Collision detection method for air route and combined graph control area and related device

Abstract

The invention provides a conflict detection method for a route and a combined graph control area and a related device, and the method comprises the steps: constructing a route outline polygon according to a center point position sequence of the route and the width of the route; wherein the center point position sequence comprises point positions on the center line of the route; converting the combined graph control area to obtain an equivalent regular control area; conflict detection is carried out according to the regular control area and the route outline polygon, and whether the route conflicts with the combined graph control area or not is determined. According to the method, a wide route is converted into a closed route outline polygon, and a complex and irregular combined graph control area is converted into an equivalent regular control area, so that the problem that the type of space conflict is difficult to judge is solved, and the detection precision and efficiency can be ensured when large-scale route and control area conflict risk detection is carried out; and the urgent demand of future low-altitude traffic high-density operation on real-time conflict detection is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aviation, in particular to a conflict detection method for air routes and combined graphic control areas and a related device. BACKGROUND

[0002] With the rapid development of low-altitude traffic, especially the increasing popularity of the use of unmanned aerial vehicles, flying cars and electric vertical take-off and landing aircraft, the traffic of aircraft in low-altitude airspace is showing a significant growth trend, giving rise to the demand for large-scale real-time spatial conflict detection and early warning of low-altitude air routes and airspace control areas. During low-altitude flight, it is necessary to judge in real time whether the air route is in spatial conflict with various control areas (such as no-fly zones, height-limited areas, sensitive facility protection areas, etc.), which is crucial to ensure low-altitude traffic safety and improve airspace utilization efficiency.

[0003] The spatial shape of some control areas is an irregular combined graphic control area, which brings great difficulty to spatial conflict judgment. How to quickly and accurately detect whether there is a conflict between the air route and the combined graphic control area to meet the urgent need for real-time conflict detection of high-density operation of future low-altitude traffic has become a difficult problem for those skilled in the art. SUMMARY

[0004] The purpose of the present application is to provide a conflict detection method for air routes and combined graphic control areas and a related device to improve the above problems.

[0005] To achieve the above purpose, the technical solutions adopted by the embodiments of the present application are as follows: In a first aspect, the embodiments of the present application provide a conflict detection method for air routes and combined graphic control areas, which comprises: constructing an air route contour polygon according to a center point sequence of the air route and an air route width; The center point sequence includes points on the center line of the air route. Converting the combined graphic control area to obtain an equivalent regular control area; According to the regular control area and the air route contour polygon, the conflict is detected to confirm whether the air route is in conflict with the combined graphic control area.

[0006] Optionally, the conversion of the combined graphic control area to obtain an equivalent regular control area comprises: The arc-shaped edges in the combined graphic control area are discretized and divided into a plurality of arc segment vertices; According to the original straight edges and the discretized arc segment vertices of the arc-shaped edges in the combined graphic control area, the boundary is integrated to generate an equivalent polygon control area.

[0007] Optionally, the step of discretizing the arc edges in the combined graphic control area into multiple arc segment vertices includes: Determine the center of the circle corresponding to the arc edge based on the radius and the direction of the center of the circle. Based on the center of the circle corresponding to the arc and the two endpoints of the arc, the angles are calculated to determine the starting angle and ending angle of the arc. Based on the starting angle and ending angle of the arc edge, the arc edge is discretized according to a preset angle step size to obtain multiple arc segment vertices.

[0008] Optionally, determining the center of the circle corresponding to the arc edge based on the radius and center direction of the arc edge includes: Determine the midpoint M between the two endpoints of the arc side and the chord direction vector, where M = (F i +F i+1 ) / 2, F i F represents the starting point of the arc edge. i+1 The endpoint of the arc-shaped edge, and the chord direction vector. =normalize(F i+1 - F i ); Based on the center direction and chord direction vector Determine the normal vector corresponding to the arc edge. ; Determine the distance from the center of the arc to the chord, d = SQRT(Rf 2 -(F i+1 -F i ) 2 ), where d represents the distance from the center to the chord corresponding to the arc edge, and Rf represents the radius corresponding to the arc edge; Based on the midpoint M between the two endpoints of the arc, the distance d from the center of the arc to the chord, and the normal vector of the arc. Determine the center of the circle corresponding to the curved side. ;in, This indicates the center of the circle corresponding to the curved edge.

