Method and device for relieving aircraft conflict and electronic equipment

Abstract

The invention provides a method and device for removing aircraft conflicts, electronic equipment and a non-instantaneous computer readable storage medium, the method is applied to a control center, and the method comprises the following steps: acquiring flight information of aircrafts with conflicts; according to a preset priority rule, determining a conflict removal sequence of the aircrafts with conflicts; according to the flight information, based on the conflict resolution sequence, flight resolution actions of all the aircrafts with conflicts are sequentially determined, and the flight resolution actions meet preset flight condition limits of the corresponding aircrafts. According to the embodiment of the invention, the control center determines the conflict removal sequence of the aircrafts with conflicts according to the preset priority rule, so that the aircrafts can sequentially execute flight removal actions according to the determined conflict removal sequence. According to the embodiment, the flight safety of the aircraft is guaranteed, the flight mission requirement of the aircraft can be met to the maximum extent, and the management efficiency of the aircraft is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of low-altitude flight management, in particular to a method and device for resolving conflicts of aircraft, electronic equipment and non-transitory computer readable storage medium. BACKGROUND

[0002] At present, the management and service level of low-altitude is still in the information stage, and the development process of digitization, intelligentization, automation, autonomy and self-evolution has just begun. Low-altitude airspace contains broad application and prospect. With the booming development of low-altitude economy mainly based on consumer-grade unmanned aerial vehicles, industrial-grade unmanned aerial vehicles, urban air traffic, navigable helicopters and other industries, new challenges are put forward for the traffic management and planning of low-altitude airspace.

[0003] Therefore, it is necessary to provide a unified management technical solution for low-altitude aircraft, and a unified solution for aircraft in conflict to ensure the safe operation of low-altitude aircraft. SUMMARY

[0004] The present application provides a method and device for resolving conflicts of aircraft, electronic equipment and non-transitory computer readable storage medium to solve the conflict problem of low-altitude aircraft in the prior art.

[0005] According to an aspect of the present application, a method for resolving conflicts of aircraft is provided, applied to a control center, and the method comprises:

[0006] obtaining flight information of aircraft in conflict;

[0007] determining a conflict resolution sequence of the aircraft in conflict according to a preset priority rule;

[0008] determining a flight resolution action of each aircraft in conflict in sequence based on the conflict resolution sequence according to the flight information, wherein the flight resolution action meets a preset flight condition limit of the corresponding aircraft.

[0009] According to some embodiments, before determining the conflict resolution sequence of the aircraft in conflict according to the preset priority rule, the method further comprises:

[0010] determining the priority rule according to a priority sorting rule, the priority sorting rule comprising aircraft number, aircraft type, aircraft task urgency or flight purpose.

[0011] According to some embodiments, determining a flight resolution action of each aircraft in conflict in sequence based on the conflict resolution sequence according to the flight information comprises:

[0012] determine, according to the conflict resolution sequence, a solid angle corresponding to the flight resolution action to be performed by each aerial vehicle;

[0013] discretize a pose of the aerial vehicle within the solid angle range to generate a list of selectable coordination actions;

[0014] evaluate each selectable coordination action in the list of selectable coordination actions to filter out a flight resolution action suitable for the aerial vehicle, so that the filtered out flight resolution action satisfies a preset flight condition limit of the corresponding aerial vehicle.

[0015] According to some embodiments, determining, according to the conflict resolution sequence, a solid angle corresponding to the flight resolution action to be performed by each aerial vehicle comprises:

[0016] determining an aerial vehicle to perform an action according to the conflict resolution sequence;

[0017] constructing a solid angle of the aerial vehicle;

[0018] determining an available solid angle in the solid angle of the aerial vehicle;

[0019] determining, according to the flight information, a solid angle closest to a flight trajectory of the aerial vehicle from the available solid angles as the solid angle corresponding to the flight resolution action to be performed by the aerial vehicle.

[0020] According to some embodiments, constructing a solid angle of the aerial vehicle comprises:

[0021] constructing the solid angle of the aerial vehicle with a center of mass of the aerial vehicle as a sphere center.

[0022] According to some embodiments, determining an available solid angle in the solid angle of the aerial vehicle comprises:

[0023] determining, according to the conflict resolution sequence, an occupied solid angle that has been occupied by other aerial vehicles;

[0024] selecting, from the solid angles, a solid angle that has not been occupied by other aerial vehicles as the available solid angle.

[0025] According to some embodiments, selecting, from the solid angles, a solid angle that has not been occupied by other aerial vehicles as the available solid angle comprises:

[0026] selecting, from the constructed solid angle of the aerial vehicle, a solid angle that does not overlap with the occupied solid angles of other aerial vehicles as the available solid angle.

