Flight control method for unmanned aerial vehicle, flight control program for unmanned aerial vehicle, unmanned aerial vehicle, and flight control system for unmanned aerial vehicle

Abstract

To accurately perform autonomous collision avoidance in compliance with a rule of a course right under various situations when there is a possibility that an unmanned aircraft collides with an opposite aircraft.SOLUTION: And correcting a flight parameter command of the unmanned aerial vehicle based on the flight information so as to satisfy a constraint condition including a first condition that the unmanned aerial vehicle moves to a right side in a horizontal direction with respect to a direction in which the unmanned aerial vehicle views the other aircraft when it is determined that there is the possibility of the future collision between the unmanned aerial vehicle and the other aircraft.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to a flight control method, a flight control program, an unmanned aerial vehicle, and a flight control system for avoiding a collision of an unmanned aerial vehicle with another aircraft. [Background technology]

[0002] Patent Document 1 discloses a flight management system for avoiding loss of separation between aircraft. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5933244 Summary of the Invention [Problem to be solved by the invention]

[0004] There are many variations in the flight conditions of an unmanned aircraft and the flight conditions of other aircraft around the unmanned aircraft, and the above system has room for improvement in collision avoidance under various conditions.

[0005] Therefore, one aspect of the present disclosure aims to enable an unmanned aerial vehicle to accurately perform autonomous collision avoidance in accordance with right-of-way rules under various circumstances when there is a possibility of a collision with another aircraft. [Means for solving the problem]

[0006] A flight control method for an unmanned aircraft according to one embodiment of the present disclosure is a method for controlling the flight of the unmanned aircraft so as to avoid the unmanned aircraft colliding with another aircraft, i.e., a target aircraft, and includes the steps of: acquiring flight information of the unmanned aircraft and the target aircraft; determining, based on the flight information, whether or not there is a possibility of a future collision between the unmanned aircraft and the target aircraft; and, if it is determined that there is a possibility of a future collision between the unmanned aircraft and the target aircraft, modifying, based on the flight information, a flight parameter command for the unmanned aircraft so as to satisfy constraints including a first condition that the unmanned aircraft moves horizontally to the right, based on the direction in which the target aircraft is viewed from the unmanned aircraft.

[0007] A flight control program for an unmanned aerial vehicle according to one embodiment of the present disclosure causes at least one processor to execute the method. The program may be stored in a computer-readable, non-transitory, tangible storage medium.

[0008] According to one aspect of the present disclosure, an unmanned aerial vehicle (UAV) is controlled to avoid a collision with another aircraft, the UAV comprising a processing circuit configured to: acquire flight information of the UAV and the other aircraft; determine, based on the flight information, whether or not there is a possibility of a future collision between the UAV and the other aircraft; and, if it is determined that there is a possibility of a future collision between the UAV and the other aircraft, modify, based on the flight information, a flight parameter command of the UAV so that the UAV moves horizontally to the right, relative to a direction from the UAV to the other aircraft.

[0009] According to one aspect of the present disclosure, a flight control system for an unmanned aerial vehicle (UAV) controls flight of the UAV to avoid collision with another aircraft, the system comprising a controller including a processing circuit, the processing circuit configured to: acquire flight information of the UAV and the other aircraft, determine whether or not there is a possibility of a future collision between the UAV and the other aircraft based on the flight information, and, if it is determined that there is a possibility of a future collision between the UAV and the other aircraft, modify, based on the flight information, a flight parameter command of the UAV so that the UAV moves horizontally to the right, relative to a direction from the UAV to the other aircraft. [Effects of the Invention]

[0010] According to one aspect of the present disclosure, when an unmanned aerial vehicle is at risk of colliding with another aircraft, it can accurately perform autonomous collision avoidance while complying with right-of-way rules under various circumstances. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram of an unmanned aerial vehicle according to the first embodiment. [Figure 2] FIG. 2 is a flowchart illustrating the control of the unmanned aerial vehicle of FIG. [Figure 3] FIG. 3 is a plan view illustrating the determination of the possibility of a collision between the unmanned aerial vehicle of FIG. 1 and the other aircraft. [Figure 4] FIG. 4 is a plan view illustrating the calculation of the avoidance velocity vector command (Vacmd) for the unmanned aerial vehicle of FIG. [Figure 5] FIG. 5 is a plan view illustrating the calculation of the corrected velocity vector command (Vcmd2) for the unmanned aerial vehicle of FIG. [Figure 6] FIG. 6 is a diagram showing examples of avoidance velocity vector commands (Vacmd) under various conditions. [Figure 7]FIG. 7 is a plan view illustrating the determination of the possibility of a collision between an unmanned aerial vehicle and another aircraft according to the second embodiment. [Figure 8] FIG. 8 is a plan view illustrating the calculation of the avoidance velocity vector command (Vacmd) for the unmanned aerial vehicle of FIG. [Figure 9] FIG. 9 is a block diagram of a flight control system according to the third embodiment, in which a flight control program is provided in a controller separate from the unmanned aerial vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, an embodiment will be described with reference to the drawings.

[0013] (First embodiment) FIG. 1 is a block diagram of an unmanned aerial vehicle (UAV) 1 according to a first embodiment. As shown in FIG. 1, the unmanned aerial vehicle (UAV) 1 has the ability to fly autonomously. That is, the unmanned aerial vehicle 1 flies automatically without a pilot. The unmanned aerial vehicle 1 may not have any human on board, or may have a human on board who is not a pilot. The unmanned aerial vehicle 1 includes, for example, a processor 11, a system memory 12, a storage memory 13, a satellite positioning sensor 14, a gyro sensor 15, an airspeed sensor 16, an acceleration sensor 17, an altitude sensor 18, a geomagnetic sensor 19, a transponder 20, a communication interface 21, a propeller actuator 22, and a propeller 23.

[0014] The processor 11 may include a central processing unit (CPU). The system memory 12 may include a random access memory (RAM). The storage memory 13 may include a hard disk, a flash memory, or a combination thereof. The storage memory 13 stores a flight control program P. A configuration in which the processor 11 executes the flight control program P read from the storage memory 13 to the system memory 12 is an example of a processing circuit 10. Part or all of the flight control program P may be executed by a processor external to the unmanned aerial vehicle 1, and the unmanned aerial vehicle 1 may receive flight commands corresponding to the execution results.