[0009] Optionally, the normal vector corresponding to the arc-shaped edge The formula is:

[0010] in, This represents the normal vector corresponding to the arc edge. Represents the chord direction vector y-axis projection, Represents the chord direction vector x-axis projection, The left and right directions indicate the direction of the center of the circle. The left direction indicates the direction of the center of the circle to the left, and the right direction indicates the direction of the center of the circle to the right.

[0011] Optionally, the formulas for the starting angle and ending angle of the arc-shaped edge are: Vector C f F i = F i -C f ; Vector C f F i+1 =F i+1 –C f ; Starting angle θ_start=atan2(C f F i .y, C f F i .x); Termination angle θ_end=atan2(C f F i+1 .y, C f F i+1 .x); Among them, C f F i .y represents vector C f F i Projected onto the y-axis, C f F i .x represents vector C f F i Projection onto the x-axis, C f F i+1 .y represents vector C f F i+1 Projected onto the y-axis, C f F i+1 .x represents vector C f F i+1 Projection onto the x-axis.

[0012] Optionally, constructing the outline polygon of the flight path based on the center point sequence and the flight path width includes: Obtain the direction vector V of the i-th route segment. i Wherein, the two endpoints of the i-th segment of the route are the i-th point P in the center point sequence of the route. i With point P (i+1) i+1 ; According to the direction vector V i The unit normal vector N of the i-th route segment is calculated. i ; According to the unit normal vector N i and point P of the i-th positioni Determine the position P of point i. i The corresponding left vertex L i and the right vertex R i ; Connect the obtained vertices in order to generate a closed polygonal outline of the flight path.

[0013] Secondly, embodiments of the present invention provide a conflict detection device for flight routes and combined graphic control areas, the device comprising: The first processing unit is used to construct the outline polygon of the route based on the sequence of center points and the width of the route. The center point sequence includes points on the centerline of the flight path; The first processing unit is also used to transform the combined graphic control region to obtain an equivalent rule control region; The second processing unit is used to perform conflict detection based on the rule-controlled area and the outline polygon of the flight path, and to confirm whether the flight path conflicts with the combined graphic control area.

[0014] Thirdly, embodiments of the present invention provide a storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method.

[0015] Fourthly, embodiments of the present invention provide an electronic device, the electronic device comprising: a processor and a memory, the memory being used to store one or more programs; when the one or more programs are executed by the processor, the above-described method is implemented.

[0016] Compared to existing technologies, the present invention provides a conflict detection method and related apparatus for flight routes and combined graphic control areas. This method constructs a flight route outline polygon based on the center point sequence and width of the flight route; the center point sequence includes points along the centerline of the flight route; the combined graphic control area is transformed to obtain an equivalent regular control area; conflict detection is performed based on the regular control area and the flight route outline polygon to confirm whether a conflict exists between the flight route and the combined graphic control area. By converting a wide flight route into a closed flight route outline polygon and a complex and irregular combined graphic control area into an equivalent regular control area, the method solves the problem of difficulty in judging this type of spatial conflict. This ensures detection accuracy and efficiency when conducting large-scale flight route and control area conflict risk detection, meeting the urgent need for real-time conflict detection in future high-density low-altitude traffic operations.

[0017] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0020] Figure 2 This is a flowchart illustrating the conflict detection method between flight routes and combined graphic control areas provided in an embodiment of the present invention.

[0021] Figure 3 This is a schematic diagram of an equivalent polygonal control region provided in an embodiment of the present invention.

[0022] Figure 4 This is a schematic diagram of the outline polygon of the flight path provided in an embodiment of the present invention.

[0023] Figure 5 This is a schematic diagram of a conflict detection device for flight routes and combined graphic control areas provided in an embodiment of the present invention.

[0024] In the diagram: 10-Processor; 11-Memory; 12-Bus; 13-Communication interface; 501-First processing unit; 502-Second processing unit. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0026] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0027] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this invention, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0028] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0029] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed when in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0030] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0031] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0032] This invention provides an electronic device, which can be a central control unit of an aircraft, or any of a server device, computer device, or mobile device connected to the central control unit of an aircraft. Please refer to... Figure 1This is a schematic diagram of the structure of an electronic device. The electronic device includes a processor 10, a memory 11, and a bus 12. The processor 10 and the memory 11 are connected via the bus 12. The processor 10 is used to execute executable modules, such as computer programs, stored in the memory 11.

[0033] Processor 10 can be an integrated circuit chip with signal processing capabilities. During implementation, each step of the collision detection method between the flight path and the combined graphic control area can be completed through integrated logic circuits in the hardware or software instructions within processor 10. Processor 10 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0034] The memory 11 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage.

