Display control device, display control method and display control program

Abstract

A display control device (10) comprises a motion path structure data acquisition unit (12), a control information acquisition unit (13), a predicted trajectory detection unit (14), a predicted trajectory acquisition unit (15), an anomalous approach detection unit (16) to identify a second mobile object as having a period of anomalous approach from a plurality of relevant mobile objects, a display control unit (17) to cause a display device (40), a two-dimensional coordinate system formed by a first coordinate axis representing positions from a starting point to an endpoint of a first predicted trajectory by distances, and a second coordinate axis representing time, a line indicating the first predicted trajectory, and an anomalous approach region.which areas of the position and time of the second mobile object are indicated, and a trajectory correction unit (19) to cause the display device (40) to display a display component, and, upon receiving input information to move the display component, to correct the first predicted trajectory so that the line indicating the first predicted trajectory does not overlap with the region of anomalous approach.

Description

Display control device, display control method, and display control program

[0001] The present disclosure relates to a display control device, a display control method, and a display control program.

[0002] A proposed air traffic control information display system includes a display means for displaying the path of a moving object (e.g., an aircraft, a vehicle, etc.) traveling on the ground at an airport on a two-dimensional plane consisting of a coordinate axis representing time and a coordinate axis representing position. For example, see Patent Document 1. A situation in which a selected moving object needs to pay attention is a situation in which another moving object shares part of the selected moving object's path. The path may be shared in two ways: when a taxiway constituting the selected moving object's path intersects with a taxiway constituting the other moving object's path at an intersection, or when the selected moving object and the other moving object travel in the same or opposite directions on a shared taxiway. For this reason, the system of Patent Document 1 displays the traveling status of the two moving objects in a three-dimensional manner, such that a two-dimensional plane showing the traveling status of the selected moving object intersects with another two-dimensional plane showing the traveling status of the other moving object.

[0003] Japanese Patent Application Laid-Open No. 2006-350445 (e.g., claims 1 and 2, paragraphs 0038 to 0039, and Figures 4 to 6)

[0004] However, in the case of a display format that shows the traveling conditions of two moving bodies in three dimensions, a controller looking at the display means cannot easily predict abnormal proximity between the moving bodies and correct the trajectory to avoid the abnormal proximity (including collision).

[0005] An object of the present disclosure is to provide a display control device, a display control method, and a display control program that enable prediction of abnormal closeness between moving bodies and easy correction of predicted trajectories to avoid the abnormal closeness.

[0006] A display control device according to the present disclosure is a device of a control system that transmits instructions to a plurality of moving bodies traveling on a plurality of travel paths, and includes a travel path structure data acquisition unit that acquires travel path structure data indicating the structure of the plurality of travel paths, a control information acquisition unit that acquires the control information from a management device that manages control information including the positions and operation schedules of the plurality of moving bodies, a predicted trajectory estimation unit that estimates a plurality of predicted trajectories indicating movement paths of the plurality of moving bodies based on the travel path structure data and the control information, a predicted trajectory acquisition unit that acquires, from the plurality of predicted trajectories, a first predicted trajectory indicating the movement path of a first moving body that is a moving body selected as a monitoring target from the plurality of moving bodies, and a plurality of related predicted trajectories that indicate movement paths of a plurality of related moving bodies that are moving bodies other than the first moving body, and a display control unit that acquires the travel path structure data, the first predicted trajectory, and the plurality of related predicted trajectories. a two-dimensional coordinate system consisting of a first coordinate axis representing a position from a start point to an end point of the first predicted trajectory by a distance from the start point or the end point and a second coordinate axis representing time; a display control unit causing a display device to display a line representing the first predicted trajectory in the two-dimensional coordinate system and an abnormal proximity region representing a position and time range of the second moving body when it is in the period of abnormal proximity; and a trajectory correction unit causing the display device to display a display component for updating the first predicted trajectory and correcting the first predicted trajectory so that the line representing the first predicted trajectory does not overlap the abnormal proximity region when input information to move the display component is received.

[0007] The display control method of the present disclosure is a method implemented by a display control device of a control system that transmits instructions to a plurality of moving bodies traveling on a plurality of traveling paths, and includes the steps of: acquiring traveling path structure data indicating a structure of the plurality of traveling paths; acquiring the control information from a management device that manages control information including positions and operation schedules of the plurality of moving bodies; estimating a plurality of predicted trajectories indicating movement paths of the plurality of moving bodies based on the traveling path structure data and the control information; acquiring, from the plurality of predicted trajectories, a first predicted trajectory indicating a movement path of a first moving body that is a moving body selected as a monitoring target from the plurality of moving bodies, and a plurality of related predicted trajectories indicating movement paths of a plurality of related moving bodies that are moving bodies other than the first moving body; and displaying the traveling path structure data, the first predicted trajectory, and the plurality of related predicted trajectories. the first predicted trajectory from the plurality of related moving bodies based on the estimated trajectory, the second moving body being a moving body having a period of abnormal proximity in which the distance from the first moving body is equal to or less than a predetermined reference value; a step of displaying on a display device a two-dimensional coordinate system consisting of a first coordinate axis representing the position from a start point to an end point of the first predicted trajectory by the distance from the start point or the end point and a second coordinate axis representing time, a line representing the first predicted trajectory in the two-dimensional coordinate system, and an abnormal proximity region representing the position and time range of the second moving body during the period of abnormal proximity; and a step of displaying on the display device a display component for updating the first predicted trajectory, and correcting the first predicted trajectory so that the line representing the first predicted trajectory does not overlap the abnormal proximity region when input information to move the display component is received.

[0008] According to the present disclosure, it is possible to easily predict abnormal closeness between moving bodies and correct the predicted trajectory to avoid the abnormal closeness.

