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 first aircraft, and the method comprises the following steps: acquiring flight information of an aircraft conflicting with the first aircraft; according to a preset priority rule, determining a conflict removal sequence of the first aircraft and the aircrafts conflicting with the first aircraft; according to the flight information, a flight release action of the first aircraft is determined based on the conflict release sequence, and the flight release action meets a preset flight condition limit. According to the embodiment of the invention, the first aircraft determines the solid angle corresponding to the execution of the flight release action according to the preset priority rule, and executes the flight release action in the determined solid angle range content according to the conflict release sequence, thereby providing guarantee for the flight safety of the aircraft. And the flight mission requirement of the aircraft can be met to the greatest 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 a 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 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 resolving conflicts of aircraft, so as 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 a 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 first aircraft, and the method comprises:

[0006] obtaining flight information of an aircraft in conflict with the first aircraft;

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

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

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

[0010] calculating a resolution priority index corresponding to the first aircraft according to the preset priority rule;

[0011] determining the conflict resolution sequence according to the resolution priority index.

[0012] According to some embodiments, calculating the resolution priority index corresponding to the first aircraft according to the preset priority rule comprises:

[0013] determining an impact factor for conflict resolution;

[0014] determining an impact factor weight value of each impact factor;

[0015] calculating the priority resolution index according to the impact factor and the impact factor weight value.

[0016] According to some embodiments, before determining the conflict resolution sequence of the first aircraft and the aircraft in conflict according to the preset priority rule, further comprising:

[0017] determining the priority rule according to a priority sorting rule, the priority sorting rule including aircraft number, aircraft type, aircraft task urgency, or flight purpose.

[0018] According to some embodiments, determining the flight resolution action of the first aircraft based on the conflict resolution sequence according to the flight information, comprising:

[0019] determining a solid angle corresponding to the execution of the flight resolution action of the first aircraft according to the conflict resolution sequence;

[0020] discretizing the pose of the first aircraft within the solid angle range to generate a list of optional coordination actions;

[0021] evaluating each optional coordination action in the list of optional coordination actions to filter out a flight resolution action suitable for the first aircraft, so that the filtered flight resolution action meets the preset flight condition limit of the first aircraft.

[0022] According to some embodiments, determining a solid angle corresponding to the execution of the flight resolution action of the first aircraft according to the conflict resolution sequence, comprising:

[0023] constructing a solid angle of the first aircraft;

[0024] determining an available solid angle in the solid angle of the first aircraft;

[0025] determining a solid angle corresponding to the flight resolution action from the available solid angle according to the flight information;

[0026] determining a solid angle closest to the flight trajectory of the aircraft from the available solid angle as a solid angle corresponding to the execution of the flight resolution action of the aircraft according to the flight information.

[0027] According to some embodiments, constructing a solid angle of the first aircraft, comprising:

[0028] constructing a solid angle of the first aircraft with the center of mass of the first aircraft as the center of the sphere.

[0029] According to some embodiments, determining available solid angles in the solid angles of the first aerial vehicle comprises:

[0030] According to the conflict resolution order, determining occupied solid angles that have been occupied by other aerial vehicles;

[0031] Selecting, from the solid angles, solid angles that have not been occupied by other aerial vehicles as the available solid angles.

[0032] According to some embodiments, selecting, from the solid angles, solid angles that have not been occupied by other aerial vehicles as the available solid angles comprises:

[0033] Selecting, from the constructed solid angles of the first aerial vehicle, solid angles that have no overlap with the occupied solid angles of the aerial vehicles that have conflicts as available solid angles.

[0034] According to some embodiments, evaluating each of the list of optional coordination actions comprises:

[0035] Evaluating the feasibility, safety and / or impact on the flight mission of each of the optional coordination actions.

[0036] According to some embodiments, the preset flight condition restrictions comprise safety separation constraints and / or flight performance constraints.

[0037] According to some embodiments, the list of optional coordination actions comprises translation adjustment actions, height adjustment actions and / or speed adjustment actions.

[0038] According to an aspect of the present application, a device for resolving aerial vehicle conflicts is provided, applied to a first aerial vehicle, the device comprising:

[0039] A flight information acquisition unit, configured to acquire flight information of aerial vehicles that have conflicts with the first aerial vehicle;

[0040] A conflict resolution order determination unit, configured to determine, according to a preset priority rule, a conflict resolution order of the first aerial vehicle and aerial vehicles that have conflicts with the first aerial vehicle;

[0041] A flight resolution action determination unit, configured to determine, according to the flight information, flight resolution actions of the first aerial vehicle based on the conflict resolution order, wherein the flight resolution actions satisfy preset flight condition restrictions.