[0015] The satellite positioning sensor 14 detects the position of the unmanned aerial vehicle 1 using positioning satellites of a satellite positioning system. The satellite positioning system is, for example, a GPS (Global Positioning System). The gyro sensor 15 detects angular velocities around attitude axes set corresponding to the forward / backward, left / right, and up / down directions of the unmanned aerial vehicle 1. The airspeed sensor 16 detects the relative speed of the unmanned aerial vehicle 1 with respect to the atmosphere. The acceleration sensor 17 detects the acceleration of the unmanned aerial vehicle 1 in the forward / backward, left / right, and up / down directions. The processor 11 can calculate the speed by integrating the acceleration detected by the acceleration sensor 17.

[0016] The altitude sensor 18 detects the altitude of the unmanned aerial vehicle 1. The altitude sensor 18 is, for example, a barometric pressure sensor or a radio wave sensor. The barometric pressure sensor can also serve as a speed sensor. The geomagnetic sensor 19 detects the Earth's magnetic force to determine the direction relative to the unmanned aerial vehicle 1. The transponder 20 transmits and receives radio signals directly to and from other aircraft around the unmanned aerial vehicle 1. The communication interface 21 has the function of wirelessly communicating with the controller and the function of wirelessly communicating with a radio base station.

[0017] The unmanned aerial vehicle 1 is equipped with, for example, a propeller 23. The propeller actuator 22 drives the propeller 23. The propeller actuator 22 is, for example, an electric motor or an internal combustion engine. If the unmanned aerial vehicle 1 has the same propulsion structure as a helicopter, the unmanned aerial vehicle 1 can change its direction of travel and flight speed using the same principle as a helicopter. If the unmanned aerial vehicle 1 is a drone with four propellers 23, the direction of travel and flight speed of the unmanned aerial vehicle 1 can be changed by adjusting the rotation speed of the four propellers 23. Each of the sensors 14 to 19, the transponder 20, the communication interface 21, and the propeller actuator 22 are connected to the processor 11.

[0018] The processor 11 that executes the flight control program P controls the propeller actuator 22 while referring to the detection signals of the sensors 14-19 based on pre-entered flight plan information to autonomously fly the unmanned aerial vehicle 1. The flight plan information includes information regarding the planned flight route, planned flight speed, and takeoff and landing points. The unmanned aerial vehicle 1 may be capable of selectively switching between an autonomous flight mode and a manual flight mode in response to an external command.

[0019] Figure 2 is a flowchart for explaining the control of the unmanned aerial vehicle 1 in Figure 1. Below, with reference to Figures 3 to 5 as appropriate, the control of the unmanned aerial vehicle 1 according to the flight control program P will be explained along the flow of Figure 2. Note that although the processor 11 is actually the entity that executes the flight control program P, for simplicity in the following explanation, the control will be explained assuming that the unmanned aerial vehicle 1 is the entity that executes the control.

[0020] Figure 3 is a plan view for explaining the determination of the possibility of collision between the unmanned aircraft 1 of Figure 1 and the other aircraft 2. As shown in Figure 3, it is assumed that the other aircraft 2 is flying around the unmanned aircraft 1 in flight. Note that the other aircraft 2 may be either an unmanned aircraft or a manned aircraft.

[0021] The unmanned aerial vehicle 1 acquires its own flight information (step S1). This flight information includes, for example, the position, flight direction, and flight speed of the unmanned aerial vehicle 1. Specifically, the unmanned aerial vehicle 1 detects the position of the unmanned aerial vehicle 1 based on the detection signal of the satellite positioning sensor 14. The unmanned aerial vehicle 1 detects the flight direction of the unmanned aerial vehicle 1 based on the detection signal of the geomagnetic sensor 19. The unmanned aerial vehicle 1 detects the flight speed based on the detection signal of the airspeed sensor 16. The unmanned aerial vehicle 1 may detect the flight speed of the unmanned aerial vehicle 1 using other methods; for example, the flight speed may be calculated by integrating the acceleration detected by the acceleration sensor 17, or the flight speed may be calculated from time-series data of the position detected by the satellite positioning sensor 14.

[0022] The unmanned aircraft 1 acquires flight information of the other aircraft 2 (step S2). This flight information includes, for example, the position, flight direction, and flight speed of the other aircraft 2. Specifically, the unmanned aircraft 1 receives the position, flight direction, and flight speed of the other aircraft 2 from the other aircraft 2 by wirelessly communicating with the transponder of the other aircraft 2 via the transponder 20. Note that, although steps S1 and S2 are described in serial order, they may be performed simultaneously or in reverse order.

[0023] The unmanned aircraft 1 determines whether there is a possibility of a future collision between the unmanned aircraft 1 and the other aircraft 2 based on the flight information of the unmanned aircraft 1 and the other aircraft 2 (step S3). Specifically, the unmanned aircraft 1 determines whether there is a possibility of a collision based on the relative positions between the unmanned aircraft 1 and the other aircraft 2, the relative velocity vector (Vrel) between the unmanned aircraft 1 and the other aircraft 2, and a no-entry zone (WCV) set around the other aircraft 2.

[0024] The unmanned aircraft 1 calculates the relative position between the unmanned aircraft 1 and the other aircraft 2 based on the positions of the unmanned aircraft 1 and the other aircraft 2. The unmanned aircraft 1 calculates the velocity vector (Vo) of the unmanned aircraft 1 based on the flight speed and flight direction of the unmanned aircraft 1, and calculates the velocity vector (Vi) of the other aircraft 2 based on the flight speed and flight direction of the other aircraft 2.

[0025] The unmanned aircraft 1 calculates the relative velocity vector (Vrel) between the unmanned aircraft 1 and the other aircraft 2 based on the velocity vector (Vo) of the unmanned aircraft 1 and the velocity vector (Vi) of the other aircraft 2. The relative velocity vector (Vrel) is based on the unmanned aircraft 1, and the starting point of the relative velocity vector (Vrel) is located at the position of the unmanned aircraft 1. Note that if the unmanned aircraft 1 is equipped with an air-to-air radar, the relative velocity vector (Vrel) may be calculated based on the detection signal of the radar.