[0009] 1 is a functional block diagram illustrating an outline of the configuration of a display control device and a control system according to an embodiment. FIG. 2 is a diagram illustrating an example of the hardware configuration of a display control device according to an embodiment. FIG. 3 is a flowchart illustrating the display operation of a display control device according to an embodiment. FIG. 4 is a plan view illustrating an example of runways and taxiways, which are driving paths at an airport. (A) is a plan view illustrating an example of a predicted trajectory of a selected aircraft. (B) is a diagram illustrating an example of a predicted trajectory of a selected aircraft in a two-dimensional coordinate system consisting of a position coordinate axis and a time coordinate axis. (A) is a plan view illustrating an example of a predicted trajectory of a related aircraft. (B) is a diagram illustrating an example of a predicted trajectory of a related aircraft in a two-dimensional coordinate system consisting of a position coordinate axis and a time coordinate axis. (A) is a plan view illustrating an example of a predicted trajectory in a situation where a selected aircraft and a related aircraft are traveling in directions approaching each other on the same taxiway. (B) is a diagram illustrating an example of a position where a selected aircraft and a related aircraft will come abnormally close to each other in a two-dimensional coordinate system. 10(A) is a plan view showing an example in which a selected aircraft and a related aircraft have begun to travel along the same taxiway in a direction approaching each other. (B) is a diagram showing an example of a display on the display device when a head-on occurs in FIG. 8(A). (A) is a plan view showing an abnormal close approach situation in which a selected aircraft and a related aircraft are traveling along the same taxiway in a direction approaching each other, and the related aircraft has entered the abnormal close approach range of the selected aircraft. (B) is a diagram showing an example of a display on the display device when the abnormal close approach situation in FIG. 9(A) occurs. (A) is a plan view showing an example in which a selected aircraft and a related aircraft have come close to each other at an intersection (in this example, there is a risk of a collision). (B) is a diagram showing an example of a two-dimensional coordinate system and a highlighted display component when the abnormal close approach occurs in FIG. 10(A). (B) is a diagram showing an example of a display when the abnormal close approach occurs in FIG. 10(B) (in this example, there is a risk of a collision at an intersection). (A) is a plan view showing an example of a predicted trajectory of a selected aircraft and an example of a predicted trajectory of a related aircraft. 12B is a plan view showing an example in which a selected aircraft and a related aircraft are traveling in the same direction on the same taxiway. This figure shows an example of a display when the close approach (in this example, there is a risk of a rear-end collision) shown in FIG. 12B has occurred.14(A) is a plan view showing an example of a predicted trajectory of a selected aircraft and an example of a predicted trajectory of a related aircraft. (B) is a plan view showing an example of a selected aircraft and an aircraft related to it traveling in the same direction on the same taxiway. (C) is a diagram showing an example of a display when an abnormal approach (in this example, there is a risk of a rear-end collision) occurs in FIG. 14(B). (C) is a flowchart showing the drawing process of a display control device according to an embodiment. (A) to (D) are diagrams showing a diagram screen when a trajectory is corrected by a display control device according to an embodiment. (C) is a flowchart showing the trajectory correction process of a display control device according to an embodiment. (A) and (B) are diagrams (part 1) showing an example of a diagram screen and a situation screen when a trajectory is corrected. (A) and (B) are diagrams (part 2) showing an example of a diagram screen and a situation screen when a trajectory is corrected. (A) and (B) are diagrams showing an example of a diagram screen and a situation screen when a trajectory is corrected. 10A and 10B are diagrams showing other examples of the diagram screen and the situation screen when correcting a trajectory.

[0010] Hereinafter, a display control device, a display control method, and a display control program according to embodiments will be described with reference to the drawings. The following embodiments are merely examples, and the embodiments can be appropriately combined and modified.

[0011] 1 is a functional block diagram illustrating a configuration of a display control device 10 according to an embodiment. The display control device 10 is a device capable of implementing a display control method according to an embodiment. The display control device 10 is, for example, a computer that executes a display control program according to an embodiment.

[0012] The display control device 10 is part of a control system 1 that transmits instructions to multiple mobile objects traveling on multiple roads on the ground. The control system 1 includes a control information management device 30 as a management device and a display device 40, such as an LCD monitor, that displays images. The control system 1 is, for example, an airport control system that transmits instructions to multiple aircraft as multiple mobile objects. The multiple roads are, for example, runways and taxiways at an airport. Generally, airport control systems control aircraft in flight and aircraft traveling on the ground. However, the mobile objects to which the control system 1 of the present disclosure transmits instructions are mobile objects traveling on the ground (including aircraft whose wheels are not in contact with the runway during landing and takeoff and that are flying and traveling on the runway). The mobile object is not limited to an aircraft and may be a vehicle such as an automobile. Furthermore, the mobile object may include both an aircraft and a vehicle.

[0013] The traffic control information management device 30 has a mobile object tracking and identification unit 31, an operation management unit 32, and a sensor information acquisition unit 33. The mobile object tracking and identification unit 31 tracks the positions of multiple mobile objects and identifies each of the multiple mobile objects. The operation management unit 32 manages operation management information including the operation times of the multiple mobile objects and the operation routes from the movement start point (i.e., start point) of each of the multiple mobile objects to the destination (i.e., end point). The sensor information acquisition unit 33 receives detection information of the mobile objects from a sensor that detects the mobile objects.

[0014] The display control device 10 has a road structure data acquisition unit 12, a control information acquisition unit 13, a predicted trajectory estimation unit 14, a predicted trajectory acquisition unit 15, an abnormal approach estimation unit 16, a display control unit 17, an input device 18, and a trajectory correction unit 19.

[0015] The roadway structure data acquisition unit 12 acquires roadway structure data indicating the structures of multiple roadways from the storage device 11. The roadway structure data is, for example, roadway map data. Specifically, the roadway structure data acquisition unit 12 reads the roadway structure (e.g., the length of a taxiway) stored in the storage device 11, such as a non-volatile memory, and provides the data to the abnormal approach estimation unit 16. In FIG. 1 , the storage device 11 is shown as part of the display control device 10, but the storage device 11 may be an external storage device capable of communicating with the display control device 10.

[0016] The control information acquisition unit 13 acquires control information from a control information management device 30 that manages control information including the positions and operation schedules of multiple mobile objects. Specifically, the control information acquisition unit 13 acquires the current positions and operation management information of the mobile objects managed by the control information management device 30.

