WO1997047946A1 - Procede de pilotage d'un vehicule en vue d'effectuer un changement de cap et application du procede au contournement lateral d'une zone - Google Patents
Procede de pilotage d'un vehicule en vue d'effectuer un changement de cap et application du procede au contournement lateral d'une zone Download PDFInfo
- Publication number
- WO1997047946A1 WO1997047946A1 PCT/FR1997/000970 FR9700970W WO9747946A1 WO 1997047946 A1 WO1997047946 A1 WO 1997047946A1 FR 9700970 W FR9700970 W FR 9700970W WO 9747946 A1 WO9747946 A1 WO 9747946A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- route
- course
- vehicle
- road
- port
- Prior art date
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0202—Control of position or course in two dimensions specially adapted to aircraft
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
Definitions
- the present invention relates to a method of driving a vehicle along a trajectory comprising two non-aligned road segments defining a change of course, with compulsory overflight of the point common to the two segments.
- the present invention aims to eliminate these drawbacks. To this end, it proposes a method of piloting a vehicle with a view to effecting a change of course, the vehicle following a first portion of rectilinear route, to join a second portion of rectilinear route forming a predetermined angle with the first portion of road, passing through the junction point between the two road sections.
- this method is caracté ⁇ sé in that it comprises the calculation and the follow-up by the vehicle of a curved course of change of course passing by said junction point, the center of gyration of which is located on the interior bisector the angle formed by the two road sections.
- the method according to the invention comprises the calculation and monitoring of two portions of the connecting curve trajectory, respectively between the first portion of the route and the course for changing course, and between the latter and the second portion of the route, these two portions of the connecting trajectory having the same radius of curvature as that of the trajectory for changing course, and being tangent thereto and respectively to the two portions of road.
- the invention also relates to a method for avoiding a fixed polygonal zone applying the method of changing course at each angle of the polygonal zone.
- the avoidance process aims to determine the new route to follow, minimizing the distance to be traveled. To this end, it includes the following steps:
- FIG. 1 schematically represents the electronic equipment on board an aerodyne making it possible to implement the avoidance method according to the invention
- Figure 2 shows schematically the algorithm executed to implement the avoidance method
- FIG. 3 shows a prohibited area on the route of an aerodyne to illustrate the avoidance process
- FIG. 4 schematically represents the transition trajectory between two sections of road according to the prior art
- FIG. 5 shows the course for changing course developed by the piloting method according to the invention.
- FIG. 6 shows the optimized transition trajectory in the case of two close heading changes.
- the avoidance method according to the invention is particularly designed to be executed by a computer 4 installed on board an aerodyne, which is coupled via a data transmission bus 5 called "airplane bus", to navigation equipment including an automatic pilot device 14 and navigation instruments 16, to a data transmission device 15, for example Data-Link, as well as to a human interface device / machine (HMI) 6 comprising a control element and signaling elements, such as a display screen 7 and a loudspeaker 8 installed in the cockpit.
- a computer 4 installed on board an aerodyne, which is coupled via a data transmission bus 5 called "airplane bus", to navigation equipment including an automatic pilot device 14 and navigation instruments 16, to a data transmission device 15, for example Data-Link, as well as to a human interface device / machine (HMI) 6 comprising a control element and signaling elements, such as a display screen 7 and a loudspeaker 8 installed in the cockpit.
- HMI human interface device / machine
- the automatic piloting device 14 comprises a memory in which the planned trajectory of the aerodyne is recorded, consisting of a succession of straight line segments between the starting point and the destination point, and trajectories of transition to connect one segment to another.
- the data transmission device 15 is capable of receiving information indicating that overflight of an air zone indicated for example by its name is temporarily prohibited. Furthermore, the computer 4 is for example coupled to a geographic navigation database 9 in which the contours of the aerial areas of the territory normally overflown by the aerodyne are stored. The pilot of the aerodyne can also enter the contours of the prohibited area himself by means of the man / machine interface 6.
- the algorithm shown in FIG. 2 is executed by the computer 4 installed on board the aerodyne. It consists first of all in acquiring the data supplied by the data transmission device 15 and by the pilot via the man / machine interface device 6 (step 21). When information relating to the prohibition on crossing an air zone is received, the computer 4 proceeds to locate the route defined by the planned flight plan, with respect to the prohibited zone. For this, when the information received is not supplemented by a definition of the contour of the area, the computer 4 will search for this information in its database 9, and access the definition of the planned flight plan, which is by example memorized by the automatic piloting device 14 (step 22).
