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, and the method is applied to a control center, and comprises the steps: obtaining flight information of aircrafts with conflicts; calculating a release priority index corresponding to each aircraft in the aircrafts; according to the releasing priority index, determining a conflict releasing 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, the control center determines the removal sequence of the aircrafts according to the calculated removal priority indexes corresponding to the aircrafts, so that the aircrafts sequentially execute flight removal actions according to the determined conflict removal sequence, and the flight safety of the aircrafts is guaranteed; 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, an electronic device, 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, and navigable helicopters, 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 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, an electronic device, 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, which is applied to a control center, and the method comprises:

[0006] obtaining flight information of aircraft in conflict;

[0007] calculating a resolution priority index corresponding to each aircraft in the aircraft;

[0008] determining a conflict resolution sequence of the aircraft in conflict according to the resolution priority index;

[0009] 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.

[0010] According to some embodiments, calculating a resolution priority index corresponding to each aircraft in the aircraft comprises:

[0011] determining an impact factor of resolving conflict;

[0012] calculating the resolution priority index according to a preset impact factor weight value of each impact factor.

[0013] According to some embodiments, the impact factor includes aircraft number, aircraft type, aircraft task urgency, and / or flight purpose.

[0014] According to some embodiments, before calculating the de-prioritization index of each aircraft in the aircraft according to the preset influence factor weight value of each influence factor, the method further comprises:

[0015] Determining the influence factor weight value corresponding to each influence factor.

[0016] According to some embodiments, based on the flight information, the flight de-prioritization action of each aircraft in conflict is determined in sequence according to the conflict de-prioritization sequence, comprising:

[0017] According to the conflict de-prioritization sequence, the solid angle corresponding to the flight de-prioritization action of each aircraft is determined;

[0018] Discretizing the pose of the aircraft within the solid angle range to generate a list of optional coordination actions;

[0019] Each optional coordination action in the list of optional coordination actions is evaluated to filter out the flight de-prioritization action suitable for the aircraft, so that the filtered flight de-prioritization action meets the preset flight condition limit of the corresponding aircraft.

[0020] According to some embodiments, according to the conflict de-prioritization sequence, the solid angle corresponding to the flight de-prioritization action of each aircraft is determined, comprising:

[0021] Determining the flight de-prioritization action of the aircraft according to the conflict de-prioritization sequence;

[0022] Constructing the solid angle of the aircraft;

[0023] Determining the available solid angle in the solid angle of the aircraft;

[0024] According to the flight information, the solid angle closest to the flight trajectory of the aircraft is determined from the available solid angle as the solid angle corresponding to the flight de-prioritization action of the aircraft.

[0025] According to some embodiments, the solid angle of the aircraft is constructed, comprising:

[0026] The centroid of the aircraft is taken as the center of the sphere to construct the solid angle of the aircraft.

[0027] According to some embodiments, the available solid angle in the solid angle of the aircraft is determined, comprising:

[0028] According to the conflict de-prioritization sequence, the occupied solid angle occupied by other aircraft is determined;

[0029] From the solid angle, the solid angle not yet occupied by other aircraft is selected as the available solid angle.

[0030] According to some embodiments, selecting a solid angle that has not yet been occupied by other aircraft from the solid angles as the available solid angles includes:

[0031] Select solid angles from the solid angles of the constructed aircraft that do not overlap with the occupied solid angles of other aircraft as the available solid angles.

[0032] According to some embodiments, each optional coordination action in the list of optional coordination actions is evaluated, including:

[0033] The feasibility, safety, and / or impact on the flight mission of each of the optional coordinated actions are assessed.

[0034] According to some embodiments, the preset flight condition constraints include: safety interval constraints and / or flight performance constraints.

[0035] According to some embodiments, the optional coordinated actions include translation adjustment actions, height adjustment actions, and / or speed adjustment actions.

[0036] According to one aspect of this application, a device for resolving aircraft conflicts is proposed, applied in a control center, the device comprising:

[0037] Flight information acquisition unit, used to acquire flight information of conflicting aircraft;

[0038] A priority index calculation unit is used to calculate the priority index for each aircraft in the aircraft.