[0017] The predicted trajectory estimation unit 14 estimates predicted trajectories indicating the travel paths of multiple moving bodies (for example, planned trajectories of moving bodies traveling on the ground) based on the roadway structure data and air traffic control information. Specifically, the predicted trajectory estimation unit 14 estimates the predicted trajectories and current positions of moving bodies based on the current positions of the moving bodies and operation control information obtained from the air traffic control information acquisition unit 13. The predicted trajectories also include the trajectories of aircraft that fly and move on the runway when their wheels are not in contact with the runway at the time of landing and takeoff.

[0018] The predicted trajectory acquisition unit 15 acquires, from the estimated predicted trajectories, a first predicted trajectory indicating the movement path of a moving body selected as a monitoring target among the multiple moving bodies (also referred to as a “selected moving body” or a “first moving body”), and multiple second predicted trajectories indicating the movement paths of multiple associated moving bodies that are moving bodies other than the selected moving body. Specifically, the predicted trajectory acquisition unit 15 reads the predicted trajectory (predicted orbit) of the moving body calculated by the predicted trajectory estimation unit 14, and provides it to the abnormal approach estimation unit 16.

[0019] The abnormal approach estimation unit 16 estimates an abnormal approach mobile object, which is a mobile object that has a period during which its distance from the selected mobile object is equal to or less than a predetermined reference value (i.e., a threshold value), from among multiple related mobile objects based on the roadway structure data, the first predicted trajectory, and multiple second predicted trajectories, and estimates the position of the mobile object (also referred to as the "abnormal approach mobile object" or the "second mobile object") during the abnormal approach period. Specifically, the abnormal approach estimation unit 16 references the selected mobile object obtained from the input device 18 and estimates the abnormal approach region of the mobile object. The estimated abnormal approach region is provided to the display control unit 17, which superimposes the estimated abnormal approach region on the diagram as a highlighted display element. The abnormal approach region is calculated based on the structure of the mobile object's roadway (e.g., the length of the taxiway) obtained from the roadway structure data acquisition unit 12 and the predicted trajectory of the mobile object obtained from the predicted trajectory acquisition unit 15.

[0020] The near miss estimation unit 16 may acquire information (e.g., measurements from a visibility meter) regarding atmospheric visibility (the maximum distance at which the shape of a target can be seen with the naked eye) for multiple travel routes from the traffic control information management device 30, and change a predetermined reference value based on the acquired visibility. For example, the reference value can be optimized by increasing the reference value as the visibility decreases due to atmospheric conditions such as fog, rain, or snow. The near miss estimation unit 16 may also acquire information (e.g., measurements from a wind vane and anemometer) regarding wind direction and speed for multiple travel routes from the traffic control information management device 30, and change a predetermined reference value based on the wind direction and wind speed. For example, the reference value can be optimized by increasing the reference value as the wind direction increases and the wind speed increases. Furthermore, the near miss estimation unit 16 may acquire information on the size of the selected moving object and the size of the moving object that has come close to it from the air traffic control information management device 30 (e.g., data on aircraft, size information on the moving object obtained by analyzing camera footage and distance information between the moving objects, etc.), and change the predetermined reference value based on the size of the selected moving object and the size of the moving object that has come close to it. For example, the larger the size (i.e., the heavier) of the selected moving object and the larger the size of the moving object that has come close to it, the longer the braking distance, which is the distance required to stop it. Therefore, by increasing the reference value, the reference value can be optimized. This is because the larger the moving object, the heavier it is and the longer the braking distance, which is the distance required to stop it.

[0021] The display control unit 17 causes the display device 40 to display a two-dimensional coordinate system including a first coordinate axis representing the position from the start point to the end point of the first predicted trajectory as a distance from the start point (for example, in units of [m], or alternatively, the distance from the end point) and a second coordinate axis representing time (for example, the elapsed time from a reference time t0, for example, in units of [s]), as well as a line representing the first predicted trajectory in the two-dimensional coordinate system. Specifically, in this embodiment, the display control unit 17 causes the display device 40 to display a two-dimensional coordinate system including a first coordinate axis representing the position from the start point to the end point of the first predicted trajectory as a distance from the start point or the end point and a second coordinate axis representing time, as well as a line representing the first predicted trajectory in the two-dimensional coordinate system, and an abnormal approach region representing the position and time range of the second moving body during the abnormal approach period. The two-dimensional coordinate system and the line representing the predicted trajectory are also referred to as a diagram. The diagram is displayed with reference to the selection information of the controller (i.e., the system user) input from the input device 18. Furthermore, the display control unit 17 causes the display device 40 to display a highlighting component that represents the position of the approaching mobile object in a two-dimensional coordinate system during the period of the approach. The highlighting component is displayed superimposed on the diagram. Specifically, the display control unit 17 causes the display device 40 to display a figure, map, highlighting component, etc., indicating the mobile object. The highlighting component is, for example, a predetermined figure (e.g., a circle, a square, a star, etc.) filled with a predetermined color (e.g., yellow, orange, red, etc.). The highlighting component may change in brightness, color, or shape by flashing, or a combination of two or more of these changes.

[0022] The input device 18 is an operation input unit that accepts input from an air traffic controller. The input device 18 is, for example, a keyboard, a mouse, a touch panel, a microphone for voice input, etc. The input from the air traffic controller is, for example, an operation to select the trajectory of a moving object to be displayed. The input device 18 provides the input from the air traffic controller to the display control unit 17 as input data.

[0023] The trajectory correction unit 19 displays a display component for updating the first predicted trajectory on the display device 40, and when input information to move the display component is received, corrects the first predicted trajectory so that the line representing the first predicted trajectory does not overlap the abnormal approach region. Here, the display component is, for example, a point-like component that overlaps the line representing the first predicted trajectory displayed on the display device 40 but does not overlap the abnormal approach region. The point-like component is shown, for example, in FIG. 19(A) described below. The display component is displayed at a time position that is earlier in time than the time range of the abnormal approach region. When a user input operation is performed to move the display component displayed on the display device 40 in the direction of the second coordinate axis (for example, an operation using the input device 18), the trajectory correction unit 19 generates an updated predicted trajectory by moving a portion of the line representing the first predicted trajectory that is later in time than the display component in the movement direction of the display component.