[0042] According to an aspect of the present application, an electronic device is provided, comprising: a processor; a memory configured to store a computer program; when the computer program is executed by the processor, the processor implements the method according to any one of the preceding embodiments.

[0043] According to an aspect of the present application, a non-transitory computer-readable storage medium is provided, having computer-readable instructions stored thereon, which, when executed by a processor, cause the processor to perform the method according to any one of the preceding embodiments.

[0044] According to the example embodiments of the present application, the first aircraft determines the solid angle corresponding to the flight resolution action according to the preset priority rule, and performs the flight resolution action in the determined solid angle range according to the conflict resolution order, thereby providing guarantee for flight safety of the aircraft, and maximizing the satisfaction of flight task requirements of the aircraft, and improving the management efficiency of the aircraft. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced as follows.

[0046] Figure 1 A system architecture diagram for resolving conflicts of aircrafts according to an example embodiment of the present application is shown.

[0047] Figure 2 A method flow diagram for resolving conflicts of aircrafts according to an example embodiment of the present application is shown.

[0048] Figure 3 A method flow diagram for calculating the resolution priority index corresponding to an aircraft according to an example embodiment of the present application is shown.

[0049] Figure 4 A method flow diagram for generating a flight resolution action of an aircraft according to an example embodiment of the present application is shown.

[0050] Figure 5 A device block diagram for resolving conflicts of aircrafts according to an example embodiment of the present application is shown.

[0051] Figure 6 An electronic device according to an example embodiment of the present application is shown. DETAILED DESCRIPTION

[0052] Example embodiments now will be described more fully hereinafter with reference to the accompanying drawings. Example embodiments may, however, 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 figures, and descriptions of the same elements will not be repeated.

[0053] The described features, structures, or characteristics can be combined in any suitable manner 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 techniques described can be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In some instances, well-known structures, methods, devices, implementations, materials, and operations are not shown or described in detail.

[0054] The flowcharts shown in the drawings are only illustrative, and do not necessarily include all contents and operations / steps, nor are they necessarily executed in the order described. For example, some operations / steps can be further decomposed, and some operations / steps can be combined or partially combined, so the actual execution order can be changed according to actual conditions.

[0055] The terms "first", "second", and the like in the specification and claims of the present application and the above drawings are used to distinguish different objects, and are not used to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product, or device.

[0056] Figure 1 A system architecture diagram for resolving conflicts of aircrafts is shown according to an example embodiment of the present application, as shown in Figure 1 The system includes a first low-altitude aircraft 101 and a second low-altitude aircraft 103. There is a conflict between the first low-altitude aircraft 101 and the second low-altitude aircraft 103.

[0057] According to an embodiment of the present application, the first aircraft determines a solid angle corresponding to the flight resolution action according to a preset priority rule, and performs the flight resolution action in the determined solid angle range according to the conflict resolution order, thereby providing a guarantee for the flight safety of the aircraft, and maximizing the satisfaction of the flight task requirements of the aircraft, and improving the management efficiency of the aircraft.

[0058] The specific embodiments according to the present application will be described in detail below with reference to the accompanying drawings.

[0059] Figure 2 A method flowchart for resolving conflicts of aircrafts is shown according to an example embodiment of the present application, as shown in Figure 2 The method includes steps S201, S203, and S205. The following is described with reference to Figure 2Taking an example, a method for resolving aircraft conflicts according to an example embodiment of this application will be described in detail.

[0060] According to the embodiments of this application, Figure 2 The method shown was applied to the first aircraft.

[0061] like Figure 2 As shown, in step S201, the flight information of the aircraft that is in conflict with the first aircraft is obtained.

[0062] According to embodiments of this application, the acquired flight information includes the position information, preset trajectory parameters, and flight parameters of other aircraft that conflict with the first aircraft.

[0063] 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.

[0064] 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 i The three-dimensional spatial position of the spacecraft, time t i That is, any time between the current time t and t+TT.

[0065] 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.

[0066] In step S203, the conflict resolution order of the first aircraft and the aircraft that conflict with the first aircraft is determined according to the preset priority rules.

