CN111415534A - Method for dynamically avoiding collision of moving object marks - Google Patents
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Abstract
The invention discloses a method for avoiding collision of a moving object in a dynamic environment, which comprises the following steps of realizing visualization processing: acquiring motion parameters of each mobile object; calculating to obtain a collision circle or a vertical bisector formed by the two objects; calculating the intersection point PPC of the two object heading lines and the collision circle or the vertical bisector; constructing one or more geometric models by taking PPC formed by two objects as a base point; identifying collision risks among the objects through a topological intersection relation between a course line of one object and a geometric model of the other object and giving an alarm; the collision risk can be visually observed and early warned, the influence of the action of each object on the situation can be rapidly and visually evaluated, and a collision avoidance scheme can be rapidly obtained; the method is favorable for intuitively judging the influence of any action on the whole situation in the multi-object environment, and further controlling the meeting situation of the object on other objects when the multi-object environment is controlled.
Description
Technical Field
The invention relates to the field of collision avoidance of moving objects, in particular to a method for collision avoidance of a moving object in a dynamic environment.
Background
At present, the identification mode of the ship collision risk is mainly to identify through the sizes of the DCPA and the TCPA, and when the DCPA and the TCPA are smaller than a set value, the collision risk is considered to exist. Because the DCPA has no directionality, the method for identifying the collision risk cannot be distinguished from dangers of different meeting situations, particularly cannot visually distinguish the situations in a multi-ship complex environment, and cannot visually judge the influence of one collision avoidance action on the situation change of each ship when performing collision avoidance decisions on other ships.
In order to intuitively show collision Danger and management and control measures, ARPA of SPERRY corporation originally proposed a concept of a pre-directed Area of Danger of collision (PAD), and when a target ship keeps a constant speed and the ship is underway at a constant speed, the target ship can pass through a set safety distance as long as the ship bow line of the ship avoids the PAD Area. The PAD mainly has an ellipse and a hexagon and is positioned on the course line of the target ship. However, the PAD type ARPA can only give a collision avoidance suggestion when the target ship keeps the speed and the direction, and cannot output the PAD area in time when the target ship turns or cannot stabilize the course due to meteorological reasons. In a multi-ship environment, the PAD areas of all ships are overlapped to be disorderly.
Various methods for identifying collision risks and managing collision risks in the current literature usually directly output collision prevention schemes in a digital manner, and the influence of various collision prevention schemes on situations cannot be intuitively observed. In a single-ship environment, the situation is easy to analyze, and the output mode is not good for assisting a driver to avoid collision, but in a multi-ship complex environment, the influence of various output collision prevention schemes on the situation cannot be shown, so that the driver is difficult to carry out overall evaluation on the situation, and the global control and decision are difficult to realize.
Disclosure of Invention
In view of the above existing disadvantages, the present invention provides a method for dynamically avoiding collision of a mobile object, which can visually observe and early warn collision risk, quickly and visually evaluate the influence of actions on situations, and quickly obtain a collision avoidance scheme.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
a method of mobile object marker dynamic environment collision avoidance, the method comprising the steps of:
acquiring motion parameters of each mobile object;
calculating to obtain a collision circle or a vertical bisector formed by the two objects;
calculating the intersection point PPC of the two object heading lines and the collision circle or the vertical bisector;
constructing one or more geometric models by taking PPC formed by two objects as a base point;
identifying collision risks among the objects according to the relation between the course line of one object and the geometric model of the other object and giving an alarm;
all the steps are visualized.
In accordance with one aspect of the invention, the motion parameters include position, speed, and heading.
According to one aspect of the invention, the identifying and alarming the collision risk between the objects through the relation between the course line of one object and the geometric model of the other object comprises the following steps: the intersection point of the course line of the slow object and the collision circle is provided with only one intersection point, the slow object PPC is set as a base point, the safe meeting distance is taken as a radius, and a circular or other geometric model is arranged; according to the principle that the PPC reaches the same position at the same time, when the slow object is judged to reach the PPC point, the course line or the position of the fast object is outside the circular area, and the fact that the two objects can pass through the circular area at a safe distance is shown; the course line or the position of the fast object is in the circular area, which indicates that the two object objects can not pass through the safety distance, and the fast object sends out a sound alarm and a red flashing alarm displayed on the target object image. The geometric model can be a circular, elliptical, hexagonal and other fields or dynamic boundary models with different parameters. Multiple models can be used simultaneously to distinguish different degrees of risk.