[0026] The unmanned aerial vehicle 1 sets a no-entry zone (WCV) around the other aircraft 2. The no-entry zone (WCV) is a virtual area. In this embodiment, the no-entry zone (WCV) has a circular shape with a radius (Rwcv) centered on the position of the other aircraft 2 in a horizontal plane at the position of the other aircraft 2. The no-entry zone (WCV) is a cylindrical shape extending in the vertical direction with a circular cross section centered on the position of the other aircraft 2. The no-entry zone (WCV) may also have a spherical shape centered on the position of the other aircraft 2. The no-entry zone (WCV) may have a non-circular shape in a horizontal plane at the position of the other aircraft 2.

[0027] The unmanned aerial vehicle 1 determines whether or not there is a possibility that the unmanned aerial vehicle 1 will enter the WCV based on the relationship between the relative velocity vector (Vrel) starting from the unmanned aerial vehicle 1 and the WCV. Specifically, the unmanned aerial vehicle 1 determines whether or not the relative velocity vector (Vrel) is pointing toward the inside of the WCV.

[0028] For example, when the unmanned aerial vehicle 1 receives flight information of the other aircraft 2 from the transponder of the other aircraft 2 via the transponder 20, the other aircraft 2 is present within the communication area of ​​the transponder 20 and the distance between the unmanned aerial vehicle 1 and the other aircraft 2 is less than a predetermined distance. In this case, when the unmanned aerial vehicle 1 becomes aware of the presence of the other aircraft 2, it may determine whether the relative velocity vector (Vrel) is pointing inside the no-go zone (WCV).

[0029] In the example of Figure 3, the imaginary extension line of the relative velocity vector (Vrel) passes through the inside of the WCV, so it is determined that there is a possibility that the unmanned aerial vehicle 1 will enter the WCV and collide with the other aircraft 2. On the other hand, if the relative velocity vector (Vrel) is not pointing inside the WCV, it is determined that there is no possibility that the unmanned aerial vehicle 1 will collide with the other aircraft 2. If it is determined that there is no possibility of collision between the unmanned aerial vehicle 1 and the other aircraft 2 (step S3: N), the process returns to step S1.

[0030] The unmanned aircraft 1 may further determine whether it is likely to enter the WCV of the other aircraft 2 within a predetermined time based on the relative position between the unmanned aircraft 1 and the other aircraft 2 and the relative velocity vector (Vrel) between the unmanned aircraft 1 and the other aircraft 2. In this case, if it is determined that the unmanned aircraft 1 is likely to enter the WCV within the predetermined time, the unmanned aircraft 1 may determine that there is a possibility of collision between the unmanned aircraft 1 and the other aircraft 2. On the other hand, even if a virtual extension of the relative velocity vector (Vrel) passes inside the WCV, if it is determined that the unmanned aircraft 1 is not likely to enter the WCV within the predetermined time, the unmanned aircraft 1 may determine that there is no possibility of collision between the unmanned aircraft 1 and the other aircraft 2.

[0031] 3 illustrates a velocity vector command (Vcmd) as an example of a flight parameter command, which is a command value for a flight parameter of the unmanned aerial vehicle 1. In the example of FIG. 3, the velocity vector command (Vcmd) is directed horizontally to the left of the current velocity vector (Vo) based on the direction of travel of the unmanned aerial vehicle 1. In other words, the velocity vector command (Vcmd) is about to command the unmanned aerial vehicle 1 to make a left turn.

[0032] Figure 4 is a plan view illustrating the calculation of the avoidance velocity vector command (Vacmd) for the unmanned aerial vehicle 1 of Figure 3. As shown in Figure 4, when it is determined that there is a possibility of collision between the unmanned aerial vehicle 1 and the other aircraft 2 (step S3: Y), the unmanned aerial vehicle 1 calculates the avoidance velocity vector command (Vacmd) with the smallest magnitude from among candidates for the avoidance velocity vector command (Vacmd) within a range that satisfies the first constraint condition, the second constraint condition, and the third constraint condition (step S4). The avoidance velocity vector command (Vacmd) is a vector command that is added to the velocity vector command (Vcmd) in order to modify the velocity vector command (Vcmd) to avoid a collision.

[0033] The unmanned aerial vehicle 1 calculates a corrected velocity vector command (Vcmd2) by correcting the velocity vector command (Vcmd) using the avoidance velocity vector command (Vacmd) (step S5). Specifically, the unmanned aerial vehicle 1 calculates the corrected velocity vector command (Vcmd2) by adding the avoidance velocity vector command (Vacmd) to the velocity vector command (Vcmd). In other words, the corrected velocity vector command (Vcmd2) is a velocity vector command obtained by correcting the velocity vector command (Vcmd) in order to avoid a collision. The unmanned aerial vehicle 1 flies in accordance with the calculated corrected velocity vector command (Vcmd2) (step S6).

[0034] Next, step S4 will be described in detail. In step S4, the unmanned aerial vehicle 1 calculates the avoidance speed vector command (Vacmd) with the smallest magnitude from among the candidates for the avoidance speed vector command (Vacmd) within the range that satisfies the first to third constraint conditions. The first to third constraint conditions when calculating the avoidance speed vector command (Vacmd) will be described below with reference to FIG. 4.

[0035] The relative velocity vector between the velocity vector command (Vcmd) of the unmanned aerial vehicle 1 and the velocity vector (Vi) of the other aircraft 2 is referred to as the relative velocity vector (Vrelc). The relative velocity vector obtained by adding the avoidance velocity vector command (Vacmd) to the relative velocity vector (Vrelc) is referred to as the corrected relative velocity vector (Vrel2). The corrected relative velocity vector (Vrel2) can also be defined as the relative velocity vector between the corrected velocity vector command (Vcmd2) of the unmanned aerial vehicle 1 and the velocity vector (Vi) of the other aircraft 2. It is then assumed that the starting point of the velocity vector (Vi) when the velocity vector (Vi) of the other aircraft 2 is translated to align the end point of the velocity vector (Vi) with the position of the unmanned aerial vehicle 1 is the starting point O of the velocity vector command (Vcmd).

[0036] [First constraint] The first constraint condition is a condition that the unmanned aircraft 1 moves to the right in the horizontal direction relative to the other aircraft 2, based on the direction in which the unmanned aircraft 1 views the other aircraft 2. Specifically, when the direction perpendicular to the horizontal direction is defined as the Z direction, and the upper side of the Z direction is defined as positive and the lower side of the Z direction is defined as negative, the first constraint condition is a condition that the following mathematical formula (1) is satisfied. In other words, the first constraint condition is a condition that the Z direction component ((Vrel2 × Xrel)z) of the vector obtained by cross-product of the corrected relative velocity vector (Vrel2) and the relative position vector (Xrel) between the unmanned aircraft 1 and the other aircraft 2 is positive.