[0027] According to some embodiments, evaluating each selectable coordination action in the list of selectable coordination actions comprises evaluating the feasibility, safety and / or impact on a flight mission of the each selectable coordination action.

[0028] According to some embodiments, the preset flight condition limit comprises a safety interval constraint and / or a flight performance constraint.

[0029] According to some embodiments, the optional coordination action comprises a translation adjustment action, a height adjustment action and / or a speed adjustment action.

[0030] According to an aspect of the present application, a device for resolving conflicts of aircrafts is provided, which is applied to a control center, and the device comprises:

[0031] a flight information acquisition unit, configured to acquire flight information of the aircrafts in conflict;

[0032] a conflict resolution sequence determination unit, configured to determine a conflict resolution sequence of the aircrafts in conflict according to a preset priority rule;

[0033] a flight resolution action determination unit, configured to determine a flight resolution action of each aircraft in conflict according to the flight information and based on the conflict resolution sequence, wherein the flight resolution action satisfies a preset flight condition limit of the corresponding aircraft.

[0034] According to an aspect of the present application, an electronic device is provided, which comprises a processor, a memory configured to store a computer program, and when the computer program is executed by the processor, the processor implements the method according to any one of the preceding embodiments.

[0035] According to an aspect of the present application, a non-transitory computer readable storage medium is provided, which stores computer readable instructions, and when the instructions are executed by a processor, the processor executes the method according to any one of the preceding embodiments.

[0036] According to the example embodiments of the present application, the control center determines a conflict resolution sequence of the aircrafts in conflict according to a preset priority rule, so that the aircrafts can execute flight resolution actions in the determined conflict resolution sequence. This embodiment not only provides a guarantee for the flight safety of the aircrafts, but also maximizes the satisfaction of the flight task requirements of the aircrafts, and improves the management efficiency of the aircrafts. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced.

[0038] Figure 1 A system architecture diagram for resolving conflicts of aircrafts according to an example embodiment of the present application is shown.

[0039] Figure 2A method flow diagram for resolving aircraft conflicts is shown in accordance with an example embodiment of the present application.

[0040] Figure 3 A method flow diagram for generating flight resolution actions for an aircraft is shown in accordance with an example embodiment of the present application.

[0041] Figure 4 A device block diagram for resolving aircraft conflicts is shown in accordance with an example embodiment of the present application.

[0042] Figure 5 An electronic device is shown in accordance with an example embodiment of the present application. DETAILED DESCRIPTION

[0043] Example embodiments now will be described more fully hereinafter with reference to the accompanying drawings. Example embodiments, however, can be implemented in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of example embodiments to those skilled in the art. Like reference numerals refer to like elements throughout the several views.

[0044] The described features, structures, or characteristics can be combined in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the

[0045] The flow diagrams shown in the various figures, which consist of blocks representing operations / acts, are merely illustrative. The operations / acts and the order in which they are executed can vary depending upon the implementation. Not all operations / acts can be necessary for implementing the disclosure. In some instances, fewer or additional operations / acts than shown in the figures can be performed. In some instances, operations / acts can be performed in parallel or concurrently. In some instances, operations / acts can be performed in a different order than shown in the figures. In some instances, operations / acts can be omitted.

[0046] The terms "first", "second", third", "fourth" etc. that are used in the description and in the claims of the present specification are used for distinguishing between similar elements and not necessarily for describing a sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances and embodiments of the disclosure are capable of functioning in other sequences, or according to other settings besides those described above. The terms "comprise", "comprising", "include", "including", and "has", "having", their conjugates and derivatives, are used broadly and encompass the terms "including", "having" and the verb paling "comprise". Where the specification states a means, a device, or a system should "include", "comprise", "have" or "comprising", "comprising", "have" or "including" an element, the specification is also intending to convey that the system, device or means can also "not include" other elements not specifically listed. In other words, the description and claims should be interpreted as "open" rather than "closed" ended. The term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items, as well as the lack of combinations when interpreted in the alternative ("or").

[0047] Figure 1This diagram illustrates a system architecture for conflict resolution of an aircraft according to an example embodiment of this application. Figure 1 The system shown includes a control center 101, a first low-altitude aircraft 103, and a second low-altitude aircraft 105. However, there is a conflict between the first low-altitude aircraft 103 and the second low-altitude aircraft 105.

[0048] According to the embodiments of this application, the control center determines the conflict resolution order of conflicting aircraft based on preset priority rules, and executes the flight resolution actions in sequence according to the determined conflict resolution order. This not only ensures the flight safety of the aircraft, but also maximizes the fulfillment of the aircraft's flight mission requirements and improves the management efficiency of the aircraft.

[0049] The specific embodiments according to this application will now be described in detail with reference to the accompanying drawings.