Two or more models, circular or other domain models, may be used for forewarning. Because the collision circle can continuously change along with the time, only the model with smaller scale can continuously alarm or not alarm and then alarm due to situation change. The following model may be used: a circular model is used, and the PPC is only arranged on the slow ship as a base point, so that the alarm effect of the minimum distance can be achieved; the minimum field model is used, and the PPC is only arranged on the slow ship as a base point, so that the minimum distance alarm effect can be achieved. Other field models can be used simultaneously, different models represent different risk assessment results, and local control is more precise.
According to one aspect of the invention, the identifying and alarming the collision risk between the objects through the relation between the course line of one object and the geometric model of the other object comprises the following steps:
PPC formed by intersection of slow object mark B and collision circleBThe point is used as the center of a circle, the safe meeting distance is used as the radius to form a circle, and the visualization processing is carried out, namely the circle PPCB；
Forming a course line ray, namely a ray A, by taking the fast object A as an end point;
the position of the object A is always at a certain point of the ray A, when the ray A and the circle PPCBWhen there is no intersection, it indicates that the target object B reaches the position point PPC where collision is likely to occurBWhen the object A is in the area beyond the safe distance of the object B, the two objects can pass through the safe distance;
similarly, PPC formed on object AAAnd (3) constructing a geometric model by taking the points as base points, and judging whether the two object objects can pass through the safety distance by judging the topological intersection relation between the points and the course line ray of the object B.
According to one aspect of the invention, the identifying and alarming the collision risk between the objects through the relation between the course line of one object and the geometric model of the other object comprises the following steps:
PPC formed by intersection of slow object mark and collision circleBForming a circle by taking the point as the center of a circle and taking the safe meeting distance as the radius, and performing visual processing;
taking the point A of the fast object position as a starting point, intercepting a point A' along the position of the distance D on the course line of the fast object, and carrying out visualization processing on the point; the point A' represents the position point of the fast object when the slow object reaches the PPC point;
when the A' point is located at the slow object point PPCBCircle formed as center of circleWhen the two objects are inside, the two objects cannot pass safely, and an alarm is triggered;
when the two object marks are at the same speed, the set of all collision points is a vertical bisector of a connecting line of the two object marks; taking the intersection point of each object heading line and the vertical bisector as PPC, and taking the safe meeting distance as a radius to make a circle; and the step of judging whether the safety can be passed is the same as the step.
According to one aspect of the invention, the method comprises the steps of: and judging that a course interval with uncoordinated avoidance possibly exists.
According to one aspect of the invention, the determining that there may be a heading interval of uncoordinated avoidance includes: the area formed by the target object safe course interval and the collision circle belongs to a safe area, if the two target object safe course intervals have an intersection, the possibility that the course interval corresponding to the intersection part has uncoordinated avoidance exists is indicated, and the area can be marked. And setting a dangerous course interval on the collision circle, and setting an uncoordinated interval early warning.
According to one aspect of the invention, the method further comprises the steps of: and carrying out collision avoidance scheme decision of the moving object.
According to one aspect of the invention, the making of the collision avoidance scheme decision of the moving object comprises: forming a field geometric model by taking two object PPC points as base points, and judging the relation between a course line of one object and a geometric model of the other object by using graphic topological processing; when the two object target course lines are tangent to or do not have intersection with the other object target geometric model, the PPC of the two object targets is reasonably distributed, and the course is judged as a safe course; the course interval without collision danger forms a safe course interval, and the course interval with collision danger forms a dangerous course interval.
According to one aspect of the invention, the making of the collision avoidance scheme decision of the moving object comprises the following steps:
taking the intersection point of the electron azimuth line EB L and the collision circle as a PPC point, and forming a corresponding domain model;
performing visualization processing on each auxiliary line;
by adjusting the EB L direction and observing the intersection relation between the related auxiliary lines, the situation and the decision avoidance scheme are rapidly judged;
and obtaining a safe course interval by a course search algorithm and a method for judging the intersection of one object route and the other object field.