[0039] The conflict resolution order determination unit is used to determine the conflict resolution order of the aircraft in conflict based on the resolution priority index.

[0040] 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.

[0041] According to one aspect of this application, an electronic device is provided, comprising: a processor; a memory for storing a computer program; wherein, when the computer program is executed by the processor, the processor causes the processor to perform the method as described in any of the preceding embodiments.

[0042] According to one aspect of this application, a non-transitory computer-readable storage medium is provided, having stored thereon computer-readable instructions that, when executed by a processor, cause the processor to perform the method as described in any of the preceding embodiments.

[0043] According to the example embodiment of this application, the control center determines the release order of the aircraft based on the calculated release priority index corresponding to each aircraft, so that the aircraft can perform flight release actions in sequence according to the determined conflict release order. This not only ensures the flight safety of the aircraft, but also maximizes the satisfaction of the aircraft's flight mission requirements and improves the management efficiency of the aircraft. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0045] Figure 1 A system architecture diagram for conflict resolution of an aircraft is shown according to an example embodiment of this application.

[0046] Figure 2 A flowchart illustrating a method for resolving aircraft conflicts according to an example embodiment of this application is shown.

[0047] Figure 3 A flowchart illustrating a method for calculating the release priority index corresponding to an aircraft according to an example embodiment of this application is shown.

[0048] Figure 4 A flowchart illustrating a method for generating a flight release action of an aircraft according to an example embodiment of this application is shown.

[0049] Figure 5 A block diagram of an apparatus for resolving aircraft conflicts according to an example embodiment of this application is shown.

[0050] Figure 6 An electronic device is shown according to an exemplary embodiment of this application. Detailed Implementation

[0051] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0052] The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a full understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of these specific details, or other methods, components, materials, apparatus, or operations may be employed. In these cases, well-known structures, methods, apparatuses, implementations, materials, or operations will not be shown or described in detail.

[0053] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0054] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0055] Figure 1 This 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.

[0056] According to the embodiments of this application, the control center determines the release order of the aircraft based on the calculated release priority index corresponding to each aircraft, which not only ensures the flight safety of the aircraft, but also maximizes the satisfaction of the aircraft's flight mission requirements and improves the management efficiency of the aircraft.

[0057] The specific embodiments according to this application will now be described in detail with reference to the accompanying drawings.

[0058] 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, S205, and S207. The following will use... Figure 2Taking an example, a method for resolving aircraft conflicts according to an example embodiment of this application will be described in detail.

[0059] According to the embodiments of this application, Figure 2 The method shown is applied to the control center.

[0060] like Figure 2 As shown, in step S201, the flight information of the conflicting aircraft is obtained.

[0061] According to embodiments of this application, flight information includes location information, preset trajectory parameters, and flight parameters.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] According to embodiments of this application, the acquired flight information also includes influencing factors for resolving aircraft conflicts.

[0066] In some embodiments, influencing factors include, but are not limited to, aircraft number, aircraft type, mission urgency, and / or flight purpose.

[0067] For example, influencing factors include the purpose of the aircraft, the urgency of the flight mission, and the type of aircraft.

[0068] In some embodiments, the uses of the aircraft include emergency rescue, logistics transportation, leisure and entertainment, etc.; the urgency of the flight mission is classified according to the timeliness and importance of the mission; the types of aircraft include fixed-wing, rotary-wing, etc.

[0069] In order to identify the impact factors of an aircraft, in specific embodiments, different impact factor identification codes are set for the priority impact factors of an aircraft based on preset impact factor identification code rules, taking into account internationally accepted standards and the actual airspace conditions in China.

[0070] For example, emergency rescue aircraft are assigned the highest priority impact factor identification code and enjoy priority passage in the airspace. In some embodiments, logistics transport aircraft are assigned different priorities based on the timeliness and importance of the cargo.