[0037]

number

[0038] As a result, the avoidance speed vector command (Vacmd) is determined so that the corrected relative speed vector (Vrel2) starting from the position of the unmanned aircraft 1 is positioned horizontally to the right of the relative position vector (Xrel) based on the direction in which the unmanned aircraft 1 views the other aircraft 2. Note that the first constraint condition may be a condition that the Z-direction component of the vector obtained by cross-product of the avoidance speed vector command (Vacmd) and the relative position vector (Xrel) between the unmanned aircraft 1 and the other aircraft 2 is positive.

[0039] [Second constraint condition] The second constraint condition is that the corrected relative velocity vector (Vrel2) starting from the unmanned aerial vehicle 1 is not directed toward the inside of the WCV (Wide Control Vehicle). As a result, the avoidance velocity vector command (Vacmd) is determined so that the imaginary extension line of the corrected relative velocity vector (Vrel2) does not pass through the inside of the WCV (Wide Control Vehicle).

[0040] Specifically, the second constraint condition is that the evaluation function g, which uses the corrected relative velocity vector (Vrel2), the relative position vector (Xrel) between the unmanned aircraft 1 and the other aircraft 2, and the radius (Rwcv) of the no-entry zone (WCV), satisfies the following equation (2).

[0041]

number

[0042] In this embodiment, unmanned aerial vehicle 1 determines corrected relative velocity vector (Vrel2) within the scope of the second constraint condition so that corrected relative velocity vector (Vrel2) is on a tangent to the contour of the WCV (Wide Control Velocity Zone). This reduces the magnitude of avoidance velocity vector command (Vacmd), thereby reducing the time and energy required for unmanned aerial vehicle 1 to perform collision avoidance operations.

[0043] [Third constraint] The third constraint condition is a condition that the magnitude of the corrected speed vector command (Vcmd2) is equal to or greater than a predetermined minimum speed (Vmin) and equal to or less than a predetermined maximum speed (Vmax). In Fig. 4, a first imaginary circle (Vmin) centered on the start point O indicates the minimum speed (Vmin), and a second imaginary circle (Vmax) centered on the start point O indicates the maximum speed (Vmax). In other words, the end point of the corrected speed vector command (Vcmd2) is required to be located in an area X that includes either the first imaginary circle (Vmin) or the second imaginary circle (Vmax) and is between the first imaginary circle Vmin and the second imaginary circle Vmax.

[0044] This allows the unmanned aerial vehicle 1 to perform collision avoidance operations in a direction and at a speed that does not place a large burden on the unmanned aerial vehicle 1. In other words, it prevents the speed of the corrected speed vector command (Vcmd2) from being too small, causing a large change in direction of the unmanned aerial vehicle 1, and it also prevents the speed of the corrected speed vector command (Vcmd2) from being too large, causing large speed fluctuations.

[0045] In this embodiment, due to the first and second constraint conditions, of the two tangent lines TL1, TL2 that pass through the position of the unmanned aerial vehicle 1 and are tangent to the contour of the no-entry zone (WCV), the corrected relative velocity vector (Vrel2) is located on the tangent line TL1 on the right side in the horizontal direction based on the direction in which the other aircraft 2 is viewed from the unmanned aerial vehicle 1. Therefore, it is determined that the end point of the avoidance velocity vector command (Vacmd), which starts from the end point of the relative velocity vector (Vrelc), is located on the tangent line TL1.

[0046] Furthermore, the third constraint determines that the end point of the avoidance velocity vector command (Vacmd) is located on the portion of the tangent line TL1 that is in region X. Ultimately, the vector with the smallest magnitude among the candidates for the avoidance velocity vector command whose end point is located on the portion of the tangent line TL1 that is in region X is determined as the avoidance velocity vector command (Vacmd). This reduces the time and energy required for the unmanned aerial vehicle 1 to perform collision avoidance operations.

[0047] Figure 5 is a plan view illustrating the calculation of the corrected velocity vector command (Vcmd2) for the unmanned aerial vehicle 1 of Figure 4. As shown in Figure 5, the unmanned aerial vehicle 1 ultimately calculates the corrected velocity vector command (Vcmd2) by adding the determined avoidance velocity vector command (Vacmd) to the velocity vector command (Vcmd). In this embodiment, the magnitude of the corrected velocity vector command (Vcmd2) is smaller than the magnitude of the velocity vector command (Vcmd), and the direction of the corrected velocity vector command (Vcmd2) is directed horizontally to the left with respect to the direction of travel of the unmanned aerial vehicle 1 relative to the direction of the velocity vector command (Vcmd) before correction.

[0048] Figure 6 is a diagram showing examples of the avoidance velocity vector command (Vacmd) under various circumstances. As shown in Figure 6, in pattern 1, the other aircraft 2 is located directly in front of the unmanned aircraft 1, based on the direction of travel of the unmanned aircraft 1, and is moving toward the rear of the unmanned aircraft 1 so as to approach the unmanned aircraft 1. In this state, the avoidance velocity vector command (Vacmd) is directed horizontally to the right, based on the direction of travel of the unmanned aircraft 1.

[0049] In pattern 2, the other aircraft 2 is located to the front right of the unmanned aircraft 1, based on the direction of travel of the unmanned aircraft 1, and is moving toward the left rear of the unmanned aircraft 1. In this state, the avoidance velocity vector command (Vacmd) causes the unmanned aircraft 1 to decelerate by pointing horizontally to the right, based on the direction of travel of the unmanned aircraft 1.

[0050] In pattern 3, the other aircraft 2 is located to the right of the unmanned aircraft 1, based on the direction of travel of the unmanned aircraft 1, and is moving toward the left front of the unmanned aircraft 1. In this state, the avoidance velocity vector command (Vacmd) causes the unmanned aircraft 1 to decelerate.

[0051] In pattern 4, the other aircraft 2 is located to the right rear of the unmanned aircraft 1 and is moving toward the left front of the unmanned aircraft 1, based on the direction of travel of the unmanned aircraft 1. In this state, the avoidance velocity vector command (Vacmd) turns horizontally to the left, based on the direction of travel of the unmanned aircraft 1, and decelerates the unmanned aircraft 1.

