Three-dimensional space conflict detection and resolution method for three-dimensional traffic based on centralized control

Abstract

The application discloses a three-dimensional traffic three-dimensional space conflict detection and elimination method based on centralized control, relates to the cross technical field of three-dimensional traffic management and wireless communication technology, and comprises the following steps: acquiring a target operation area and grid positions of target objects in the target operation area; respectively establishing a cylindrical protection zone and a spherical protection zone of each target object; performing three-dimensional conflict detection on the target objects by using a conflict detection method based on a boundary volume method according to the spherical protection zone of each target object; performing three-dimensional conflict detection on the target objects by using the conflict detection method based on the boundary volume method according to the cylindrical protection zone of each target object; determining a danger degree priority of a conflict target object based on a fuzzy comprehensive evaluation method; and performing conflict elimination by using a speed elimination method, a direction elimination method or a height elimination method based on a priority rule. The application can effectively manage and control multiple target objects in a cluster and ensure the orderly movement in the cluster.

Description

Technical Field

[0001] This invention relates to the field of interdisciplinary technologies of three-dimensional traffic management and wireless communication, and in particular to a method for detecting and resolving three-dimensional spatial conflicts in three-dimensional traffic based on centralized control. Background Technology

[0002] The deep intelligentization of three-dimensional transportation systems is a major trend in future development, with increasingly broad application prospects in areas such as resource exploration, environmental monitoring, urban traffic management, and military applications. Autonomous navigation technology is one of the core technologies embodying the intelligence of three-dimensional transportation systems. Improving autonomous navigation capabilities not only enhances operational efficiency and safety but also enables various unmanned platforms to perform more complex tasks in dynamic and unknown environments. Future three-dimensional transportation networks will break down the boundaries of traditional transportation networks, achieving interconnectivity among various vehicles such as ground vehicles, drones, and flying cars. Conflict detection and resolution technologies can provide integrated, safe, and efficient solutions for the autonomous operation of unmanned platforms in complex traffic environments. With the gradual establishment of standards, testing, and verification systems for intelligent transportation tools, the development of autonomous navigation technology and industry has entered a fast track. The development of intelligent unmanned platforms makes operation more efficient and safer, but it also leads to increasingly diverse and complex traffic flow characteristics. Furthermore, the current lack of clear rules and regulations applicable to conflict resolution between unmanned platforms in autonomous navigation scenarios makes automatic collision avoidance between unmanned platforms a critical technical problem that urgently needs to be solved for the autonomous navigation of future intelligent transportation tools. In particular, due to limitations in communication technology, there is a significant delay in information exchange between unmanned platforms and their control centers. This directly affects the speed of response to environmental changes and the timeliness of decision-making, thereby increasing the probability of conflicts and accidents during operation. Therefore, resolving the conflict problem among multiple unmanned platforms in autonomous navigation scenarios is of great significance for preventing collisions, maintaining traffic order, reducing collision risks, and improving mission execution efficiency.

[0003] Currently, the main goal of Conflict Detection and Conflict Resolution (CDCR) technology is to identify and resolve potential conflicts in automated traffic and navigation systems to ensure the safe and efficient operation of traffic flow within traffic management systems. With the development of unmanned platforms and autonomous navigation technologies, existing multi-target tracking and prediction algorithms within swarms urgently need improvement to enhance the system's adaptive and autonomous collision avoidance capabilities. How to effectively manage and control multiple unmanned platforms within a swarm to achieve collaborative operation and information sharing has become a key issue. Summary of the Invention

[0004] The purpose of this invention is to provide a method for detecting and resolving three-dimensional spatial conflicts in three-dimensional traffic based on centralized control, which can ensure orderly movement within the cluster.

[0005] To achieve the above objectives, the present invention provides the following solution: In a first aspect, the present invention provides a method for detecting and resolving three-dimensional spatial conflicts in three-dimensional traffic based on centralized control, comprising: Step 101: Obtain the target work area and the grid position of each target object in the target work area; the target work area is the area after grid division; the grid division adopts cubic grid division.

[0006] Step 102: Establish protected areas for each of the target objects at the grid scale; the protected areas include cylindrical protected areas and spherical protected areas.

[0007] Step 103: Based on the spherical protection zone of each target object, perform three-dimensional conflict detection on the target object using a conflict detection method based on the boundary volume method; when a conflict is detected on the target object, proceed to step 104; when no conflict is detected on the target object, determine that there is no conflict between the target object and other target objects.

[0008] Step 104: Based on the cylindrical protection zone of each target object, perform three-dimensional conflict detection on the target object using a conflict detection method based on the boundary volume method; when a conflict is detected on the target object, proceed to step 105; when no conflict is detected on the target object, determine that there is no conflict between the target object and other target objects.

[0009] Step 105: Based on the fuzzy comprehensive evaluation method, determine the danger priority of the conflict target objects; the conflict target objects are each of the target objects that have been detected to be in conflict.

[0010] Step 106: Based on priority rules, a conflict resolution method is used to resolve the conflict target object; the conflict resolution method includes velocity resolution, direction resolution, or height resolution.

[0011] Optionally, prior to step 101, the method further includes: The work area is divided into several cubic grids to obtain the target work area; each cubic grid includes 1 grid center point and 8 vertices.

[0012] Optionally, the expression for each location point in the cube mesh is as follows: .