[0024] 2 is a diagram showing an example of the hardware configuration of the display control device 10. As shown in FIG. 2, the display control device 10 has a processor 101 such as a CPU (Central Processing Unit), a memory 102 which is a volatile storage device, a non-volatile storage device 103 such as a hard disk drive (HDD) or a solid state drive (SSD), and an interface 104. The memory 102 is, for example, a semiconductor memory such as a RAM (Random Access Memory). The non-volatile storage device 103 may be the same as the storage device 11 shown in FIG. 1.

[0025] Each function of the display control device 10 is realized by, for example, a processing circuit. The processing circuit may be dedicated hardware, or may be a processor 101 that executes a program stored in a memory 102. The processor 101 may be any of a processing device, an arithmetic device, a microprocessor, a microcomputer, and a DSP (Digital Signal Processor).

[0026] Where the processing circuitry is dedicated hardware, the processing circuitry may be, for example, a single circuit, a multiple circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or any combination thereof.

[0027] When the processing circuit is the processor 101, the display control program executed by the display control device 10 is realized by software, firmware, or a combination of software and firmware. The display control program is installed in the display control device 10 via a network or from a recording medium. The software and firmware are written as programs and stored in the memory 102. The processor 101 can realize the functions of each unit shown in FIG. 1 by reading and executing the display control program stored in the memory 102.

[0028] The display control device 10 may be partially realized by dedicated hardware and partially realized by software or firmware. In this way, the processing circuit can realize each of the above-mentioned functions by hardware, software, firmware, or any combination of these.

[0029] Fig. 3 is a flowchart showing the display operation of the display control device 10. Fig. 3 shows a display control method according to an embodiment, which is carried out by the display control device 10 of the control system 1 that transmits instructions to multiple mobile bodies traveling on multiple travel routes.

[0030] First, the display control device 10 acquires route structure data indicating the structure of a plurality of routes (step S1), and acquires control information from the control information management device 30 that manages control information including the positions and operation schedules of a plurality of mobile bodies (step S2). Steps S1 and S2 may be executed in the reverse order, or may be executed in parallel.

[0031] The display control device 10 estimates predicted trajectories indicating the travel routes of the multiple moving objects based on the road structure data and the traffic control information (step S3).

[0032] The display control device 10 obtains from the estimated predicted trajectory a first predicted trajectory indicating the movement path of a moving body selected as a monitoring target among a plurality of moving bodies, and a plurality of second predicted trajectories indicating the movement paths of a plurality of related moving bodies other than the selected moving body (step S4).

[0033] Based on the road structure data, the first predicted trajectory, and the multiple second predicted trajectories, the display control device 10 estimates an abnormally close moving body from the multiple related moving bodies, which is a moving body that has a period during which its distance from the selected moving body is less than a predetermined reference value, and estimates the position of the abnormally close moving body during the period of abnormal proximity (step S5).

[0034] If there is a moving object in abnormal proximity (YES in step S6), the display control device 10 causes the display device 40 to display a two-dimensional coordinate system consisting of a first coordinate axis (e.g., horizontal axis) representing the position from the start point to the end point of the first predicted trajectory as a distance from the start point and a second coordinate axis (e.g., vertical axis) representing time, and a line (e.g., straight line or curve) representing the first predicted trajectory in the two-dimensional coordinate system (step S7). The display device 40 also displays a highlighting component representing the position of the moving object in abnormal proximity during the period of abnormal proximity in the two-dimensional coordinate system (step S8). If there is no moving object in abnormal proximity (NO in step S6), the display control device 10 terminates the implementation of the display control method according to the embodiment.

[0035] 4 is a plan view showing examples of runways 201 to 203 and taxiway 204, which are the running paths of an airport. Runways 201 to 203 are used for aircraft takeoff and landing. Taxiway 204 is a passageway for aircraft to travel on the ground as mobile objects, and is mainly used for movement between the parking area and the runway.

[0036] FIG. 5(A) is a plan view showing an example of a predicted trajectory of the selected aircraft TGT01. FIG. 5(B) is a diagram showing an example of a predicted trajectory of the selected aircraft TGT01 in a two-dimensional coordinate system consisting of a position coordinate axis and a time coordinate axis. FIG. 5(A) shows a taxiway 211, a taxiway 212 parallel to the taxiway 211, and a taxiway 213 intersecting both the taxiways 211 and 212. The intersection of the taxiway 211 and the taxiway 213 is marked with the symbol Ia. The intersection of the taxiway 212 and the taxiway 213 is marked with the symbol Ib. FIG. 5(A) shows an example in which the aircraft TGT01 taxis from a start point P1, which is the start position of its movement, to a destination point D1, passing through the intersections Ia and Ib in this order. FIG. 5(B) shows an example of a predicted trajectory (predicted track) of aircraft TGT01 traveling on the ground from start point P1 (time t0), which is the start position of the movement, to end point D1 (time t13), which is the destination, via intersections Ia and Ib (times t11 and t12) in that order, as shown by a straight line in a two-dimensional coordinate system. Note that times t11, t12, and t13 represent the elapsed time from time t0. The predicted trajectory is not limited to a straight line, and may be a curved line, a combination of a curved line and a straight line, or a combination of multiple straight lines with different slopes. Note that FIG. 5(B) also shows the predicted trajectory and a mark (here, a square mark) indicating the position of aircraft TGT01 displayed superimposed on it.