[0067] According to an embodiment of this application, in step S203, firstly, the release priority index corresponding to the first aircraft is calculated according to a preset priority rule; then, the conflict resolution order is determined according to the release priority index.

[0068] In specific embodiments, when determining when to start performing the flight resolution action, the aircraft can broadcast flight information to other aircraft, the aircraft determines the order of the flight resolution action in conflict according to the preset priority rules, and after the high-priority aircraft performs the flight resolution action, the low-priority aircraft in the adjacent conflict resolution order is notified to perform the flight resolution action.

[0069] In other embodiments, after the high-priority aircraft performs the flight resolution action, a notification can also be broadcast to other aircraft to determine whether to perform the flight resolution action according to the conflict resolution order.

[0070] In some embodiments, according to the embodiments of the present application, the obtained flight information further includes an impact factor for resolving the conflict of the aircraft, and before step 203, the priority sorting rule is determined according to the priority sorting rule, which includes aircraft number, aircraft type, aircraft task urgency, or flight purpose.

[0071] In some embodiments, the impact factor includes but is not limited to aircraft number, aircraft type, aircraft task urgency, and / or flight purpose.

[0072] For example, the impact factor includes factors such as the purpose of the aircraft, the urgency of the flight task, the type of the aircraft, etc.

[0073] In some embodiments, the purpose of the aircraft includes emergency rescue, logistics transportation, leisure entertainment, etc.; the urgency of the flight task is classified according to the timeliness and importance of the task; and the type of the aircraft includes fixed wing, rotor, etc.

[0074] In order to identify the impact factor of the aircraft, in specific embodiments, according to the preset impact factor identification code rule, different impact factor identification codes are set for the impact factor of the aircraft priority in combination with international general standards and domestic actual airspace conditions.

[0075] For example, the emergency rescue aircraft is assigned the highest priority impact factor identification code and enjoys the right of priority in the airspace. In some embodiments, the logistics transportation aircraft is divided into different priorities according to the timeliness and importance of the goods.

[0076] In some embodiments, the coding format, length, and transmission method in the communication and perception system of the impact factor identification code also need to be specified to ensure that each aircraft can accurately identify the impact factor identification code of each other in a complex airspace environment.

[0077] In specific embodiments, the impact factor 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.

[0078] According to embodiments of the present application, the transmission mode of the impact factor identification code in the communication and perception system also needs to be specified.

[0079] In some embodiments, in the communication system, the impact factor identification code is broadcasted together with other information of the aircraft (such as position, speed, etc.) using a specific protocol.

[0080] In other embodiments, in the perception system, the impact factor 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.

[0081] 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 impact factor identification code, its impact factor identification code is set according to the rules as follows: 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.

[0082] For example, in a logistics transportation scenario, in a certain logistics park, there are multiple logistics transportation aircraft performing different distribution tasks. Among them, for an aircraft responsible for distributing urgent medicines, its impact factor identification code is set as follows: 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 aircraft in the airspace, so that other aircraft can determine its high 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.

[0083] According to embodiments of the present application, the preset priority rules include calculating the first aircraft's corresponding de-priority index according to a single impact factor, and also include calculating the first aircraft's corresponding de-priority index according to multiple impact factors.

[0084] In specific embodiments, the priority rules are preset according to the aircraft number, the aircraft type, the aircraft mission urgency, or the flight purpose.

[0085] For example, assuming that the flight purposes include emergency rescue, logistics transportation, and leisure entertainment, the priority order is emergency rescue > logistics transportation > leisure entertainment.

[0086] For another example, the priority is divided according to the time effectiveness and importance according to the flight mission urgency.

[0087] In other embodiments, when calculating the de-prioritization index corresponding to the first aircraft, first, the impact factor of conflict resolution is determined; then, the impact factor weight value of each impact factor is determined; and finally, the de-prioritization index is calculated according to the impact factor and the impact factor weight value.

[0088] In embodiments of the present application, according to the calculated de-prioritization index, the first aircraft is ranked from high to low with respect to all identified aircraft, and the conflict resolution order is determined according to the ranking result. The higher the priority value, the higher the priority of the aircraft in the airspace, and the aircraft enjoys the right to priority passage or the right to priority resource acquisition in flight conflict or resource allocation.