[0013] in, , , These are the x-axis, y-axis, and z-axis coordinates of the origin of the coordinate system, respectively; S is the side length of the cube grid. (X, Y, Z) (X, Y, Z) (X, Y, Z) (X, Y, Z) (X, Y, Z) (X, Y, Z) (X, Y, Z) (X, Y, Z) (X, Y, Z) represent the coordinates of the center point, the top left point, the top right point, the bottom left point, the bottom right point, the top left point, the top right point, the bottom left point, and the bottom right point of the current cube grid, respectively.

[0014] Optionally, the cylindrical protection zone is the smallest cylindrical region covering 8 smaller cylindrical protection zones; the smaller cylindrical protection zone is a cylinder with radius r and height 2h established at the vertex of the cubic grid where the target object is located.

[0015] Optionally, the spherical protection zone is the smallest spherical region covering the outer circumscribed spherical protection zones of the eight small cylinders, and the outer circumscribed spherical protection zones of the small cylinders are protection zones established by the outer circumscribed spheres of the cylinders in the small cylinder protection zones.

[0016] Optionally, step 103 specifically includes: Determine whether the target object and its adjacent target objects are relatively stationary.

[0017] If the target object and its neighboring target objects are relatively stationary, then the distance between the center of the target object's sphere protection zone and the sphere protection zone of the neighboring target objects is determined based on the grid positions of the target object and its neighboring target objects.

[0018] Based on the distance between the centers of the spheres, and considering the sphere radius of the target object's protected area and the sphere radius of the adjacent target object's protected area, it is determined whether the target object and the adjacent target object are in conflict.

[0019] If the target object and its adjacent target objects are not relatively stationary, then the distance between the center of the target object's sphere protection zone and the sphere protection zone of the adjacent target objects is determined based on the grid positions of the target object and its adjacent target objects.

[0020] Based on the grid position and movement speed of the target object, and the grid position and movement speed of the adjacent target objects, the first center position function and the second center position function of the target object and the adjacent target objects are determined respectively.

[0021] Based on the first center position function, the second center position function, and the center distance, and considering the radius of the target object's protected area and the radius of the adjacent target object's protected area, it is determined whether the target object and the adjacent target object are in conflict.

[0022] Optionally, based on the first sphere center position function, the second sphere center position function, and the sphere center distance, and considering the sphere radius of the target object's sphere protection zone and the sphere radius of the adjacent target object's sphere protection zone, it is determined whether the target object and the adjacent target object conflict, as follows: According to the formula Determine whether the target object conflicts with the adjacent target object.

[0023] When a solution exists for t, it is determined that the target object conflicts with the adjacent target object.

[0024] When t does not have a solution, it is determined that the target object does not conflict with the adjacent target object.

[0025] Where c is the distance from the center of the sphere. C A C represents the center location of the spherical protected area of ​​the target object. B The location of the center of the sphere within the sphere protection zone of adjacent target objects; v is the speed difference; The moving speed of the target object. The moving speed of the adjacent target object; r is the sum of the radii of the spheres. The radius of the sphere within the spherical protected area of ​​the target object. t represents the radius of the sphere within the sphere protection zone of adjacent target objects; t represents time.

[0026] Optionally, step 104 specifically includes: Based on the cylindrical protection zone of the target object and the cylindrical protection zones of adjacent target objects, the central axis S1 of the cylinder of the target object and the central axis S2 of the cylinder of the adjacent target object are determined.

[0027] Set a plane perpendicular to the central axis S1 of the cylinder, and calculate the intersection point of the plane and the central axis S2 of the cylinder; the plane passes through at least one endpoint of the cylinder of the target object.

[0028] Determine whether the intersection point is located on a line segment of the cylinder of the target object; the line segment is a line segment passing through the endpoint.

[0029] If the intersection point is located on a line segment, then the cylinders are determined to intersect in three-dimensional space.

[0030] If the intersection point is not located on the line segment, select different endpoints and repeat the steps: set a plane perpendicular to the central axis S1 of the cylinder, and calculate the intersection point of the plane and the central axis S2 of the cylinder.

[0031] If no intersection is found on the corresponding line segment after detecting all endpoints, it is determined that there is no conflict between the target object and the adjacent target object.

[0032] Optionally, the procedure may further include the following steps before performing step 106: Determine the conflict type of the target object; the conflict type includes same-direction trajectory conflict, intersecting trajectory conflict, and reverse trajectory conflict.

[0033] Optionally, step 106 specifically includes: When the conflict type of the target object is a same-direction trajectory passage conflict, according to the formula To resolve conflicts; among them, The relative velocity of the first target object with respect to the second target object in the x-axis direction; The angle between the velocity direction of the first target object and the positive x-axis. v1 is the angle between the velocity direction of the second target object and the positive x-axis; v1 is the velocity of the first target object; v 1x v1 is the velocity of the first target object projected onto the x-axis; v2 is the velocity of the second target object; v 2x The velocity of the second target object projected onto the x-axis.

[0034] When the conflict type of the target object is an intersecting trajectory traffic conflict, the speed of the target object with lower priority is adjusted according to the priority of the target object and the target object that conflicts with the target object.

[0035] When the conflict type of the target object is reverse trajectory passage conflict, the target object with lower priority is height adjusted according to the priority of the target object and the target object that conflicts with the target object.

[0036] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects: This invention provides a centralized control-based method for three-dimensional spatial conflict detection and resolution in three-dimensional traffic systems, comprising the following steps: First, acquiring the target work area and the positions of each target object within a grid; then, establishing protected areas for each target object at the grid scale; detecting conflicts within the spherical protected areas of the target objects using the boundary volume method, and detecting conflicts within the cylindrical protected areas of the target objects using the boundary volume method; determining the hazard priority of the conflicting target objects; and resolving the conflicting target objects using velocity resolution, direction resolution, or height resolution methods based on priority rules. This invention can effectively manage and control multiple target objects within a cluster, ensuring orderly movement. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the process for a centralized control-based three-dimensional traffic three-dimensional spatial conflict detection and resolution method provided in Embodiment 1 of the present invention.

