering section, then the waiting positioning point is taken as the starting point, the waiting positioning point, the exit arc, the exit edge, the entry arc, the entry edge and the waiting positioning point are connected in turn to form the execution section, and the exit section is constructed when the end condition is met;

[0009] Check the translation distance of the exit arc in the entering section relative to the original position, there is a maximum distance limit for the outside translation of the exit arc, and the inside translation of the exit arc should not interfere with the entry arc;If the outside translation distance exceeds the maximum distance limit, or the inside translation interferes with the entry arc, adjust the translation distance, the arc radius or the waiting positioning point position until the maximum distance limit or the requirement that the entry arc should not be interfered with is met, and finally form a complete eVTOL horizontal reference path.

[0010] Compared with the prior art, the present application has the following advantages:

[0011] The application provides a horizontal reference path calculation method for eVTOL waiting mode, which comprises the following steps: collecting the position, track angle, ground speed and waiting mode type of the current eVTOL, the waiting mode type including positioning point waiting HF, manual instruction waiting HM and height layer waiting HA, determining the waiting positioning point according to the collected current eVTOL information, defining the straight line of the current eVTOL flying to the waiting positioning point as the entering track, creating an auxiliary division line with the entering track as the reference, the auxiliary division line being directed to the waiting positioning point, and dividing the plane where the waiting positioning point is located into four areas; determining the waiting entering path type according to the area where the entering track is located, wherein when the entering track is located in the fourth or third area, it is a direct entering type, when the entering track is located in the second area, it is a correction angle entering type, and when the entering track is located in the first area, it is a parallel entering type; when the entering track flies to the positioning point along the exiting track direction, the correction angle entering type is forcibly selected; calling the corresponding path node generation rule according to the determined waiting entering path type, selecting the nodes E1 to E7 to be connected with the entering arc, the exiting arc, the entering edge and the exiting edge to construct the entering section, then connecting the waiting positioning point, the exiting arc, the exiting edge, the entering arc, the entering edge and the waiting positioning point in sequence to form the executing section, and constructing the exiting section when the ending condition is met; checking the translation distance of the exiting arc relative to the original position in the entering section, the maximum distance limit existing on the outside translation of the exiting arc, and the exiting arc not being allowed to interfere with the entering arc when the inside translation of the exiting arc; if the outside translation distance exceeds the maximum distance limit or the inside translation interferes with the entering arc, the translation distance, the arc radius or the position of the waiting positioning point is adjusted until the maximum distance limit or the requirement that the exiting arc does not interfere with the entering arc is met, and finally the complete eVTOL horizontal reference path is formed, so as to solve the technical problems of insufficient flexibility, rough entering path selection and easy occurrence of trajectory conflict in the eVTOL waiting path planning in the prior art, and further realize the improvement of the dynamic adaptability, geometric coordination and flight safety of the path generation. BRIEF DESCRIPTION OF DRAWINGS

[0012] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings, which are not necessarily drawn to scale, reference numbers are generally used to refer to same or similar components throughout the several views. In the drawings:

[0013] Figure 1 FIG. 1 is a flow diagram of the horizontal reference path calculation method for eVTOL waiting mode according to an embodiment of the application;

[0014] Figure 2is a schematic diagram of the auxiliary division line in the embodiment of the application for dividing the plane where the positioning point is located into four quadrants;

[0015] Figure 3 is a schematic diagram of a horizontal reference path in the embodiment of the application;

[0016] Figure 4 is a schematic diagram of a horizontal reference path corresponding to the out-of-departure-arc entry type in the embodiment of the application;

[0017] Figure 5 is a schematic diagram of a horizontal reference path corresponding to the out-of-departure-arc entry type in the HF mode in the embodiment of the application;

[0018] Figure 6 is a schematic diagram of a horizontal reference path corresponding to the out-of-departure-arc entry type in the HM / HA mode in the embodiment of the application;

[0019] Figure 7 is a schematic diagram of a horizontal reference path corresponding to the in-departure-arc entry type in the embodiment of the application;

[0020] Figure 8 is a schematic diagram of a horizontal reference path corresponding to the in-departure-arc entry type in the embodiment of the application;

[0021] Figure 9 is a schematic diagram of a horizontal reference path corresponding to the in-departure-arc entry type in the HF mode in the embodiment of the application;

[0022] Figure 10 is another schematic diagram of a horizontal reference path corresponding to the in-departure-arc entry type in the HF mode in the embodiment of the application;