[0071] In some embodiments, it is also necessary to specify the encoding format, length, and transmission method of the influence factor identification code in the communication and sensing system to ensure that each aircraft can accurately identify each other's influence factor identification codes in a complex airspace environment.

[0072] In a specific embodiment, the impact factor identification code is a priority identification code with a specific format and length. For example, it uses an [X]-bit encoding, where the first [X1] bits represent the aircraft's purpose category, the middle [X2] bits represent the mission urgency level, and the last [X3] bits represent the aircraft type code. This encoding structure allows for the accurate transmission of critical aircraft information within a limited code length.

[0073] According to the embodiments of this application, it is also necessary to clarify the transmission method of the influence factor identification code in the communication and sensing system.

[0074] In some embodiments, in a communication system, an influence factor identification code is broadcast and transmitted along with other information about the aircraft (such as position, speed, etc.) using a specific protocol.

[0075] In other embodiments, in the perception system, the influence factor identification code is displayed in a specific identifier form (such as a QR code, a specific pattern, etc.) through vision or other perception technologies so that other aircraft can recognize it.

[0076] For example, in an emergency rescue scenario, when an earthquake strikes a city, multiple low-altitude aircraft participate in the rescue mission. To identify emergency rescue aircraft carrying medical supplies to the disaster area using an impact factor identification code, the code is set according to the following rules: purpose code (01, representing emergency rescue), urgency level code (03, the highest urgency level), and aircraft type code (02, representing rotorcraft), i.e., the identification code is 010302. During flight, this identification code is broadcast through a communication system. Other aircraft, upon receiving it, determine its highest priority according to the rules and actively give way, ensuring that the rescue aircraft can reach the disaster area quickly and safely.

[0077] For example, in a logistics transportation scenario, in a logistics park, there are multiple logistics transportation aircraft performing different delivery tasks. One aircraft responsible for delivering urgent medicines has its impact factor identification code set as follows: purpose code (02, representing logistics transportation), urgency level code (02, higher urgency level), and aircraft type code (01, representing a fixed-wing aircraft), i.e., identification code 020201. When this aircraft encounters other ordinary logistics delivery aircraft in the airspace, the other aircraft can determine its higher priority based on the identification code rules, adjust their flight paths and speeds to allow the urgent medicine delivery aircraft priority passage, ensuring timely delivery of the medicines.

[0078] In step S203, the release priority index corresponding to each aircraft in the aircraft is calculated.

[0079] According to an embodiment of this application, in step S203, firstly, the influencing factors for resolving conflicts are determined; then, the priority index for resolving conflicts is calculated based on the preset weight value of each influencing factor.

[0080] Since the priority index is calculated using the impact factors, it is necessary to calculate based on the preset impact factor weight value of each impact factor. Therefore, before step S203, it is also necessary to determine the impact factor weight value corresponding to each impact factor.

[0081] In a specific embodiment, the priority index is calculated using a linear weighting function based on the preset impact factor weight value of each impact factor.

[0082] In step S205, the conflict resolution order of the conflicting aircraft is determined according to the resolution priority index.

[0083] According to an embodiment of this application, the conflict resolution order of conflicting aircraft is determined in descending order based on the resolution priority index, so that the aircraft can sequentially select the resolution action according to the conflict resolution order.

[0084] In step S207, based on the flight information, the flight release action of each aircraft with conflict is determined sequentially according to the conflict resolution order, wherein the flight release action satisfies the preset flight condition restrictions of the corresponding aircraft.

[0085] According to an embodiment of this application, in step S207, when determining the flight release action of each conflicting aircraft in sequence based on the conflict resolution order, firstly, the solid angle corresponding to the flight release action of each aircraft is determined according to the conflict resolution order; then, within the solid angle range, the pose of the aircraft is discretized to generate a list of optional coordinated actions; finally, each optional coordinated action in the list of optional coordinated 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.

[0086] according to Figure 2 In the illustrated embodiment, the control center determines the release order of the aircraft based on the calculated release priority index corresponding to each aircraft, so that the aircraft can perform flight release actions in sequence according to the determined conflict release 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.