[0039] Figure 2 is a flowchart of conflict detection and conflict resolution provided in Embodiment 1 of the present invention; wherein Figure 2(a) is a conflict detection diagram and Figure 2(b) is a conflict resolution diagram.

[0040] Figure 3 This is a schematic diagram of the cylindrical protection zone provided in Embodiment 1 of the present invention.

[0041] Figure 4 This is a schematic diagram of the sphere protection zone provided in Embodiment 1 of the present invention.

[0042] Figure 5 This is a schematic diagram of a conflict-prone cylindrical protection zone of infinite height provided in Embodiment 1 of the present invention.

[0043] Figure 6 This is a schematic diagram of the end-point test provided in Embodiment 1 of the present invention. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] Under a centralized control platform, resolving collision avoidance requires comprehensive consideration of several key factors, such as perception, prediction, coordination, and emergency response. First, accurate perception of the surrounding environment is crucial. This involves using sensors like radar and lidar to acquire environmental information and determining the user's own position through positioning technology. Second, based on environmental perception data, the movement of other unmanned platforms and obstacles needs to be predicted to determine if conflicts exist on the paths issued by the centralized control platform. Furthermore, unmanned platforms periodically send location information to the centralized control platform, which checks for similarities to predicted paths and verifies for conflicts. Finally, if conflicts exist, the centralized control platform issues conflict resolution strategies and re-inspects new paths, while avoiding prohibited areas. In scenarios involving numerous traffic platforms within the cluster, ensuring their coordinated operation is also essential. For emergencies, such as sensor malfunctions, emergency stop or avoidance strategies are necessary to mitigate potential risks.

[0046] This trajectory estimation method, based on the fusion of kinematic models and navigation information data from unmanned platforms, combines kinematic models with navigation information collected from various sensors, such as Doppler logs, inertial navigation systems (INS), attitude sensors, and depth sensors. In dynamic and complex environments, it uses data fusion and algorithms like Kalman filtering to handle uncertainties and errors in the data from different sensors, thereby estimating position and orientation. This aims to improve positioning accuracy in situations where high-precision satellite navigation is unavailable to determine coordinates. Its advantages include using the kinematic model of the unmanned platform instead of a dynamic model, simplifying implementation when environmental parameters are uncertain and significantly variable, and effectively fusing data from multiple sensor sources. It reduces errors and drift in the presence of noise, provides high accuracy in compensating for navigation sensor errors, and improves the system accuracy and reliability of trajectory estimation. Relying on INS, it is independent, unaffected by external signals, and provides rapid real-time positioning and attitude information, offering reliable positioning information for subsequent conflict detection and resolution.

[0047] The primary goal of Conflict Detection and Resolution (CDCR) technology is to identify and resolve potential conflicts in automated traffic and navigation systems to ensure the safe and efficient operation of traffic flow within traffic management systems. With the development of unmanned platforms and autonomous navigation technologies, existing multi-target tracking and prediction algorithms within swarms urgently need improvement to enhance the system's adaptive and autonomous collision avoidance capabilities. How to effectively manage and control multiple unmanned platforms within a swarm to achieve collaborative operation and information sharing has become a critical issue.

[0048] The purpose of this invention is to provide a method for detecting and resolving three-dimensional spatial conflicts in three-dimensional traffic based on centralized control, which can ensure orderly movement within the cluster.

[0049] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0050] Example 1 like Figure 1 As shown, this embodiment provides a method for detecting and resolving three-dimensional spatial conflicts in three-dimensional traffic based on centralized control, including: Step 101: Obtain the target work area and the grid position of each target object in the target work area; the target work area is the area after grid division; the grid division adopts cubic grid division.

[0051] Step 102: Establish protected areas for each of the target objects at the grid scale; the protected areas include cylindrical protected areas and spherical protected areas.

[0052] Step 103: Based on the spherical protection zone of each target object, perform three-dimensional conflict detection on the target object using a conflict detection method based on the boundary volume method; when a conflict is detected on the target object, proceed to step 104; when no conflict is detected on the target object, determine that there is no conflict between the target object and other target objects.

[0053] Step 104: Based on the cylindrical protection zone of each target object, perform three-dimensional conflict detection on the target object using a conflict detection method based on the boundary volume method; when a conflict is detected on the target object, proceed to step 105; when no conflict is detected on the target object, determine that there is no conflict between the target object and other target objects.

[0054] Step 105: Based on the fuzzy comprehensive evaluation method, determine the danger priority of the conflict target objects; the conflict target objects are each of the target objects that have been detected to be in conflict.

[0055] Step 106: Based on priority rules, a conflict resolution method is used to resolve the conflict target object; the conflict resolution method includes velocity resolution, direction resolution, or height resolution.

[0056] In some embodiments of this example, before performing step 101, the method further includes: The work area is divided into several cubic grids to obtain the target work area; each cubic grid includes 1 grid center point and 8 vertices.

[0057] Specifically, the work area is divided into a series of neat cubic grids. For a 3D grid, there are 9 main location points, including 1 grid center point and 8 vertices. Assuming the grid side length is S, the actual coordinates of the origin of the coordinate system are ( , , Then, the actual coordinates of the 9 principal points of grid C(X, Y, Z) can be represented as: .