[0023] Figure 11 is a schematic diagram of a horizontal reference path corresponding to the in-departure-arc entry type in the HM / HA mode in the embodiment of the application;

[0024] Figure 12 is a schematic diagram of a horizontal reference path corresponding to the SC entry type in the embodiment of the application;

[0025] Figure 13 is a schematic diagram of a horizontal reference path corresponding to the SC entry type in the HF mode in the embodiment of the application;

[0026] Figure 14 is another schematic diagram of a horizontal reference path corresponding to the SC entry type in the HF mode in the embodiment of the application;

[0027] Figure 15 is a schematic diagram of a horizontal reference path corresponding to the SC entry type in the HM / HA mode in the embodiment of the application;

[0028] Figure 16 is a schematic diagram of a horizontal reference path corresponding to the CSC entry type in an embodiment of the present application;

[0029] Figure 17 is a schematic diagram of a horizontal reference path corresponding to the CSC entry type in an embodiment of the present application in HF mode;

[0030] Figure 18 is another schematic diagram of a horizontal reference path corresponding to the CSC entry type in an embodiment of the present application in HF mode;

[0031] Figure 19 is a schematic diagram of a horizontal reference path corresponding to the CSC entry type in an embodiment of the present application in HM / HA mode;

[0032] Figure 20 is a schematic diagram of a horizontal reference path corresponding to the parallel entry type in an embodiment of the present application;

[0033] Figure 21 is a schematic diagram of a horizontal reference path corresponding to the parallel entry type in an embodiment of the present application in HF mode;

[0034] Figure 22 is another schematic diagram of a horizontal reference path corresponding to the parallel entry type in an embodiment of the present application in HF mode;

[0035] Figure 23 is another schematic diagram of a horizontal reference path corresponding to the parallel entry type in an embodiment of the present application in HM / HA mode;

[0036] Figure 24 is a schematic diagram of a horizontal reference path corresponding to the exit segment in an embodiment of the present application;

[0037] Figure 25 is a schematic diagram of a horizontal reference path corresponding to the outbound arc in an embodiment of the present application;

[0038] Figure 26 is a schematic diagram of a horizontal reference path corresponding to the outbound leg in an embodiment of the present application;

[0039] Figure 27 is another schematic diagram of a horizontal reference path corresponding to the outbound leg in an embodiment of the present application;

[0040] Figure 28 is a schematic diagram of a horizontal reference path corresponding to the inbound arc in an embodiment of the present application;

[0041] Figure 29 is a schematic diagram of a horizontal reference path corresponding to the inbound leg in an embodiment of the present application;

[0042] Figure 30is another schematic diagram of the horizontal reference path corresponding to the entry side in the embodiment of the application.

[0043] The figure mark is explained as follows:

[0044] Figures 3-30 The, represents the outbound arc, and the center of the circle is O1; represents the inbound arc, and the center of the circle is O2; represents the auxiliary arc, and the center of the circle is Oi from left to right, i is a natural number greater than or equal to 3; the black solid line is the executed waiting path, the green solid line is the entry track, the red solid line (transparent) is the entry segment path and the exit segment path, and the blue dashed line is the auxiliary line and arc; represents the length of the entry side, represents the diameter of the outbound arc, and R represents the radius of the outbound arc. DETAILED DESCRIPTION

[0045] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments will be described clearly and completely below in combination with the drawings in the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0046] Referring to Figures 1-30 , the embodiment provides a horizontal reference path calculation method for eVTOL waiting mode, including the following steps:

[0047] S101, collect the position, track angle, ground speed and waiting mode type of the current eVTOL, the waiting mode type includes positioning point waiting HF, manual instruction waiting HM and height layer waiting HA, determine the waiting positioning point according to the collected current eVTOL information, and define the straight line of the current eVTOL flying to the waiting positioning point as the entry track;

[0048] S102, create an auxiliary division line based on the entry side, the auxiliary division line is directed to the waiting positioning point, and the plane where the waiting positioning point is located is divided into four quadrants; determine the waiting entry path type according to the quadrant where the entry track is located, wherein when the entry track is located in the fourth or third quadrant, it is a direct entry type, when it is located in the second quadrant, it is a modified angle entry type, and when it is located in the first quadrant, it is a parallel entry type; when the entry track flies to the positioning point along the outbound side, the modified angle entry type is forcibly selected;

