Airline conflict detection method and electronic equipment

Abstract

The invention provides an airline conflict detection method and electronic equipment, and the method comprises the steps: constructing an airline contour polygon according to a center point position sequence of an airline and the width of the airline; and detecting whether the route conflicts with each control area or not according to the vertexes and the edges of the outline polygon of the route. According to the method, the airline with the width is converted into the closed airline outline polygon, and the problem of correlation judgment of the airline with the width and the control area is solved, so that the detection precision and efficiency can be guaranteed during conflict risk detection of the large-scale airline and the control area, and the urgent demand of future low-altitude traffic high-density operation on real-time conflict detection is met.

Description

Technical Field

[0001] This invention relates to the field of aviation, and more specifically, to a method and electronic device for detecting flight path conflicts. Background Technology

[0002] With the rapid development of low-altitude traffic, especially the increasing use of drones, flying cars, and electric vertical takeoff and landing (eVTOL) aircraft, the flow of aircraft in low-altitude airspace is showing a significant upward trend, creating a demand for large-scale real-time spatial conflict detection and early warning between low-altitude flight routes and airspace control areas. During low-altitude flight, it is necessary to determine in real time whether flight routes will conflict with various control areas (such as no-fly zones, altitude-restricted zones, and sensitive facility protection zones), which is crucial for ensuring low-altitude traffic safety and improving airspace utilization efficiency.

[0003] How to ensure the accuracy and efficiency of large-scale flight route and control area conflict risk detection to meet the urgent need for real-time conflict detection in future high-density low-altitude traffic operations has become a problem of concern to those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to provide a method and electronic device for detecting flight path conflicts in order to improve the above-mentioned problems.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows: In a first aspect, embodiments of the present invention provide a method for detecting flight path conflicts, the method comprising: Construct the outline polygon of the flight path based on the sequence of center points and the width of the flight path; Based on the vertices and edges of the outline polygon of the flight route, it is detected whether the flight route conflicts with each control zone.

[0006] 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 position i Determine the position P of point i. i The corresponding left vertex L i and the right vertex R i ; connecting the obtained vertices in sequence to generate a closed route envelope polygon.

[0007] Optionally, when the control region is a polygon control region, the detecting whether the route conflicts with each control region according to the vertices and edges of the route envelope polygon comprises: determining whether a first type of point inclusion condition exists in combination of the route envelope polygon and the polygon control region, wherein the first type of point inclusion condition refers to any vertex in the route envelope polygon being located in the polygon control region or any vertex in the polygon control region being located in the route envelope polygon; if the first type of point inclusion condition exists, determining that the route conflicts with the polygon control region in an intrusion conflict; if the first type of point inclusion condition does not exist, determining whether a separation axis exists between the route envelope polygon and the polygon control region; if the separation axis exists, determining that the route does not conflict with the polygon control region in an intrusion conflict; if the separation axis does not exist, determining that the route conflicts with the polygon control region in an intrusion conflict.

[0008] Optionally, the determining whether the first type of point inclusion condition exists in combination of the route envelope polygon and the polygon control region comprises: performing a point inclusion check using a turning corner method to determine whether each vertex in the route envelope polygon is located in the polygon control region; if any vertex in the route envelope polygon is located in the polygon control region, determining that the first type of point inclusion condition exists; if none of the vertices in the route envelope polygon is located in the polygon control region, performing a point inclusion check using the turning corner method to determine whether each vertex in the polygon control region is located in the route envelope polygon; if any vertex in the polygon control region is located in the route envelope polygon, determining that the first type of point inclusion condition exists; if none of the vertices in the polygon control region is located in the route envelope polygon, determining that a second type of point inclusion condition exists.

[0009] Optionally, when it is determined that the route does not conflict with the polygon control region in an intrusion conflict, the method further comprises: determining a polygon distance between the route envelope polygon and the polygon control region, wherein the polygon distance is the minimum value of the shortest distances between all edges of the route envelope polygon and all edges of the polygon control region. determining that the flight path has a close conflict with the polygonal control area when the polygonal distance is less than a safety distance threshold.

[0010] Optionally, when the control area is a circular control area, the detecting whether the flight path has a conflict with each control area according to the vertices and edges of the flight path envelope polygon comprises: performing a point-in-polygon check using a turn angle method to determine whether the center of the circular control area is inside the flight path envelope polygon; determining that the flight path has an intrusion conflict with the circular control area if the center of the circular control area is inside the flight path envelope polygon; calculating a center distance if the center of the circular control area is outside the flight path envelope polygon, wherein the center distance is the minimum of the shortest distances from the center of the circular control area to each edge of the flight path envelope polygon; determining that the flight path has an intrusion conflict with the circular control area if the center distance is less than or equal to a radius of the circular control area; determining that the flight path has a close conflict with the circular control area if the center distance is greater than the radius of the circular control area and a difference between the center distance and the radius of the circular control area is less than a safety distance threshold.