[0058] in, , , These are the x-axis, y-axis, and z-axis coordinates of the origin of the coordinate system, respectively; S is the side length of the cube grid. (X, Y, Z) (X, Y, Z) (X, Y, Z) (X, Y, Z) (X, Y, Z) (X, Y, Z) (X, Y, Z) (X, Y, Z) (X, Y, Z) represent the coordinates of the center point, the top left point, the top right point, the bottom left point, the bottom right point, the top left point, the top right point, the bottom left point, and the bottom right point of the current cube grid, respectively.

[0059] In this embodiment, when performing step 102, the specific steps can be as follows: This embodiment will use an unmanned platform as the target object for explanation. Considering communication latency and prediction accuracy errors, when the unmanned platform travels into a certain grid area, since the position coordinates issued by the centralized control platform are all the center points of the grid, but the position of the unmanned platform at this time cannot be determined, a cylindrical protection zone with a radius of r and a height of 2h is extended outward from the boundary of the grid where the unmanned platform is located as the platform center, i.e., the cylindrical protection zone; for example... Figure 3 As shown, the cylindrical protection zone is the smallest cylindrical region covering 8 smaller cylindrical protection zones; the smaller cylindrical protection zone is a cylinder with radius r and height 2h established at the vertex of the cubic grid where the target object is located.

[0060] Among them, the spherical protection area, such as Figure 4 As shown, the spherical protection zone is the smallest spherical region covering the outer circumscribed spherical protection zones of eight small cylinders. The outer circumscribed spherical protection zones of the small cylinders are protection zones established by the outer circumscribed spheres of the cylinders in the small cylinder protection zones.

[0061] In some embodiments of this example, step 103 may specifically include: Determine whether the target object and its adjacent target objects are relatively stationary.

[0062] If the target object and its neighboring target objects are relatively stationary, then the distance between the center of the target object's sphere protection zone and the sphere protection zone of the neighboring target objects is determined based on the grid positions of the target object and its neighboring target objects.

[0063] Based on the distance between the centers of the spheres, and considering the sphere radius of the target object's protected area and the sphere radius of the adjacent target object's protected area, it is determined whether the target object and the adjacent target object are in conflict.

[0064] If the target object and its adjacent target objects are not relatively stationary, then the distance between the center of the target object's sphere protection zone and the sphere protection zone of the adjacent target objects is determined based on the grid positions of the target object and its adjacent target objects.

[0065] Based on the grid position and movement speed of the target object, and the grid position and movement speed of the adjacent target objects, the first center position function and the second center position function of the target object and the adjacent target objects are determined respectively.

[0066] Based on the first center position function, the second center position function, and the center distance, and considering the radius of the target object's protected area and the radius of the adjacent target object's protected area, it is determined whether the target object and the adjacent target object are in conflict.

[0067] Specifically, this embodiment uses an unmanned platform as the target object for explanation. As shown in the flowchart in Figure 2(a), firstly, the center point of the grid is taken as the center of the sphere, and the radius is... Create a new spherical protected area that can cover the circumscribed spherical protected area of ​​the cylinder centered on the grid boundary. First, perform three-dimensional conflict detection based on the circumscribed spherical protected area.

[0068] .

[0069] .

[0070] Let the initial positions of the centers of the spheres of unmanned platforms A and B be... and ,radius and Uniform speed of movement and When unmanned platform A and unmanned platform B are relatively stationary, to determine if the two balls collide: the distance between the centers of the two balls is less than or equal to the sum of their radii, meaning they intersect. The specific formula is as follows: .

[0071] When there is a relative displacement between unmanned platform A and unmanned platform B, the positions of the centers of the two uniformly moving spheres are expressed as a function of time: .

[0072] The formula for determining whether the bounding boxes of the spheres intersect is then transformed into: .

[0073] At this time, let , , Then we can obtain the formula: The modulo symbol can be removed by squaring. ,get Treat the formula as a quadratic equation in one variable with parameter t, and solve the equation using the quadratic formula. If a solution exists, a conflict is detected; otherwise, no conflict has occurred, and the next step is stopped.

[0074] That is, according to the formula Determine whether the target object conflicts with the adjacent target object.

[0075] When a solution exists for t, it is determined that the target object conflicts with the adjacent target object.

[0076] When t does not have a solution, it is determined that the target object does not conflict with the adjacent target object.

[0077] Where c is the distance from the center of the sphere. C A C represents the center location of the spherical protected area of ​​the target object. B The location of the center of the sphere within the sphere protection zone of adjacent target objects; v is the speed difference; The moving speed of the target object. The moving speed of the adjacent target object; r is the sum of the radii of the spheres. The radius of the sphere within the spherical protected area of ​​the target object. t represents the radius of the sphere within the sphere protection zone of adjacent target objects; t represents time.

[0078] In some embodiments of this example, when performing step 104, the specific steps may be as follows: Based on the cylindrical protection zone of the target object and the cylindrical protection zones of adjacent target objects, the central axis S1 of the cylinder of the target object and the central axis S2 of the cylinder of the adjacent target object are determined.

[0079] Set a plane perpendicular to the central axis S1 of the cylinder, and calculate the intersection point of the plane and the central axis S2 of the cylinder; the plane passes through at least one endpoint of the cylinder of the target object.

[0080] Determine whether the intersection point is located on a line segment of the cylinder of the target object; the line segment is a line segment passing through the endpoint.

[0081] If the intersection point is located on a line segment, then the cylinders are determined to intersect in three-dimensional space.