[0087] Figure 3 A flowchart illustrating a method for calculating the release priority index corresponding to an aircraft according to an example embodiment of this application is shown below. Figure 3 Taking an example, a method for calculating the release priority index corresponding to an aircraft according to an example embodiment of this application will be described in detail.

[0088] like Figure 3 As shown, in step S301, the influencing factors for resolving the conflict are determined.

[0089] According to embodiments of this application, the acquired flight information also includes influencing factors for resolving aircraft conflicts.

[0090] In a specific embodiment, the received aircraft impact factor identification code is parsed according to a preset encoding format. For example, the identification code is in the format of [specific encoding form], where the first few digits represent the aircraft's purpose, the middle few digits represent the urgency of the flight mission, the last few digits represent the aircraft type, and the remaining part represents information such as remaining battery power. Through parsing, the corresponding impact factors for resolving aircraft conflicts can be extracted.

[0091] In some embodiments, influencing factors include, but are not limited to, aircraft number, aircraft type, mission urgency, and / or flight purpose.

[0092] In other embodiments, influencing factors also include aircraft performance parameters, flight mission, and airspace conditions.

[0093] For example, adding weight parameters such as the aircraft's remaining battery power and the urgency of the flight destination can ensure that the priority ranking results are more scientific and reasonable.

[0094] In step S303, the weight value of the influence factor corresponding to the removal factor is determined.

[0095] In the embodiments of this application, corresponding influence factor weight values ​​can be assigned to each extracted factor according to pre-set rules. For example, for an emergency rescue aircraft, the influence factor weight value for the urgency of the flight mission can be set to 0.5, the influence factor weight value for the purpose of the aircraft can be set to 0.3, the influence factor weight value for the type of aircraft can be set to 0.1, and the influence factor weight value for the remaining battery power can be set to 0.1.

[0096] It should be noted that the weight values ​​of the impact factors are not fixed and can be reasonably adjusted based on the actual situation and the importance of the impact factors, through expert experience, data analysis, or algorithm optimization, to ensure the scientific nature of the calculated priority index.

[0097] In step S305, the priority removal index is calculated based on the preset impact factor weight value of each impact factor.

[0098] According to an embodiment of this application, the priority de-priority index is calculated using a preset function based on the preset weight values ​​of each influencing factor. The preset function includes, but is not limited to, a linear weighting function, a quadratic function, etc.

[0099] The following example uses a linear weighted function to illustrate the process of calculating the priority de-index.

[0100] Assuming that the factors affecting the resolution of aircraft conflicts include information such as aircraft type, purpose, mission urgency and remaining power, the linear weighted function for calculating the resolution priority index is shown in formula (1).

[0101] P = w1T + w2U + w3E + w4R (1)

[0102] In this system, P represents the calculated priority index for the aircraft, a numerical value that comprehensively reflects the importance and priority of the aircraft in the airspace. T represents the aircraft type, distinguishing the inherent priorities of different types of aircraft, such as fixed-wing and rotary-wing aircraft, by setting basic priority coefficients for different types of aircraft. For example, the T value for fixed-wing aircraft is set to T1, and for rotary-wing aircraft it is set to T2. U represents the purpose of the aircraft, assigning different weights according to different purposes, such as emergency rescue U1 and logistics transportation U2. E represents the urgency of the flight mission, divided into different levels, such as the highest urgency level E1, the second highest urgency level E2, etc., each level corresponding to a different weight coefficient. R represents the remaining power of the aircraft. The R value is lower when the power is sufficient and higher when the power is insufficient, to ensure that important missions can still be executed with priority when 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 predetermined based on the actual situation and the importance of each factor, through expert experience, data analysis, or algorithm optimization.

[0103] In step S307, the execution order of each aircraft performing the release action is determined based on the calculated release priority index.

[0104] Based on the calculated priority index P, all identified aircraft are ranked from highest to lowest. A higher priority value indicates a higher priority for the aircraft in the airspace, granting it priority right-of-way or priority access to resources during flight conflicts or resource allocation.