[0049] S103, according to the determined waiting entry path type, call the corresponding path node generation rule, select nodes E1 to E7 to connect with the inbound arc, outbound arc, inbound edge and outbound edge to construct the entry section, then take the waiting positioning point as the starting point, connect in turn along the waiting positioning point, outbound arc, outbound edge, inbound arc, inbound edge and the waiting positioning point to form the execution section, and construct the exit section when the end condition is met;

[0050] S104, check the translation distance of the outbound arc relative to the original position in the entry section, there is a maximum distance limit for the outward translation of the outbound arc, and the inward translation of the outbound arc must not interfere with the inbound arc; if the outward translation distance exceeds the maximum distance limit, or the inward translation interferes with the inbound arc, adjust the translation distance, the radius of the arc or the position of the waiting positioning point until the maximum distance limit or the requirement that the inbound arc must not interfere with the inbound arc is met, and finally form a complete eVTOL horizontal reference path.

[0051] It should be noted that the method provided in the embodiment solves the technical problems of insufficient flexibility, rough entry path selection, and easy trajectory conflict in the existing eVTOL waiting path planning, thereby realizing the dynamic adaptability, geometric coordination, and flight safety of path generation. Among them, the position, track angle, ground speed, and waiting mode type of the current eVTOL are collected, the waiting mode type includes positioning point waiting HF, manual instruction waiting HM, and height layer waiting HA, the waiting positioning point is determined according to the collected current eVTOL information, and the straight line of the current eVTOL flying to the waiting positioning point is defined as the entry track, thereby realizing the real-time perception and response of path planning to the flight state of eVTOL, no longer relying on fixed trajectory templates, but dynamically determining the waiting positioning point and constructing the corresponding entry track, providing a basis for subsequent path type selection and trajectory segment layout, effectively solving the problem of lack of real-time personalized adaptation of the existing path, and improving the dynamicity and airworthiness of path generation. In addition, an auxiliary dividing line is created based on the entry edge, the auxiliary dividing line points to the waiting positioning point, and the plane where the waiting positioning point is located is divided into four regions; the waiting entry path type is determined according to the region where the entry track is located, wherein when the entry track is located in the fourth or third region, it is a direct entry type, when it is located in the second region, it is a modified angle entry type, and when it is located in the first region, it is a parallel entry type, and when the entry track flies to the positioning point along the outbound edge, the modified angle entry type is forcibly selected, thereby realizing intelligent determination of the path type based on the spatial orientation and entry angle. Through regional division and path type linkage, the problems of rough path classification and strong subjectivity in entry mode selection in the existing technology are solved, ensuring that the selected path type is highly matched with the current attitude and direction of the eVTOL, effectively improving the smoothness and rationality of the entry segment. In addition, according to the determined waiting entry path type, the corresponding path node generation rule is called, the nodes E1 to E7 are selected and connected with the inbound arc, outbound arc, inbound edge, and outbound edge to construct the entry segment, then the waiting positioning point is taken as the starting point, and the waiting positioning point, outbound arc, outbound edge, inbound arc, inbound edge, and waiting positioning point are connected in turn to form the execution segment, and the exit segment is constructed when the end condition is met, realizing the modular design and continuity of the waiting path structure, ensuring that the connection logic between path segments is clear and the geometric shape is continuous, solving the problem of discontinuity or trajectory conflict between path segments, and significantly improving the spatial coordination and control stability of trajectory planning.In addition, the translation distance of the outbound arc in the entry segment relative to the original position is checked. The outbound arc is limited by a maximum distance on the outside and cannot interfere with the inbound arc on the inside. If the outside translation distance exceeds the maximum distance limit or the inside translation interferes with the inbound arc, the translation distance, the arc radius, or the waiting position is adjusted until the maximum distance limit or the requirement of no interference with the inbound arc is met. Thus, the geometric interference detection and automatic parameter adjustment between path segments are realized, the path structure is ensured to meet the spatial layout specifications, the problems of trajectory conflict and flight path unavailability are effectively solved, and the engineering implementability and operational safety of the path scheme are improved.