[0037] FIG. 6(A) is a plan view showing an example of a predicted trajectory of aircraft TGT02 related to the selected aircraft TGT01. FIG. 6(B) is a diagram showing an example of the predicted trajectory of aircraft TGT02 in a two-dimensional coordinate system consisting of a position coordinate axis and a time coordinate axis. FIG. 6(A) shows an example of aircraft TGT02 traveling on the ground from a start point P2, which is the start position of the movement, to an end point D2, which is the destination, via intersections Ib and Ia in that order. FIG. 6(B) shows an example of aircraft TGT01 traveling on the ground from a start point P2 (time t0), which is the start position of the movement, to an end point D2, which is the destination, via intersections Ib and Ia in that order (times t21 and t22), as shown by straight lines in the two-dimensional coordinate system. Note that times t21, t22, and t23 indicate the elapsed time from time t0. The predicted trajectory is not limited to a straight line, but may be a curved line, a combination of a curved line and a straight line, a combination of a plurality of straight lines with different gradients, etc. Note that Fig. 6(B) shows the predicted trajectory and a mark (here, a triangular mark) that indicates the position of the aircraft TGT02, which is displayed superimposed on the predicted trajectory.

[0038] Fig. 7(A) is a plan view showing an example of a predicted trajectory in a situation where a selected aircraft TGT01 and a related aircraft TGT02 are moving in directions approaching each other on the same taxiway 213 (when a head-on occurs, i.e., a situation where a head-on collision may occur). Fig. 7(B) is a diagram showing an example of a position where the selected aircraft TGT01 and the related aircraft TGT02 will come abnormally close to each other in a two-dimensional coordinate system.

[0039] FIG. 8(A) is a plan view showing an example in which a selected aircraft TGT01 and a related aircraft TGT02 have begun traveling toward each other along the same taxiway 213. FIG. 8(B) is a diagram showing an example of the display on the display device 40 when a head-on occurs in FIG. 8(A). As shown in FIG. 8(B), when two aircraft TGT01 and TGT02 have begun traveling toward each other along the same taxiway 213, a head-on area 223 (an area of ​​the taxiway 213 including the section between intersections Ia and Ib), which is an area where a head-on collision may occur, is highlighted by being filled in with a color (e.g., a predetermined color) that indicates the head-on area 223. The highlighted area is an area that is highlighted to attract the observer's attention. The method of displaying the highlighted area is not limited to filling in with a color, but may also be a change in color, a change in brightness, a change in pattern, or a combination of two or more of these.

[0040] 9(A) is a plan view showing an abnormal close approach situation in which a selected aircraft TGT01 and a related aircraft TGT02 are traveling in a direction approaching each other on the same taxiway 213, and aircraft TGT02 has entered an abnormal close approach range 222 of aircraft TGT01. FIG. 9(B) is a diagram showing an example of a display on the display device 40 when the abnormal close approach situation of FIG. 9(A) occurs. As shown in FIG. 9(B), when there are two aircraft traveling in a direction approaching each other on the same taxiway 213 and aircraft TGT02 has entered an abnormal close approach range 222 of aircraft TGT01, the display control device 10 displays a highlight component 221 at the position of aircraft TGT01 and related aircraft TGT02 at the time of the abnormal close approach, in addition to displaying a head-on region 223. FIG. 8(B) corresponds to the state of step S8 in FIG. 3.

[0041] FIG. 10(A) is a plan view showing the predicted trajectory of the selected aircraft TGT01 and the related aircraft TGT02. FIG. 10(B) is a plan view showing an example in which the selected aircraft TGT01 and the related aircraft TGT02 come close to each other at an intersection (in this example, there is a risk of a collision). FIG. 11 is a diagram showing an example of a display when the close approach (in this example, there is a risk of a collision at an intersection) shown in FIG. 10(B) occurs. FIG. 10(A) shows an example in which the aircraft TGT01 travels on the ground from a start point P1, which is the start position of the movement, to an end point D1, which is the destination, via intersections Ia and Ib in this order. FIG. 10(A) also shows an example in which the aircraft TGT02 travels on the ground from a start point P2, which is the start position of the movement, to an end point D2, which is the destination, via intersections Ib and Ia in this order. 11 shows an example of aircraft TGT01 traveling on the ground from start point P1 (time t0), which is the start position of the movement, to end point D1, which is the destination, via intersections Ia and Ib in this order, as a straight line in a two-dimensional coordinate system. As shown in Fig. 11, a highlighting component 221 is displayed on the display device 40 at the position of aircraft TGT02, which is related to the selected aircraft TGT01, when the close approach occurs. Fig. 11 corresponds to the state of step S8 in Fig. 3.

[0042] FIG. 12(A) is a plan view showing the predicted trajectory of the selected aircraft TGT01 and the related aircraft TGT02. FIG. 12(B) is a plan view showing an example in which the selected aircraft TGT01 and the related aircraft TGT02 are approaching each other on a taxiway 212 (in this example, there is a risk of a rear-end collision). FIG. 13 is a diagram showing an example of a display when the approach in FIG. 12(B) (in this example, there is a risk of a collision at an intersection) has occurred. FIG. 12(A) shows an example in which the aircraft TGT01 taxis from a start point P1, which is the start position of its movement, to an end point D1, which is the destination, via intersections Ia and Ib in this order. FIG. 12(B) also shows an example in which the aircraft TGT02 taxis from a start point P2, which is the start position of its movement, to an end point D2, which is the destination, via intersections Ib and Ia in this order. 13 shows an example of aircraft TGT01 traveling on the ground from start point P1 (time t0), which is the start position of the movement, to end point D1, which is the destination, via intersections Ia and Ib in this order, as a straight line in a two-dimensional coordinate system. As shown in Fig. 13, a highlighting component 221 is displayed on the display device 40 at the position of aircraft TGT02, which is related to the selected aircraft TGT01, when the abnormal approach occurs. Fig. 13 corresponds to the state of step S8 in Fig. 3.