[0082] If the intersection point is not located on the line segment, select different endpoints and repeat the steps: set a plane perpendicular to the central axis S1 of the cylinder, and calculate the intersection point of the plane and the central axis S2 of the cylinder.

[0083] If no intersection is found on the corresponding line segment after detecting all endpoints, it is determined that there is no conflict between the target object and the adjacent target object.

[0084] Specifically, the center point of the grid is taken as the center of the new cylindrical protected area, with a height H and a radius of [missing information]. Establish a cylindrical protection zone that encloses all smaller cylindrical protection zones within the grid boundary. Perform 3D clash detection based on the cylindrical protection zone. A spherical protection zone is also considered. Figure 4 As shown, the spherical protection zone is the smallest spherical region covering the outer circumscribed spherical protection zones of eight small cylinders. The outer circumscribed spherical protection zones of the small cylinders are protection zones established by the outer circumscribed spheres of the cylinders in the small cylinder protection zones.

[0085] H = S + 2h.

[0086] .

[0087] Where S is the side length of the cube grid.

[0088] First, conflicts in cylindrical protected areas of infinite height are detected using Plücker coordinates and dual vectors to represent these lines in space. For example, Figure 5 As shown, S1 and S2 are the central axes of the two cylinders, respectively. yes and The normal vectors f, c, g, and d represent points on the axis of the cylinder, which do not overlap. These points define the axis of the cylinder. Vectors s and w are the direction vectors of the cylinder's axis, defined by vectors f, c, g, and d. The formulas for solving S1 and S2 are lines represented in Planck coordinates. The solution formula The solution formula is a line represented by two vectors (for ease of calculation), using the dual vector representation, where... 2 =0. Vector n represents the common normal between the axes of the two cylinders, and p and q represent the intersection points of the common normal with the axes of the cylinders.

[0089] .

[0090] .

[0091] .

[0092] .

[0093] .

[0094] .

[0095] If the dsinθ term is not equal to zero, then these lines do not intersect and are not parallel. If dsinθ is equal to zero and the cosθ term is not equal to 1, then these lines intersect and are not parallel. If the cosθ term of the dot product is equal to 1, then these lines are parallel, and the combined dual vector of the cross product will have a real component of 0. When the lines are identical, the double component of the cross product will be 0. If the dcosθ term is non-zero, then the distance d can be calculated.

[0096] If the resulting distance is greater than the sum of the two radii, then no collision can occur regardless of the height of the finite cylinder. If the result is not greater than the sum of the two radii, then a collision may occur, and a finite-height cylinder protection zone model is used in the next stage of the collision detection algorithm.

[0097] Next, a parallel test is performed to determine a plane perpendicular to the centerline of the cylinders, which passes through at least one endpoint of the cylinder. The intersection of this plane with the centerline of the other cylinder is calculated. It is then determined whether the intersection lies on the line segment defined by the endpoint of the cylinder. If the intersection lies on the line segment, the cylinders are determined to intersect in three-dimensional space; if the intersection does not lie on the line segment, the above steps are repeated for different endpoints. If, after checking all possible endpoints, no intersection is found to lie on the corresponding line segment, the cylinders are determined not to intersect in three-dimensional space, i.e., no conflict has occurred.

[0098] Furthermore, a non-parallel test can be performed, requiring the included angle θ between the axes to be acute. The shortest distance between two non-parallel lines is along their common normal. We first determine the location where the common normal intersects the axis of each cylinder. These axes are formed by their endpoints. and and non-unit direction vectors and are described, where and are equal to the heights of their corresponding cylinders, and line N intersects line S1 and S2 at points and respectively.

[0099] .

[0100] .

[0101] .

[0102] .

[0103] .

[0104] For each cylinder, determine the test points along its axis that are closest to the common normal, either inside or outside the finite cylinder. These test points are called TP1 and TP2. Determine whether the points and are before or after the mid-axis segment.

[0105] If t1 ≤ 0, then is at the start of the segment or earlier, so the start point of the cylinder is used as TP1. If t1 ≥ 1, then is at the end of the segment or further, so the end point is used as TP1. If 0 < t1 < 1, then is on the line segment, so can be used as TP1. Repeat the above steps for cylinder 2 to determine TP2. From determining whether the points and are on or outside the cylinder, there are three possible cases to consider. If 0 ≤ t i ≤ 1, where i = 1, 2, and are both on the line segment, then an On-On test is required; if and one but not both are on their respective mid-axis segments, then an On test is performed; if and are both not on the mid-axis segments, then an Off test is required. These cases will be discussed below.

[0106] The first case, On-On test: If and If both lie on the central axis of a finite cylinder, a conflict has occurred, and no further verification is needed. This is because the distance has already been measured in the detection of an infinite-height cylinder.

[0107] The second case, On test: First, find the point P1 closest to TP2 along the axis of cylinder 1. This point P1 is the intersection of lines S1 and N1. Calculate t3 to determine whether P1 is on or outside the cylinder. If the distance from TP2 to P1 is greater than the sum of the radii, there is no conflict, and no further testing is needed. Otherwise, find the point TP2' closest to the axis of cylinder 1 on cylinder 2, t3', and P1'. P1' is the point on the axis of cylinder 1 closest to TP2'. Calculate t3' generated by P1' to determine whether P1' is inside or outside the cylinder. If both P1 and P1' are outside cylinder 1, there is no conflict, and no further testing is needed; if only P1 is on cylinder 1, the ends of the cylinders may intersect, requiring end intersection testing. If only P1' is on cylinder 1, or if both P1 and P1' are on cylinder 1, then the distance is calculated from TP2' and P1'. If the distance is less than the radius of cylinder 1, then there is a conflict.