[0011] Optionally, when the control area is a sector control area, the detecting whether the flight path has a conflict with each control area according to the vertices and edges of the flight path envelope polygon comprises: determining whether each vertex of the flight path envelope polygon is inside the sector control area; determining that the flight path has an intrusion conflict with the sector control area if any vertex of the flight path envelope polygon is inside the sector control area; determining whether each edge of the flight path envelope polygon intersects with an arc in the sector control area if each vertex of the flight path envelope polygon is outside the sector control area; determining that the flight path has an intrusion conflict with the sector control area if any edge of the flight path envelope polygon intersects with the arc in the sector control area; determining whether each edge of the flight path envelope polygon intersects with a radial edge in the sector control area if each edge of the flight path envelope polygon does not intersect with the arc in the sector control area; determining that the flight path has an intrusion conflict with the sector control area if any edge of the flight path envelope polygon intersects with the radial edge in the sector control area; If none of the edges of the route outline polygon intersects with the radial edge in the sector-shaped control region, it is determined that the route and the sector-shaped control region do not have an intrusion conflict.

[0012] Optionally, when the control region is an arc-shaped control region, the detecting, according to the vertices and edges of the route outline polygon, whether the route has a conflict with each control region comprises: determining whether each vertex of the route outline polygon is located in the arc-shaped control region; if any vertex of the route outline polygon is located in the arc-shaped control region, it is determined that the route and the arc-shaped control region have an intrusion conflict; if each vertex of the route outline polygon is located outside the arc-shaped control region, it is determined whether each edge of the route outline polygon intersects with an arc in the arc-shaped control region; if any edge of the route outline polygon intersects with the arc in the arc-shaped control region, it is determined that the route and the arc-shaped control region have an intrusion conflict; if none of the edges of the route outline polygon intersects with the arc in the arc-shaped control region, it is determined whether each edge of the route outline polygon intersects with a chord in the arc-shaped control region; if any edge of the route outline polygon intersects with the chord in the arc-shaped control region, it is determined that the route and the arc-shaped control region have an intrusion conflict; if none of the edges of the route outline polygon intersects with the chord in the arc-shaped control region, it is determined that the route and the arc-shaped control region do not have an intrusion conflict.

[0013] In a second aspect, an electronic device is provided, and the electronic device includes a processor and a memory storing one or more programs, and when the one or more programs are executed by the processor, the above method is implemented.

[0014] Compared with the prior art, the route conflict detection method and the electronic device provided by the embodiments of the present application construct a route outline polygon according to a sequence of center point positions of a route and a route width, and detect whether the route has a conflict with each control region according to vertices and edges of the route outline polygon. The route with a width is converted into a closed route outline polygon, the correlation judgment problem of the route with a width and the control region is solved, and the detection accuracy and efficiency can be guaranteed when a large-scale route and control region conflict risk detection is performed, so as to meet the urgent needs of real-time conflict detection for future low-altitude traffic high-density operation.

[0015] In order to make the above objectives, characteristics and advantages of the present application more apparent, the following preferred embodiments will be specifically described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be considered as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0017] Figure 1 The structural schematic diagram of the electronic device provided by the embodiments of the present application.

[0018] Figure 2 The flow schematic diagram of the route conflict detection method provided by the embodiments of the present application.

[0019] Figure 3 The schematic diagram of the route profile polygon provided by the embodiments of the present application.

[0020] In the figure: 10-processor; 11-memory; 12-bus; 13-communication interface. DETAILED DESCRIPTION

[0021] In order to make the objectives, technical solutions and advantages of the embodiments of the present application more apparent, the following will combine the drawings in the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those skilled in the art on the basis of the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0023] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. Meanwhile, in the description of the present application, the terms "first", "second" and the like are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0024] It should be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0025] In the description of the application, it should be noted that the terms "upper", "lower", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the application is usually placed, only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application.

[0026] In the description of the application, it should be noted that, unless otherwise specified and limited, the terms "set", "connected" should be understood broadly, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, can be electrically connected; can be directly connected, can be indirectly connected through an intermediate medium, can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0027] Some embodiments of the application will be described in detail below with reference to the accompanying drawings. The following examples and features in the examples can be combined with each other without conflict.

[0028] The electronic device provided by the embodiments of the application can be a central control device of an aircraft, or any one of a server device, a computer device and a mobile phone device connected with the central control device of the aircraft. Please refer to Figure 1 , a structural schematic diagram of the 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 through the bus 12, and the processor 10 is used to execute the executable modules stored in the memory 11, such as computer programs.

[0029] The processor 10 can be an integrated circuit chip with signal processing capability. In implementation, the steps of the flight route conflict detection method can be completed by integrated logic circuits of hardware in the processor 10 or instructions in the form of software. The processor 10 described above can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; or can be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0030] The memory 11 can include a high-speed random access memory (RAM), and can also include a non-volatile memory, such as at least one disk memory.

[0031] The bus 12 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. Figure 1 Only one bidirectional arrow is used to represent the bus 12, but it does not mean that there is only one bus 12 or only one type of bus 12.

[0032] The memory 11 is used to store programs, such as programs corresponding to the flight route conflict detection device. The flight route conflict detection device includes at least one software function module which can be stored in the memory 11 in the form of software or firmware or solidified in an operating system (OS) of the electronic device. After receiving an execution instruction, the processor 10 executes the program to implement the flight route conflict detection method.

[0033] Possibly, the electronic device provided by the embodiment of the present application further includes a communication interface 13. The communication interface 13 is connected with the processor 10 through the bus.

[0034] It should be understood that, Figure 1 The structure shown is only a structural schematic diagram of part of the electronic device, and the electronic device can further include more components than those shown in the figure. Figure 1more or less components than those shown, or configurations having different configurations than those shown. Figure 1 Figure 1 The components shown in the various embodiments can be implemented in hardware, software, or a combination thereof.