[0052] Preferably, the direct entry type is subdivided into outbound arc outside entry type, outbound arc entry type, and outbound arc inside entry type according to the relative position of the outbound arc and the entry track. It should be noted that the direct entry type is subdivided into outbound arc outside entry type, outbound arc entry type, and outbound arc inside entry type according to the relative position of the outbound arc and the entry track, which solves the technical problem that the existing path classification is too rough and cannot finely match the aircraft entry angle and the waiting structure, thereby providing a more recognizable basis for path selection, making the path structure more consistent with the actual spatial position relationship, realizing the accuracy of path type determination and the systematicness of operation logic, providing a flexible adaptation basis for flight path matching under different circumstances, and enhancing the practicality and safety of path planning.

[0053] Preferably, the entry segment of the outbound arc outside entry type specifically includes: a path from the entry track to node E1, where E1 is the tangent point of the entry track and the outbound arc after the outside translation; a path from node E1 to node E3, where E3 is the tangent point of the outbound arc after the outside translation and the outbound edge; a path from node E3 to node E4, where E4 is the node connected to the start of the execution segment of the outbound arc after the outside translation; and node E4 is connected to the start position of the execution segment. It should be noted that the entry segment of the outbound arc outside entry type specifically includes: a path from the entry track to node E1, where E1 is the tangent point of the entry track and the outbound arc after the outside translation; a path from node E1 to node E3, where E3 is the tangent point of the outbound arc after the outside translation and the outbound edge; a path from node E3 to node E4, where E4 is the node connected to the start of the execution segment of the outbound arc after the outside translation; and node E4 is connected to the start position of the execution segment, which solves the problem of unclear path connection sequence and disordered node layout in the outbound arc outside entry scenario. By proposing the path logic of cutting in along the inbound direction, smoothly transitioning to the outbound edge, and then connecting to the execution segment, the feasibility of the external cutting-in path and the continuity of the trajectory are ensured. At the same time, the clarity and reconfigurability of the path structure are enhanced through the node string structure, realizing the systematization and boundary controllability of trajectory calculation.

[0054] Preferably, the entering segment specific path of the outbound arc entering type comprises that the entering track is directly connected to the tangent point B of the entering track on the outbound arc, without setting other path node transitions, wherein the tangent point B is the position where the entering track is directly tangent to the outbound arc. It should be noted that the entering segment specific path of the outbound arc entering type comprises that the entering track is directly connected to the tangent point B of the entering track on the outbound arc, which solves the problem of complex control caused by unnecessary increase of transition nodes in the path. This path type is suitable for the scenario that the aircraft directly enters the outbound arc in a tangent manner, avoids path detour and node redundancy, realizes the shortest connection path, and improves the control response speed and execution efficiency.

[0055] Preferably, the entering segment specific path of the outbound arc entering type comprises that the entering track is connected to node E1, node E1 is connected to node E3, node E3 is connected to node E4, and node E4 is connected to the starting position of the execution segment; when the arc of the outbound arc inside translation occurs geometric interference with the inbound arc, the positions of nodes E1, E3 and E4 are determined by gradually reducing the distance of the inside translation until the interference is eliminated. It should be noted that when the arc of the outbound arc inside translation occurs geometric interference with the inbound arc, the positions of nodes E1, E3 and E4 are determined by gradually reducing the distance of the inside translation until the interference is eliminated, which solves the technical problem that the problem of spatial overlap interference is easily ignored in path calculation and affects flight safety. In this embodiment, the trajectory conflict is eliminated by dynamically adjusting the translation distance, the outbound arc and the inbound arc have the minimum safety distance, the geometric compatibility and dynamic adjustability between path segments are realized, and the robustness of the overall path and the stability of the flight process are improved.

[0056] Preferably, the modified angle entering type is divided into SC entering type and CSC entering type according to the included angle between the entering track and the outbound edge, the SC entering type is composed of the entering track to node E1 and then to node E3, and the CSC entering type path is composed of the entering track to node E1, then to node E2 and node E4, and then to node E5, and the CSC entering type reduces the interception distance by increasing the angle of intercepting the outbound edge to 45°. It should be noted that the modified angle entering type is divided into SC entering type and CSC entering type according to the included angle between the entering track and the outbound edge, the SC entering type is composed of the entering track to node E1 and then to node E3, and the CSC entering type path is composed of the entering track to node E1, then to node E2 and node E4, and then to node E5, and the CSC entering type reduces the interception distance by increasing the angle of intercepting the outbound edge to 45°, which solves the problem that the large entering track angle leads to long connection distance of the outbound edge, which is not conducive to compact path configuration. In this embodiment, the shortest path capture control point function is realized under the condition of limited space resources by type structure and angle limitation, the path simplicity and entering angle smoothness are effectively considered, the angle constraint optimization and track controllability enhancement are realized when the path is connected.