[0043] Fig. 14(A) is a plan view showing the predicted trajectory of the selected aircraft TGT02 and its related aircraft TGT01. Fig. 14(B) is a plan view showing an example in which the selected aircraft TGT02 and its related aircraft TGT01 are approaching each other abnormally (in this example, there is a risk of a rear-end collision) on a taxiway 212. Fig. 15 is a diagram showing an example of a display when the abnormal approach (in this example, there is a risk of a rear-end collision) shown in Fig. 14(B) occurs. Fig. 14(A) shows an example in which the aircraft TGT01 taxis from a start point P1, which is the start position of its movement, to an end point D1, which is the destination, via intersections Ia and Ib in this order, and the aircraft TGT02 taxis from a start point P2, which is the start position of its movement, to an end point D2, which is the destination, going straight through intersection Ib. 14(B) shows an example in which aircraft TGT02 travels on the ground from start point P2, which is the start position of the movement, via intersection Ib to end point D2, which is the destination. In FIG. 15, an example in which aircraft TGT02 travels on the ground from start point P2 (time t0), which is the start position of the movement, via intersection Ib to end point D2, which is the destination, is shown by a straight line in a two-dimensional coordinate system. As shown in FIG. 15, a highlighting component 221 is displayed on the display device 40 at the position of aircraft TGT01 associated with selected aircraft TGT02 when the abnormal approach occurs. FIG. 15 corresponds to the state of step S8 in FIG. 3.

[0044] 16 is a flowchart showing the drawing process of the display control device 10 according to the embodiment. First, the display control device 10 determines the position of the selected aircraft from the predicted trajectory of the selected aircraft and the acquired track structure data (step S11). Next, the display control device 10 determines the position of an aircraft related to the selected aircraft from the predicted trajectory of the related aircraft and the acquired track structure data (step S12). Steps S11 and S12 may be executed in the reverse order, or may be executed in parallel.

[0045] The display control device 10 calculates the distance between the selected aircraft and its related aircraft (step S13), and determines whether the calculated distance is equal to or less than a predetermined reference value (i.e., a threshold) (step S14). If the calculated distance is greater than the predetermined threshold (NO in step S14), the process returns to step S11. If the calculated distance is equal to or less than the predetermined threshold (YES in step S14), the process proceeds to step S15.

[0046] In step S15, the display control device 10 fills the micro-area including the position of the selected aircraft with a color indicating a close call (for example, a risk of a collision at an intersection, a rear-end collision, or a head-on collision). The micro-area is, for example, an area of ​​a predetermined size and shape. The size of the micro-area is specified, for example, by the number of pixels in each of the vertical and horizontal directions. The shape of the micro-area is, for example, a square, a circle, an ellipse, a triangle, etc. Through the processing of steps S11 to S15, a color, brightness, pattern, or a combination of two or more of these may be applied to one micro-area for one related aircraft to indicate a close call.

[0047] Next, the display control device 10 estimates the intersection Ia that the selected aircraft passed through last time and the intersection Ib that the selected aircraft will pass through next (step S16). Next, the display control device 10 estimates the intersection Ic that an aircraft related to the selected aircraft passed through last time and the intersection Id that the aircraft will pass through next (step S17). The display control device 10 determines whether Ia = Id and Ib = Ic (step S18).

[0048] If the requirements Ia = Id and Ib = Ic are not met (NO in step S18), the process returns to step S16. If the requirements Ia = Id and Ib = Ic are met (YES in step S18), the process proceeds to step S19. In step S19, the display control device 10 determines that a head-on has occurred between the selected aircraft and its related aircraft, and fills the head-on area with a predetermined color.

[0049] The processing of steps S11 to S19 in Figure 16 is performed for all related aircraft. This processing is also performed for all positions in the diagram. In other words, the processing of steps S11 to S15 in Figure 16 colors one minute area including the position of the close approach, and the processing of steps S16 to S19 colors one minute area including the position of the head-on.

[0050] In this embodiment, the occurrence of a close encounter between a selected moving body and a related moving body is displayed using a predicted trajectory in a two-dimensional coordinate system, a highlight display part 221, and a head-on area 223 (when a head-on occurs). When a two-dimensional display is used in this way, it becomes easier for the controller to grasp the occurrence of the close encounter, the location of the close encounter, and the type of close encounter (whether it is an intersection, a rear-end collision, or a head-on).

[0051] In addition, by simultaneously displaying whether or not there is abnormal proximity between the selected moving body and multiple related moving bodies, it is possible to simultaneously grasp whether or not the trajectory set for the moving body is safe.

[0052] Next, the correction of a trajectory using the diagram screen will be described. Figures 17A to 17D are diagrams showing the diagram screen when a trajectory is corrected by the display control device 10 according to the embodiment.

[0053] Figure 17 (A) shows a diagram screen displayed by the display control unit 17 on the display device 40, which shows a two-dimensional coordinate system consisting of a first coordinate axis (horizontal axis) that represents the position between the start point (time = 0) and the end point of the first predicted trajectory of aircraft DEP001 as a distance from the start point or the end point, and a second coordinate axis (vertical axis) that represents time, a line (straight line in the figure) 301 that represents the first predicted trajectory in this two-dimensional coordinate system, and an abnormal approach area 302 that represents the range of positions and times of the second moving body when it is in the period of abnormal approach.

[0054] 17(B) shows a state in which, when the trajectory correction unit 19 receives input information to move the cursor 303 onto the line 301 representing the first predicted trajectory of the aircraft DEP001, a "knob 304" which is a point-like component (i.e., a display component) that overlaps the line 301 representing the first predicted trajectory but does not overlap the abnormal approach region 302 is displayed at a position temporally earlier than the abnormal approach region 302. The input information to move the cursor 303 is input by a user operation such as an operation of a mouse or a touch operation on a touch panel. However, it is also possible to automatically display the cursor 303 at a position temporally earlier than the abnormal approach region 302.

[0055] Figure 17 (C) shows a state in which, when the "knob 304" is moved in the time axis direction (positive direction) by a user operation, the trajectory correction unit 19 generates a corrected predicted trajectory by moving the part of the line 301 representing the first predicted trajectory of the aircraft DEP001 that is later in time than the "knob 304" in the direction of movement of the "knob 304" (upward in the figure) by the same distance as the movement distance of the "knob 304".