[0035] The flight path conflict detection method provided by the embodiments of the present application can be applied to, but is not limited to, the electronic device shown in the drawings, and the specific process is described in the following Figure 1 Figure 2 The flight path conflict detection method comprises S10 and S20, which are specifically described as follows.

[0036] S10, constructing a flight path contour polygon according to a center point sequence of the flight path and a flight path width.

[0037] The center point sequence comprises point positions on a center line of the flight path.

[0038] S20, detecting whether the flight path conflicts with each control area according to vertices and edges of the flight path contour polygon.

[0039] In the flight path conflict detection method provided by the embodiments of the present application, the flight path with a width is converted into a closed flight path contour polygon, the correlation judgment problem of the flight path with a width and the control area is solved, and thus the detection accuracy and efficiency can be guaranteed when large-scale flight path and control area conflict risk detection is performed, so as to meet the urgent demand for real-time conflict detection in future low-altitude traffic high-density operation.

[0040] On the basis of the foregoing, regarding the content in S10, the embodiments of the present application further provide an optional implementation, which is described in the following. S10, constructing a flight path contour polygon according to a center point sequence of the flight path and a flight path width, comprises S101, S102, S103 and S104, which are specifically described as follows.

[0041] S101, obtaining a direction vector V i of an i-th segment of the flight path.

[0042] The two end points of the i-th segment of the flight path are an i-th point position P i and an i+1-th point position P i+1 in the center point sequence of the flight path, V i =P i+1 -P i , 1≤i≤I-1, and I represents the total number of point positions in the center point sequence.

[0043] S102, calculating a unit normal vector N i of the i-th segment of the flight path according to the direction vector V i .

[0044] The unit normal vector N i ​​and points to the outside of the route, N i = normalize(rotate90°(V i ))).

[0045] S103, according to the route width, unit normal vector N i and the i point position P i , determine the corresponding left vertex L i and right vertex R i of the i point position P i .

[0046] Here, left and right are determined relative to the direction vector V i , left vertex: L i = P i + (W / 2) × N i , right vertex: R i =P i - (W / 2) ×N i , W represents the route width.

[0047] It should be particularly pointed out that L I = P I + (W / 2) × N I-1 , right vertex: R I =P I - (W / 2) ×N I-1 .

[0048] S104, connect the obtained each vertex in order to generate a closed route contour polygon.

[0049] The conflict detection problem of the route and the control area is converted into the correlation between the route contour polygon and the closed graph of the control area graph.

[0050] Specifically, please refer to Figure 3 , Figure 3 the schematic diagram of the route contour polygon provided by the embodiment of the application. Figure 3 In the embodiment, I takes 4 as an example, but it is not limited to this.

[0051] When the control area is a polygon control area, regarding the content in S20, the embodiment of the application further provides an optional implementation, please refer to the following. S20, according to the vertex and edge of the route contour polygon, detect whether the route conflicts with each control area, comprising: S211, S212, S213, S214 and S215, which are specifically described as follows.

[0052] S211, in combination with the route outline polygon and the polygon control area, determine whether there is a first type of point inclusion condition. If there is a first type of point inclusion condition, S212 is executed; if there is no first type of point inclusion condition, S213 is executed.

[0053] The first type of point inclusion condition refers to any vertex of the route outline polygon being located within the polygon control area, or any vertex of the polygon control area being located within the route outline polygon.

[0054] S212, determine whether there is an invasion conflict between the route and the polygon control area.

[0055] If there is a first type of point inclusion condition, it is determined that the route outline polygon intersects the polygon control area, i.e., there is an invasion conflict between the route and the polygon control area.

[0056] S213, determine whether there is a separation axis between the route outline polygon and the polygon control area. If there is a separation axis, S214 is executed; if there is no separation axis, S215 is executed.

[0057] If there is no first type of point inclusion condition, it is necessary to continue to determine whether there is a separation axis between the route outline polygon and the polygon control area, which is a high-efficiency method for judging the intersection of convex polygons, the core idea of which is that if there is a straight line (separation axis) that makes the projection intervals of the two polygons on the straight line not overlap, then the two polygons do not intersect.

[0058] S214, determine that there is no invasion conflict between the route and the polygon control area.

[0059] If there is a separation axis, it is determined that the route outline polygon does not intersect the polygon control area, i.e., there is no invasion conflict between the route and the polygon control area.

[0060] S215, determine that there is an invasion conflict between the route and the polygon control area.

[0061] If there is no separation axis, S215, determine that the route outline polygon intersects the polygon control area, i.e., there is an invasion conflict between the route and the polygon control area.

[0062] On the basis of the foregoing, regarding the content in S211, the embodiment of the application further provides an alternative implementation, please refer to the following. S211, in combination with the route outline polygon and the polygon control area, determine whether there is a first type of point inclusion condition, comprising: S211-1 to S211-5, which are specifically described as follows.

[0063] S211-1, using the turning angle method to perform the point inclusion check, to determine whether each vertex in the route outline polygon is located within the polygon control region. If any vertex in the route outline polygon is located within the polygon control region, S211-2 is performed; if none of the vertices in the route outline polygon is located within the polygon control region, S211-3 is performed.

[0064] The advantage of using the turning angle method is that: the boundary points and vertices are accurately processed (without special processing); it is more robust for concave polygons and non-simple polygons; the calculation efficiency is comparable to the ray method, thereby reducing the complexity of conflict detection.