[0089] It should be noted that during the flight of the aircraft, the state information of the aircraft needs to be updated in real time, such as changes in mission urgency and power consumption. Once these factors change, the de-prioritization index needs to be recalculated and the ranking needs to be adjusted in time to ensure that the priority ranking result can always accurately reflect the real-time situation of the aircraft.

[0090] In step S205, the flight de-resolution action of the first aircraft is determined based on the conflict resolution order according to the flight information, wherein the flight de-resolution action meets the preset flight condition limit.

[0091] According to embodiments of the present application, in step S205, the first aircraft determines the execution time of the flight de-resolution action based on the conflict resolution order, and when it executes the flight de-resolution action, first, the solid angle corresponding to the execution of the flight de-resolution action of the first aircraft is determined according to the conflict resolution order; then, the pose of the first aircraft is discretized within the solid angle to generate a list of optional coordination actions; finally, each optional coordination action in the list of optional coordination actions is evaluated to filter out the flight de-resolution action suitable for the first aircraft, so that the filtered flight de-resolution action meets the preset flight condition limit of the first aircraft.

[0092] According to Figure 2In the embodiment shown, the first aircraft determines the solid angle corresponding to the flight resolution action according to the preset priority rule, and performs the flight resolution action in the determined solid angle range according to the conflict resolution order, thereby providing protection for the flight safety of the aircraft, and maximizing the satisfaction of the flight task requirements of the aircraft, and improving the management efficiency of the aircraft.

[0093] According to the embodiment of the present application, the preset priority rule includes calculating the resolution priority index corresponding to the first aircraft according to a single influence factor, and also includes calculating the resolution priority index corresponding to the first aircraft according to multiple influence factors. Taking Figure 3 as an example, the resolution priority index corresponding to the first aircraft according to multiple influence factors is described in detail.

[0094] Figure 3 A flowchart of a method for calculating the resolution priority index corresponding to the aircraft according to the example embodiment of the present application is shown, and taking Figure 3 as an example, the method for calculating the resolution priority index corresponding to the aircraft according to the example embodiment of the present application is described in detail.

[0095] In step S301, the influence factor of the resolution conflict is determined.

[0096] According to the embodiment of the present application, the obtained flight information also includes the influence factor of the resolution of the aircraft conflict.

[0097] In a specific embodiment, the received aircraft influence factor identification code is parsed according to the preset encoding format. For example, the identification code is [specific encoding form], and the first few bits represent the purpose of the aircraft, the middle few bits represent the emergency level of the flight task, the last few bits represent the type of the aircraft, and the remaining part represents the remaining power and other information. Through parsing, the corresponding influence factor of the resolution of the aircraft conflict can be extracted.

[0098] In some embodiments, the influence factor includes but is not limited to the aircraft number, the aircraft type, the emergency level of the flight task, and / or the flight purpose.

[0099] In other embodiments, the influence factor also includes performance parameters of the aircraft, flight tasks, and airspace conditions and other factors.

[0100] For example, the weight parameters such as the remaining power of the aircraft and the emergency level of the flight destination are added to ensure that the priority sorting result is more scientific and reasonable.

[0101] In step S303, the influence factor weight value of each influence factor is determined.

[0102] In the embodiments of the present application, the extracted factors can be assigned with corresponding impact factor weight values according to preset rules. For example, for an emergency rescue aircraft, the impact factor weight value of flight task emergency degree can be set as 0.5, the impact factor weight value of aircraft purpose can be set as 0.3, the impact factor weight value of aircraft type can be set as 0.1, and the impact factor weight value of remaining power can be set as 0.1.

[0103] It should be noted that the impact factor weight values are not fixed and can be reasonably adjusted according to actual conditions and the importance of the impact factors through expert experience, data analysis or algorithm optimization, so as to ensure the scientificity of the calculated de-priority index.

[0104] In step S305, the de-priority index is calculated according to the impact factors and the impact factor weight values.

[0105] According to the embodiments of the present application, the de-priority index is calculated by a preset function according to the preset impact factor weight value of each impact factor. The preset function includes but is not limited to a linear weighting function, a quadratic function, etc.

[0106] Taking the linear weighting function as an example, the process of calculating the de-priority index is described below.

[0107] Suppose that the impact factors for resolving aircraft conflicts include aircraft type, purpose, task emergency degree and remaining power, and the linear weighting function for calculating the de-priority index is shown in formula (1).