[0035] Bus 12 can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. Figure 1 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus 12 or one type of bus 12.

[0036] The memory 11 is used to store programs, such as programs corresponding to a collision detection device for flight routes and combined graphic control areas. The collision detection device for flight routes and combined graphic control areas includes at least one software functional module that can be stored in the memory 11 in the form of software or firmware, or embedded in the operating system (OS) of the electronic device. Upon receiving an execution instruction, the processor 10 executes the program to implement the collision detection method for flight routes and combined graphic control areas.

[0037] The electronic device provided in this embodiment of the invention may further include a communication interface 13. The communication interface 13 is connected to the processor 10 via a bus.

[0038] It should be understood that, Figure 1 The structure shown is only a partial schematic diagram of the electronic device; the electronic device may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown. Figure 1 The components shown can be implemented using hardware, software, or a combination thereof.

[0039] The conflict detection method between flight routes and combined graphic control areas provided in this invention can be applied to, but is not limited to, applications in... Figure 1 For the specific procedures of the electronic devices shown, please refer to [link / reference]. Figure 2 The conflict detection methods between flight routes and combined graphic control areas include: S10, S20 and S30, which are described in detail below.

[0040] S10: Construct the outline polygon of the route based on the sequence of center points and the width of the route.

[0041] The center point sequence includes points along the centerline of the flight path.

[0042] S20, transform the combined graphic control area to obtain an equivalent rule control area.

[0043] S30 performs conflict detection based on the rule-controlled area and the outline polygon of the route to confirm whether the route conflicts with the combined graphic control area.

[0044] In the conflict detection method between flight routes and combined graphic control areas provided in this embodiment of the invention, a flight route with width is converted into a closed flight route outline polygon, and a complex and irregular combined graphic control area is converted into an equivalent regular control area. This solves the problem of difficulty in judging this type of spatial conflict, thereby ensuring detection accuracy and efficiency when conducting large-scale flight route and control area conflict risk detection, so as to meet the urgent need for real-time conflict detection in future high-density low-altitude traffic operations.

[0045] In one alternative implementation, the combined graphic control area can be converted into a combination of multiple rule control areas, which can be any one or more of polygonal control areas, circular control areas, sector control areas, and arc-shaped control areas.

[0046] It should be noted that while converting the combined graphic control area into a combination of multiple rule control areas can solve the problem of difficulty in judging spatial conflicts between the flight path and the combined graphic control area, the flight path needs to be judged separately with multiple rule control areas, which may reduce the efficiency of conflict detection. To solve this problem, this embodiment of the invention also provides an optional implementation method, which converts the combined graphic control area into a single polygonal control area that is close to it, thus ensuring both the efficiency and accuracy of conflict detection. Please refer to the following for details. S20, converting the combined graphic control area to obtain an equivalent rule control area, including: S21 and S22, which are described in detail below.

[0047] S21, the arc edges in the combined graphic control area are discretized into multiple arc segment vertices.

[0048] S22, based on the original discretized arc segments of the straight and arc edges in the combined graphic control area, perform boundary integration to generate an equivalent polygon control area.

[0049] The vertices of the arc segments after discretizing the original straight and arc edges in the combined graphic control area are connected in the order of boundary direction to form a closed polygon, which is an equivalent polygon control area, that is, an equivalent rule control area.

[0050] Based on the preceding text, regarding the content of S21, this embodiment of the invention also provides an optional implementation method, please refer to the following. S21, the arc edges in the combined graphic control area are discretized into multiple arc segment vertices, including: S211, S212 and S213, as detailed below.

[0051] S211, Determine the center of the circle corresponding to the arc edge based on the radius and center direction of the arc edge.

[0052] Optionally, S211, the center of the circle corresponding to the arc edge is determined according to the radius and center direction of the arc edge, including: S211-1 to S211-4, which are described in detail below.

[0053] S211-1, determine the midpoint M between the two endpoints of the arc side and the chord direction vector, where M = (F i +F i+1 ) / 2, F i F represents the starting point of the arc edge. i+1 The endpoint of the arc-shaped edge, and the chord direction vector. =normalize(F i+1 - F i ).

[0054] S211-2, based on the center direction and chord direction vector Determine the normal vector corresponding to the arc edge. .