[0065] S211-2, it is determined that the first type of point inclusion exists.

[0066] S211-3, using the turning angle method to perform the point inclusion check, to determine whether each vertex in the polygon control region is located within the route outline polygon. If any vertex in the polygon control region is located within the route outline polygon, S211-4 is performed; if none of the vertices in the polygon control region is located within the route outline polygon, S211-5 is performed.

[0067] S211-4, it is determined that the first type of point inclusion exists.

[0068] S211-5, it is determined that the non-first type of point inclusion exists.

[0069] On the basis of the foregoing, regarding how to determine whether each vertex in the route outline polygon is located within the polygon control region, and whether each vertex in the polygon control region is located within the route outline polygon, the embodiment of the present application further provides an alternative implementation. The above can be understood equivalently as: using the turning angle method to perform the point inclusion check, to determine whether a target vertex in a first polygon is located within a second polygon. The target vertex is any vertex in the first polygon, when the first polygon is the route outline polygon, the second polygon is the polygon control region; when the first polygon is the polygon control region, the second polygon is the route outline polygon.

[0070] Regarding the specific process of using the turning angle method to perform the point inclusion check to determine whether the target vertex in the first polygon is located within the second polygon, it includes S31 to S38, which are specifically described as follows.

[0071] S31, determining the intersection of the target vertex and the nth edge of the second polygon.

[0072] The starting point of the nth edge (K n - K n+1 ) is the nth vertex K n within the second polygon, and the ending point of the nth edge is the (n+1)th vertex Kn+1 The (N+1)th vertex is the 1st vertex, 1≤n≤N, the initial value of n is 1, and N represents the total number of vertices in the second polygon.

[0073] S32, when the target vertex meets the upward intersection with the nth edge, the winding number is increased by 1.

[0074] The initial value of the winding number is 0.

[0075] S33, when the target vertex meets the downward intersection with the nth edge, the winding number is decreased by 1.

[0076] S34, it is determined whether n

[0077] S35, n=n+1 is set, and the intersection of the target vertex with the nth edge of the second polygon is repeatedly determined.

[0078] S36, it is determined whether the winding number is 0. If the winding number is not 0, S37 is executed; if the winding number is 0, S38 is executed.

[0079] S37, the target vertex is located in the second polygon.

[0080] S38, the target vertex is located outside the second polygon.

[0081] On the basis of the foregoing, regarding the content in S31, the embodiment of the application further provides an alternative implementation, please refer to the following. S31, the intersection of the target vertex with the nth edge of the second polygon is determined, including S311 and S312, which are specifically described as follows.

[0082] S311, when K n ·y≤Q·y and K n+1 ·y>Q·y is established, if the target vertex is located on the left side of the nth edge (that is, the cross product (K n+1 -K n )×(Q-K n )>0), it is determined that the target vertex meets the upward intersection with the nth edge.

[0083] Wherein, the starting point of the nth edge is the nth vertex K n in the second polygon, the ending point of the nth edge is the (n+1)th vertex K n+1 in the second polygon, the (N+1)th vertex is the 1st vertex, 1≤n≤N, N represents the total number of vertices in the second polygon, Q represents the target vertex, in the two-dimensional Cartesian coordinate system, K n ·y represents the y-axis projection of the nth vertex K n , and K n+1 ·y represents the y-axis projection of the (n+1)th vertex Kn+1 Q·y represents the y-axis projection of the target vertex Q.

[0084] When it is determined that the target vertex meets upward intersection with the nth edge, the winding number is added by 1.

[0085] S312, when K n ·y>Q·y and K n+1 ·y≤Q·y, if the target vertex is located on the right side of the nth edge (i.e. the cross product (K n+1 -K n )×(Q-K n )<0), it is determined that the target vertex meets downward intersection with the nth edge.

[0086] When it is determined that the target vertex meets downward intersection with the nth edge, the winding number is subtracted by 1.

[0087] On the basis of the foregoing, as to the content in S213, the embodiment of the application further provides an alternative implementation, please refer to the following. S213, determining whether there is a separation axis between the air route outline polygon and the polygon control area, comprising: S213-1 to S213-9, which are specifically described as follows.

[0088] S213-1, determining the unit normal vector of each edge in the first polygon, and taking the unit normal vector as a first type of candidate separation axis.

[0089] S213-2, projecting all the vertices in the first polygon and the second polygon to each first type of candidate separation axis.

[0090] Wherein, when the first polygon is the air route outline polygon, the second polygon is the polygon control area; when the first polygon is the polygon control area, the second polygon is the air route outline polygon.

[0091] S213-3, determining whether there is a first type of target separation axis. If there is a first type of target separation axis, S213-4 is executed; if there is no first type of target separation axis, S213-5 is executed.

[0092] Wherein, the first type of target separation axis is the first type of candidate separation axis which is not overlapped by the first projection interval ([minA_i, maxA_i]) and the second projection interval ([minB_i, maxB_i]), the first projection interval is the projection interval of all the vertices of the first polygon on the first type of candidate separation axis, and the second projection interval is the projection interval of all the vertices of the second polygon on the first type of candidate separation axis. If maxA_i<minB_i OR maxB_i<minA_i, it is determined that the first projection interval and the second projection interval are not overlapped on the first type of candidate separation axis.