[0108] The third case: Off test. For each detection point, use the same detection method as in the On case. Calculate the distance from TP2 to S1. If the distance is greater than the sum of the radii, no conflict occurs. If the distance is not greater than the sum of the radii, return to the second case and perform the On test. The other end of cylinder 2 also needs to undergo this test. Finally, swap the cylinder data and repeat the Off test with the new data.

[0109] End-point testing: such as Figure 6 As shown, when the circular bases of the cylinders may intersect, end-point testing is required. The first step is to find a plane orthogonal to the axis of each cylinder. and Find the parametric equation of the intersection line N' of the two planes, and set the distance from TP1 to N' as r1 to obtain the equation for t4. Similarly, by setting the distance between TP2 and N' as r2, we can obtain t5.

[0110] .

[0111] .

[0112] .

[0113] .

[0114] Where, n x n y n z TP represents the length of the projection of vector n onto the x, y, and z axes.1x This represents the length of the projection of TP1 onto the x-axis, with the positive x-axis pointing from TP2 to TP2', and the z-axis pointing towards the central axis of cylinder 2.

[0115] If a quadratic formula produces a complex root, then the cylindrical end circle and line N' do not intersect, and a collision is impossible. A multiple root in a quadratic formula indicates that the cylindrical end circle is tangent to line N', and no collision occurs. If both roots are real, then t4 and t5 each have a range; if these ranges overlap, then a collision occurs.

[0116] In some embodiments of this example, when performing step 105, the specific steps may be as follows: The traffic conflict risk (ROC) of an unmanned platform under a three-dimensional transportation system was determined using the fuzzy comprehensive evaluation method.

[0117] Five influencing factors—unmanned platform speed ratio k, relative orientation θ, relative distance d, minimum encounter time (TCPA), and closest encounter distance (DCPA)—are used as evaluation parameters. A fuzzy evaluation method is employed to quantify the traffic conflict hazard of unmanned platforms, yielding the ROC (Reaction of Consequences) for multi-factor unmanned platform traffic conflict. The factor set for the target platform collision hazard is as follows: u={k,θ,d,TCPA,DCPA}.

[0118] Through statistical analysis of a large amount of data, the relationship between the weight values ​​of various influencing factors was found to be as follows: < < < < Furthermore, the weights of TCPA and DCPA remain stable between 0.3 and 0.4. Therefore, two random numbers between 0.3 and 0.4 are selected, with the smaller value being the TCPA weight and the larger value being the DCPA weight. The remaining three values ​​are randomly generated according to their relative sizes, ensuring that the sum of the weights is 1.

[0119] make The conflict risk membership function expression for the speed ratio k of the unmanned platform is: .

[0120] In the formula, C represents the contact angle.

[0121] The membership function expression for the conflict hazard degree of relative orientation is: in, .

[0122] The membership function expression for the conflict risk of relative distance is as follows: In the formula, ; ; D1—Worst-case conflict resolution distance; D2—Available conflict resolution distance. The values ​​of D1 and D2 are affected by the conditions of the passageway, visibility, and human factors, as detailed below: In the formula, K1 is affected by visibility; K2 depends on the complexity of the current regional environment; K3 is determined by human factors; under the autonomous passage vision of the three-dimensional transportation unmanned platform, K1, K2, and K3 are all 1. DL is the latest trajectory change distance, which is generally taken as 12 times the length of the avoidance platform; R is the safe encounter distance at any time.

[0123] The conflict risk membership function expression for TCPA is as follows: In the formula, ; ; .

[0124] The conflict hazard membership function expression for DCPA is as follows: In the formula, d1 is the safe encounter distance of the unmanned platform; d2 is the absolute safe encounter distance, defined as d2 = 2d1. ; ; .

[0125] Finally, calculate the conflict risk (ROC) of the unmanned platform at any given time: .

[0126] in, The weighting of factors affecting the speed ratio of unmanned platforms relative orientation influencing factors weight values The relative distance influence factor weight value Weight values ​​of factors affecting minimum meeting time The weight value of the nearest distance-related factor; For unmanned platforms, the speed ratio of conflict risk membership degree, Relative orientation conflict risk degree membership degree Relative distance, conflict risk, membership degree Minimum encounter time, conflict risk, membership degree and The degree of danger of encountering distance conflict and membership.

[0127] Prioritize unmanned platforms; that is, the higher the risk level (ROC), the higher the priority.

[0128] In some embodiments of this example, before performing step 106, the following steps are also included: Determine the conflict type of the target object; the conflict type includes same-direction trajectory conflict, intersecting trajectory conflict, and reverse trajectory conflict.

[0129] As shown in the flowchart in Figure 2(b), there are three types of conflicts at the same altitude level during passage: conflicts involving trajectories traveling in the same direction, conflicts involving intersecting trajectories, and conflicts involving trajectories traveling in opposite directions. Each type of conflict has more than one resolution strategy. In the conflict resolution process, speed-based resolution is prioritized, followed by altitude-based resolution. Changing the trajectory direction increases energy consumption and costs, so this strategy is considered last.

[0130] When the conflict type is a conflict between trajectories traveling in the same direction (0°~45°).

[0131] If the speed of the unmanned platform behind is greater than that of the platform in front, meaning the platform behind will overtake the platform in front, and the distance s between the two unmanned platforms is greater than or equal to l, then the height can be changed to avoid passage conflicts.