[0050] Figure 2 A flowchart illustrating a method for resolving aircraft conflicts according to an example embodiment of this application is shown, such as... Figure 2 The method shown includes steps S201, S203, and S205. The following will use... Figure 2 Taking an example, a method for resolving aircraft conflicts according to an example embodiment of this application will be described in detail.

[0051] According to the embodiments of this application, Figure 2 The method shown is applied to the control center.

[0052] like Figure 2 As shown, in step S201, the flight information of the conflicting aircraft is obtained.

[0053] According to embodiments of this application, flight information includes location information, preset trajectory parameters, and flight parameters.

[0054] In specific embodiments, the position information includes the aircraft's own position information. In some embodiments, the aircraft's own position information is represented by the aircraft's position coordinates (x, y, z) in three-dimensional space.

[0055] In other embodiments, the preset trajectory parameters include 4D waypoints (including time and three-dimensional spatial position) along a preset flight plan within a preset time period TT. In some implementations, the 4D waypoints are represented by the aircraft's position coordinates (x, y, x) in three-dimensional space. i y i , z i , t i ) represents. Where (x i y i , z i ) indicates at time t iThe three-dimensional spatial position of the spacecraft, time t i That is, any time between the current time t and t+TT.

[0056] In other embodiments, flight parameters are the dynamic flight parameters of the aircraft, including but not limited to speed, heading, and acceleration. In specific embodiments, flight parameters are used to calculate the distance and time interval between any two aircraft.

[0057] In step S203, the conflict resolution order of the conflicting aircraft is determined according to the preset priority rules.

[0058] According to embodiments of this application, the acquired flight information also includes the aircraft number, aircraft type, aircraft mission urgency, or flight purpose.

[0059] In specific embodiments, priority rules are preset based on aircraft number, aircraft type, aircraft mission urgency, or flight purpose.

[0060] For example, suppose that the purposes of flight include emergency rescue, logistics transportation, and leisure and entertainment, with the priority order being emergency rescue > logistics transportation > leisure and entertainment.

[0061] For example, priorities can be assigned based on the urgency of flight missions, taking into account their timeliness and importance.

[0062] In order to identify the priority of an aircraft, in specific embodiments, different priority identification codes are set for the priority of an aircraft according to preset priority identification code rules, taking into account international standards and the actual airspace conditions in China.

[0063] For example, emergency rescue aircraft are assigned the highest priority identification code and enjoy priority passage in the airspace.

[0064] In some embodiments, logistics transport aircraft prioritize cargo based on its timeliness and importance.

[0065] In other embodiments, it is also necessary to specify the encoding format, length, and transmission method of the priority identification code in the communication and sensing system to ensure that each aircraft can accurately identify each other's priority identification code in a complex airspace environment.

[0066] In specific embodiments, the priority identification code is a priority identification code with a specific format and length. For example, using [X] bit coding, the first [X1] bits represent the aircraft use category, the middle [X2] bits represent the flight task emergency level, and the last [X3] bits represent the aircraft type code. Through this coding structure, key information of the aircraft can be accurately conveyed within a limited coding length, and the priority sorting rules can be adjusted. For example, in the t1 time period, the aircraft use category is sorted, and in the t2 time period, the flight task emergency level determines the priority order.

[0067] According to embodiments of the present application, the transmission method of the priority identification code in the communication and perception system also needs to be clarified.

[0068] In some embodiments, in the communication system, the priority identification code is broadcasted together with other information of the aircraft (such as position, speed, etc.) using a specific protocol.

[0069] In other embodiments, in the perception system, the priority identification code is displayed in a specific identification form (such as a two-dimensional code, a specific pattern, etc.) through vision or other perception technologies, so that other aircraft can identify it.

[0070] For example, in an emergency rescue scenario, when an earthquake disaster occurs in a city, multiple low-altitude aircraft participate in the rescue mission. In order to identify the emergency rescue aircraft carrying medical supplies to the disaster area through the influence factor identification code, its influence factor identification code is set according to the rules: use code (01, representing emergency rescue), emergency level code (03, highest emergency level), aircraft type code (02, representing rotor aircraft), i.e. the identification code is 010302. During flight, the identification code is broadcasted through the communication system, and other aircraft receiving it determine that it has the highest priority according to the rules and actively avoid it, ensuring that the rescue aircraft can quickly and safely arrive at the disaster area.