According to one aspect of the invention, the making of the collision avoidance scheme decision of the moving object comprises the following steps:
taking the intersection point of the electronic azimuth line and the collision circle as a PPC point, and forming a corresponding domain model;
performing visualization processing on each auxiliary line;
by adjusting the EB L direction and observing the intersection relation between the related auxiliary lines, the situation and the decision avoidance scheme can be judged quickly;
the safe course interval can be obtained by a method of judging the intersection of one target route and another target field through a course search algorithm.
Once an alarm is generated, the requirements of larger safety margin and easy observation are met, a decision is needed to be made to act greatly, and various different fields or dynamic models with larger sizes can be used to enable the two ships to have obvious safety situations. When the ship elliptical model is used, the requirement that the course line of the ship does not pass through the target ship elliptical model is met, and the requirement that the course line of the target ship does not pass through the target ship elliptical model is also met.
Through visual processing, collision risk can be judged rapidly through visual observation. Particularly, in a complex dynamic environment with multiple objects, visual processing can enable a user to quickly and effectively control global prediction and further situation through visual judgment. By setting the PPC and the geometric model on the electronic azimuth line, the electronic azimuth line is moved to each direction to assist the decision and facilitate the quick evaluation of the effect of all the headings.
And judging whether the course line and the geometric figure have an intersection point or not through a topological algorithm, and judging whether collision danger exists or not. The implementation can be done using software techniques, such as topological arithmetic tools using GIS or JAVA, etc.
Through the display of the overlapped section of the common safe avoidance scheme of the two ships, the occurrence section of the uncoordinated avoidance can be found out.
The implementation of the invention has the advantages that: the invention relates to a method for dynamically avoiding collision of a moving object, which comprises the following steps of realizing visualization processing: acquiring motion parameters of each mobile object; calculating to obtain a collision circle formed by two object objects; calculating the intersection point PPC of the two object heading lines and the collision circle; constructing one or more geometric models by taking PPC formed by two objects as a base point; identifying collision risks among the objects through a topological intersection relation between a course line of one object and a geometric model of the other object and giving an alarm; the collision risk can be visually observed and early warned, the influence of the action of the ship or the target ship on the situation can be rapidly and visually evaluated, and a collision prevention scheme can be rapidly obtained; the method is favorable for intuitively judging the influence of any action on the whole situation in a multi-ship environment and controlling the meeting situation of each ship when multiple ships are local. The PAD calculation problem of a single ship is converted into the distribution problem of the PPCs of two ships on a collision circle or a vertical bisector. And judging whether the PPCs are reasonably distributed or not by using a method of enabling the geometric model and the course lines to have no intersection point through the geometric model (circular or elliptical and the like) by taking all the PPCs formed at the intersection points of the course lines and the collision circles of the two ships as base points. When the course line of one ship and the geometric figure of the other ship have no intersection point, the PPC is reasonably distributed, and the safety is judged; when the course line of one ship and the geometric figure of the other ship have an intersection point, the PPC is unreasonably distributed, and then the ship is judged to be dangerous. The method has the advantages of reducing the calculated amount, needing no complex calculation process, being simple and visual, being capable of rapidly evaluating the effects of all various collision avoidance schemes, and having better effect in the situation of complex multi-object objects. Different geometric models are used on the PPC, and different risk assessment and control effects can be achieved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of the principle of the circle of Arctic for collision avoidance according to the present invention;
FIG. 2 is a schematic diagram of the distribution of the two-object PPC according to the present invention;
FIG. 3 is a schematic diagram of a minimum model set on the PPC of the slow ship B according to the present invention;
FIG. 4 is a schematic diagram of a minimum model set on the PPC of the express ship A according to the present invention;
FIG. 5 is a schematic diagram illustrating the effect of setting a minimum model for two vessels according to the present invention;
FIG. 6 is a schematic diagram of a slow ship decision model according to the present invention;
FIG. 7 is a schematic diagram of a fast ship decision model according to the present invention;
FIG. 8 is a schematic view of a safe course interval of a slow ship according to the present invention;
FIG. 9 is a schematic view of a safe course interval of a fast ship according to the present invention;
fig. 10 is a schematic diagram of the uncoordinated interval warning according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the principle diagram for the alder circle collision avoidance is shown, in which the distance ratio between the PPC point and the a point and the B point is constant, and all the points satisfying this condition according to the alder theorem are circles. There are two special points, such as PCH and PCO points, where PCH is on line segment AB, PCO is on the extension of AB, PCH is called internal division point, and PCO is called external division point.