[0105] It should be noted that during flight, the aircraft's status information, such as changes in mission urgency and power consumption, needs to be updated in real time. If these factors change, the priority index needs to be recalculated and the ranking adjusted in a timely manner to ensure that the priority ranking results always accurately reflect the real-time status of the aircraft.

[0106] according to Figure 3 The embodiment shown calculates a resolution priority index based on the determined conflict resolution influencing factors, thereby determining the execution order of the aircraft's resolution actions.

[0107] In other embodiments, the impact factors and / or corresponding impact factor weights related to the priority index and the calculation method for calculating the priority index can be adjusted and optimized according to actual operating data and newly emerging problems, so that the priority index can adapt to different application environments.

[0108] Figure 4 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 4Taking 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.

[0109] like Figure 4 As shown, in step S401, the solid angle corresponding to the flight release action of each aircraft is determined according to the conflict resolution sequence.

[0110] According to an embodiment of this application, step S401 includes:

[0111] Step S4011: Determine the aircraft to perform the action according to the conflict resolution sequence.

[0112] Step S4013: Construct the solid angle of the aircraft.

[0113] 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.

[0114] For example, for each aircraft, a virtual sphere is constructed with its center of mass as the center and a radius of unit length R. Unit solid angles are then constructed using this virtual sphere, and each unit solid angle (i.e., one steradian) is used as a possible candidate direction for its motion. The SI unit for solid angles is the steradian (sr). A non-SI unit for solid angles is the square degree, 1sr = (180 / π)² square degree.

[0115] Step S4015: Determine the available solid angles in the solid angles of the aircraft.

[0116] According to an embodiment of this application, in step S4015, firstly, based on the conflict resolution order, the occupied solid angles that have been occupied by other aircraft are determined; then, solid angles that have not been occupied by other aircraft are selected from the solid angles of the constructed aircraft as available solid angles.

[0117] In a specific embodiment, a solid angle that does not overlap with the occupied solid angles of other aircraft is selected from the constructed solid angles of the aircraft as a usable solid angle.

[0118] For example, among the available solid angles in the solid angles of the aircraft, the following solid angles are marked as occupied: those that overlap with the unit solid angle (unit solid angle with the centroid of the other) selected by an aircraft with a higher priority (e.g., distance < preset distance threshold, time interval < preset time threshold).

[0119] Step S4017: Based on the flight information, determine the solid angle closest to the flight trajectory of the aircraft from the available solid angles.

[0120] According to an embodiment of this application, in step S4017, the solid angle with the smallest distance from the preset flight trajectory is selected from the available solid angles as the solid angle corresponding to the flight release action of the aircraft.

[0121] In step S403, the aircraft's pose is discretized within the solid angle range to generate a list of optional coordinated actions.

[0122] According to an embodiment of this application, in step S403, the pose data (including three-dimensional position and three-dimensional attitude) of the conflicting aircraft are discretized, dividing the continuous spatial and attitude information into a finite number of discrete states. Based on different discrete states, combined with preset time intervals and spatial intervals + delta settings, a list of optional coordinated actions corresponding to each priority is generated using flight mechanics principles and trajectory planning algorithms. The time interval is set to 5 seconds, the spatial interval to 100 meters, and delta can be dynamically adjusted according to the aircraft's speed and acceleration. For example, for aircraft whose speed and acceleration exceed a preset threshold, a larger delta can be preset, and for aircraft whose speed and acceleration exceed a preset threshold, a smaller delta can be preset; no specific limitation is made here.

[0123] In a specific embodiment, for the i-th aircraft, the discretized result of the pose data of each aircraft is represented as follows: the position information (three-dimensional coordinates) can be represented as x i =(x i1 ,x i2 ,x i3 The attitude information (three-dimensional angle) can be represented as θ. i =(θ i1 ,θ i2 ,θ i3 Then, the discretization result of the 6D pose can be uniformly represented as X. i =(x i ,θ i ).