[0071] For example, in a logistics transportation scenario, in a certain logistics park, there are multiple logistics transportation aircrafts performing different distribution tasks. Among them, for an aircraft responsible for distributing urgent medicines, the influence factor identification code is set as: use code (02, representing logistics transportation), emergency level code (02, higher emergency level), aircraft type code (01, representing fixed-wing aircraft), i.e. the identification code is 020201. When this aircraft meets other ordinary logistics distribution aircrafts in the airspace, other aircrafts can determine that it has a higher priority according to the identification code rules, adjust their own flight trajectory and speed, and let the urgent medicine distribution aircraft have priority, ensuring that the medicine can be delivered in time.

[0072] In step S205, based on the flight information, the flight resolution action of each aircraft with a conflict is determined sequentially according to the conflict resolution order, wherein the flight resolution action satisfies the preset flight condition restrictions of the corresponding aircraft.

[0073] According to an embodiment of this application, the conflict resolution order of conflicting aircraft is determined in descending order of conflict resolution order, so that the aircraft can sequentially select the resolution action according to the conflict resolution order.

[0074] In some embodiments, in step S205, when determining the flight release actions for each aircraft with a conflict based on the conflict resolution order, firstly, each optional coordination action in the list of optional coordination actions is evaluated to select suitable flight release actions for the aircraft, so that the selected flight release actions meet the preset flight condition restrictions of the corresponding aircraft.

[0075] according to Figure 2 In the illustrated embodiment, the control center determines the conflict resolution order of conflicting aircraft according to a preset priority rule, enabling the aircraft to sequentially execute flight resolution actions in the determined order. This embodiment not only ensures flight safety but also maximizes the fulfillment of flight mission requirements, thereby improving aircraft management efficiency.

[0076] Figure 3 A flowchart illustrating a method for generating a flight release action of an aircraft according to an example embodiment of this application is shown below. Figure 3 Taking an example, a method for generating a flight release action of an aircraft according to an example embodiment of this application will be described in detail.

[0077] like Figure 3 As shown, in step S301, the solid angle corresponding to the flight release action of each aircraft is determined according to the conflict resolution sequence.

[0078] According to an embodiment of this application, step S301 includes:

[0079] Step S3011: Determine the aircraft to perform the action according to the conflict resolution sequence.

[0080] Step S3013: Construct the solid angle of the aircraft.

[0081] According to an embodiment of this application, the solid angle of the aircraft is constructed with the center of mass of the aircraft as the center of a sphere.

[0082] For example, for each aircraft, a virtual sphere is constructed with its center of mass as the center of the sphere and a unit length R as the radius, and a unit solid angle is constructed using the virtual sphere, and each unit solid angle (i.e., a steradian) is used as a possible candidate action direction of the aircraft. The international system unit of a solid angle is a steradian (sr). A solid angle has a non-international system unit of square degrees, and 1 sr = (180 / π)2square degrees.

[0083] In step S3015, a usable solid angle in the solid angle of the aircraft is determined.

[0084] According to an embodiment of the present application, in step S3015, first, an occupied solid angle occupied by other aircrafts is determined according to the conflict resolution order; and then, a solid angle not occupied by other aircrafts is selected from the constructed solid angle of the aircraft as the usable solid angle.

[0085] In a specific embodiment, a solid angle without overlap with the occupied solid angle of other aircrafts is selected from the constructed solid angle of the aircraft as the usable solid angle.

[0086] For example, in the usable solid angle in the solid angle of the aircraft, a solid angle overlapping with a unit solid angle (in the unit solid angle of the center of mass of the other aircraft) selected by an aircraft with a higher priority than itself (e.g., a distance < a preset distance threshold, a time interval < a preset time threshold) is marked as occupied.

[0087] In step S3017, according to the flight information, a solid angle closest to the flight trajectory of the aircraft is determined from the usable solid angle as the solid angle corresponding to the flight resolution action of the aircraft.

[0088] According to an embodiment of the present application, in step S3017, a solid angle with the smallest distance to the preset flight trajectory is selected from the usable solid angle as the solid angle corresponding to the flight resolution action of the aircraft.

[0089] In step S303, the pose of the aircraft is discretized in the solid angle range to generate a list of selectable coordination actions.

[0090] In some embodiments, the selectable coordination actions include a translation adjustment action, a height adjustment action, and / or a speed adjustment action.

[0091] According to an embodiment of the present application, in step S303, the pose data (including three-dimensional position and three-dimensional attitude) of the aircrafts in conflict is discretized, the continuous spatial information and attitude information is divided into a limited number of discrete states, and according to different discrete states, in combination with the preset time interval and space interval + delta setting, the flight mechanics principle and trajectory planning algorithm are used to generate a list of selectable coordination actions corresponding to each priority. Among them, the time interval is set to 5 seconds, the space interval is 100 meters, and delta can be dynamically adjusted according to the speed and acceleration of the aircraft. For example, for an aircraft with speed and acceleration greater than a preset threshold, delta can be preset to a larger number, and for an aircraft with speed and acceleration greater than a preset threshold, delta can be preset to a smaller number, which is not specifically limited here.