[0108] P = w1T + w2U + w3E + w4R (1)

[0109] Wherein, P represents the calculated de-priority index of the aircraft, which is a value that comprehensively reflects the importance and priority order of the aircraft in the airspace, T represents the aircraft type, the inherent priority of different types of aircraft such as fixed-wing and rotor-wing aircraft is distinguished by setting different basic priority coefficients for different types of aircraft, for example, the T value of a fixed-wing aircraft is set as T1 and the T value of a rotor-wing aircraft is set as T2; U represents the purpose of the aircraft, different weights are given according to different purposes, such as emergency rescue purpose set as U1 and logistics transportation set as U2; E represents the emergency degree of the flight task, which is divided into different levels, such as the highest emergency degree E1 and the next emergency degree E2, each level corresponds to a different weight coefficient; R represents the remaining power of the aircraft, the R value is lower when the power is sufficient and the R value is higher when the power is insufficient, so as to ensure that important tasks can still be given priority when the power is limited; w1, w2, w3 and w4 are the weights corresponding to T, U, E and R respectively, and w1+w2+w3+w4=1. These weights can be determined in advance according to actual conditions and the importance of each factor through expert experience, data analysis or algorithm optimization, etc.

[0110] According to Figure 3 According to the determined de-confliction impact factor, the de-priority index is calculated, so as to determine the execution order of the de-confliction action of the aircraft.

[0111] In some other embodiments, the impact factor related to the de-priority index and / or the corresponding impact factor weight value and the calculation method of the de-priority index can be adjusted and optimized according to actual operation data and new problems, so that the de-priority index can adapt to different application environments.

[0112] Figure 4 A method flowchart for generating a flight de-confliction action of an aircraft according to an example embodiment of the present application is shown, and the following will be described in detail with Figure 4 as an example.

[0113] In step S401, the solid angle corresponding to the execution of the flight de-confliction action of the first aircraft is determined according to the de-confliction sequence.

[0114] According to an embodiment of the present application, after the flight de-confliction action is executed by the aircraft with high priority, not only the end of the flight de-confliction action is sent to other aircraft, but also the occupied solid angle is sent to other aircraft, so that other aircraft can determine the solid angle corresponding to the execution of the flight de-confliction action according to the de-confliction sequence.

[0115] According to an embodiment of the present application, step S401 includes:

[0116] In step S4011, the solid angle of the first aircraft is constructed.

[0117] According to an embodiment of the present application, the solid angle of the first aircraft is constructed with the center of mass of the first aircraft as the center of the sphere.

[0118] For example, the first aircraft constructs a virtual sphere with its center of mass as the center of the sphere and a unit length R as the radius, and uses the virtual sphere to construct a unit solid angle, and uses each unit solid angle (i.e. a steradian) as the direction of its possible candidate action. The international unit of solid angle is steradian (sr). The non-international unit of solid angle is square degree, and 1 sr = (180 / π)2square degree.

[0119] In step S4013, the available solid angle in the solid angle of the first aircraft is determined.

[0120] According to an embodiment of the present application, at step S4015, first, the occupied solid angle occupied by other aircrafts is determined according to the conflict resolution sequence; then, a solid angle not occupied by other aircrafts is selected from the constructed solid angles of the first aircraft as an available solid angle.

[0121] In a specific embodiment, a solid angle without overlap with the occupied solid angles of other aircrafts is selected from the constructed solid angles of the first aircraft as an available solid angle.

[0122] For example, in the available solid angles in the solid angles of the first aircraft, the following solid angles are marked as occupied: the unit solid angle (in the unit solid angle of the center of mass of the other party) selected by the aircraft with a higher priority than itself has overlap (for example, the distance < a preset distance threshold, the time interval < a preset time threshold).

[0123] At step S4015, the solid angle closest to the flight trajectory of the first aircraft is determined from the available solid angles according to the flight information.

[0124] According to an embodiment of the present application, at step S4015, the solid angle closest to the preset flight trajectory of the first aircraft is selected from the available solid angles as the solid angle corresponding to the flight resolution action of the first aircraft.

[0125] At step S403, the pose of the first aircraft is discretized in the solid angle range to generate a list of selectable coordination actions.