Let B be the origin of coordinates, A be the coordinates (a,0), and the moving point PPC (x, y).
The circle of attritor formula: (k)2﹣1)(x2+y2)﹢2ax﹣a2＝0
The ratio of the distance from any point on the circle to the point A to the distance from the point B is equal to the fixed ratio k.
Any point on the circle is set as a point P, and the distance PA is set as a distance S1PB distance is S2Then S is1/S2＝k。
S1I.e. the distance that the ship A sails within a certain time, S2I.e. the distance traveled by the ship B in a certain time.
Substituting S into V · t1/S2K, get VA/VB＝k。
k >1 indicates that the speed of the A ship is faster than that of the B ship.
When K is 1, the set of PPCs is not a collision circle, but is a perpendicular bisector of the AB connecting line.
When K <1, the ship A and the ship B are exchanged, and the principle is the same.
Analysis of V aloneA/VB＝k，k>1.
Circle center coordinates:
[ak2/(k2-1),0]
radius:
R＝ak/(k2-1)
when the circle of attorney is applied to collision avoidance, the distance scaling problem is converted into the speed scaling problem, so the circle of attorney is called a collision circle in collision avoidance geometry, and the collision circle is a set of all PPC points with different speeds of two objects. Similarly, the perpendicular bisector of the AB line is the set of all PPC points at the same object velocity.
The ship is not a particle, so that the ship needs a safe meeting distance SD in the meeting process, and when the course line does not intersect with the PAD region, the safe meeting distance SD is indicated to pass through by setting the corresponding PAD region; when the course line intersects the PAD area, it indicates that it cannot pass at a safe distance.
Example one
Under the condition of ship collision avoidance, the dynamic environment collision avoidance decision method comprises the following steps:
step 1: and acquiring the motion parameters including position, speed and course of the surrounding ship through APAR or AIS and other instrument equipment.
Step 2: and calculating the collision circle or the vertical bisector formed by the two ships.
And step 3: and calculating the intersection point PPC of the course lines of the two ships and the collision circle or the vertical bisector.
And 4, step 4: and constructing various geometric models by taking the PPC formed by the two ships as a base point. The geometric model can be a circular, elliptical, hexagonal and other fields or dynamic boundary models with different parameters. Multiple models can be used simultaneously to distinguish different degrees of risk.
And 5: a method of identifying a risk of collision. The intersection point of the course line of the slow ship and the collision circle is provided with only one intersection point, and the PPC of the slow shipBAnd setting a circle center, setting the safe meeting distance as a radius, and setting a circular geometric model. The course line of the fast ship and the circle have an intersection point, which indicates that the two ships can not pass through the safe distance; or calculating slow ship arrival PPCBShip position points A 'and A' of the fast ship are in the circle PPCBAnd inner, meaning that two ships cannot pass at a safe distance. And sending out a sound alarm and displaying a red flashing alarm on the target ship image.
Step 5-1: and forming a circle by taking a PPC point formed by the intersection point of the slow ship and the collision circle as a circle center and taking the safe meeting distance as a radius, and performing visual processing. And performing visual processing on the collision circle and the course lines of the two ships.
Step 5-2: and calculating the translation distance D of the fast ship position along the fast ship course line.
Step 5-3: and taking the fast ship position point A as a starting point, intercepting a point A' along the position of the distance D on the fast ship course line, and carrying out visualization processing on the point. Point a' represents the ship position of the fast ship when the slow ship reaches the PPC point.
Step 5-4: when the point A' is positioned in a circle formed by taking the slow ship PPC as the center of the circle, the two ships cannot safely pass through the circle, and an alarm is triggered.
Step 5-5: when the two ships are at the same speed, the set of all the collision points is a vertical bisector of a connecting line of the two ships. Using the intersection point PPC of the target ship course line and the vertical bisectorBAs the center of circle, the safe meeting distance is used as the radius to make a circle. Is judged to beThe steps of the safety passing are the same as the step 5-4.
Example two
Under the condition of ship collision avoidance, the dynamic environment collision avoidance decision method comprises the following steps:
step 1: and acquiring the motion parameters including position, speed and course of the surrounding ship through APAR or AIS and other instrument equipment.
Step 2: and calculating the collision circle formed when the two ships are not at the same speed or the vertical bisector formed when the two ships are at the same speed.