[0092] In a specific embodiment, for the i-th aircraft, the discretization result of the pose data of each aircraft is represented as: the position information (three-dimensional coordinates) can be represented as x i =(x i1 ,x i2 ,x i3 ), and the attitude information (three-dimensional angle) can be represented as θ i =(θ i1 ,θ i2 ,θ i3 ), then the 6D pose discretization result can be uniformly represented as X i =(x i ,θ i ).

[0093] In some embodiments, the generated list of selectable actions is a set containing multiple action suggestions, each of which corresponds to a different flight adjustment strategy to meet different flight scenarios and priority requirements.

[0094] For example, for a low-priority aircraft, when a potential conflict with a high-priority aircraft is detected, the action list can include the following adjustment actions:

[0095] Translation adjustment action: translate 50 meters to the left, or 80 meters to the right. These translation distances are calculated according to the space interval and delta setting, as well as the relative position and speed between the aircrafts, to ensure that while avoiding high-priority aircraft, a safe spatial interval is maintained.

[0096] Height adjustment action: reduce height by 30 meters, or increase height by 40 meters. The amplitude of height adjustment also takes into account the principles of flight mechanics and airspace safety requirements to avoid conflicts with other aircraft in the vertical direction.

[0097] Speed adjustment action: decelerate by 20% or accelerate by 15%. The speed adjustment ratio is determined according to the current speed of the aircraft, the relative speed with the high-priority aircraft, and the requirements of the flight mission, to balance the needs of avoidance and mission execution.

[0098] For example, for a low-priority aircraft, when a potential conflict with a high-priority aircraft is detected, the generated action list may include action suggestions such as translating a certain distance to the left or right, lowering or raising a certain height, decelerating or accelerating, etc.

[0099] According to embodiments of the present application, the optional coordination action list is generated in the following way:

[0100] For the highest priority aircraft, due to the urgency and importance of its mission, the original flight trajectory and speed are generally maintained to ensure smooth execution of the mission. If adjustment is needed due to special circumstances, only minimal fine-tuning is performed, such as in the spatial dimension, only a small displacement adjustment is made in the horizontal direction, and the displacement amount may be between 1-5 meters to avoid temporary small obstacles. For example, when performing an emergency rescue mission, fly directly along a straight line to the destination, and if a very rare slight interference is encountered, only a small adjustment in heading is made to ensure that the rescue supplies can be delivered as soon as possible.

[0101] For higher-priority aircraft, in terms of speed, the adjustment range is generally within ±10% of the original speed under the constraint of flight performance to ensure mission timeliness. For example, if the original speed is 100 km / h, the adjusted speed range is between 90-110 km / h. In the spatial trajectory, a small angle adjustment in heading can be made, with an angle change of 5-15 degrees, and a certain height adjustment in the vertical direction can be made, with a height change of 10-30 meters. For example, an aircraft transporting urgent medicines may make a small angle adjustment in heading and appropriately increase the height when a conflict is encountered to ensure timely delivery of the medicines.

[0102] For ordinary-priority aircraft, the speed adjustment range is relatively large, which can be around ±20% of the original speed to accommodate high-priority aircraft. For example, if the original speed is 80 km / h, the adjusted speed may be between 64-96 km / h. In the spatial trajectory, a larger heading correction can be made, with a horizontal displacement of 50-100 meters, and a vertical height change of 30-50 meters. For example, when an ordinary logistics delivery aircraft detects a high-priority aircraft approaching, it may translate 80 meters to the left and lower the height by 40 meters.

[0103] For low-priority aircraft, speed can be significantly reduced, even to less than 50% of its original speed, to minimize the chance of avoiding high-priority aircraft. Significant displacement and attitude adjustments will be made on the spatial trajectory. Horizontal displacement can reach 100-200 meters, vertical altitude changes are between 50-100 meters, and large-angle course changes are possible, ranging from 30-60 degrees. For example, a sightseeing aircraft flying in a tourist area, upon detecting another aircraft approaching, will rapidly decrease its altitude by 80 meters, shift to one side by 150 meters, and change its course by 45 degrees.

[0104] In step S305, each optional coordination action in the list of optional coordination actions is evaluated to select suitable flight release actions for the aircraft, so that the selected flight release actions meet the preset flight condition restrictions of the corresponding aircraft.

[0105] According to embodiments of this application, when evaluating each generated optional action, it is necessary to consider the feasibility of the action execution, safety, and impact on the flight mission.