[0126] According to an embodiment of the present application, at step S403, the pose data (including three-dimensional position and three-dimensional attitude) of the first aircraft is discretized, the continuous space information and attitude information are divided into a limited number of discrete states, and according to different discrete states, in combination with the preset time interval and the setting of the space interval + delta, the flight mechanics principle and the trajectory planning algorithm are used to generate a list of selectable coordination actions of the first aircraft. 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 first aircraft. For example, for the aircraft with a speed and acceleration greater than a preset threshold, delta can be preset to a larger number, and for the aircraft with a speed and acceleration greater than a preset threshold, delta can be preset to a smaller number, which is not specifically limited here.

[0127] In a specific embodiment, for the i-th aircraft, the discretization result of the pose data of the first aircraft is represented as: the position information (three-dimensional coordinates) can be represented as x i =(x i1 ,x i2 ,x i3), the pose information (three-dimensional angle) can be expressed as θ i = (θ i1 , θ i2 , θ i3 ), then the 6D pose discretization result can be uniformly expressed as X i = (x i , θ i ).

[0128] In some embodiments, the generated list of optional actions is a set of action suggestions, each corresponding to a different flight adjustment strategy to meet different flight scenarios and priority requirements.

[0129] For example, when detecting that the adjustment action of the first aircraft has a potential conflict with a high-priority aircraft, the action list can include the following adjustment actions:

[0130] Translation adjustment action: translate 50 meters to the left or 80 meters to the right. These translation distances are calculated based on the spatial interval and delta settings, as well as the relative positions and speeds between the aircrafts, to ensure a safe spatial interval while avoiding the high-priority aircraft.

[0131] Height adjustment action: lower the height by 30 meters or raise the 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.

[0132] Speed adjustment action: decelerate by 20% or accelerate by 15%. The speed adjustment ratio is determined based on 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.

[0133] For example, when detecting that the first aircraft has a potential conflict with a high-priority aircraft, 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.

[0134] According to embodiments of the present application, when adjusting the action of each priority aircraft, the list of optional coordination actions can be generated in the following way:

[0135] For the highest priority aircraft, due to the urgency and importance of its mission, the original flight trajectory and speed are usually maintained to ensure the 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 can be between 1-5 meters, to avoid temporary small obstacles. For example, when performing an emergency rescue mission, fly directly to the destination along a straight line, if a few minor disturbances are encountered, only a small adjustment in direction is made to ensure that the rescue supplies can be delivered as soon as possible.

[0136] 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 the direction of flight 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, a flight vehicle carrying urgent medicines may make a small angle adjustment in the direction of flight and appropriately increase the height to ensure timely delivery of the medicines.

[0137] For ordinary priority aircraft, the speed adjustment range is relatively large, which can be about ±20% of the original speed, to coordinate with high-priority aircraft. For example, if the original speed is 80 km / h, the adjusted speed can be between 64-96 km / h. In the spatial trajectory, a larger adjustment in the direction of flight 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 distribution aircraft detects a high-priority aircraft approaching, it can move 80 meters to the left and lower its height by 40 meters.

[0138] For low-priority aircraft, the speed can be greatly reduced, even below 50% of the original speed, to maximize avoidance of high-priority aircraft. In the spatial trajectory, a large displacement and attitude adjustment will be made. The horizontal displacement can be 100-200 meters, the vertical height change can be 50-100 meters, and a large angle change in the direction of flight can be made, with an angle change of 30-60 degrees. For example, a sightseeing aircraft flying in a tourist area may quickly lower its height by 80 meters, move 150 meters to one side, and change its direction by 45 degrees when it detects another aircraft approaching.

[0139] In step S405, each of the optional coordination actions in the list of optional coordination actions is evaluated to screen out flight resolution actions suitable for the first aircraft, so that the screened flight resolution actions meet the preset flight condition restrictions of the first aircraft.

[0140] 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.

[0141] 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.

[0142] 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.

[0143] In some embodiments, the feasibility assessment includes a speed limit assessment and an overload limit assessment.

[0144] 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 .

[0145] For example, when conducting overload limit assessments, let the maximum overload of the aircraft be a. max For the acceleration a caused by the action i =(v i ′-v i ) / T must satisfy |a i |≤a max .

[0146] 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.

[0147] 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 .

[0148] 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.

[0149] 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 |

[0150] 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.

[0151] 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.

[0152] In other embodiments, flight performance constraints include velocity constraints and acceleration constraints.

[0153] 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.

[0154] 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.