[0057] Preferably, the parallel entry type of the entry path is from the entry track to node E1, connected to the entry side through node E2, then connected to node E4 through node E3, and then connected to node E6 through node E5 to enter the execution section; the parallel entry type ensures that the entry path intercept angle is within the specified range, and there is no geometric interference between all the circular arcs. It should be noted that the parallel entry type of the entry path is from the entry track to node E1, connected to the entry side through node E2, then connected to node E4 through node E3, and then connected to node E6 through node E5 to enter the execution section; the parallel entry type ensures that the entry path intercept angle is within the specified range, and there is no geometric interference between all the circular arcs, solving the problem of long-distance parallel flight and overlapping interference of curved lanes caused by parallel entry path. In this embodiment, by strictly limiting the intercept angle and controlling the geometric relationship of the trajectory section, the overall geometric rationality and control operation safety of the path are improved, which is particularly suitable for the scenario of approaching the waiting area from a long distance and in a parallel direction.

[0058] Preferably, when the waiting mode type is HM, if there is insufficient space when the current position enters the waiting mode, the waiting positioning point is moved a preset distance forward of the entry track to expand the entry path space, and then the entry path is re-determined. It should be noted that when the waiting mode type is HM, if there is insufficient space when the current position enters the waiting mode, the waiting positioning point is moved a preset distance forward of the entry track, solving the problem of unable to construct an entry path due to limited space in a dynamic scenario. In this embodiment, by intelligently adjusting the position of the waiting point, the risk of path planning failure caused by tight waiting area space is avoided, the system's response capability in high-density airspace is improved, and the adaptability of path planning scenarios and the space utilization rate are significantly enhanced.

[0059] Preferably, the exit section is applicable to waiting modes HM and HA, the exit path must be separated from the execution section on the entry side, the eVTOL separation sequence is determined when separating from the execution section, and the specific exit path is determined according to the position at the time of separation to connect the subsequent flight phase. It should be noted that the exit section is applicable to waiting modes HM and HA, the exit path must be separated from the execution section on the entry side, the eVTOL separation sequence is determined when separating from the execution section, and the specific exit path is determined according to the position at the time of separation to connect the subsequent flight phase, solving the problem of lack of exit strategy in the ending link of the traditional waiting path, ensuring that the eVTOL can quickly and orderly separate from the trajectory and enter the next task flight path after ending the waiting task, effectively improving the completeness of the path planning and the safety of the task switching, and particularly suitable for multi-aircraft scheduling or temporary scheduling change scenarios.

[0060] Preferably, the determination of the exit segment path is based on the position of the eVTOL when it departs from the execution segment, which is: when the eVTOL is located on the outbound arc, flying to the inbound side and then departing; when the eVTOL is located on the front segment of the outbound side, continuing to fly along the outbound side; when the eVTOL is located on the rear segment of the outbound side, creating a turn at the current location to depart; when the eVTOL is located on the inbound arc, flying to the inbound side and then departing; when the eVTOL is located on the front segment of the inbound side, continuing to fly along the inbound side; and when the eVTOL is located on the rear segment of the inbound side, creating a turn at the current location to depart. It should be noted that the determination of the exit segment path is based on the position of the eVTOL when it departs from the execution segment, which is: when the eVTOL is located on the outbound arc, flying to the inbound side and then departing; when the eVTOL is located on the front segment of the outbound side, continuing to fly along the outbound side; when the eVTOL is located on the rear segment of the outbound side, creating a turn at the current location to depart; when the eVTOL is located on the inbound arc, flying to the inbound side and then departing; when the eVTOL is located on the front segment of the inbound side, continuing to fly along the inbound side; and when the eVTOL is located on the rear segment of the inbound side, creating a turn at the current location to depart, solving the problem of fixed and rigid exit path that cannot adapt to local conditions. In this embodiment, different trajectory exit strategies are matched according to the different actual departure points of the eVTOL, realizing precise and rapid path connection and task transfer, improving the flexibility of path terminal state control, ensuring flight task safety closed loop and high path logic integrity, and being suitable for high-precision path control system for autonomous flight scheduling.