[0055] Normal vector corresponding to the arc edge The formula is:

[0056] in, This represents the normal vector corresponding to the arc edge. Represents the chord direction vector y-axis projection, Represents the chord direction vector x-axis projection, The left and right directions indicate the direction of the center of the circle. The left direction indicates the direction of the center of the circle to the left, and the right direction indicates the direction of the center of the circle to the right.

[0057] S211-3, determine the distance from the center of the chord to the arc-shaped edge, d=SQRT(Rf 2 -(F i+1 -F i ) 2 ), where d represents the distance from the center to the chord corresponding to the arc edge, Rf represents the radius corresponding to the arc edge, and F i F represents the starting point of the arc edge. i+1 Indicates the endpoint of the curved edge; S211-4, based on the midpoint M between the two endpoints of the arc side, the chord-center distance d corresponding to the arc side, and the normal vector corresponding to the arc side. Determine the center of the circle corresponding to the curved side. ;in, This indicates the center of the circle corresponding to the curved edge.

[0058] S212, calculate the angles based on the center of the circle corresponding to the arc and the two endpoints of the arc to determine the starting angle and ending angle of the arc.

[0059] Optionally, the formulas for the starting angle and ending angle of the arc are: Vector C f F i = F i -C f ; Vector C f F i+1 =F i+1 –C f ; Starting angle θ_start=atan2(C f F i .y, C f F i .x); Termination angle θ_end=atan2(Cf F i+1 .y, C f F i+1 .x); Among them, C f F i .y represents vector C f F i Projected onto the y-axis, C f F i .x represents vector C f F i Projection onto the x-axis, C f F i+1 .y represents vector C f F i+1 Projected onto the y-axis, C f F i+1 .x represents vector C f F i+1 Projection onto the x-axis.

[0060] S213, based on the starting angle and ending angle of the arc edge, discretize the arc edge according to the preset angle step size to obtain multiple arc segment vertices.

[0061] The preset angle step size can be, but is not limited to, 1°.

[0062] Please refer to Figure 3 , Figure 3 This is a schematic diagram of an equivalent polygonal control region provided in an embodiment of the present invention. Wherein, F i F represents the starting point of the arc edge. i+1 Indicates the endpoint of the arc edge, with B1 to B4 being the vertices of the arc segment.

[0063] Based on the preceding text, regarding the content of S10, this embodiment of the invention also provides an optional implementation method, please refer to the following. S10, constructing the outline polygon of the route according to the center point sequence and the route width, including: S11, S12, S13 and S14, which are described in detail below.

[0064] S11, Obtain the direction vector V of the i-th route segment. i Where the two endpoints of the i-th segment of the route are the i-th point P in the sequence of center points of the route. i With point P (i+1) i+1 V i = P i+1 - P i , 1≤i≤I-1, where I represents the total number of points in the center point sequence.

[0065] S12, based on direction vector V iThe unit normal vector N of the i-th route segment is calculated. i .

[0066] Wherein, the unit normal vector N i Perpendicular to direction vector V i And pointing to the outside of the flight path, N i = normalize(rotate90°(V i )).

[0067] S13, based on the unit normal vector N i and point P of the i-th position i Determine the position P of point i. i The corresponding left vertex L i and the right vertex R i .

[0068] Here, left and right are relative to the direction vector V. i The left vertex is determined to be L. i = P i + (W / 2) × N i Right vertex: R i =P i - (W / 2) ×N i W represents the width of the flight path.

[0069] It should be noted that L I = P I + (W / 2) × N I-1 Right vertex: R I =P I - (W / 2) ×N I-1 .

[0070] S14. Connect the obtained vertices in order to generate a closed outline polygon of the flight path.

[0071] The problem of conflict detection between flight routes and controlled areas is transformed into determining the correlation between two closed figures: the polygonal outline of the flight route and the graphic of the controlled area.

[0072] For details, please refer to Figure 4 , Figure 4 This is a schematic diagram of the outline polygon of the flight path provided in an embodiment of the present invention. Figure 4 The example uses 4 as the value of I, but this is not a limitation.

[0073] Building upon the preceding text, when converting the combined graphic control area into an equivalent and regular polygon control area, this embodiment of the invention also provides an optional implementation method for the content in S30, as detailed below. S30 involves conflict detection based on the regular control area and the outline polygon of the flight path to confirm whether the flight path conflicts with the combined graphic control area, including: S31, S32, S33, S34, and S35, which are specifically described below.