[0093] S213-4, It is determined that there is a separating axis between the outer polygon of the flight route and the polygon control area.

[0094] S213-5, determine the unit normal vector of each edge in the second polygon, and use it as the second type of candidate separating axis.

[0095] S213-6, Project all vertices of the first and second polygons onto each of the second-class candidate separating axes.

[0096] S213-7, Determine whether a second type of target separation axis exists. If a second type of target separation axis exists, execute S213-8; if a first type of target separation axis does not exist, execute S213-9.

[0097] 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.

[0098] S213-8, determines that there is a separating axis between the outer polygon of the flight route and the polygon control area.

[0099] S213-9, confirming that there is no separating axis in the outer polygon of the flight path and the polygon control area.

[0100] Building upon the preceding text, when it is determined that there is no intrusion conflict between the flight path and the polygonal 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 polygonal control area, as detailed below. When it is determined that there is no intrusion conflict between the flight path and the polygonal control area, the flight path conflict detection method further includes: S216 and S217, as detailed below.

[0101] S216, determine the polygon spacing between the outline polygon of the flight route and the polygon control area.

[0102] 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.

[0103] 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 represents the jth edge in the polygonal controlled region, A i ∈ (A1, A I ), B j ∈ (B1, B J ), A I represents the last edge in the polygonal route envelope, B J the last edge in the polygonal controlled region, Distance(Edge_A i , Edge_B j ) represents the shortest distance between A i and B j , foralli,j represents all values of i and j.

[0104] S217, when the polygonal distance is less than the safety distance threshold (D_min < D_safe), it is determined that the route and the polygonal controlled region have a close conflict.

[0105] When the polygonal distance is greater than or equal to the safety distance threshold, it is determined that the route and the polygonal controlled region do not have a close conflict.

[0106] When the controlled region is a circular controlled region, regarding the content in S20, the embodiment of the application further provides an alternative implementation, please refer to the following. S20, according to the vertices and edges of the route envelope polygon, detecting whether the route has a conflict with each controlled region, comprising: S221, S222, S223, S224 and S225, which are described as follows.

[0107] S221, using the corner method to perform point inclusion check to determine whether the center of the circular controlled region is within the route envelope polygon. If the center of the circular controlled region is within the route envelope polygon, S222 is executed; if the center of the circular controlled region is outside the route envelope polygon, S223 is executed.

[0108] Regarding how to determine whether the center of the circular controlled region is within the route envelope polygon, please refer to the process of determining whether the target vertex is located within the second polygon, which will not be described here.

[0109] S222, it is determined that the route and the circular controlled region have an intrusion conflict.

[0110] S223, calculating the center distance (D_edge).

[0111] Wherein, the center distance is the minimum value of the shortest distance from the center of the circular controlled region to each edge in the route envelope polygon.

[0112] Optionally, the process of calculating the shortest distance between a specified point (e.g. the center of a circular control area) and a specified edge (an edge in the route shape polygon) comprises: determining a projection point P_proj of the specified point on the specified edge; determining whether the projection point is on the specified edge, comprising: determining whether 0<=dot(SP, SQ1) / dot(SP, SP)<=1 is true, wherein S is the start point of the specified edge, P is the end point of the specified edge, and Q1 is the specified point, and when the above equation is true, the projection point is on the specified edge; if the projection point is on the specified edge, the shortest distance between the specified point and the specified edge is the distance between the specified point and the projection point; if the projection point is not on the specified edge, the shortest distance between the specified point and the specified edge is the smaller one of the distance between the specified point and the start point of the specified edge and the distance between the specified point and the end point of the specified edge.

[0113] S224, if the distance between the centers is less than or equal to the radius of the circular control area, it is determined that the route and the circular control area have an intrusion conflict.

[0114] S225, if the distance between the centers is greater than the radius of the circular control area, and the difference between the distance between the centers and the radius of the circular control area is less than the safety distance threshold (D_edge-R<D_safe), it is determined that the route and the circular control area have a proximity conflict.

[0115] When the control area is a sector control area, regarding the content in S20, the present embodiment further provides an optional implementation, please refer to the following. S20, detecting whether the route has a conflict with each control area according to the vertices and edges of the route shape polygon, comprising: S231, S232, S233, S234, S235, S236 and S237, which are specifically described as follows.

[0116] S231, determining whether each vertex of the route shape polygon is located within the sector control area. If any vertex of the route shape polygon is located within the sector control area, S232 is executed; if each vertex of the route shape polygon is located outside the sector control area, S233 is executed.

[0117] S232, determining that the route and the sector control area have an intrusion conflict.

[0118] S233, determining whether each edge of the route shape polygon intersects with the arc in the sector control area. If any edge of the route shape polygon intersects with the arc in the sector control area, S234 is executed; if each edge of the route shape polygon does not intersect with the arc in the sector control area, S235 is executed.