[0106] For example, the assessment includes whether the execution of the maneuver will exceed the aircraft's performance limits (such as maximum speed, maximum overload, etc.), whether it will pose a safety threat to other aircraft or ground facilities, and the degree of delay to the aircraft's original flight mission after the maneuver. Through the assessment, feasible maneuver recommendations for the aircraft can be selected, and combined with the assessment of preset safety intervals (e.g., preset spatial intervals and time intervals), a final list of optional maneuvers can be formed.

[0107] In specific embodiments, the dimensions of the evaluation include, but are not limited to, feasibility assessment, safety assessment, impact assessment on flight mission, safety interval assessment, and / or time interval assessment.

[0108] In some embodiments, the feasibility assessment includes a speed limit assessment and an overload limit assessment.

[0109] For example, when conducting a speed limit assessment, let the maximum speed of the aircraft be v. max The minimum speed is v min For speed adjustment actions, v must be satisfied. min ≤∣vi′∣≤v max For example, for a deceleration action v i ′=αv i Then v min ≤∣αv i |≤v max .

[0110] For example, when conducting overload limit assessments, let the maximum overload of the aircraft be a. max For the acceleration a caused by the actioni =(v i ′-v i ) / T must satisfy |a i |≤a max .

[0111] In some embodiments, when conducting a safety assessment, the minimum safe distance between aircraft i and other aircraft j (j is not equal to i) is d. safe Based on the spatial interval S and deltaΔ settings, d must be satisfied. ij ≥S+Δ, where d ij Let be the distance between aircraft i and j.

[0112] In other embodiments, when assessing the impact on the flight mission, the original estimated completion time of the flight mission is set to t. task The estimated completion time after the action is executed is t. task The maximum allowable delay time is Δt. max Then t must be satisfied. task ′-t task ≤Δt max .

[0113] In some embodiments, when calculating the safety interval, the minimum safe space interval S and the interval increment Δ between the aircraft and other aircraft are determined according to the requirements of aircraft with different priorities. For the highest priority aircraft, the minimum safety interval S is set. min +Δ min For low-priority aircraft, a larger safety interval S is set. max +Δ max Among them, Δ max and Δ min These are the maximum and minimum values ​​of the interval increment Δ, respectively.

[0114] In other embodiments, the relative velocity v between the two aircraft needs to be considered when evaluating the time interval. rel and minimum safe distance d safe Calculate the additional time interval T required for each aircraft, satisfying T≥d. safe / ∣v rel |

[0115] According to embodiments of this application, the final selected flight release action must also meet preset flight condition constraints for the corresponding aircraft. These preset flight condition constraints include, but are not limited to, safety interval constraints and flight performance constraints.

[0116] In some embodiments, the safety separation constraint needs to ensure the distance d between any two aircraft i and j. ij ≥ Minimum safe space interval S + interval increment Δ.

[0117] In other embodiments, flight performance constraints include velocity constraints and acceleration constraints.

[0118] For example, the speed v of the aircraft must satisfy v min ≤∣v∣≤v max When adjusting flight trajectory and speed, ensure that the speed is within the aircraft's performance range.

[0119] For example, regarding acceleration constraints, if the velocity changes from v to v′ over a time interval of T, then the acceleration a = Tv′ - v must satisfy a min ≤∣a∣≤a max This ensures that the acceleration of the aircraft does not exceed its tolerance during the execution of actions, thus guaranteeing flight safety and stability.

[0120] according to Figure 3 The illustrated embodiment constructs the available solid angles for each aircraft according to a determined conflict resolution sequence, enabling each aircraft to execute the generated flight resolution action within its respective available solid angle range. This embodiment improves aircraft management efficiency while maximizing the fulfillment of aircraft mission requirements.

[0121] According to an embodiment of this application, after obtaining the action list of each aircraft, it is necessary to notify each aircraft through communication means so that each aircraft can perform the flight release action according to its own action list.

[0122] For example, the aircraft receives "autonomous coordination protocol" commands from the public system via a dedicated communication link. During the reception process, a reliable QoS (at least once, with low latency) communication protocol is used to ensure the integrity and accuracy of the commands. The received commands are parsed to extract key information, such as command type (e.g., emergency avoidance, airspace control), target aircraft ID, and action requirements.

[0123] In other embodiments, the aircraft rapidly adjusts its flight status and maneuvers based on the parsed instructions. During instruction execution, it provides real-time feedback to the common system, including instruction reception time, start time, execution progress, and execution results. Based on the aircraft's feedback, the common system monitors and adjusts the operation of the entire airspace system to ensure its orderly operation.

[0124] For example, when a public system issues an emergency avoidance command, the aircraft immediately changes its flight path as required by the command and sends feedback information to the public system after completing the avoidance maneuver, indicating that the avoidance was successful.