[0124] In some embodiments, the generated list of optional actions is a collection of various action suggestions, each corresponding to a different flight adjustment strategy to meet different flight scenarios and priority requirements.

[0125] For example, for a lower-priority aircraft, when a potential conflict with a higher-priority aircraft is detected, the action list may include the following adjustment actions:

[0126] Translational adjustment maneuvers: 50 meters to the left or 80 meters to the right. These translational distances are calculated based on the spatial clearance and delta settings, as well as the relative positions and speeds between the aircraft, ensuring a safe spatial clearance while avoiding high-priority aircraft.

[0127] Altitude adjustment maneuvers: decreasing altitude by 30 meters or increasing altitude by 40 meters. The magnitude of altitude adjustments also takes into account flight mechanics principles and airspace safety requirements to avoid vertical conflicts with other aircraft.

[0128] Speed ​​adjustment maneuvers: Decelerate by 20% or accelerate by 15%. The speed adjustment ratio is determined based on the aircraft's current speed, its relative speed to higher-priority aircraft, and the requirements of the flight mission, in order to balance the needs of avoidance and mission execution.

[0129] For example, when a potential conflict with a high-priority aircraft is detected, the generated action list may include action suggestions such as moving a certain distance to the left or right, decreasing or increasing altitude, or decelerating or accelerating.

[0130] According to embodiments of this application, a list of optional coordinated actions is generated in the following manner:

[0131] For highest priority aircraft, due to the urgency and importance of their missions, they typically maintain their original flight path and speed to ensure successful mission execution. If adjustments are necessary due to special circumstances, they are minimal, such as minor horizontal displacements of 1-5 meters to avoid temporary small obstacles. For example, during emergency rescue missions, they fly directly to their destination in a straight line; if they encounter even minor disturbances, they only slightly adjust their course to ensure that rescue supplies are delivered as quickly as possible.

[0132] For higher-priority aircraft, speed adjustments are generally limited to ±10% of the original speed, while still meeting flight performance constraints, to ensure mission timeliness. For example, if the original speed is 100 km / h, the adjusted speed range would be between 90-110 km / h. In terms of spatial trajectory, small-angle heading adjustments can be made, with angle changes between 5-15 degrees, along with some vertical altitude adjustments, with altitude changes between 10-30 meters. For instance, an aircraft transporting urgent medicine can make small-angle heading adjustments and appropriately increase altitude in the event of a conflict to ensure timely delivery of the medicine.

[0133] For ordinary priority aircraft, the speed adjustment range is relatively large, approximately ±20% of the original speed, to coordinate with high-priority aircraft. For example, if the original speed is 80 km / h, the adjusted speed may be between 64-96 km / h. In terms of spatial trajectory, significant course corrections can be made, with horizontal displacement possibly between 50-100 meters and vertical altitude changes between 30-50 meters. For instance, when an ordinary logistics delivery aircraft detects a high-priority aircraft approaching, it might shift 80 meters to the left and decrease its altitude by 40 meters.

[0134] 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.

[0135] In step S405, 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.

[0136] 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.

[0137] 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.

[0138] 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.

[0139] In some embodiments, the feasibility assessment includes a speed limit assessment and an overload limit assessment.

[0140] 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 .

[0141] 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 .

[0142] 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.

[0143] 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 .

[0144] 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.

[0145] 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 / ∣vrel |

[0146] 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.

[0147] 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.

[0148] In other embodiments, flight performance constraints include velocity constraints and acceleration constraints.

[0149] 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.

[0150] 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.

[0151] according to Figure 4 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.

[0152] According to an embodiment of this application, after obtaining the flight release action list for each aircraft, it is necessary to notify each aircraft via communication means so that each aircraft can execute the flight release action according to its own action list.

[0153] 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.

[0154] 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.

[0155] 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.

[0156] The above description primarily focuses on the methodological aspects of the embodiments of this application. Those skilled in the art should readily recognize that, based on the operations or steps described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Those skilled in the art can implement the described functionality in different ways for each specific operation or method, and such implementations should not be considered beyond the scope of this application.