[0119] Optionally, determining whether each edge of the route envelope polygon intersects with the circular arc in the sector-shaped controlled area comprises: obtaining a third line segment EoFo, wherein the third line segment EoFo is any edge in the route envelope polygon, Eo and Fo are endpoints of the third line segment; obtaining the center C, the radius R, the start angle θ_start and the end angle θ_end of the sector-shaped controlled area; calculating the shortest distance d_min of the third line segment EoFo to the center C, and the specific calculation method is: calculating vector CE_o = Eo - C and vector EF = Fo - Eo; calculating projection parameter t = dot(CE_o, EF) / dot(EF, EF); when 0 ≤ t ≤ 1, the nearest point P = Eo + t × EF, and the distance ; when t < 0, the nearest point is Eo, and the distance ; when t > 1, the nearest point is Fo, and the distance ; when d_min ≤ R, calculating the intersection point of the third line segment and the circle: establishing the parametric equation of the line segment: P(t) = Eo + t × (Fo - Eo), wherein 0 ≤ t ≤ 1; substituting the parametric equation into the equation of the circle: ; solving the quadratic equation to obtain the value of parameter t; when the value of t is in the range of [0, 1], the corresponding P(t) is the valid intersection point; for each valid intersection point P, calculating the angle θ thereof relative to the center C: θ = atan2(P.y - C.y, P.x- C.x); judging whether the angle θ is in the angle range [θ_start, θ_end] of the sector: when θ_start ≤ θ_end, if θ_start ≤ θ ≤ θ_end, the intersection point is on the sector-shaped circular arc; when θ_start > θ_end (across 0°), if θ ≥ θ_start or θ ≤ θ_end, the intersection point is on the sector-shaped circular arc; when there is an intersection point on the sector-shaped circular arc, it is determined that the edge of the route envelope polygon intersects with the circular arc in the sector-shaped controlled area; otherwise, it does not intersect. S234, determining that the route and the sector-shaped controlled area exist intrusion conflict.

[0120] S235, determining whether each edge of the route envelope polygon intersects with the radial edge in the sector-shaped control region. If any edge of the route envelope polygon intersects with the radial edge in the sector-shaped control region, S236 is performed; if each edge of the route envelope polygon does not intersect with the radial edge in the sector-shaped control region, S237 is performed.

[0121] Optionally, the determining whether each edge of the route envelope polygon intersects with the radial edge in the sector-shaped control region comprises: obtaining a cross product corresponding to a first line segment AoBo and a second line segment CoDo; wherein the first line segment AoBo is any edge of the route envelope polygon, Ao and Bo are endpoints of the first line segment, the second line segment CoDo is the radial edge in the sector-shaped control region, and Co and Do are endpoints of the second line segment; when the cross product (Co-Ao) x (Bo-Ao) and the cross product (Do-Ao) x (Bo-Ao) are of different signs, and the cross product (Ao-Co) x (Do-Co) and the cross product (Bo-Co) x (Do-Co) are of different signs, it is determined that the edge of the route envelope polygon intersects with the radial edge in the sector-shaped control region; otherwise, it is determined that the edge of the route envelope polygon does not intersect with the radial edge in the sector-shaped control region.

[0122] S236, determining that the route and the sector-shaped control region have an intrusion conflict.

[0123] S237, determining that the route and the sector-shaped control region do not have an intrusion conflict.

[0124] When it is determined that the route and the sector-shaped control region do not have an intrusion conflict, the route conflict detection method further comprises: S238 and S239, which are specifically as follows.

[0125] S238, obtaining a sector-shaped distance between the route envelope polygon and the sector-shaped control region.

[0126] The sector-shaped distance is the minimum value of the shortest distances between the edges of the route envelope polygon and the circular arcs and the radial edges of the sector-shaped control region.

[0127] S239, when the sector-shaped distance is less than a safety distance threshold, determining that the route and the sector-shaped control region have a proximity conflict.

[0128] When the control region is an arc-shaped control region, regarding the content in S20, the embodiments of the present application further provide an optional implementation, which is described below. S20, detecting whether the route and each control region have a conflict according to the vertices and edges of the route envelope polygon, comprises: S241 to S249, which are specifically described as follows.

[0129] S241, determining whether each vertex of the route envelope polygon is located in the arc-shaped control region. If any vertex of the route envelope polygon is located in the arc-shaped control region, S242 is performed; if each vertex of the route envelope polygon is located outside the arc-shaped control region, S243 is performed.

[0130] S242, determine whether the flight route and the arc-shaped control region have an invasion conflict.

[0131] S243, determine whether each side of the flight route polygon of the flight route and the chord in the arc-shaped control region intersect. If any side of the flight route polygon of the flight route and the chord in the arc-shaped control region intersect, S244 is performed; if each side of the flight route polygon of the flight route and the chord in the arc-shaped control region do not intersect, S245 is performed.

[0132] S244, determine whether the flight route and the arc-shaped control region have an invasion conflict.

[0133] S245, determine whether each side of the flight route polygon of the flight route and the chord in the arc-shaped control region intersect. If any side of the flight route polygon of the flight route and the chord in the arc-shaped control region intersect, S246 is performed; if each side of the flight route polygon of the flight route and the chord in the arc-shaped control region do not intersect, S247 is performed.

[0134] S246, determine whether the flight route and the arc-shaped control region have an invasion conflict.

[0135] S247, determine whether the flight route and the arc-shaped control region do not have an invasion conflict.

[0136] When it is determined that the flight route and the arc-shaped control region do not have an invasion conflict, S248 and S249 are performed.

[0137] S248, obtain an arc-shaped distance between the flight route polygon and the arc-shaped control region.

[0138] The arc-shaped distance is the minimum value of the shortest distances between the sides of the flight route polygon and the chord and the arc of the arc-shaped control region.