[0125] The embodiments of this application are mainly described from the method aspect. A person skilled in the art should clearly understand that each example described in combination with the embodiments disclosed in this application can be implemented in hardware or a combination of hardware and computer software. A person skilled in the art can use different ways to implement the described functions for each specific operation or method, and such implementation should not be considered beyond the scope of this application.

[0126] The device embodiments of this application are described below. For the details not explained in the device embodiments of this application, refer to the method embodiments of this application.

[0127] Figure 4 A device diagram for resolving aircraft conflict is shown according to an example embodiment of this application, wherein the device is applied to a control center.

[0128] According to an embodiment of this application, the device comprises a flight information acquisition unit 401, a conflict resolution sequence determination unit 403, and a flight resolution action determination unit 405. The flight information acquisition unit 401 is configured to acquire flight information of aircrafts in conflict; the conflict resolution sequence determination unit 403 is configured to determine a conflict resolution sequence of the aircrafts in conflict according to a preset priority rule; and the flight resolution action determination unit 405 is configured to determine a flight resolution action of each aircraft in conflict in sequence based on the conflict resolution sequence according to the flight information, wherein the flight resolution action meets a preset flight condition limit of the corresponding aircraft.

[0129] Figure 5 An electronic device according to an example embodiment of this application is shown. The electronic device 200 according to this embodiment of this application is described below with reference to Figure 5 Figure 5 The electronic device 200 shown is merely an example and should not impose any limitation on the functions and use range of the embodiments of this application.

[0130] As Figure 5 shown, the electronic device 200 is in the form of a general computing device. The components of the electronic device 200 can include but are not limited to: at least one processing unit 210, at least one storage unit 220, a bus 230 connecting different system components (including the storage unit 220 and the processing unit 210), a display unit 240, etc.

[0131] The storage unit stores program codes which can be executed by the processing unit 210, so that the processing unit 210 performs the methods according to various example embodiments of this application described in this specification. For example, the processing unit 210 can perform the methods as described above.

[0132] ​Storage 220 can include a readable medium in the form of volatile storage such as random access memory (RAM) 2201 and / or cache memory 2202, and also include non-volatile storage such as read only memory (ROM) 2203.

[0133] Storage 220 can also include program / utility 2204 having a set of at least one program modules 2205, such as an operating system, one or more application programs, other program modules, and program data, each of which can be executed by processing unit 210 using readable program instructions for carrying out operations described herein and / or operations of a network environment in combination with each other or some combination thereof.

[0134] Bus 230 can represent one or more of several types of bus structures, including an storage bus or bus for storage 220, peripheral bus, graphics bus, processing bus, and a local bus using any of a variety of bus architectures.

[0135] Electronic device 200 can also communicate with one or more external devices 300 such as a keyboard or pointing device, a Bluetooth device, etc.; other devices such as devices enabling a user to interact with electronic device 200; and / or one or more devices enabling electronic device 200 to communicate with one or more other computing devices. Such communication can occur via input / output (I / O) interface 250. Still yet, electronic device 200 can communicate with one or more networks such as a local area network (LAN), a general wide area network (WAN), and / or a public network such as the Internet, via network adapter 260. Network adapter 260 can be any of a plurality of different types of network adapters known in the art, such as a cable modem, a DSL modem, an Ethernet card, a wireless adapter, etc. It will be appreciated that, while not shown, additional hardware and / or software modules can be used in conjunction with electronic device 200 such as, for example, microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc.

[0136] Those skilled in the art will readily recognize that the example embodiments described herein can be implemented using software and / or hardware in combination with software. The technical solutions according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash disk, a mobile hard disk, etc.) or a network, and includes a plurality of instructions to make a computing device (which can be a personal computer, a server, or a network device, etc.) execute the above-mentioned methods according to the embodiments of the present application.

[0137] The software product can employ any combination of one or more computer readable media. The computer readable media can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can, for example, be, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0138] The computer readable storage medium can include a computer-readable medium in the form of a data signal embodied in a carrier wave, wherein the data signal modulates an electromagnetic wave, a magnetic field, or other transport mechanism. The computer readable storage medium can also include any computer-readable medium excluding propagated signals per se.

[0139] The program code can be executed by using one or more processors, such as one or more digital signal processors (DSPs), general purpose microprocessors, microcontrollers, or other processing means. It will be appreciated that a variety of programming aspects can be employed to carry out the operations and functions described herein, and one of ordinary skill in the programming arts will be able to write such programming code based on the description of the operations and functions described herein and the general programming knowledge that person has in the art. It will be appreciated that the functions can be implemented by one or more components and that each component so employed can perform exceedingly complex computations. It will also be appreciated that the various functions that are described can be combined into a single function or further separated into several functions.

[0140] The above computer readable medium stores one or more programs, which, when executed by the device, cause the device to perform the functions described above.