[0056] 17(D) shows a line 301 representing the corrected predicted trajectory after the "knob 304" has been moved along the time axis (positive direction). The line 301 representing the corrected predicted trajectory is made up of a first portion 301a which is a line segment within a range temporally before the "knob 304", a third portion 301c which is a line segment within a range temporally after the "knob 304", and a second portion 301b which is a line segment connecting the first portion 301a and the third portion 301c.

[0057] If the predicted trajectory is not corrected using "knob 304", aircraft DEP001, which is a moving body moving along line 301, passes through abnormal close approach region 302, where abnormal close approach (including collision) with other moving bodies occurs, as shown in Figure 17(B). However, if the predicted trajectory is corrected using "knob 304", aircraft DEP001, which is a moving body moving along line 301, does not pass through abnormal close approach region 302, as shown in Figure 17(D), because it is stopped until the time of second portion 301b has elapsed.

[0058] 18 is a flowchart showing the trajectory correction process of the display control device 10 according to the embodiment. In step S21, when the cursor 303 is placed on the trajectory (straight line), a "knob 304" is displayed as shown in FIG. 17(A).

[0059] In the next step S22, when the dragging of cursor 303 is started and "knob 304" is moved along the time axis, the trajectory correction unit 19 shifts the part of the trajectory that is later in time than "knob 304" (i.e., the third part 301c) in accordance with the movement of "knob 304", as shown in Figure 17 (C).

[0060] In the next step S23, when the dragging of the cursor 303 is finished, the trajectory correction unit 19 records the stopping position and time at that time, and fixes the trajectory as shown in FIG. 17(D).

[0061] In the next step S24, the trajectory correction unit 19 provides the corrected trajectory to the predicted trajectory acquisition unit 15.

[0062] 19(A) and (B) are diagrams (part 1) showing examples of a diagram screen and a situation screen when a trajectory is corrected. Figures 20(A) and (B) are diagrams (part 2) showing examples of a diagram screen and a situation screen when a trajectory is corrected. For example, when a user operates the seek bar 311 in FIG. 19(A) to move along the time axis and place it at the position shown in FIG. 20(A), as shown in the situation screens of FIGS. 19(B) and 20(B), a moving object 401 moves from its starting point (the position indicated by the dashed hexagon) to a position just before the intersection (the position indicated by the solid hexagon), and a moving object 402 moves from its starting point (the position indicated by the dashed triangle) to a position just before the intersection (the position indicated by the solid triangle). In this way, by moving the seek bar 311 on the diagram screen through user operation (for example, moving the cursor), the positions of the moving bodies 401 and 402 at the time indicated by the seek bar 311 can be moved on the situation screen.

[0063] 21(A) and (B) are diagrams showing examples of a diagram screen and a situation screen when a trajectory is corrected. If the trajectory is not corrected, there is a risk that moving bodies 401 and 402 will collide at an intersection 403 in FIG. 21(B). However, as shown in FIG. 21(A), by correcting the trajectory by moving the "knob 304" upward, moving body 401 waits for a time period corresponding to the amount of shift of "knob 304." Therefore, as shown in the situation screen in FIG. 21(B), a collision between moving bodies 401 and 402 at the intersection 403 does not occur.

[0064] 22(A) and (B) are diagrams showing other examples of the diagram screen and the situation screen when correcting a trajectory. In the diagram screen of FIG. 19(A), an example has been described in which a "knob 304" is displayed when the cursor is placed on the line 301 representing the trajectory, but the "knob" used to correct the trajectory may also be displayed at a predetermined position (for example, a position on the diagram screen corresponding to a position just before the position where the driving lanes intersect). In FIG. 22(A), "knobs 304a, 304b, and 304c" are displayed at positions corresponding to positions 401a, 401b, and 401c in FIG. 22(B), respectively.

[0065] As described above, according to this embodiment, the stopping position and stopping time of a moving object can be set by operating the "knob" (display component) for correcting the trajectory displayed on the diagram screen with a mouse, a touch panel, etc. In other words, in this embodiment, since operations for avoiding abnormal approach (including collision) of a moving object can be performed on the diagram screen of a two-dimensional coordinate system, route setting for avoiding an abnormal approach area can be performed intuitively by setting the stopping time and stopping position so that the straight line indicating the trajectory does not overlap with a dangerous area.

[0066] Furthermore, according to this embodiment, the stopping position and stopping time of a moving object can be set by automatically operating the "knob" (display component) for correcting the trajectory displayed on the diagram screen, for example, by AI (artificial intelligence) that operates using a learning model generated by a learning device.

[0067] 1 Air traffic control system, 10 Display control device, 11 Storage device, 12 Runway structure data acquisition unit, 13 Air traffic control information acquisition unit, 14 Predicted trajectory estimation unit, 15 Predicted trajectory acquisition unit, 16 Close approach estimation unit, 17 Display control unit, 18 Input device, 19 Trajectory correction unit, 30 Air traffic control information management device (management device), 40 Display device, 201 to 203 Runway (runway), 204 Taxiway (runway), 221 Highlighted display component, 302 Close approach area, 223 Head-on area (highlighted area), 301 Line representing trajectory (predicted trajectory), 303 Cursor, 304, 304a to 304c Knobs (display components), 401, 402 Moving body.

Claims

1. A display control device of a control system that transmits instructions to a plurality of moving bodies traveling on a plurality of travel paths, comprising: a travel path structure data acquisition unit that acquires travel path structure data indicating the structure of the plurality of travel paths; a control information acquisition unit that acquires the control information from a management device that manages control information including the positions and operation schedules of the plurality of moving bodies; a predicted trajectory estimation unit that estimates a plurality of predicted trajectories indicating the movement paths of the plurality of moving bodies based on the travel path structure data and the control information; a predicted trajectory acquisition unit that acquires, from the plurality of predicted trajectories, a first predicted trajectory indicating the movement path of a first moving body that is a moving body selected from the plurality of moving bodies as a monitoring target, and a plurality of related predicted trajectories that indicate the movement paths of a plurality of related moving bodies that are moving bodies other than the first moving body; and an abnormal approach estimation unit that estimates, from the plurality of related moving bodies, a second moving body that is a moving body having a period of abnormal approach in which the distance from the first moving body is equal to or less than a predetermined reference value, based on the travel path structure data, the first predicted trajectory, and the plurality of related predicted trajectories. a display control unit that causes a display device to display a two-dimensional coordinate system consisting of a first coordinate axis that represents a position from a start point to an end point of the first predicted trajectory by a distance from the start point or the end point and a second coordinate axis that represents time, a line that represents the first predicted trajectory in the two-dimensional coordinate system, and an abnormal approach area that represents a range of positions and times of the second moving body during the abnormal approach period, and a trajectory correction unit that causes the display device to display a display component for updating the first predicted trajectory, and that corrects the first predicted trajectory when input information to move the display component is received so that the line that represents the first predicted trajectory does not overlap the abnormal approach area.