[0052] In pattern 5, the other aircraft 2 is located directly behind the unmanned aircraft 1, with the direction of travel of the unmanned aircraft 1 as the reference, and is moving faster than the unmanned aircraft 1 and ahead of the unmanned aircraft 1. In this state, the avoidance velocity vector command (Vacmd) is directed horizontally to the left, with the direction of travel of the unmanned aircraft 1 as the reference.

[0053] In pattern 6, the other aircraft 2 is located to the left rear of the unmanned aircraft 1, based on the direction of travel of the unmanned aircraft 1, and is moving faster than the unmanned aircraft 1 toward the right front of the unmanned aircraft 1. In this state, the avoidance speed vector command (Vacmd) causes the unmanned aircraft 1 to increase its speed by turning horizontally to the left, based on the direction of travel of the unmanned aircraft 1.

[0054] In pattern 7, the other aircraft 2 is located to the left of the unmanned aircraft 1, based on the direction of travel of the unmanned aircraft 1, and is moving toward the front right of the unmanned aircraft 1. In this state, the avoidance velocity vector command (Vacmd) causes the unmanned aircraft 1 to increase its speed.

[0055] In pattern 8, the other aircraft 2 is located to the left front of the unmanned aircraft 1 and is moving toward the right rear of the unmanned aircraft 1, based on the direction of travel of the unmanned aircraft 1. In this state, the avoidance speed vector command (Vacmd) causes the unmanned aircraft 1 to increase its speed by pointing horizontally to the right, based on the direction of travel of the unmanned aircraft 1.

[0056] According to the configuration described above, under various circumstances, when there is a possibility that the unmanned aircraft 1 may collide with the other aircraft 2, the unmanned aircraft 1 can move horizontally to the right relative to the other aircraft 2, based on the direction in which the unmanned aircraft 1 views the other aircraft 2. Therefore, the unmanned aircraft 1 can accurately perform autonomous collision avoidance while complying with the right-of-way rules.

[0057] (Second embodiment) FIG. 7 is a plan view illustrating the determination of the possibility of collision between an unmanned aerial vehicle 101 and a target aircraft 2 according to the second embodiment. Note that components common to the first embodiment are assigned the same reference numerals and will not be described again. In the unmanned aerial vehicle 101 of the second embodiment, the flight control program P is configured to set a no-entry zone (WCV) around the unmanned aerial vehicle 1, rather than around the target aircraft 2. The configuration of the unmanned aerial vehicle 101 other than the flight control program P is the same as that of the unmanned aerial vehicle 1 of the first embodiment, and therefore a detailed description of the unmanned aerial vehicle 101 will be omitted. Furthermore, although the processor 11 is actually the entity that executes the flight control program P, in the following description, for simplicity's sake, the unmanned aerial vehicle 101 will be described as the entity that executes control.

[0058] As shown in FIG. 7, the unmanned aerial vehicle 101 determines whether there is a possibility of collision between the unmanned aerial vehicle 101 and the other aircraft 2 based on flight information of the unmanned aerial vehicle 101 and the other aircraft 2. Specifically, the unmanned aerial vehicle 101 sets a no-go zone (WCV) around the unmanned aerial vehicle 101. The unmanned aerial vehicle 101 determines whether the starting point of the relative velocity vector (Vrel) between the velocity vector (Vo) of the unmanned aerial vehicle 101 and the velocity vector (Vi) of the other aircraft 2 is the position of the other aircraft 2, and determines whether the relative velocity vector (Vrel) is pointing into the no-go zone (WCV) of the unmanned aerial vehicle 101. In the example of FIG. 7, because an imaginary extension line of the relative velocity vector (Vrel) passes through the inside of the no-go zone (WCV), it is determined that there is a possibility of collision between the unmanned aerial vehicle 101 and the other aircraft 2. As in the example of Figure 3, the unmanned aircraft 101 may further determine whether the other aircraft 2 may enter the no-go zone (WCV) of the unmanned aircraft 101 within a specified time based on the relative position between the unmanned aircraft 1 and the other aircraft 2 and the relative velocity vector (Vrel) between the unmanned aircraft 1 and the other aircraft 2 in order to determine the possibility of collision.

[0059] Figure 8 is a plan view illustrating the calculation of the avoidance velocity vector command (Vacmd) for unmanned aerial vehicle 101 of Figure 7. As shown in Figure 8, unmanned aerial vehicle 101 calculates the avoidance velocity vector command (Vacmd) with the smallest magnitude from among candidates for the avoidance velocity vector command (Vacmd) within the range that satisfies the first to third constraint conditions described above.

[0060] The starting point of the relative velocity vector (Vrelc) between the velocity vector command (Vcmd) of the unmanned aerial vehicle 101 and the velocity vector (Vi) of the other aircraft 2 is set to the position of the other aircraft 2. The starting point of the corrected relative velocity vector (Vrel2) obtained by adding the avoidance velocity vector command (Vacmd) to the relative velocity vector (Vrelc) is also set to the position of the other aircraft 2. Then, the end point of the velocity vector command (Vcmd) when the velocity vector command (Vcmd) of the unmanned aerial vehicle 101 is translated to align the starting point of the velocity vector command (Vcmd) with the end point of the relative velocity vector (Vrelc) is set to the center of the first virtual circle (Vmin) and the second virtual circle (Vmax) in the third constraint condition.

[0061] Due to the second constraint, the starting point of the avoidance velocity vector command (Vacmd), which has the end point of the relative velocity vector (Vrelc) as its end point, is located on a tangent line TL1 that passes through the position of the other aircraft 2 and is tangent to the contour of the no-entry zone (WCV). At this time, due to the first constraint, of the two tangent lines TL1, TL2 that pass through the position of the other aircraft 2 and are tangent to the contour of the no-entry zone (WCV), the tangent line TL1 on the right side in the horizontal direction is selected based on the direction in which the unmanned aircraft 101 is viewed from the other aircraft 2. The starting point of the avoidance velocity vector command (Vacmd) is located in a portion of the tangent line TL1 that is in the region X between the first virtual circle (Vmin) and the second virtual circle (Vmax), and is determined so that the magnitude of the avoidance velocity vector command (Vacmd) is minimum.