[0139] S249, when the arc-shaped distance is less than a safety distance threshold, determine that the flight route and the arc-shaped control region have a proximity conflict.

[0140] Optionally, the determination of whether each side of the flight route polygon and the chord in the arc-shaped control region intersect includes: obtaining a cross product corresponding to a first line segment AoBo and a second line segment CoDo; the first line segment AoBo is any side of the flight route polygon, Ao and Bo are endpoints of the first line segment, the second line segment CoDo is the chord in the arc-shaped control region, and Co and Do are endpoints of the second line segment; when the cross product (Co-Ao) x (Bo-Ao) and the cross product (Do-Ao) x (Bo-Ao) are of different signs, and the cross product (Ao-Co) x (Do-Co) and the cross product (Bo-Co) x (Do-Co) are of different signs, it is determined that the side of the flight route polygon and the chord in the arc-shaped control region intersect.

[0141] In an alternative embodiment, the result of the conflict detection can also be recorded and reported.

[0142] The route conflict detection method provided by the embodiment has the following advantages: (1) The conflict detection accuracy rate in a typical low-altitude scene reaches 99.2% through vector geometry accurate calculation (turning angle method and separation axis theorem), the precision loss caused by rasterization is avoided, various shapes of the control area such as polygon, circle, sector and arc can be accurately processed, and the accurate relevance judgment of complex concave polygons and combined graphics is supported.

[0143] (2) The layered relevance judgment strategy replaces the traditional rasterization method, the calculation time is reduced by 65% compared with the traditional raster method, the algorithm complexity is low, the real-time conflict detection demand is met, and support is provided for real-time route planning and safety evaluation.

[0144] (3) The spatial relationship calculation based on vector operation has a rigorous mathematical basis, is highly versatile and robust, and becomes an ideal choice for solving the real-time conflict prediction problem of low-altitude flight by virtue of the efficient spatial relationship calculation capability, and is suitable for real-time deployment of low-altitude traffic management systems.

[0145] The route conflict detection method provided by the embodiment is a vector method spatial conflict detection method suitable for low-altitude traffic management systems, the joint modeling mechanism based on vector geometry calculation and layered relevance judgment is proposed to solve the problems of insufficient accuracy and low calculation efficiency of the existing rasterization method in large-scale real-time conflict detection, and high-precision spatial relevance judgment can be realized for each route conflict detection task.

[0146] The embodiment also provides a storage medium storing computer instructions and programs, which perform the route conflict detection method of the above embodiment when read and run. The storage medium can include memory, flash memory, register or a combination thereof.

[0147] The following provides an electronic device, which can be any one of a central control device of an aircraft, a server device, a computer device and a mobile phone device connected with the central control device of the aircraft, and the electronic device can implement the route conflict detection method as shown in the following Figure 1 The electronic device includes a processor 10, a memory 11 and a bus 12. The processor 10 can be a CPU. The memory 11 is used to store one or more programs, and when the one or more programs are executed by the processor 10, the route conflict detection method of the above embodiment is executed.

[0148] In summary, the route conflict detection method and the electronic device provided by the embodiment of the present application construct a route contour polygon according to the sequence of the center points of the route and the route width, and detect whether the route conflicts with each control area according to the vertexes and edges of the route contour polygon. The route with width is converted into a closed route contour polygon, the correlation determination problem of the route with width and the control area is solved, and the detection accuracy and efficiency can be guaranteed when large-scale route and control area conflict risk detection is performed, so as to meet the urgent demand of real-time conflict detection for future low-altitude traffic high-density operation.

[0149] The preferred embodiments of the present application have been described above with the preferred embodiments, but the present application is not limited to the above examples, and various modifications and changes can be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0150] It is obvious for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the involved claims.

Claims

1. A method of detecting a route conflict, characterized by, The method comprises: constructing a route outline polygon according to a sequence of center point positions of the route and a route width; detecting whether the route conflicts with each control area according to vertices and edges of the route outline polygon.

2. The route conflict detection method of claim 1, wherein, The constructing a route outline polygon according to a sequence of center point positions of the route and a route width comprises: obtaining a direction vector V of the i-th segment of the route i wherein the two end points of the i-th segment of the route are the i-th point P in a sequence of center points of the route i and the i+1-th point P i+1 ; According to the direction vector V i , the unit normal vector N i of the i-th segment is calculated. According to the route width, the unit normal vector N i And the i point P i , determine the corresponding left vertex L i And the right vertex R i And the i point P i ; connecting each obtained vertex in sequence to generate a closed route outline polygon.

3. The route conflict detection method of claim 1, wherein, When the control area is a polygon control area, the detecting whether the route conflicts with each control area according to vertices and edges of the route outline polygon comprises: determining whether there is a first type of point inclusion condition in combination of the route outline polygon and the polygon control area, wherein the first type of point inclusion condition refers to any vertex in the route outline polygon being located in the polygon control area or any vertex in the polygon control area being located in the route outline polygon; if the first type of point inclusion condition exists, determining that the route conflicts with the polygon control area in terms of invasion; if the first type of point inclusion condition does not exist, determining whether there is a separation axis between the route outline polygon and the polygon control area; if the separation axis exists, determining that the route does not conflict with the polygon control area in terms of invasion; if the separation axis does not exist, determining that the route conflicts with the polygon control area in terms of invasion.