2. The display control device according to claim 1, characterized in that the display component is a point-like component that overlaps the line representing the first predicted trajectory displayed on the display device and does not overlap the abnormal approach area.

3. A display control device according to claim 1 or 2, characterized in that the display component is displayed at a time position earlier than the time range of the abnormal approach area.

4. A display control device as described in any one of claims 1 to 3, characterized in that when a user input operation is performed to move the display component displayed on the display device in the direction of the second coordinate axis, the trajectory correction unit generates an updated predicted trajectory by moving the part of the line representing the first predicted trajectory that is temporally later than the display component in the direction of movement of the display component.

5. The display control device described in claim 4, characterized in that the line representing the updated predicted trajectory includes: a first portion which is a line segment within a range temporally before the display component; a third portion which is a line segment within a range temporally after the display component; and a second portion which is a line segment connecting the first portion and the third portion.

6. A display control device as described in any one of claims 1 to 5, characterized in that the abnormal approach occurs between the first moving body traveling on the first traveling path and the second moving body traveling on the second traveling path at an intersection of the first traveling path and the second traveling path that intersect among the multiple traveling paths.

7. A display control device as described in any one of claims 1 to 6, characterized in that the abnormal approach occurs between the first moving body and the second moving body traveling in the same direction on one of the multiple traveling paths.

8. A display control device as described in any one of claims 1 to 7, characterized in that the abnormal approach occurs between the first moving body and the second moving body, which are moving in opposite directions and approaching each other, on one of the plurality of driving paths.

9. A display control device as described in any one of claims 1 to 8, characterized in that the abnormal approach estimation unit changes the reference value based on one or more of the following information: information on atmospheric visibility on the multiple driving paths obtained from the management device, information on wind direction and wind speed on the multiple driving paths obtained from the management device, and information on the size of the first moving body obtained from the management device.

10. A display control device according to any one of claims 1 to 9, further comprising a storage device for storing the road structure data.

11. A display control device according to any one of claims 1 to 10, further comprising an input device that is operated by a user to input input information for moving the display component.

12. A display control device according to any one of claims 1 to 11, characterized in that the plurality of moving bodies include aircraft, or vehicles, or both aircraft and vehicles, and the plurality of running paths include taxiways and runways at an airport.

13. A display control method implemented by a display control device of a control system that transmits instructions to multiple moving bodies traveling on multiple driving paths, comprising: a step of acquiring driving path structure data indicating the structure of the multiple driving paths; a step of acquiring the control information from a management device that manages control information including the positions and operation schedules of the multiple moving bodies; a step of estimating multiple predicted trajectories indicating movement paths of the multiple moving bodies based on the driving path structure data and the control information; a step of acquiring from the multiple predicted trajectories a first predicted trajectory indicating the movement path of a first moving body that is a moving body selected from the multiple moving bodies as a monitoring target, and multiple related predicted trajectories indicating movement paths of multiple associated moving bodies that are moving bodies other than the first moving body; a step of estimating from the multiple associated moving bodies a second moving body that is a moving body having a period of abnormal proximity in which the distance from the first moving body is equal to or less than a predetermined reference value, based on the driving path structure data, the first predicted trajectory, and the multiple related predicted trajectories; a display control method comprising: a step of displaying on a display device a two-dimensional coordinate system consisting of a first coordinate axis representing the position from the start point to the end point of the first predicted trajectory by the distance from the start point or the end point and a second coordinate axis representing time, a line representing the first predicted trajectory in the two-dimensional coordinate system, and an abnormal approach region representing the position and time range of the second moving body during the abnormal approach period; and a step of displaying on the display device a display component for updating the first predicted trajectory, and when input information for moving the display component is received, correcting the first predicted trajectory so that the line representing the first predicted trajectory does not overlap the abnormal approach region.

14. A step of acquiring, from a display control device of a control system that sends instructions to multiple moving bodies traveling on multiple driving paths, driving path structure data indicating the structure of the multiple driving paths; a step of acquiring the control information from a management device that manages control information including the positions and operation schedules of the multiple moving bodies; a step of estimating, based on the driving path structure data and the control information, multiple predicted trajectories indicating the movement paths of the multiple moving bodies; a step of acquiring, from the multiple predicted trajectories, a first predicted trajectory indicating the movement path of a first moving body that is a moving body selected from the multiple moving bodies as a monitoring target, and multiple related predicted trajectories indicating the movement paths of multiple related moving bodies that are moving bodies other than the first moving body; a step of estimating, from the multiple related moving bodies, a second moving body that is a moving body having a period of abnormal proximity in which the distance from the first moving body is equal to or less than a predetermined reference value, based on the driving path structure data, the first predicted trajectory, and the multiple related predicted trajectories; a step of displaying on a display device a two-dimensional coordinate system consisting of a first coordinate axis representing the position from the start point to the end point of the first predicted trajectory by the distance from the start point or the end point and a second coordinate axis representing time, a line representing the first predicted trajectory in the two-dimensional coordinate system, and an abnormal approach region representing the position and time range of the second moving body during the abnormal approach period; and a step of displaying on the display device a display component for updating the first predicted trajectory, and when input information for moving the display component is received, correcting the first predicted trajectory so that the line representing the first predicted trajectory does not overlap the abnormal approach region.

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