[0062] The unmanned aerial vehicle 101 calculates a corrected velocity vector command (Vcmd2) by adding the determined avoidance velocity vector command (Vacmd) to the velocity vector command (Vcmd). The unmanned aerial vehicle 101 flies in accordance with the corrected velocity vector command (Vcmd2). Note that other configurations are the same as those in the first embodiment, and therefore description thereof will be omitted.

[0063] (Third embodiment) 9 is a block diagram of a flight control system 200 according to the third embodiment, in which a flight control program P is provided in a controller 205 that is separate from the unmanned aerial vehicle 201. The flight control system 200 includes the unmanned aerial vehicle 201 and a controller 205. In the flight control system 200, the controller 205 sends a control command to the unmanned aerial vehicle 201 so as to prevent the unmanned aerial vehicle 201 from colliding with another aircraft, that is, a target aircraft 2.

[0064] The controller 205 includes a processor 231, a system memory 232, a storage memory 233, and a wireless communication device 234. The processor 231 may include a central processing unit (CPU). The system memory 232 may include a random access memory (RAM). The storage memory 233 may include a hard disk, a flash memory, or a combination thereof. The storage memory 233 stores a flight control program P. A configuration in which the processor 231 executes the flight control program P read from the storage memory 233 to the system memory 232 is an example of a processing circuit 230. A portion of the flight control program P may be executed by the processor 11 of the unmanned aerial vehicle 201.

[0065] The wireless communication device 234 performs wireless communication between the controller 205 and the unmanned aerial vehicle 201. The controller 205 acquires flight information of the unmanned aerial vehicle 201 and the other aircraft 2 from the unmanned aerial vehicle 201. The controller 205 determines whether there is a possibility of collision between the unmanned aerial vehicle 201 and the other aircraft 2 based on the flight information. If the controller 205 determines that there is a possibility of collision, it calculates an avoidance velocity vector command (Vacmd) in the same way as in the first embodiment.

[0066] Controller 205 transmits this avoidance velocity vector command (Vacmd) to unmanned aerial vehicle 201. Unmanned aerial vehicle 201 adds the received avoidance velocity vector command (Vacmd) to the velocity vector command (Vcmd) to calculate a corrected velocity vector command (Vcmd2), and flies in accordance with the corrected velocity vector command (Vcmd2). Note that controller 205 may also add the avoidance velocity vector command (Vacmd) to the velocity vector command (Vcmd) to calculate the corrected velocity vector command (Vcmd2), and transmit the corrected velocity vector command (Vcmd2) to unmanned aerial vehicle 201.

[0067] The technology of the present disclosure is not limited to the above-described embodiment. For example, if the flight parameter command for the unmanned aircraft is an acceleration vector command, the acceleration vector command for the unmanned aircraft may be modified so that the unmanned aircraft moves horizontally to the right relative to the other aircraft, based on the direction in which the unmanned aircraft views the other aircraft.

[0068] As described above, the above-described embodiments have been described as examples of the technology disclosed in this application. However, the technology of the present disclosure is not limited to these embodiments and can be applied to embodiments in which modifications, substitutions, additions, omissions, etc. are made as appropriate. Furthermore, the components described in the above-described embodiments can be combined to create new embodiments. For example, some configurations or methods in one embodiment may be applied to other embodiments, and some configurations in one embodiment may be separated from other configurations in that embodiment and extracted as desired. Furthermore, the components described in the accompanying drawings and detailed description include not only components essential for solving the problem, but also components that are not essential for solving the problem, and are used to illustrate the technology.

[0069] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), graphics processing units (GPUs), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. Processors are considered processing circuits or circuits because they include transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

[0070] [Aspect] The above-described embodiments are examples of the following aspects.

[0071] (Aspect 1) 1. A method for controlling a flight of an unmanned aerial vehicle so as to avoid a collision between the unmanned aerial vehicle and another aircraft, the method comprising: Acquiring flight information of the unmanned aerial vehicle and the other aircraft; determining whether there is a possibility of a future collision between the unmanned aerial vehicle and the other aircraft based on the flight information; A flight control method for an unmanned aircraft, comprising: when it is determined that there is a possibility of a future collision between the unmanned aircraft and the other aircraft, modifying the flight parameter commands of the unmanned aircraft based on the flight information so as to satisfy constraints including a first condition that the unmanned aircraft moves horizontally to the right, based on the direction in which the unmanned aircraft views the other aircraft.

[0072] According to this configuration, when there is a possibility of a collision between the unmanned aircraft and another aircraft, the flight parameter command is modified so that the unmanned aircraft moves horizontally to the right based on the direction of view of the other aircraft from the unmanned aircraft, thereby enabling the unmanned aircraft to accurately perform autonomous collision avoidance while complying with right-of-way rules under various circumstances.

[0073] (Aspect 2) One of the unmanned aerial vehicle or the other aircraft is a first aircraft, and the other of the unmanned aerial vehicle or the other aircraft is a second aircraft; the flight information includes a relative position between the first aircraft and the second aircraft and a relative velocity vector (Vrel) between the first aircraft and the second aircraft; The determination of the presence or absence of a collision possibility includes: establishing a exclusion zone (WCV) around the second aircraft; A flight control method for an unmanned aircraft described in aspect 1, comprising determining whether or not there is a possibility that the first aircraft will enter the no-entry zone (WCV) based on the relationship between the relative velocity vector (Vrel) based on the first aircraft and the no-entry zone (WCV).

[0074] According to this configuration, by referring to the relationship between the relative velocity vector based on the first aircraft and the no-entry area, the possibility of the unmanned aircraft colliding with the other aircraft can be determined stably and with high accuracy.

[0075] (Aspect 3) the flight parameter command is a velocity vector command (Vcmd); The correction of the velocity vector command (Vcmd) for collision avoidance is set as the avoidance velocity vector command (Vacmd), When the velocity vector command (Vcmd) is modified to obtain a modified velocity vector command (Vcmd2) for collision avoidance, A flight control method for an unmanned aerial vehicle described in aspect 1 or 2, wherein modifying the flight parameter command includes adding the avoidance velocity vector command (Vacmd) to the velocity vector command (Vcmd) to calculate the modified velocity vector command (Vcmd2).

[0076] According to this configuration, by using a method of calculating a corrected speed vector command by adding an avoidance speed vector command to a speed vector command, it is possible to stably and easily prevent an unmanned aircraft from colliding with another aircraft under various circumstances.