And step 3: and calculating the intersection point PPC of the course lines of the two ships and the collision circle or the vertical bisector.
And 4, step 4: and constructing various geometric models by taking the PPC formed by the two ships as a base point. The geometric model can be a circular, elliptical, hexagonal and other fields or dynamic boundary models with different parameters. Multiple models can be used simultaneously to distinguish different degrees of risk.
And 5: the method for identifying collision risk takes a circular domain model as an example. The intersection point of the slow ship course line and the collision circle is provided with only one intersection point, the PPC of the slow ship is set as the center of the circle, the safe meeting distance is the radius, and a circular geometric model is set. And judging the ship position of the fast ship when the slow ship reaches the PPC point according to the principle that the PPC reaches the same position at the same time. The fast ship is positioned outside the circular area, which means that two ships can pass through at a safe distance; the fast ship is positioned in the circular area, which indicates that two ships can not pass through the safe area, and the fast ship gives an alarm by sound and gives an alarm by red flashing on the image display of the target ship.
Step 5-1: and forming a circle by taking a PPC point formed by the intersection point of the slow ship and the collision circle or the vertical bisector as a circle center and taking the safe meeting distance as a radius, and performing visual processing.
Step 5-2: and calculating the translation distance D of the fast ship position along the fast ship course line.
Step 5-3: and taking the fast ship position point A as a starting point, intercepting a point A' along the position of the distance D on the fast ship course line, and carrying out visualization processing on the point. Point a' represents the ship position of the fast ship when the slow ship reaches the PPC point.
Step 5-4: when the point A' is positioned in a circle formed by taking the slow ship PPC as the center of the circle, the two ships cannot safely pass through the circle, and an alarm is triggered.
Step 5-5: when the two ships are at the same speed, the set of all the collision points is a vertical bisector of a connecting line of the two ships. Using the intersection point PPC of the target ship course line and the vertical bisectorBAs the center of circle, the safe meeting distance is used as the radius to make a circle. And 5, the step of judging whether the safety can be passed is the same as the step 5-4.
Step 6: a method for deciding a collision avoidance scheme. And forming a field geometric model by taking the PPCs of the two ships as base points, and judging the relation between the course line of one ship and the geometric model of the other ship by using graphic topological processing. And when no intersection exists between the course lines of the two ships and the geometric model of the other ship, the PPC of the two ships is reasonably distributed, and the two ships are judged to be safe courses. The course interval without collision danger forms a safe course interval, and the course interval with collision danger forms a dangerous course interval.
Step 6-1: the intersection of the electron azimuth line and the collision circle was defined as the PPC point.
Step 6-2: and visualizing auxiliary lines such as collision circles or perpendicular bisectors, course lines, domain models, electronic azimuth lines and the like.
And 6-3, adjusting the EB L direction, and observing the intersection relation between the related auxiliary lines, so that the situation and the decision avoidance scheme can be rapidly judged.
Step 6-4: the safe course and the safe course interval can be obtained by a method of judging the intersection of a ship route and another ship field through a course search algorithm.
The implementation of the invention has the advantages that: the invention relates to a method for dynamically avoiding collision of a moving object, which comprises the following steps of realizing visualization processing: acquiring motion parameters of each mobile object; calculating to obtain a collision circle formed by two object objects; calculating the intersection point PPC of the two object heading lines and the collision circle; constructing one or more geometric models by taking PPC formed by two objects as a base point; identifying collision risks among the objects through a topological intersection relation between a course line of one object and a geometric model of the other object and giving an alarm; the collision risk can be visually observed and early warned, the influence of the action of the ship or the target ship on the situation can be rapidly and visually evaluated, and a collision prevention scheme can be rapidly obtained; the method is favorable for intuitively judging the influence of any action on the whole situation in a multi-ship environment and controlling the meeting situation of each ship when multiple ships are local. The PAD calculation problem of a single ship is converted into the distribution problem of the PPCs of two ships on a collision circle or a vertical bisector. And judging whether the PPCs are reasonably distributed or not by using a method of enabling the geometric model and the course lines to have no intersection point through the geometric model (circular or elliptical and the like) by taking all the PPCs formed at the intersection points of the course lines and the collision circles of the two ships as base points. When the course line of one ship and the geometric figure of the other ship have no intersection point, the PPC is reasonably distributed, and the safety is judged; when the course line of one ship and the geometric figure of the other ship have an intersection point, the PPC is unreasonably distributed, and then the ship is judged to be dangerous. The method has the advantages of reducing the calculated amount, needing no complex calculation process, being simple and visual, being capable of rapidly evaluating the effects of all various collision prevention schemes, and having better effect in complex multi-ship situations. Different geometric models are used on the PPC, and different risk assessment and control effects can be achieved.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention disclosed herein are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (9)
1. A method for dynamic collision avoidance of a moving object, the method comprising the steps of:
acquiring motion parameters of each mobile object;
calculating to obtain a collision circle or a vertical bisector formed by the two objects;
calculating the intersection point PPC of the two object heading lines and the collision circle or the vertical bisector;
constructing one or more geometric models by taking PPC formed by two objects as a base point;
and identifying the collision risk between the object objects through the relation between the course line of one object and the geometric model of the other object and giving an alarm.