[0141] Those skilled in the art can understand that each module described above can be distributed in the device according to the description of the embodiment, and can also be changed in one or more devices different from the embodiment. The modules of the above embodiment can be combined into one module, or further split into multiple sub-modules.

[0142] According to the embodiment of the present application, a computer program is provided, comprising computer programs or instructions, which can execute the above-described method when executed by a processor.

[0143] The above describes the embodiments of the present application in detail, and the principles and implementation manners of the present application are described by applying specific examples. The above description of the embodiments is only used to help understand the method of the present application and its core idea. Meanwhile, the changes or deformations made by the person skilled in the art according to the idea of the present application, based on the specific implementation manner and application range of the present application, all belong to the protection range of the present application. In summary, the content of the specification should not be understood as the limitation of the present application.

[0144] Those skilled in the art can understand that each module described above can be distributed in the device according to the description of the embodiment, and can also be changed in one or more devices different from the embodiment. The modules of the above embodiment can be combined into one module, or further split into multiple sub-modules.

[0145] The above describes the embodiments of the present application in detail, and the principles and implementation manners of the present application are described by applying specific examples. The above description of the embodiments is only used to help understand the method of the present application and its core idea. Meanwhile, the changes or deformations made by the person skilled in the art according to the idea of the present application, based on the specific implementation manner and application range of the present application, all belong to the protection range of the present application. In summary, the content of the specification should not be understood as the limitation of the present application.

Claims

1. A method for resolving aircraft conflicts, applied in a control center, characterized in that, The method includes: Obtain flight information of conflicting aircraft; The order in which conflict-ridden aircraft are resolved is determined according to a preset priority rule. Based on the flight information, the flight resolution actions for each aircraft with a conflict are determined sequentially according to the conflict resolution sequence, wherein the flight resolution actions satisfy the preset flight condition restrictions of the corresponding aircraft.

2. The method according to claim 1, characterized in that, Before determining the conflict resolution order of conflicting aircraft according to preset priority rules, the process also includes: The priority rules are determined according to priority ranking rules, which include aircraft number, aircraft type, aircraft mission urgency or flight purpose.

3. The method according to claim 1, characterized in that, Based on the flight information and the conflict resolution sequence, the flight resolution actions for each conflicting aircraft are determined sequentially, including: Based on the conflict resolution sequence, determine the solid angle corresponding to each aircraft performing the flight resolution action; Within the solid angle range, the aircraft's pose is discretized to generate a list of optional coordinated actions; Each optional coordination action in the list of optional coordination actions is evaluated to select suitable flight release actions for the aircraft, such that the selected flight release actions meet the preset flight condition restrictions of the corresponding aircraft.

4. The method according to claim 3, characterized in that, Based on the conflict resolution sequence, determine the solid angle corresponding to each aircraft performing the flight resolution action, including: The aircraft to perform the action is determined according to the conflict resolution sequence; Construct the solid angles of the aircraft; Determine the available solid angles in the solid angles of the aircraft; Based on the flight information, the solid angle closest to the flight trajectory of the aircraft is determined from the available solid angles and used as the solid angle corresponding to the aircraft's flight release action.

5. The method according to claim 4, characterized in that, Constructing the solid angles of the aircraft includes: The solid angles of the aircraft are constructed with the center of mass of the aircraft as the center of the sphere.

6. The method according to claim 5, characterized in that, Determining the available solid angles in the solid angles of the aircraft includes: Based on the conflict resolution order, determine the occupied solid angle that has been occupied by other aircraft; Select a solid angle that has not yet been occupied by other aircraft from the solid angles, and use it as the available solid angle.

7. The method according to claim 6, characterized in that, Selecting solid angles that are not yet occupied by other aircraft from the solid angles as the available solid angles includes: Select the solid angles of the constructed aircraft that do not overlap with the occupied solid angles of other aircraft as the available solid angles.

8. A device for resolving aircraft conflicts, applied in a control center, characterized in that, The device includes: Flight information acquisition unit, used to acquire flight information of conflicting aircraft; The conflict resolution order determination unit is used to determine the conflict resolution order of conflicting aircraft according to preset priority rules; The flight release action determination unit is used to determine the flight release action of each conflicting aircraft in sequence based on the flight information and the conflict release order, wherein the flight release action satisfies the preset flight condition restrictions of the corresponding aircraft.

9. An electronic device, characterized in that, include: processor; Memory, used to store computer programs; When the computer program is executed by the processor, the processor causes the processor to implement the method as described in any one of claims 1-7.

10. A non-transitory computer-readable storage medium having stored thereon computer-readable instructions that, when executed by a processor, cause the processor to perform the method as described in any one of claims 1-7.

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