[0077] (Aspect 4) the flight information includes a relative position between the first aircraft and the second aircraft and a velocity vector (Vi) of the other aircraft; modifying the flight parameter command of the unmanned aerial vehicle includes calculating a modified relative velocity vector (Vrel2) between the modified velocity vector command (Vcmd2) of the unmanned aerial vehicle and the velocity vector (Vi) of the other aircraft; When the direction perpendicular to the horizontal direction is the Z direction, the upper side of the Z direction is positive, and the lower side of the Z direction is negative, A flight control method for an unmanned aircraft described in aspect 3, wherein the first condition includes a condition that the Z-direction component of the vector obtained by cross-product of the corrected relative velocity vector (Vrel2) and the relative position vector (Xrel) between the unmanned aircraft and the other aircraft satisfies formula (1).

[0078]

number

[0079] According to this configuration, the avoidance velocity vector command (Vacmd) is determined so that the corrected relative velocity vector (Vrel2) is positioned horizontally to the right of the relative position vector (Xrel), so that the unmanned aircraft can be accurately moved horizontally to the right based on the direction in which the unmanned aircraft views the other aircraft, even under various circumstances.

[0080] (Aspect 5) One of the unmanned aerial vehicle or the other aircraft is a first aircraft, and the other of the unmanned aerial vehicle or the other aircraft is a second aircraft; the flight information includes a relative position between the first aircraft and the second aircraft and a velocity vector (Vi) of the other aircraft; Modifying the flight parameter commands of the unmanned aerial vehicle includes: establishing a exclusion zone (WCV) around the second aircraft; calculating a corrected relative velocity vector (Vrel2) between the corrected velocity vector command (Vcmd2) of the unmanned aerial vehicle and the velocity vector (Vi) of the other aircraft; A flight control method for an unmanned aircraft described in aspect 3 or 4, wherein the constraint condition includes a second condition that the corrected relative velocity vector (Vrel2) based on the first aircraft is not directed toward the inside of the no-entry zone (WCV).

[0081] With this configuration, the avoidance velocity vector command (Vacmd) is determined so that the virtual extension line of the corrected relative velocity vector (Vrel2) does not pass through the inside of the no-entry zone (WCV), thereby stably preventing the unmanned aircraft from colliding with the other aircraft under various circumstances.

[0082] (Aspect 6) A flight control method for an unmanned aerial vehicle described in aspect 5, wherein the second condition includes a condition that the corrected relative velocity vector (Vrel2) is on a tangent to the contour of the no-go zone (WCV).

[0083] According to this configuration, the avoidance velocity vector command (Vacmd) can be made as small as possible, and the time and energy required for the unmanned aerial vehicle to perform collision avoidance operations can be reduced.

[0084] (Aspect 7) the no-entry zone (WCV) has a circular shape with a radius (Rwcv) centered on the position of the other aircraft in a horizontal plane at the position of the other aircraft, A flight control method for an unmanned aircraft described in aspect 5 or 6, wherein the second condition includes a condition that an evaluation function g using the corrected relative velocity vector (Vrel2), the relative position vector (Xrel) between the unmanned aircraft and the other aircraft, and the radius (Rwcv) of the no-entry zone (WCV) satisfies equation (2).

[0085]

number

[0086] This configuration makes it possible to stably prevent unmanned aerial vehicles from entering a restricted area (WCV) under various circumstances.

[0087] (Aspect 8) A flight control method for an unmanned aircraft described in any of aspects 3 to 7, wherein the constraint conditions include a third condition that the magnitude of the corrected velocity vector command (Vcmd2) is greater than or equal to a predetermined minimum velocity (Vmin) and less than or equal to a predetermined maximum velocity (Vmax).

[0088] This configuration allows collision avoidance operation to be performed by correcting the direction and speed according to the capabilities of the unmanned aerial vehicle. That is, it is possible to generate a corrected speed vector command (Vcmd2) that can be executed at the maximum and minimum speeds within the capabilities of the unmanned aerial vehicle.

[0089] (Aspect 9) A flight control method for an unmanned aircraft described in any of aspects 3 to 8, wherein modifying the velocity vector command (Vcmd) includes setting the magnitude of the avoidance velocity vector command (Vacmd) to the smallest value among the values ​​that satisfy the constraint conditions.

[0090] This configuration reduces the time and energy required for the unmanned aerial vehicle to perform collision avoidance operations.

[0091] (Aspect 10) A flight control program for an unmanned aerial vehicle that causes at least one processor to execute a method described in any one of aspects 1 to 9.

[0092] (Aspect 11) An unmanned aerial vehicle that is controlled to avoid collision with another aircraft, a processing circuit, the processing circuit comprising: Acquiring flight information of the unmanned aerial vehicle and the other aircraft; determining whether there is a possibility of a future collision between the unmanned aerial vehicle and the other aircraft based on the flight information; when it is determined that there is a possibility of a future collision between the unmanned aerial vehicle and the other aircraft, modifying a flight parameter command of the unmanned aerial vehicle based on the flight information so that the unmanned aerial vehicle moves horizontally to the right, using a direction from the unmanned aerial vehicle looking at the other aircraft as a reference; 1. An unmanned aerial vehicle configured to:

[0093] (Aspect 12) A system for controlling a flight of an unmanned aerial vehicle so as to avoid a collision between the unmanned aerial vehicle and another aircraft, the system comprising: a controller including a processing circuit, the processing circuit comprising: Acquiring flight information of the unmanned aerial vehicle and the other aircraft; determining whether there is a possibility of a future collision between the unmanned aerial vehicle and the other aircraft based on the flight information; when it is determined that there is a possibility of a future collision between the unmanned aerial vehicle and the other aircraft, modifying a flight parameter command of the unmanned aerial vehicle based on the flight information so that the unmanned aerial vehicle moves horizontally to the right, using a direction from the unmanned aerial vehicle looking at the other aircraft as a reference; A flight control system for an unmanned aerial vehicle configured to:

[0094] (Aspect 13) An unmanned aerial vehicle flight control system as described in aspect 12, further comprising a wireless communication device for wireless communication between the controller and the unmanned aerial vehicle. [Explanation of symbols]

[0095] 1,101,201 Unmanned aerial vehicle 2 Opposing aircraft 10,230 processing circuits 11 processors 200 Flight Control System 205 Controller 234 Radio Communication Device P Flight control program

Claims

1. 1. A method for controlling a flight of an unmanned aerial vehicle so as to avoid a collision between the unmanned aerial vehicle and another aircraft, the method comprising: Acquiring flight information of the unmanned aerial vehicle and the other aircraft; determining whether there is a possibility of a future collision between the unmanned aerial vehicle and the other aircraft based on the flight information; A flight control method for an unmanned aircraft, comprising: when it is determined that there is a possibility of a future collision between the unmanned aircraft and the other aircraft, modifying the flight parameter commands of the unmanned aircraft based on the flight information so as to satisfy constraints including a first condition that the unmanned aircraft moves horizontally to the right, based on the direction in which the unmanned aircraft views the other aircraft.