[0157] The apparatus embodiments of this application are described below. For details not described in the apparatus embodiments of this application, please refer to the method embodiments of this application.

[0158] Figure 5 A block diagram of an apparatus for resolving aircraft conflicts according to an example embodiment of this application is shown, wherein the apparatus is applied to a control center.

[0159] According to an embodiment of this application, the device includes a flight information acquisition unit 501, a conflict resolution priority index calculation unit 503, a conflict resolution order determination unit 505, and a flight resolution action determination unit 507. The flight information acquisition unit 501 acquires flight information of conflicting aircraft; the conflict resolution priority index calculation unit 503 calculates a conflict resolution priority index for each aircraft; the conflict resolution order determination unit 505 determines the conflict resolution order of the conflicting aircraft based on the conflict resolution priority index; and the flight resolution action determination unit 507 determines the flight resolution action for each conflicting aircraft based on the flight information and the conflict resolution order, wherein the flight resolution action satisfies a preset flight condition constraint for the corresponding aircraft.

[0160] 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 6The 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.

[0161] 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.

[0162] 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.

[0163] 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.

[0164] 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.

[0165] Bus 230 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0166] Electronic device 200 can also communicate with one or more external devices 300 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 200, and / or with any device that enables electronic device 200 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 250. Furthermore, electronic device 200 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 260. Network adapter 260 can communicate with other modules of electronic device 200 via bus 230. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 200, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0167] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. The technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, or network device, etc.) to execute the methods described above according to the embodiments of this application.

[0168] Software products may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example,, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0169] Computer-readable storage media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable storage medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0170] Program code for performing the operations of this application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0171] The aforementioned computer-readable medium carries one or more programs, which, when executed by a device, cause the computer-readable medium to perform the aforementioned functions.

[0172] Those skilled in the art will understand that the above modules can be distributed in the device as described in the embodiments, or they can be modified accordingly and placed in one or more devices that are unique to this embodiment. The modules in the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0173] According to an embodiment of this application, a computer program is proposed, including a computer program or instructions, which, when executed by a processor, can perform the methods described above.

[0174] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this application. Furthermore, any changes or modifications made by those skilled in the art based on the ideas of this application, and on the specific implementation methods and application scope of this application, are all within the scope of protection of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

[0175] Those skilled in the art will understand that the above modules can be distributed in the device as described in the embodiments, or they can be modified accordingly and placed in one or more devices that are unique to this embodiment. The modules in the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0176] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this application. Furthermore, any changes or modifications made by those skilled in the art based on the ideas of this application, and on the specific implementation methods and application scope of this application, are all within the scope of protection of this application. Therefore, the content of this specification should not be construed as a limitation of this 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; Calculate the release priority index for each of the aforementioned aircraft; The order of conflict resolution for conflicting aircraft is determined based on the resolution priority index. Based on the flight information, the flight resolution actions for each conflicting aircraft 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, Calculate the release priority index for each of the aforementioned aircraft, including: Identify the factors influencing conflict resolution; The priority removal index is calculated based on the preset impact factor weight value of each impact factor.

3. The method according to claim 2, characterized in that, The influencing factors include aircraft number, aircraft type, mission urgency, and / or flight purpose.

4. The method according to claim 3, characterized in that, Before calculating the de-priority index based on the preset impact factor weight value of each impact factor, the calculation of the de-priority index corresponding to each aircraft in the aircraft also includes: Determine the impact factor weight value corresponding to each impact factor.

5. 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 the flight resolution action performed by each aircraft; 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, so that the selected flight release actions meet the preset flight condition restrictions of the corresponding aircraft.

6. The method according to claim 5, characterized in that, Based on the conflict resolution sequence, the solid angle corresponding to each aircraft performing the flight resolution action is determined, 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.

7. The method according to claim 6, 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.

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; A priority index calculation unit is used to calculate the priority index for each aircraft in the aircraft. The conflict resolution order determination unit is used to determine the conflict resolution order of the aircraft in conflict based on the resolution priority index. 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 performs 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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