[0074] S31, combining the outer polygon of the flight route and the polygon control area, determine whether there is a first-type point inclusion situation. If there is a first-type point inclusion situation, proceed to S32; if there is no first-type point inclusion situation, proceed to S33.

[0075] The first type of point inclusion refers to any vertex in the outer polygon of the flight route being located within the polygon control area, or any vertex in the polygon control area being located within the outer polygon of the flight route.

[0076] S32 indicates that there is an intrusion conflict between the flight path and the combined graphic control area.

[0077] If a first-type point inclusion situation exists, it is determined that the outline polygon of the flight route intersects with the polygon control area, that is, there is an intrusion conflict between the flight route and the combined graphic control area.

[0078] S33, determine whether there is a separating axis in the outer polygon of the flight path and the polygon control area. If a separating axis exists, proceed to S34; if no separating axis exists, proceed to S35.

[0079] If there is no first type of point inclusion, it is necessary to continue to judge whether there is a separating axis between the outer polygon of the route and the polygon control area. This is an efficient method to judge the intersection of convex polygons. Its core idea is that if there is a straight line (separating axis) such that the projection intervals of the two polygons on the separating axis do not overlap, then the two polygons do not intersect.

[0080] S34, confirming that there is no intrusion or conflict between the flight path and the combined graphic control area.

[0081] If a separating axis exists, it is determined that the outer polygon of the flight path does not intersect with the polygon control area, meaning that there is no intrusion conflict between the flight path and the combined graphic control area.

[0082] S35 indicates that there is an intrusion conflict between the flight path and the combined graphic control area.

[0083] If there is no separating axis, then S35 determines that the outline polygon of the route intersects with the polygon control area, that is, there is an intrusion conflict between the route and the combined graphic control area.

[0084] Based on the preceding text, regarding the content in S31, this embodiment of the invention also provides an optional implementation method, please refer to the following. S31, combining the outer polygon of the flight route and the polygon control area, determines whether there is a first type of point inclusion situation, including: S311 to S315, which are specifically described below.

[0085] S311, Use the corner method to perform a point containment check to determine whether each vertex of the route outline polygon is within the polygon control area. If any vertex of the route outline polygon is within the polygon control area, then execute S312; if no vertex of the route outline polygon is within the polygon control area, then execute S313.

[0086] The advantages of using the corner-turning method are: accurate handling of boundary points and vertices (no special processing required); more robust to concave polygons and non-simple polygons; and computational efficiency comparable to the ray-based method, thus reducing the complexity of collision detection.

[0087] S312, It is determined that there is a first type of point inclusion.

[0088] S313, Use the corner method to perform a point containment check to determine whether each vertex in the polygon control area is located within the outer polygon of the flight path. If any vertex in the polygon control area is located within the outer polygon of the flight path, then execute S314; if no vertex in the polygon control area is located within the outer polygon of the flight path, then execute S315.

[0089] S314, It is determined that there is a first type of point inclusion.

[0090] S315, It is determined that there are cases where points are not included in the first category.

[0091] Building upon the preceding text, this invention provides an optional implementation method for determining whether each vertex in the outer polygon of the flight route is located within the polygon control area, and whether each vertex in the polygon control area is located within the outer polygon of the flight route. This can be understood as: using the corner method to perform a point inclusion check to determine whether a target vertex in the first polygon is located within the second polygon. Here, the target vertex is any vertex in the first polygon; when the first polygon is the outer polygon of the flight route, the second polygon is the polygon control area; when the first polygon is the polygon control area, the second polygon is the outer polygon of the flight route.

[0092] The specific process of using the corner method to perform point inclusion checks to determine whether the target vertex in the first polygon is located within the second polygon includes: S41 to S48, which are described in detail below.

[0093] S41, determine the intersection of the target vertex with the nth edge of the second polygon.

[0094] The nth edge (K n - K n+1 The starting point is the nth vertex K within the second polygon. n The endpoint of the nth edge is the (n+1)th vertex K within the second polygon. n+1 The (N+1)th vertex is the first vertex, 1≤n≤N, the initial value of n is 1, and N represents the total number of vertices in the second polygon.

[0095] Based on the preceding text, regarding the content in S41, this embodiment of the invention also provides an optional implementation method, please refer to the following. S41, determining the intersection of the target vertex and the nth edge of the second polygon, includes: S411 and S412, which are specifically described below.