[0061] In some specific embodiments, the present application provides entry, execution and exit paths of the waiting mode. Referring to Figure 2 In the entry segment, when flying along a straight line to the positioning point, the straight line is the entry track. Taking clockwise rotation as an example, the inbound side is rotated counterclockwise by 70° to create an auxiliary dividing line. The dividing line points to the positioning point, dividing the plane into four parts, and according to the area to which the entry track belongs, the type of the waiting entry path is confirmed. The relationship is as follows:

[0062] 1) : Direct entry (Direct);

[0063] 2) : Teardrop entry (Teardrop);

[0064] 3) : Parallel entry (Parallel).

[0065] Referring to Figure 3 , represents the angle rotated from the split line to the entry track in the clockwise direction. In special cases, when the entry track flies to the fix along the outbound leg, the modified angle entry waiting entry path should be used. When the waiting mode is HM, if necessary, the fix can be moved a small distance forward of the entry track when entering the waiting mode at the current position to create enough space for the entry path. According to the position of the path relative to the outbound arc, the direct entry path can be subdivided into the following three types: 1) : entry outside the outbound arc; 2) : entry inside the outbound arc; 3) : entry inside the outbound arc; see Figures 4-6 , when the direct entry path is entry outside the outbound arc, E1 is and the tangent point of the entry track. E2 is and the tangent point of the inbound leg. E3 is and the tangent point of the outbound leg. is the translation to the outside of the waiting mode relative to the outbound arc , the maximum translation distance is:

[0066] ;

[0067] and the inbound arc does not interfere. See Figure 5 , when the waiting mode type is HF, the entry path is: "entry track → E1 → E3 → E4 → E5 → B". See Figure 6 , when the waiting mode type is HM / HA, the entry path is: "entry track → E1 → E3 → E4 → B". and are the same circle. See Figure 7 , when the direct entry path is entry inside the outbound arc, the entry path is: "entry track → B". See Figure 8 , when the direct entry path is entry inside the outbound arc, the entry path is: "entry track → B". E1 is and the tangent point of the entry track. E2 is the intersection of the entry track and the outbound leg. E3 is and the tangent point of the outbound leg. is the translation to the inside of the waiting mode relative to the outbound arc , interference with may occur. See Figure 9 and Figure 10 , when the waiting mode type is HF, when , is on the left side, the entry path is: "entry track → E1 → E3 → E4 → E5 → B". See Figure 10 , when , In On the right side, the entering path is: "Entering track→E1→E3→E4→B". See Figure 11 When the waiting mode type is HM / HA, the entering path is: "Entering track→E1→E3→E4→B".

[0068] When entering with a correction angle in special cases, according to the planned initial track angle, the correction angle entering path should be subdivided into the following two types: 1) : SC entering type; 2) : CSC entering type. See Figure 12 When the correction angle entering path is the SC entering type, E1 is the tangent point of the entering track and the C_3. E2 is the tangent point of the entering track and the exit boundary. E3 is the intersection point of the entering track and the exit boundary. E4 is the tangent point of the entering track and the exit boundary. E5 is the tangent point of the entering track and the exit boundary. is the inside translation of the waiting mode relative to the exit arc direction, which may interfere with . The aircraft intercepts the straight line where the exit boundary is located along the "straight line segment - circular arc segment". The angle of intercepting the exit boundary is . When the waiting mode type is HF, when Figure 13 , , On the left side, the entering path is: "Entering track→E1→E3→E4→E5→B". See When Figure 14 , , On the right side, the entering path is: "Entering track→E1→E3→E4→B". See When the waiting mode type is HM / HA, the entering path is: "Entering track→E1→E3→E4→B". See Figure 15 When the correction angle entering path is the CSC entering type, E1 is the tangent point of the C_3 and the entering track. E2 is the tangent point of the entering track and the exit boundary. E3 is the intersection point of the entering track and the exit boundary. E4 is the tangent point of the entering track and the exit boundary. E5 is the tangent point of the entering track and the exit boundary. Figure 16 E6 is the tangent point of the entering track and the exit boundary. E7 is the tangent point of the entering track and the exit boundary. E8 is the intersection point of the entering track and the exit boundary. E9 is the intersection point of the entering track and the exit boundary. E10 is the tangent point of the entering track and the exit boundary. E11 is the tangent point of the entering track and the exit boundary. E12 is the tangent point of the entering track and the exit boundary. is the outside translation of the waiting mode relative to the exit arc direction. . is the inside translation of the waiting mode relative to the exit arc direction, which may interfere with . The aircraft intercepts the straight line where the exit boundary is located along the "circular arc segment - straight line segment - circular arc segment". The angle of intercepting the exit boundary is . Increase the angle of intercepting the outbound leg to 45°, reducing the distance required to intercept the outbound leg. Figure 17 , when the waiting mode type is HF, when hour, exist On the left, enter the path: "Enter track → E1 → E2 → E4 → E5 → E6 → E7 → B". See Figure 18 ,when hour, exist On the right, enter the path: "Enter track → E1 → E2 → E4 → E5 → E6 → B". Figure 19 , when the holding mode type is HM / HA, the entry path is: "Enter track → E1 → E2 → E4 → E5 → E6 → B".