[0132] If the distance s between the two unmanned platforms is less than the safe distance l, then the direction should be changed to avoid a passage conflict. The resolution process only considers the velocity and position relationship along the x-axis, then: .

[0133] .

[0134] When the conflict type of the target object is an intersecting trajectory traffic conflict (45°~135°), the speed of the target object with higher priority is adjusted according to the priority of the target object and the target object that conflicts with the target object.

[0135] Specifically, if within the speed adjustment range of the unmanned platform (v1'∈ And v1''∈ If the speed changes, it will be adjusted to avoid traffic conflicts. ⊥ This represents the given rate of increase / decrease of the target. As the lower limit of speed, This represents the maximum speed.

[0136] If it is outside the speed adjustment range of the unmanned platform (v1') or v1'' If the condition for a high degree of liberation is met, then the question becomes whether the following conditions are satisfied: 。

[0137] At this time, if s≥l, a height release strategy is adopted for conflict resolution; otherwise, a direction release strategy is adopted for conflict resolution.

[0138] When the conflict type is reverse trajectory passing conflict (135° - 180°), according to the priorities of the target object and the target object that conflicts with the target object, the height of the target object with a lower priority is adjusted.

[0139] Specifically, if the distance s between two unmanned platforms is s≥l and there is a reverse trajectory passing conflict, the height layer is first changed to avoid platform conflict. The release process only considers the speed and position relationship in the x-axis direction, and the safety distance for height release: 。

[0140] If the distance s between two unmanned platforms is s < l, a direction release strategy is adopted to avoid platform conflict.

[0141] In summary, the beneficial effects of the present invention are as follows: (1) The conflict detection method of the present invention based on the boundary volume method uses a bounding box to establish a protection area for unmanned platforms, and performs conflict detection from large to small at the grid scale. It not only considers the communication delay and the error situation of prediction accuracy, but also saves a large amount of computing resources. In the case of conflicts in large grids, small grids are subdivided, the boundary of the grid occupied by the unmanned platform is used as the limit offset position of the platform, the platform center is redefined, the protection area is expanded outward, and overlapping inspection is performed.

[0142] (2) The conflict detection method of the present invention based on the boundary volume method establishes a double protection area for unmanned platforms. First, a cylindrical protection area is established outside the unmanned platform, and then an external sphere protection area is established outside the cylindrical protection area for two-stage conflict detection. In the first stage, rough conflict detection is performed to quickly filter potential conflict objects in a large amount of data, significantly improving the speed of preliminary conflict detection. In the second stage, the selected conflicts are detected again in a refined manner, further improving the detection accuracy and quality. This two-stage boundary volume method not only optimizes the application of computing resources, but also ensures high efficiency and high accuracy, and is particularly suitable for dealing with targets with collaborative operations in clusters in complex dynamic traffic environments.

[0143] (3) The conflict resolution method based on the speed obstacle method of this invention introduces the concept of danger and the priority division based on danger, providing a practical and realistic method for conflict resolution. By formulating clear rules, it is ensured that high-priority unmanned platforms can maintain their position or make only minor deviations, while low-priority platforms actively avoid obstacles, thereby ensuring the orderly movement of unmanned platforms within the cluster and the continuity of task execution. This method not only improves the collaborative efficiency within the cluster, but also minimizes task execution delays and path deviations through a refined conflict resolution strategy, ensuring the efficiency and safety of cluster operations.

[0144] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0145] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for detecting and resolving three-dimensional spatial conflicts in three-dimensional traffic based on centralized control, characterized in that, include: Step 101: Obtain the target work area and the grid position of each target object within the target work area; The target work area is the area after grid division; The grid division adopts a cubic grid division; Step 102: Establish protected areas for each of the target objects at the grid scale; the protected areas include cylindrical protected areas and spherical protected areas; Step 103: Based on the spherical protection zones of each target object, perform three-dimensional conflict detection on the target object using a conflict detection method based on the boundary volume method; when a conflict is detected on the target object, proceed to step 104; when no conflict is detected on the target object, determine that there is no conflict between the target object and other target objects; Step 104: Based on the cylindrical protection zone of each target object, perform three-dimensional conflict detection on the target object using a conflict detection method based on the boundary volume method; When the target object detects a conflict, step 105 is executed; when the target object does not detect a conflict, it is determined that there is no conflict between the target object and other target objects. Step 105: Determine the danger priority of conflict targets based on the fuzzy comprehensive evaluation method; The conflict target objects are each of the target objects that were detected to be in conflict; Step 106: Based on priority rules, a conflict resolution method is used to resolve the conflict target object; the conflict resolution method includes velocity resolution, direction resolution, or height resolution.

2. The method for detecting and resolving three-dimensional spatial conflicts in three-dimensional traffic based on centralized control as described in claim 1, characterized in that, Before step 101, the following is also included: The work area is divided into several cubic grids to obtain the target work area; each cubic grid includes 1 grid center point and 8 vertices.

3. The method for detecting and resolving three-dimensional spatial conflicts in three-dimensional traffic based on centralized control according to claim 2, characterized in that, The specific expressions for each location point in the cubic mesh are as follows: ； in, , , These are the x-axis, y-axis, and z-axis coordinates of the origin of the coordinate system, respectively; S is the side length of the cube grid. (X, Y, Z) (X, Y, Z) (X, Y, Z) (X, Y, Z) (X, Y, Z) (X, Y, Z) (X, Y, Z) (X, Y, Z) (X, Y, Z) represent the coordinates of the center point, the top left point, the top right point, the bottom left point, the bottom right point, the top left point, the top right point, the bottom left point, and the bottom right point of the current cube grid, respectively.