2. One of the unmanned aerial vehicle or the other aircraft is a first aircraft, and the other of the unmanned aerial vehicle or the other aircraft is a second aircraft; the flight information includes a relative position between the first aircraft and the second aircraft and a relative velocity vector (Vrel) between the first aircraft and the second aircraft; The determination of the presence or absence of a collision possibility includes: establishing a no-go zone (WCV) around the second aircraft; 2. The flight control method for an unmanned aerial vehicle as described in claim 1, further comprising: determining whether or not there is a possibility that the first aircraft will enter the no-entry zone (WCV) based on the relationship between the relative velocity vector (Vrel) based on the first aircraft and the no-entry zone (WCV).

3. the flight parameter command is a velocity vector command (Vcmd); The correction amount of the velocity vector command (Vcmd) for collision avoidance is set as an avoidance velocity vector command (Vacmd), When the velocity vector command (Vcmd) is modified to a modified velocity vector command (Vcmd2) in order to avoid a collision, 2. The unmanned aerial vehicle flight control method of claim 1, wherein modifying the flight parameter command includes calculating the modified velocity vector command (Vcmd2) by adding the avoidance velocity vector command (Vacmd) to the velocity vector command (Vcmd).

4. the flight information includes a relative position between the first aircraft and the second aircraft and a velocity vector (V) of the other aircraft; modifying the flight parameter command for the unmanned aerial vehicle includes calculating a modified relative velocity vector (Vrel2) between the modified velocity vector command (Vcmd2) for the unmanned aerial vehicle and the velocity vector (Vi) of the other aircraft; When the direction perpendicular to the horizontal direction is defined as the Z direction, the upper side of the Z direction is defined as positive, and the lower side of the Z direction is defined as negative, 4. The flight control method for an unmanned aircraft as described in claim 3, wherein the first condition includes a condition that the Z-direction component of the vector obtained by cross-product of the corrected relative velocity vector (Vrel2) and the relative position vector (Xrel) between the unmanned aircraft and the other aircraft satisfies formula (1). [Equation 1]

5. One of the unmanned aerial vehicle or the other aircraft is a first aircraft, and the other of the unmanned aerial vehicle or the other aircraft is a second aircraft; the flight information includes a relative position between the first aircraft and the second aircraft and a velocity vector (V) of the other aircraft; Modifying the flight parameter commands of the unmanned aerial vehicle includes: establishing a no-go zone (WCV) around the second aircraft; calculating a corrected relative velocity vector (Vrel2) between the corrected velocity vector command (Vcmd2) of the unmanned aerial vehicle and the velocity vector (Vi) of the other aircraft; 4. The unmanned aerial vehicle flight control method of claim 3, wherein the constraint conditions include a second condition that the corrected relative velocity vector (Vrel2) based on the first aircraft is not directed toward the inside of the no-entry zone (WCV).

6. 6. The unmanned aerial vehicle flight control method according to claim 5, wherein the second condition includes a condition that the corrected relative velocity vector (Vrel2) is on a tangent line that is tangent to the contour of the WCV (Wide Control Velocity Velocity).

7. the no-entry zone (WCV) has a circular shape with a radius (Rwcv) centered on the position of the other aircraft in a horizontal plane at the position of the other aircraft, The flight control method for an unmanned aircraft described in claim 5, wherein the second condition includes a condition that an evaluation function g using the corrected relative velocity vector (Vrel2), the relative position vector (Xrel) between the unmanned aircraft and the other aircraft, and the radius (Rwcv) of the no-entry zone (WCV) satisfies formula (2). [Equation 2]

8. 3. The unmanned aerial vehicle flight control method according to claim 2, wherein the constraint conditions include a third condition that the magnitude of the corrected velocity vector command (Vcmd2) is equal to or greater than a predetermined minimum velocity (Vmin) and equal to or less than a predetermined maximum velocity (Vmax).

9. 3. The unmanned aerial vehicle flight control method according to claim 2, wherein modifying the velocity vector command (Vcmd) includes setting the magnitude of the avoidance velocity vector command (Vacmd) to a minimum value among values ​​that satisfy the constraint condition.

10. A flight control program for an unmanned aerial vehicle, the program causing at least one processor to execute the method according to any one of claims 1 to 9.

11. An unmanned aerial vehicle that is controlled to avoid collision with another aircraft, a processing circuit, the processing circuit comprising: Acquiring flight information of the unmanned aerial vehicle and the other aircraft; determining whether there is a possibility of a future collision between the unmanned aerial vehicle and the other aircraft based on the flight information; when it is determined that there is a possibility of a future collision between the unmanned aerial vehicle and the other aircraft, modifying a flight parameter command of the unmanned aerial vehicle based on the flight information so that the unmanned aerial vehicle moves horizontally to the right, using a direction from the unmanned aerial vehicle looking at the other aircraft as a reference; 1. An unmanned aerial vehicle configured to:

12. A system for controlling a flight of an unmanned aerial vehicle so as to avoid a collision between the unmanned aerial vehicle and another aircraft, the system comprising: a controller including a processing circuit, the processing circuit comprising: Acquiring flight information of the unmanned aerial vehicle and the other aircraft; determining whether there is a possibility of a future collision between the unmanned aerial vehicle and the other aircraft based on the flight information; when it is determined that there is a possibility of a future collision between the unmanned aerial vehicle and the other aircraft, modifying a flight parameter command of the unmanned aerial vehicle based on the flight information so that the unmanned aerial vehicle moves horizontally to the right, using a direction from the unmanned aerial vehicle looking at the other aircraft as a reference; A flight control system for an unmanned aerial vehicle configured to:

13. The unmanned aerial vehicle flight control system of claim 12 , further comprising a wireless communication device for wireless communication between the controller and the unmanned aerial vehicle.

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