[0069] In case of parallel entry, see Figure 20 , E1 is and the point of tangency of the entry track. E2 is The point of tangency with the inbound edge. E3 is and the intersection of the inbound side. E4 is The tangent point of the outbound edge. E5 is and The tangent point of the track. E6 is and The tangent point of the track. Is the inboard translation relative to the outbound arc toward the holding pattern , possibly with Interference occurs. It is the inward translation of the holding pattern relative to the departure arc , possibly with Interference occurs. ,Right now exist The aircraft follows the path of "circular segment-straight segment-circular segment" to intercept the angle From interception to Therefore, with The following relationship should be satisfied:

[0070] ;

[0071] ;

[0072] .

[0073] See also Figure 21 , when the waiting mode type is HF, when hour, exist On the left, the intercept angle is less than , the entry path is: "Entry Track -> E1 -> E2 -> E3 -> E4 -> E5 -> E6 -> B". See Figure 22 When , In the right, the entry path is: "Entry Track -> E1 -> E2 -> E3 -> E4 -> E5 -> E6 -> B". See Figure 23 , when the waiting mode type is HM / HA, the entry path is:

[0074] "Entry Track -> E1 -> E2 -> E3 -> E4 -> E5 -> E6 -> B".

[0075] In the execution segment, starting from the waypoint, running along "Waypoint -> Outbound Arc -> Outbound Side -> Inbound Arc -> Inbound Side -> Waypoint" to return to the waypoint, is a complete execution segment (racetrack). In the exit segment, it is applicable to HM and HA. The exit segment and the entry segment of HF are integrated. The exit segment should follow the following principles: 1) must be detached from the racetrack on the inbound side; 2) sequencing at the moment of detachment; 3) the transition path after detachment should refer to the transition procedure.

[0076] See Figure 24 , to ensure the space of the subsequent transition path, sufficient advance should be reserved when entering the inbound side of the port . According to the position when the end condition is reached, the exit segment path exists in the following forms: 1) outbound arc; 2) outbound side; 3) inbound arc; 4) inbound side. The outbound arc is shown in Figure 25 ; the outbound side is shown in Figure 26 and Figure 27 , Figure 26 shows the outbound side before , Figure 27 shows the outbound side after , creating at the end position, immediately turning. The inbound arc is shown in Figure 28 . The inbound side is shown in Figure 29 and Figure 30 , Figure 29 shows the inbound side before , Figure 30 shows the inbound side after , creating at the end position, immediately turning.

[0077] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions recorded in the above embodiments can be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for calculating a horizontal reference path in an eVTOL waiting mode, characterized in that: include: Collect the current eVTOL position, track angle, ground speed, and holding mode type, including hold (HF), hold (HM), and hold (HA). Determine the holding fix point based on the collected current eVTOL information, and define the straight line from the current eVTOL flying toward the holding fix point as the entry track. An auxiliary dividing line is created based on the incoming edge, pointing toward the waiting fix point, dividing the plane where the waiting fix point is located into four areas. The waiting entry path type is determined based on the area where the incoming track is located. When the incoming track is in the fourth or third area, it is a direct entry type; when it is in the second area, it is a modified angle entry type; when it is in the first area, it is a parallel entry type. When the incoming track flies toward the fix point along the outgoing edge, the modified angle entry type is forced to be selected. According to the determined waiting entry path type, the corresponding path node generation rule is called to select nodes E1 to E7 and connect them with the inbound arc, outbound arc, inbound edge, and outbound edge to form the entry segment. Then, starting from the waiting anchor point, the execution segment is formed by connecting along the waiting anchor point, outbound arc, outbound edge, inbound arc, inbound edge, and then to the waiting anchor point. When the end condition is met, the exit segment is constructed. Check the translation distance of the outbound arc relative to the original position in the entry segment. There is a maximum distance limit for the outer translation of the outbound arc, and the inner translation of the outbound arc must not cause geometric interference with the entry arc. If the outer translation distance exceeds the maximum distance limit, or the inner translation interferes with the entry arc, adjust the translation distance, arc radius or waiting position until the maximum distance limit or the requirement of not interfering with the entry arc is met, and finally form a complete eVTOL horizontal reference path.