4. The method for detecting and resolving three-dimensional spatial conflicts in three-dimensional traffic based on centralized control according to claim 2, characterized in that, The cylindrical protection zone is the smallest cylindrical region covering 8 smaller cylindrical protection zones; the smaller cylindrical protection zone is a cylinder with radius r and height 2h established at the vertex of the cubic grid where the target object is located.

5. The method for detecting and resolving three-dimensional spatial conflicts in three-dimensional traffic based on centralized control according to claim 4, characterized in that, The spherical protection zone is the smallest spherical region covering the outer circumscribed spherical protection zones of eight small cylinders. The outer circumscribed spherical protection zones of the small cylinders are protection zones established by the outer circumscribed spheres of the cylinders in the small cylinder protection zones.

6. The method for detecting and resolving three-dimensional spatial conflicts in three-dimensional traffic based on centralized control according to claim 1, characterized in that, Step 103 specifically includes: Determine whether the target object and its adjacent target objects are relatively stationary; If the target object and its adjacent target objects are relatively stationary, then the distance between the center of the sphere protection zone of the target object and the sphere protection zone of the adjacent target objects is determined based on the grid positions of the target object and its adjacent target objects. Based on the distance between the centers of the spheres, and considering the sphere radius of the target object's protected area and the sphere radius of the protected areas of the adjacent target objects, it is determined whether the target object and the adjacent target object are in conflict. If the target object and its adjacent target objects are not relatively stationary, then the distance between the center of the target object's sphere protection zone and the sphere protection zone of the adjacent target objects is determined based on the grid positions of the target object and its adjacent target objects. Based on the grid position and movement speed of the target object, and the grid position and movement speed of the adjacent target objects, the first center position function and the second center position function of the target object and the adjacent target objects are determined respectively. Based on the first center position function, the second center position function, and the center distance, and considering the radius of the target object's protected area and the radius of the adjacent target object's protected area, it is determined whether the target object and the adjacent target object are in conflict.

7. The method for detecting and resolving three-dimensional spatial conflicts in three-dimensional traffic based on centralized control as described in claim 6, characterized in that, Based on the first sphere center position function, the second sphere center position function, and the sphere center distance, and considering the sphere radius of the target object's sphere protection zone and the sphere radius of the adjacent target object's sphere protection zone, it is determined whether the target object and the adjacent target object are in conflict, as follows: According to the formula Determine whether the target object conflicts with the adjacent target object; When a solution exists for t, it is determined that the target object conflicts with the adjacent target object; When t does not have a solution, it is determined that the target object does not conflict with the adjacent target object; Where c is the distance from the center of the sphere. C A C represents the center location of the sphere within the protected area of ​​the target object. B The location of the center of the sphere within the sphere protection zone of adjacent target objects; v is the speed difference; The moving speed of the target object. The moving speed of the adjacent target object; r is the sum of the radii of the spheres. The radius of the sphere within the protected area of ​​the target object. t represents the radius of the sphere within the sphere protection zone of adjacent target objects; t represents time.

8. The method for detecting and resolving three-dimensional spatial conflicts in three-dimensional traffic based on centralized control according to claim 1, characterized in that, Step 104 specifically includes: Based on the cylindrical protection zone of the target object and the cylindrical protection zones of adjacent target objects, determine the central axis S1 of the cylinder of the target object and the central axis S2 of the cylinder of the adjacent target object; Set a plane perpendicular to the central axis S1 of the cylinder, and calculate the intersection point of the plane and the central axis S2 of the cylinder; the plane passes through at least one endpoint of the cylinder of the target object; Determine whether the intersection point lies on a line segment of the cylinder of the target object; the line segment is a line segment passing through the endpoint; If the intersection point is located on a line segment, then the cylinders are determined to intersect in three-dimensional space; If the intersection point is not located on the line segment, select different endpoints and repeat the steps: set a plane perpendicular to the central axis S1 of the cylinder, and calculate the intersection point of the plane and the central axis S2 of the cylinder; If no intersection is found on the corresponding line segment after detecting all endpoints, it is determined that there is no conflict between the target object and the adjacent target object.

9. The method for detecting and resolving three-dimensional spatial conflicts in three-dimensional traffic based on centralized control according to claim 1, characterized in that, The procedure before performing step 106 includes: Determine the conflict type of the target object; the conflict type includes same-direction trajectory conflict, intersecting trajectory conflict, and reverse trajectory conflict.

10. A method for detecting and resolving three-dimensional spatial conflicts in three-dimensional traffic based on centralized control, as described in claim 9, is characterized in that... Step 106 specifically includes: When the conflict type of the target object is a same-direction trajectory passage conflict, according to the formula To resolve conflicts; among them, The relative velocity of the first target object with respect to the second target object along the x-axis; The angle between the velocity direction of the first target object and the positive x-axis. v1 is the angle between the velocity direction of the second target object and the positive x-axis; v1 is the velocity of the first target object; v 1x v1 is the velocity of the first target object projected onto the x-axis; v2 is the velocity of the second target object; v 2x The velocity of the second target object projected onto the x-axis; When the conflict type of the target object is an intersecting trajectory traffic conflict, the speed of the target object with lower priority is adjusted according to the priority of the target object and the target object that conflicts with the target object; When the conflict type of the target object is reverse trajectory passage conflict, the target object with lower priority is height adjusted according to the priority of the target object and the target object that conflicts with the target object.

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