[0155] according to Figure 4In the embodiment shown, the available solid angle of the first aircraft is constructed according to the determined conflict resolution sequence, so that the first aircraft performs the generated flight resolution action within the available solid angle. This embodiment improves the management efficiency of the aircraft while meeting the flight task requirements of the aircraft to the greatest extent.

[0156] According to the embodiment of the present application, after each aircraft determines the list of flight resolution actions to perform, it needs to be notified to other aircraft through communication means, so that each aircraft performs the flight resolution action according to its own action list.

[0157] For example, the aircraft receives the "autonomous coordination protocol" instruction issued by the public system through a dedicated communication link. During the receiving process, a communication protocol with reliable QoS (at least once, and delay requirement) is used to ensure the integrity and accuracy of the instruction. The received instruction is parsed to extract key information such as instruction type (such as emergency avoidance, airspace control, etc.), target aircraft ID, action requirement, etc.

[0158] In other embodiments, the aircraft quickly adjusts its flight state and action according to the parsed instruction requirements. During the execution of the instruction, real-time feedback is provided to the public system, including instruction receiving time, start execution time, execution progress, execution result, etc. The public system monitors and adjusts the operation of the entire airspace system according to the feedback information of the aircraft, to ensure the orderly operation of the airspace system.

[0159] For example, when the public system issues an emergency avoidance instruction, the aircraft immediately changes the flight trajectory according to the instruction requirements, and sends feedback information to the public system after completing the avoidance action, indicating that the avoidance is successful.

[0160] The above mainly introduces the embodiments of the present application from the method aspect. Those skilled in the art should easily realize that, in combination with the operations or steps of each example described in the embodiments disclosed in the present application, the present application can be realized in the form of hardware or a combination of hardware and computer software. Those skilled in the art can use different ways to realize the described functions for each specific operation or method, and such realization should not be considered beyond the scope of the present application.

[0161] Figure 5 A device block diagram for resolving conflicts of aircrafts according to an example embodiment of the present application is shown, wherein the device is applied to a first aircraft.

[0162] According to an embodiment of this application, the device includes a flight information acquisition unit 501, a conflict resolution order determination unit 503, and a flight resolution action determination unit 505. The flight information acquisition unit 501 acquires flight information of aircraft that conflict with the first aircraft; the conflict resolution order determination unit 503 determines the conflict resolution order between the first aircraft and the conflicting aircraft according to a preset priority rule; and the flight resolution action determination unit 505 determines a flight resolution action for the first aircraft based on the flight information and the conflict resolution order, wherein the flight resolution action satisfies preset flight condition restrictions.

[0163] Figure 6 An electronic device according to an exemplary embodiment of this application is shown. Reference is made below. Figure 6 To describe an electronic device 200 according to this embodiment of the present application. Figure 6 The electronic device 200 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0164] like Figure 6 As shown, the electronic device 200 is presented in the form of a general-purpose computing device. The components of the electronic device 200 may 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 storage unit 220 and processing unit 210), a display unit 240, etc.

[0165] The storage unit stores program code that can be executed by the processing unit 210, causing the processing unit 210 to perform the methods described in this specification according to various exemplary embodiments of this application. For example, the processing unit 210 can perform the methods described above.

[0166] Storage unit 220 may include readable media in the form of volatile storage units, such as random access memory (RAM) 2201 and / or cache memory 2202, and may further include read-only memory (ROM) 2203.

[0167] Storage unit 220 may also include a program / utility 2204 having a set (at least one) program module 2205, such program module 2205 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0168] Bus 230 can be one or more of several types of bus structures including a memory bus or memory controller, a peripheral bus, a graphics bus, a processor or local bus using any of a variety of bus architectures.

[0169] 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 that enable a user to interact with electronic device 200; and / or any devices (e.g., a router, a modem, a printer, etc.) that enable 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. As depicted, network adapter 260 can be communicatively coupled to bus 230 via a network adapter interface 252. It should be appreciated that the software implemented aspects of the example embodiments described herein can be implemented via stand-alone software or software that runs in conjunction with the software that is implemented on electronic device 200. It should also be understood that the software implemented aspects of the example embodiments described herein can be implemented via software that runs on one or more servers, which can be connected to electronic device 200 via a network.

