基于动态优先级的机坪车辆避冲突运行规划方法

Operation Planning Method for Airport Support Vehicle Collision Avoidance Based on Dynamic Priority

【目的】针对机坪车机混行环境,提出了一种考虑动态优先级的避冲突运行规划方法。【方法】首先,从作业效率和运行风险两个层面,提出动态优先级计算方法,完善了多类型保障车辆时变冲突风险划分的规则。其次,考虑保障车辆运行规则和物理特性,建立了考虑行驶和等待时间最小化的混合整数规划模型。最后,设计全局路径优化的两阶段算法进行求解,并通过低时间复杂度的改进冲突探测方法,弥补了传统方法求解大规模复杂问题在时效性方面的不足。【结果】实验表明,设计的算法在大、小规模场景均有较好的适用性,相比对照算法,冲突优化幅度提升7.6%,车辆与航空器冲突占比降低7.5%。【结论】所提方法满足了保障车辆差异化运行要求,实现了车辆和航空器混合运行环境下避冲突路径规划的功能。

【Purpose】To enable conflict avoidance operation planning for support vehicles in complex environ-ments,a dynamic priority classification method is proposed.【Method】This method prioritizes conflict avoid-ance based on levels of operation efficiency and risk.Additionally,a conflict avoidance operation planning mod-el were established,along with a two-stage algorithm for global path optimization.A low time complexity con-flict detection method was also proposed to ensure accuracy in solving large-scale complex problems quickly.【Result】Compared to the fixed-priority-based two-stage algorithm,the proposed approach improves conflict point reduction by 7.6%and reduces the vehicle-aircraft conflict ratio by 7.5%.【Conclusion】The proposed method meets the requirements of ensuring differentiated vehicle operation,and realizes the function of conflict avoidance path planning in a mixed operation environment of vehicles and aircraft.