[0096] When K n ·y≤Q·yandK n+1 When ·y>Q·y holds true, if the target vertex is located to the left of the nth edge (i.e., the cross product (K) n+1 -K n )×(QK n If K > 0, it means that the target vertex and the nth edge intersect upwards. n ·y>Q·y and K n+1 When y ≤ Q·y holds, if the target vertex is located to the right of the nth edge (i.e., the cross product (K) n+1 -K n )×(QK n If ) < 0), it is determined that the target vertex and the nth edge intersect downwards.

[0097] The starting point of the nth edge is the nth vertex K within the second polygon. n The endpoint of the nth edge is the (n+1)th vertex K within the second polygon. n+1 The (N+1)th vertex is the first vertex, 1 ≤ n ≤ N, where N represents the total number of vertices in the second polygon, and Q represents the target vertex. In a two-dimensional Cartesian coordinate system, K... n ·y represents the nth vertex K n The y-axis projection, K n+1 ·y represents the nth vertex K n+1 The y-axis projection of the target vertex Q is given by Q·y.

[0098] S42, when the target vertex and the nth edge intersect upwards, increment the wrapping number by 1.

[0099] The initial value for the number of wraps is 0.

[0100] S43, when the target vertex and the nth edge intersect downwards, decrease the wrapping number by 1.

[0101] S44, determine whether n < N holds. If n < N, execute S45; if n = N, execute S36.

[0102] S45, let n = n + 1, and repeatedly determine the intersection situation between the target vertex and the n-th side of the second polygon.

[0103] S46, determine whether the winding number is 0. If the winding number is not 0, execute S47; if the winding number is 0, execute S48.

[0104] S47, the target vertex is inside the second polygon.

[0105] S48, the target vertex is outside the second polygon.

[0106] Based on the above, regarding the content in S33, the embodiment of the present invention further provides an optional implementation manner. Please refer to the following. S33, determine whether there is a separating axis between the outer polygon of the flight route and the polygon control area, including: S331 to S339, which are specifically described as follows.

[0107] S331, determine the unit normal vector of each side in the first polygon, and use it as the first type of candidate separating axis.

[0108] S332, project all the vertices in the first polygon and the second polygon onto each first type of candidate separating axis.

[0109] Wherein, when the first polygon is the outer polygon of the flight route, the second polygon is the polygon control area; when the first polygon is the polygon control area, the second polygon is the outer polygon of the flight route.

[0110] S333, determine whether there is a first type of target separating axis. If there is a first type of target separating axis, execute S334; if there is no first type of target separating axis, execute S335.

[0111] Wherein, the first type of target separating axis is the first type of candidate separating axis for which the first projection interval ([minA_i, maxA_i]) and the second projection interval ([minB_i, maxB_i]) do not overlap. The first projection interval is the projection interval of all the vertices of the first polygon on the first type of candidate separating axis, and the second projection interval is the projection interval of all the vertices of the second polygon on the first type of candidate separating axis. If maxA_i < minB_i OR maxB_i < minA_i, it is determined that the first projection interval and the second projection interval do not overlap on the first type of candidate separating axis.

[0112] S334, determine that there is a separating axis between the outer polygon of the flight route and the polygon control area.

[0113] S335, determine the unit normal vector of each edge in the second polygon, and use it as the second type of candidate separating axis.

[0114] S336, project all vertices of the first and second polygons onto each of the second-class candidate separating axes.

[0115] S337, Determine whether a second type of target separation axis exists. If a second type of target separation axis exists, proceed to S338; if a first type of target separation axis does not exist, proceed to S339.

[0116] Among them, the second type of target separation axis is the second type of candidate separation axis where the third projection interval ([minA_i, maxA_i]) and the fourth projection interval ([minB_i, maxB_i]) do not overlap (the process of determining the first type of target separation axis is the same as described above, and will not be repeated here). The third projection interval is the projection interval of all vertices of the first polygon on the second type of candidate separation axis, and the fourth projection interval is the projection interval of all vertices of the second polygon on the second type of candidate separation axis.

[0117] S338, It is determined that there is a separating axis between the outer polygon of the flight path and the polygon control area.

[0118] S339, confirming that there is no separating axis in the outer polygon of the flight path and the polygon control area.

[0119] Building upon the preceding text, when it is determined that there is no intrusion conflict between the flight path and the combined graphic control area, this embodiment of the invention also provides an optional implementation method for determining whether there is a proximity conflict between the flight path and the combined graphic control area, as detailed below. When it is determined that there is no intrusion conflict between the flight path and the combined graphic control area, the flight path conflict detection method further includes: S36 and S37, as detailed below.