[0170] From the description above, it will be appreciated that the example embodiments described herein can be implemented by software and / or by hardware. The technical solutions according to the example embodiments described herein can be embodied in a software product, which can be stored in a non-volatile storage medium, such as a CD-ROM, a USB flash drive, a mobile hard disk, or the like, or a network, and includes a number of instructions that cause a computing device (such as a personal computer, a server, or a network device) to perform the methods according to the example embodiments described herein.

[0171] The software product can be implemented by 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 be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination of the above. More specific examples (a non-exhaustive list) of the computer-readable storage medium include an electrical connection having one or more wires, a portable disc, 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 above.

[0172] The computer readable storage medium can include a computer-readable medium in baseband or propagated as a carrier wave in a propagated signal, wherein the computer-readable medium bears computer readable code. Such a propagated signal can take a wide variety of forms including, but not limited to radio frequency signals, light signals, or any suitable combination thereof. The computer readable medium can be any medium that can be read by a computer including, but not limited to memory algebraic, volatile (such as RAM), non-volatile (such as ROM, flash memory, etc.) or any suitable combination thereof. The computer readable medium can also be any medium that can be used to carry or store program code in the form of instructions or data structures that can be accessed by a computer.

[0173] The program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++, or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's computing device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device or entirely on the remote computing device or server. In the latter scenario, the remote computing device can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computing device, such as through the Internet using an Internet Service Provider.

[0174] The above computer readable medium has one or more programs, when the one or more programs are executed by the device, the computer readable medium realizes the above functions.

[0175] Those skilled in the art can understand that the above modules 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 can be further split into multiple sub-modules.

[0176] According to the embodiment of the present application, a computer program is provided, including computer program or instructions, which can execute the above described method when executed by a processor.

[0177] The above describes the embodiments of the present application in detail, and the principles and implementation manners of the present application are described by using 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 manners and application scope of the present application, all belong to the protection scope of the present application. In summary, the content of the present specification should not be understood as a limitation on the present application.

[0178] The person skilled in the art can understand that the above modules can be distributed in the device according to the description of the embodiments, or can be changed or deformed in one or more devices different from the embodiments. The modules of the above embodiments can be combined into one module, or can be further split into multiple sub-modules.

[0179] The above describes the embodiments of the present application in detail, and the principles and implementation manners of the present application are described by using 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 manners and application scope of the present application, all belong to the protection scope of the present application. In summary, the content of the present specification should not be understood as a limitation on the present application.

Claims

1. A method for resolving aircraft conflicts, applied to a first aircraft, characterized in that, The method includes: Obtain flight information of aircraft that conflict with the first aircraft; According to the preset priority rules, the order of conflict resolution between the first aircraft and the aircraft that conflict with the first aircraft is determined; Based on the flight information, the flight release action of the first aircraft is determined according to the conflict resolution sequence, wherein the flight release action satisfies preset flight condition restrictions.

2. The method according to claim 1, characterized in that, According to a preset priority rule, the conflict resolution order between the first aircraft and the conflicting aircraft is determined, including: Calculate the priority release index corresponding to the first aircraft according to the preset priority rules; The conflict resolution order is determined based on the resolution priority index.

3. The method according to claim 2, characterized in that, According to the preset priority rules, the release priority index corresponding to the first aircraft is calculated, including: Identify the factors influencing conflict resolution; Determine the impact factor weight value for each impact factor; The priority removal index is calculated based on the impact factor and the weight value of the impact factor.

4. The method according to claim 3, characterized in that, Before determining the conflict resolution order between the first aircraft and the conflicting aircraft according to a preset priority rule, 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.

5. The method according to claim 1, characterized in that, Based on the flight information and the conflict resolution sequence, the flight release action of the first aircraft is determined, including: The solid angle corresponding to the first aircraft's execution of the flight release action is determined according to the conflict resolution sequence. Within the solid angle range, the pose of the first aircraft 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 first aircraft, such that the selected flight release actions meet the preset flight condition restrictions of the first aircraft.

6. The method according to claim 5, characterized in that, Determining the solid angle corresponding to the execution of the flight release action by the first aircraft based on the conflict resolution sequence includes: Construct the solid angle of the first aircraft; Determine the available solid angles in the solid angles of the first aircraft; Based on the flight information, determine the solid angle corresponding to the flight release action from the available solid angles; 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.

7. The method according to claim 6, characterized in that, Constructing the solid angles of the first aircraft includes: The solid angle of the first aircraft is constructed with the center of mass of the first aircraft as the center of the sphere.

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

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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