2. The horizontal reference path calculation method for the eVTOL waiting mode according to claim 1, characterized in that: The direct entry type is subdivided into entry outside the departure arc type, entry outside the departure arc type and entry inside the departure arc type according to the relative position of the departure arc and the entry track.

3. The horizontal reference path calculation method for the eVTOL waiting mode according to claim 2, characterized in that: The specific path of the entry segment of the entry type outside the outbound arc includes: the path from the entry track to node E1, where E1 is the tangent point of the entry track and the arc after the outbound arc is translated outside; the path from node E1 to node E3, where E3 is the tangent point of the arc after the outbound arc is translated outside the outbound arc and the outbound edge; the path from node E3 to node E4, where E4 is the node connecting the arc after the outbound arc is translated outside the outbound arc and the starting end of the execution segment; node E4 is connected to the starting position of the execution segment.

4. The horizontal reference path calculation method for the eVTOL waiting mode according to claim 2, characterized in that: The specific path of the entry segment of the outbound arc entry type includes: the entry track is directly connected to the tangent point B on the outbound arc and the entry track, without setting other path node transitions, where the tangent point B is the position where the entry track is directly tangent to the outbound arc.

5. The method for calculating the horizontal reference path in the eVTOL waiting mode according to claim 3, characterized in that: The specific path of the entry segment of the entry type within the outbound arc includes: the path of the entry track connected to node E1; the path of node E1 connected to node E3; the path of node E3 connected to node E4; node E4 is connected to the starting position of the execution segment; when the arc of the inner translation of the outbound arc geometrically interferes with the inbound arc, the positions of nodes E1, E3, and E4 are determined by gradually reducing the distance of the inner translation until the interference is eliminated.

6. The method for calculating the horizontal reference path in the eVTOL waiting mode according to claim 1, wherein: The corrected angle approach is divided into SC approach and CSC approach based on the angle between the approach track and the outbound leg. The SC approach consists of the approach track to node E1 and then to node E3. The CSC approach path consists of the approach track to node E1, then to node E2, node E4 and finally to node E5. The CSC approach reduces the interception distance by increasing the interception angle of the outbound leg to 45°.

7. The method for calculating the horizontal reference path in the eVTOL waiting mode according to claim 1, characterized in that: The entry path of the parallel entry type is from the entry track to node E1, connected to the entry edge through node E2, then connected to node E4 through node E3, and node E4 is connected to node E6 through node E5 to enter the execution segment; the parallel entry type ensures that the interception angle of the entry path is within the specified range and there is no geometric interference between all arcs.

8. The method for calculating the horizontal reference path in the eVTOL waiting mode according to claim 1, wherein: When the holding mode type is HM, if there is insufficient space when the current position enters the holding mode, the holding position will be moved a preset distance ahead of the entry track to expand the entry path space, and then the entry path will be re-determined.

9. The method for calculating the horizontal reference path in the eVTOL waiting mode according to claim 1, wherein: The exit segment is applicable to the holding modes HM and HA. The exit path must be separated from the execution segment on the approaching side. The eVTOL separation order is determined when separating from the execution segment, and the specific exit path is determined according to the location at the time of separation to connect the subsequent flight phase.

10. The method for calculating the horizontal reference path in the eVTOL waiting mode according to claim 9, characterized in that: The exit segment path is determined according to the different positions of the eVTOL when it leaves the execution segment: when the eVTOL is on the outbound arc, it flies to the inbound side and then leaves; when the eVTOL is at the front of the outbound side, it continues to fly along the outbound side; when the eVTOL is at the back of the outbound side, a turn is created at the current position to leave; when the eVTOL is on the inbound arc, it flies to the inbound side and then leaves; when the eVTOL is at the front of the inbound side, it continues to fly along the inbound side; when the eVTOL is at the back of the inbound side, a turn is created at the current position to leave.

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