2. The method according to claim 1, wherein the motion parameters include position, speed, and heading.
3. The method for dynamic collision avoidance of moving objects according to claim 1, wherein the identifying and alarming the collision risk between the objects through the relationship between the course line of one object and the geometric model of the other object comprises: the intersection point of the course line of the slow object and the collision circle is provided with only one intersection point, the slow object PPC is set as the center of the circle, the safe meeting distance is the radius, and a circular or other geometric model is set; according to the principle that PPC reaches the same position at the same time, the position of a fast object is judged when a slow object reaches a PPC point, and the position of the fast object is outside a circular area, so that the two objects can pass through at a safe distance; the position of the fast object is in the circular area, which indicates that the two object objects can not pass through the safety distance, and the sound alarm and the red flashing alarm are displayed on the target object image.
4. The method for dynamic collision avoidance of moving objects according to claim 3, wherein the identifying and alarming the collision risk between the objects through the relationship between the course line of one object and the geometric model of the other object comprises:
PPC formed by intersection of slow object mark B and collision circleBThe point is used as the center of a circle, the safe meeting distance is used as the radius to form a circle, and the visualization processing is carried out, namely the circle PPCB；
Forming a course line ray, namely a ray A, by taking the fast object A as an end point;
the position of the object A is always at a certain point of the ray A, when the ray A and the circle PPCBWhen there is no intersection, it indicates that the target object B reaches the position point PPC where collision is likely to occurBWhen the object A is in the area beyond the safe distance of the object B, the two objects can pass through the safe distance;
similarly, the object A is markedPPC formedAAnd (3) constructing a geometric model by taking the points as base points, and judging whether the two object objects can pass through the safety distance by judging the topological intersection relation between the points and the course line ray of the object B.
5. The method for dynamic collision avoidance of moving objects according to claim 1, wherein the method comprises the steps of: and judging that a course interval with uncoordinated avoidance possibly exists.
6. The method according to claim 5, wherein the determining that there is a course section with uncoordinated avoidance comprises: the area formed by the target object safe course interval and the collision circle belongs to a safe area, if the two target object safe course intervals have an intersection, the possibility that the course interval corresponding to the intersection part has uncoordinated avoidance exists is indicated, and the area can be marked.
7. The method for dynamic collision avoidance of moving object markers according to any one of claims 1 to 6, further comprising the steps of: and carrying out collision avoidance scheme decision of the moving object.
8. The method for dynamic collision avoidance of a moving object according to claim 7, wherein said making a collision avoidance scheme decision of a moving object comprises: forming a field geometric model on two object target PPC points, and judging the relation between a course line of one object target and a geometric model of the other object target by using graphic topology processing; when the course lines of the two objects are tangent to the geometric model of the other object or no intersection exists, the PPC of the two objects is reasonably distributed; the course interval without collision danger forms a safe course interval, and the course interval with collision danger forms a dangerous course interval.
9. The method for dynamic collision avoidance of a moving object according to claim 7, wherein said making a collision avoidance scheme decision of a moving object comprises the steps of:
taking the intersection point of the electron azimuth line EB L and the collision circle as a PPC point, and forming a corresponding domain model;
performing visualization processing on each auxiliary line;
by adjusting the EB L direction and observing the intersection relation between the related auxiliary lines, the situation and the decision avoidance scheme are rapidly judged;
and obtaining a safe course interval by a course search algorithm and a method for judging the intersection of one object route and the other object field.
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