考虑碰撞概率的机场场面交叉口冲突预警方法  

Collision Warning Method for Unmanned Aerial Vehicles inAirports Based on Collision Probability

作　　者：常鑫 马光辉 高建树[1] 杨威屏 范翔宇 CHANG Xin;MA Guang-hui;GAO Jian-shu;YANG Wei-ping;FAN Xiang-yu(Key Laboratory of Technology and Equipment of Tianjin Urban Air Transportation System,Civil Aviation University of China,Tianjin 300300,China)

机构地区：[1]中国民航大学,天津市城市空中交通系统技术与装备重点实验室,天津300300

出　　处：《科学技术与工程》2025年第11期4776-4785,共10页Science Technology and Engineering

基　　金：天津市教委科研计划(2024KJ094)。

摘　　要：在智慧机场迅速崛起的背景下,自动驾驶车辆的广泛部署要求有一个高效的安全运行系统。为了开发一种基于碰撞概率的机场无人驾驶车辆碰撞预警方法,以ADS-B数据为基础,考虑在滑行道路段和交汇点处飞机与车辆的交互情况,分别对这两种交互环境进行碰撞概率方法分析;然后通过对单车预警仿真图进行分析设置不同级别的预警阈值,当碰撞概率0.3≤p(c)≤0.5时,跟随车辆进入二级预警状态,车辆制动加速度取值范围为0.5~1.5 m/s2;当p(c)>0.5时,跟随车辆进入一级预警状态,车辆制动加速度取最大值为2 m/s2;并根据设定的预警阈值分别对同一滑行道和交汇点处进行仿真分析;仿真测试显示,基于碰撞概率的预警方法能够计算出车辆在滑行道上行驶发生碰撞的概率,并根据相对应的预警阈值进行减速制动,有效降低了碰撞事故的可能性;通过蒙特卡洛随机模拟实验,得到交叉口处不同驾驶方式下的碰撞概率变化图,利用分级预警进行仿真分析,仿真实验表明无论哪种驾驶方式,该预警算法都能有效避免碰撞冲突,进一步证明所提方法具有较高的适应性。所构建的基于碰撞概率的机场无人驾驶车辆碰撞预警方法,能够有效避免机场场面碰撞冲突的发生,同时显著提升无人驾驶车辆在机场环境中的安全性。Under the context of the rapid rise of smart airports,the widespread deployment of autonomous vehicles requires an efficient safety operation system.In order to develop a collision warning method based on collision probability for airport unmanned driving vehicles,using ADS-B data as a foundation,considering the interaction between aircraft and vehicles at taxiway segments and intersections.The collision probability analysis was conducted for these two types of interactive environments.Through the analysis of single-vehicle warning simulation diagrams,different levels of warning thresholds were set.When the collision probability was 0.3≤p(c)≤0.5,the following vehicle entered the secondary warning state,and the vehicle braking acceleration took a value range of 0.5~1.5 m/s 2.When p(c)>0.5,the following vehicle entered the primary warning state,and the vehicle braking acceleration took the maximum value of 2 m/s 2,and carrying out simulation analysis for the same taxiway and intersection according to the set warning threshold,the simulation test showed that the collision warning method based on collision probability could calculate the probability of collisions occurring during vehicle movement on the taxiway,and perform deceleration braking according to the corresponding warning threshold,effectively reducing the possibility of collision accidents.Through Monte Carlo random simulation experiments,the collision probability change diagram under different driving modes at crossroads was obtained,and the effectiveness of the warning algorithm was verified by using hierarchical warnings for simulation analysis.The simulation experiment proved that regardless of the driving mode,the warning algorithm could effectively avoid collision conflicts,further proving that the proposed method had high adaptability.A collision probability-based collision warning method was constructs for airport unmanned driving vehicles,which can effectively avoid the occurrence of airport field collision conflicts.Meanwhile,it can significa

关 键 词：机场交通管控与运行 无人驾驶车辆 滑行道 交叉冲突 碰撞预警 

分 类 号：U8[交通运输工程]