4. The route conflict detection method of claim 3, wherein, The determining whether there is a first type of point inclusion condition in combination of the route outline polygon and the polygon control area comprises: performing point inclusion checking using a corner turning method to determine whether each vertex in the route outline polygon is located in the polygon control area; if any vertex in the route outline polygon is located in the polygon control area, determining that the first type of point inclusion condition exists; if none of the vertices in the route outline polygon is located in the polygon control area, performing point inclusion checking using the corner turning method to determine whether each vertex in the polygon control area is located in the route outline polygon; if any vertex in the polygon control area is located in the route outline polygon, determining that the first type of point inclusion condition exists; if none of the vertices in the polygon control area is located in the route outline polygon, determining that the first type of point inclusion condition does not exist.

5. The route conflict detection method of claim 3, wherein, When it is determined that the route does not conflict with the polygon control area in terms of invasion, the method further comprises: determining a polygon distance between the route outline polygon and the polygon control area, wherein the polygon distance is the minimum value in shortest distances between all edges of the route outline polygon and all edges of the polygon control area; when the polygon distance is less than a safety distance threshold, determining that the route conflicts with the polygon control area in terms of proximity.

6. The route conflict detection method of claim 1, wherein, When the control area is a circular control area, the detecting whether the route conflicts with each control area according to vertices and edges of the route outline polygon comprises: performing point inclusion checking using a corner turning method to determine whether a center of the circular control area is located in the route outline polygon; if the center of the circular control area is inside the flight path envelope polygon, determining that the flight path and the circular control area have an intrusion conflict; if the center of the circular control area is outside the flight path envelope polygon, calculating a center distance, wherein the center distance is the minimum of the shortest distances from the center of the circular control area to each edge of the flight path envelope polygon; if the center distance is less than or equal to the radius of the circular control area, determining that the flight path and the circular control area have an intrusion conflict; if the center distance is greater than the radius of the circular control area and the difference between the center distance and the radius of the circular control area is less than a safety distance threshold, determining that the flight path and the circular control area have a proximity conflict.

7. The route conflict detection method of claim 1, wherein, when the control area is a sector control area, the detecting, according to the vertices and edges of the flight path envelope polygon, whether the flight path has a conflict with each control area, comprising: determining whether each vertex of the flight path envelope polygon is located inside the sector control area; if any vertex of the flight path envelope polygon is located inside the sector control area, determining that the flight path and the sector control area have an intrusion conflict; if each vertex of the flight path envelope polygon is located outside the sector control area, determining whether each edge of the flight path envelope polygon intersects with an arc in the sector control area; if any edge of the flight path envelope polygon intersects with the arc in the sector control area, determining that the flight path and the sector control area have an intrusion conflict; if each edge of the flight path envelope polygon does not intersect with the arc in the sector control area, determining whether each edge of the flight path envelope polygon intersects with a radial edge in the sector control area; if any edge of the flight path envelope polygon intersects with the radial edge in the sector control area, determining that the flight path and the sector control area have an intrusion conflict; if each edge of the flight path envelope polygon does not intersect with the radial edge in the sector control area, determining that the flight path and the sector control area do not have an intrusion conflict.

8. The route conflict detection method of claim 1, wherein, when the control area is a sector control area, the detecting, according to the vertices and edges of the flight path envelope polygon, whether the flight path has a conflict with each control area, comprising: determining whether each vertex of the flight path envelope polygon is located inside the sector control area; if any vertex of the flight path envelope polygon is located inside the sector control area, determining that the flight path and the sector control area have an intrusion conflict; if each vertex of the flight path envelope polygon is located outside the sector control area, determining whether each edge of the flight path envelope polygon intersects with an arc in the sector control area; if any edge of the flight path envelope polygon intersects with the arc in the sector control area, determining that the flight path and the sector control area have an intrusion conflict; if each edge of the flight path envelope polygon does not intersect with the arc in the sector control area, determining whether each edge of the flight path envelope polygon intersects with a radial edge in the sector control area; if any edge of the flight path envelope polygon intersects with the radial edge in the sector control area, determining that the flight path and the sector control area have an intrusion conflict; if each edge of the flight path envelope polygon does not intersect with the radial edge in the sector control area, determining that the flight path and the sector control area do not have an intrusion conflict. if any side of the route outline polygon intersects with a chord in the arc-shaped control area, it is determined that the route and the arc-shaped control area have an intrusion conflict; if each side of the route outline polygon does not intersect with a chord in the arc-shaped control area, it is determined that the route and the arc-shaped control area do not have an intrusion conflict.

9. The route conflict detection method of claim 8, wherein, The determination of whether each side of the route outline polygon intersects with a chord in the arc-shaped control area comprises: obtaining a cross product corresponding to the first line segment AoBo and the second line segment CoDo; wherein the first line segment AoBo is any side of the route outline polygon, Ao and Bo are end points of the first line segment, the second line segment CoDo is a chord in the arc-shaped control area, and Co and Do are end points of the second line segment; when the cross product (Co-Ao) x (Bo-Ao) and the cross product (Do-Ao) x (Bo-Ao) are of different signs, and the cross product (Ao-Co) x (Do-Co) and the cross product (Bo-Co) x (Do-Co) are of different signs, it is determined that the side of the route outline polygon intersects with the chord in the arc-shaped control area.

10. An electronic device, comprising: comprise: a processor and a memory for storing one or more programs; when the one or more programs are executed by the processor, the method of any one of claims 1-9 is implemented.

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