[0120] S36, determine the polygon spacing between the outline polygon of the flight route and the polygon control area.

[0121] The polygon spacing is the minimum of the shortest distances between all sides of the route outline polygon and all sides of the polygon control area.

[0122] D_min=min{Distance(Edge_A i Edge_B j )foralli,j}, where D_min represents the polygon spacing, Edge_A i Edge_B represents the i-th edge in the polygon of the flight path outline. j Let A represent the j-th edge in the polygonal controlled region. i ∈ (A1, A I ), Bj ∈ (B1, B J ), A I represents the last side of the outer polygon of the flight route, B J the last side in the polygon control area, Distance(Edge_A i , Edge_B j ) represents the shortest distance between A i and B j . For all i, j, it means traversing all values of i and j.

[0123] S37. When the distance between polygons is less than the safety distance threshold (D_min < D_safe), it is determined that there is a near conflict between the flight route and the combined graphic control area.

[0124] When the distance between polygons is greater than or equal to the safety distance threshold, it is determined that there is no near conflict between the flight route and the combined graphic control area.

[0125] Please refer to Figure 5 , Figure 5 which is a conflict detection device for a flight route and a combined graphic control area provided by an embodiment of the present invention. Optionally, this conflict detection device for a flight route and a combined graphic control area is applied to the electronic device described above.

[0126] The conflict detection device for a flight route and a combined graphic control area includes: a first processing unit 501 and a second processing unit 502.

[0127] The first processing unit 501 is used to construct the outer polygon of the flight route according to the central point sequence of the flight route and the flight route width; wherein, the central point sequence includes the points on the center line of the flight route; The first processing unit 501 is further used to convert the combined graphic control area to obtain an equivalent regular control area; The second processing unit 502 is used to perform conflict detection according to the regular control area and the outer polygon of the flight route to confirm whether there is a conflict between the flight route and the combined graphic control area.

[0128] Optionally, the first processing unit 501 can execute the above S10 and S20, and the second processing unit 502 can execute the above S30.

[0129] It should be noted that the conflict detection device for a flight route and a combined graphic control area provided in this embodiment can execute the method flow shown in the above method flow embodiment to achieve the corresponding technical effects. For a brief description, for the parts not mentioned in this embodiment, reference can be made to the corresponding content in the above embodiment.

[0130] This invention also provides a storage medium storing computer instructions and programs. When read and executed, these instructions and programs perform the conflict detection method for flight paths and combined graphic control areas described above. The storage medium may include memory, flash memory, registers, or a combination thereof.

[0131] The following provides an electronic device, which may be the central control equipment of an aircraft, or any one of a server device, computer device, and mobile phone device connected to the central control equipment of an aircraft. This electronic device, such as... Figure 1 As shown, the above-described method for detecting conflicts between flight routes and combined graphic control areas can be implemented. Specifically, the electronic device includes: a processor 10, a memory 11, and a bus 12. The processor 10 may be a CPU. The memory 11 is used to store one or more programs, which, when executed by the processor 10, execute the conflict detection method between flight routes and combined graphic control areas described in the above embodiment.

[0132] In summary, the conflict detection method and related apparatus provided by this invention for flight routes and combined graphic control areas construct a flight route outline polygon based on the center point sequence and width of the flight route; wherein the center point sequence includes points on the centerline of the flight route; the combined graphic control area is transformed to obtain an equivalent regular control area; conflict detection is performed based on the regular control area and the flight route outline polygon to confirm whether there is a conflict between the flight route and the combined graphic control area. By converting a wide flight route into a closed flight route outline polygon and transforming a complex and irregular combined graphic control area into an equivalent regular control area, the method solves the problem of difficulty in judging this type of spatial conflict. This ensures detection accuracy and efficiency when conducting large-scale flight route and control area conflict risk detection, meeting the urgent need for real-time conflict detection in future high-density low-altitude traffic operations.

[0133] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0134] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A method for detecting conflicts between flight routes and combined graphic control areas, characterized in that, The method includes: Construct the outline polygon of the flight path based on the sequence of center points and the width of the flight path; The center point sequence includes points on the centerline of the flight path; The combined graphic control region is transformed to obtain an equivalent rule control region; Conflict detection is performed based on the rule-controlled area and the outline polygon of the flight path to confirm whether the flight path conflicts with the combined graphic control area.

2. The conflict detection method between flight routes and combined graphic control areas as described in claim 1, characterized in that, The transformation of the combined graphic control region to obtain an equivalent rule control region includes: The arc-shaped edges in the combined graphic control area are discretized into multiple arc segment vertices; Based on the original straight and curved edges of the combined graphic control area, the vertices of the discretized arc segments are integrated to generate an equivalent polygon control area.

3. The conflict detection method between flight routes and combined graphic control areas as described in claim 2, characterized in that, The step of discretizing the arc edges in the combined graphic control area into multiple arc segment vertices includes: Determine the center of the circle corresponding to the arc edge based on the radius and the direction of the center of the circle. Based on the center of the circle corresponding to the arc and the two endpoints of the arc, the angles are calculated to determine the starting angle and ending angle of the arc. Based on the starting angle and ending angle of the arc edge, the arc edge is discretized according to a preset angle step size to obtain multiple arc segment vertices.

4. The conflict detection method between flight routes and combined graphic control areas as described in claim 3, characterized in that, The step of determining the center of the circle corresponding to the arc edge based on the radius and center direction of the arc edge includes: Determine the midpoint M between the two endpoints of the arc side and the chord direction vector, where M = (F i +F i+1 ) / 2, F i F represents the starting point of the arc edge. i+1 The endpoint of the arc-shaped edge, and the chord direction vector. =normalize(F i+1 - F i ); Based on the center direction and chord direction vector Determine the normal vector corresponding to the arc edge. ; Determine the distance from the center of the arc to the chord, d = SQRT(Rf 2 -(F i+1 -F i ) 2 ), where d represents the distance from the center to the chord corresponding to the arc edge, and Rf represents the radius corresponding to the arc edge; Based on the midpoint M between the two endpoints of the arc, the distance d from the center of the arc to the chord, and the normal vector of the arc. Determine the center of the circle corresponding to the curved side. ;in, This indicates the center of the circle corresponding to the curved edge.

5. The conflict detection method between flight routes and combined graphic control areas as described in claim 4, characterized in that, The formula for the normal vector corresponding to the arc-shaped side is: in, This represents the normal vector corresponding to the arc edge. Represents the chord direction vector y-axis projection, Represents the chord direction vector x-axis projection, The left and right directions indicate the direction of the center of the circle. The left direction indicates the direction of the center of the circle to the left, and the right direction indicates the direction of the center of the circle to the right.

6. The conflict detection method between flight routes and combined graphic control areas as described in claim 4, characterized in that, The formulas for the starting angle and ending angle of the arc-shaped edge are as follows: Vector C f F i = F i -C f ; Vector C f F i+1 =F i+1 –C f ; Starting angle θ_start=atan2(C f F i .y, C f F i .x); Termination angle θ_end=atan2(C f F i+1 .y, C f F i+1 .x); Among them, C f F i .y represents vector C f F i Projected onto the y-axis, C f F i .x represents vector C f F i Projection onto the x-axis, C f F i+1 .y represents vector C f F i+1 Projected onto the y-axis, C f F i+1 .x represents vector C f F i+1 Projection onto the x-axis.

7. The conflict detection method between flight routes and combined graphic control areas as described in claim 1, characterized in that, The step of constructing the outline polygon of the flight route based on the center point sequence and the route width includes: Obtain the direction vector V of the i-th route segment. i Wherein, the two endpoints of the i-th segment of the route are the i-th point P in the center point sequence of the route. i With point P (i+1) i+1 ; According to the direction vector V i The unit normal vector N of the i-th route segment is calculated. i ; According to the unit normal vector N i and point P of the i-th position i Determine the position P of point i. i The corresponding left vertex L i and the right vertex R i ; Connect the obtained vertices in order to generate a closed polygonal outline of the flight path.

8. A conflict detection device for flight routes and combined graphic control areas, characterized in that, The device includes: The first processing unit is used to construct the outline polygon of the route based on the sequence of center points and the width of the route. The center point sequence includes points on the centerline of the flight path; The first processing unit is also used to transform the combined graphic control region to obtain an equivalent rule control region; The second processing unit is used to perform conflict detection based on the rule-controlled area and the outline polygon of the flight path, and to confirm whether the flight path conflicts with the combined graphic control area.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method as described in any one of claims 1-7.

10. An electronic device, characterized in that, include: Processor and memory, the memory being used to store one or more programs; When the one or more programs are executed by the processor, the method as described in any one of claims 1-7 is implemented.

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