- the computer 4 sends in step 23 a message intended for the display 7 to warn the pilot that the route 2 to be traveled by the aerodyne 1 crosses a prohibited area 10 (FIG. 3).
- This information can be supplemented by the display on screen 7 of the map of the region overflown with an indication in overprint of the prohibited area and possibly its characteristics.
- the computer then triggers the calculation of an avoidance trajectory (step 24) which firstly consists in modeling the contours of the prohibited area 10. This modeling consists in assimilating the outline of the area 10 to a polygon, then eliminating the concave angles of the polygon and the too short sides, so as to obtain a polygon 11 entirely convex.
- the computer 4 positions the planned route 2 with respect to the modeled contours from zone 10. These portions of the route deviate from the planned route 2 by a predetermined angle of 45 degrees or 30 degrees depending on the air regulations in force in the region overflown, and join points B2, A2 respectively. of polygon 11 closest to planned route 2 on either side of entry point Z of planned route 2 in polygon 11.
- the computer 4 executes the algorithm from step 29 where the display of a message "automatic avoidance impossible" is triggered. Otherwise, the computer 4 then determines the port portions of port B3-B4 and starboard A3-A4 back to the planned route 2. These portions of route join the planned route with an angle ⁇ and are connected to the polygon 11 respectively. at points B3, A3 closest to the planned route 2, on either side of the exit point Z 'of the planned route 2 of the polygon 11.
- the computer 4 calculates the length of each of the two new routes B1-A1-A2-A3-A4, B1-B2-B3-B4-A4, to select the shortest, and if these two new routes are equal length, we choose the one that is windward from zone 10.
- the selected avoidance route makes it possible to modify the initial flight plan provided by the automatic piloting device 14, which can be displayed on the screen 7, with validation request by the pilot.
- step 25 the computer 4 waits for the pilot's validation of the new flight plan including the selected avoidance route A1-A4, and this until the exit point A1 of route 2 originally planned 2 (step 26). While waiting, the computer 4 calculates and displays the value of the distance from this exit point A1, taking into account the current position of the aerodyne 1, this value being refreshed periodically (step 27). If during this wait, the pilot has validated the new flight plan, it is sent to the automatic piloting device 14 to replace that 2 initially planned, which then becomes active (step 28). This new flight plan allows automatic zone avoidance if the flight plan management and autopilot systems in lateral mode are in operation.
- step 29 a message to the pilot to indicate that this exit point has been exceeded and that the avoidance of the area is now impossible.
- step 30 calculates the distance between the current position of the aerodyne 1 and the entry point Z into the forbidden zone delimited by the polygon 12. As long as the aerodyne 1 has not reached the point Z, this distance is displayed with periodic refresh (step 31).
- step 32 the computer 4 sends an alert message which signals to the pilot that the aerodyne 1 is in a prohibited area (step 32).
- the computer 4 then waits for the exit from the forbidden zone 10, taking into account the position of the exit point Z 'of this zone, as well as the current position and the speed of the aerodyne 1 (step 33 ), before returning to step 18 of data acquisition, with erasure of the alert message.
- step 28 Before sending the new flight plan to the automatic piloting device, but after validation by the pilot, the computer 4 proceeds to step 28 in calculating the trajectory allowing the monitoring of this new flight plan, and in particular, the transition trajectories making it possible to pass from one section of route of the flight plan to another.
- the transition at the heading change points such as A1 and A4, outside the contours of the polygonal zone 11 is done conventionally by the inside of the turn, by determining a circle of predetermined radius tangent to the two sections of road to link.
- the computer 4 will therefore, according to the invention, develop a trajectory passing through the outside of the turn and through the turning point.
- FIG. 5 showing two sections of road connected to a point A, forming an angle ⁇ , and implying a change of course by an angle A ⁇
- the computer 4 calculates a curved trajectory 17 passing through point A, of which the center of gyration O is located on the interior bisector 3 of angle ⁇ and at a distance R from point A.
- This distance R corresponds to the radius of gyration of the curved trajectory 17, which is determined as a function of the speed of l 'aerodyne 1 which must make the turn with a predetermined roll angle.
- the connecting trajectory 18 making it possible to connect the section R1 with the trajectory curve 17 is formed by a portion of a curved trajectory with the same radius of gyration R, and is tangent in T1 to the section of road R1 and in T2 to the curved trajectory 17.
- the connecting trajectory 19 is a portion of curved trajectory of turning radius R, which is tangent in T3 to the curved path 17 and in T4 to the road section R2.
- the points T2 and T3 correspond to the point of intersection of the curved trajectory 17 with the perpendicular bisectors of the segments d delimited by the points of intersection 11, I2, 13, 14 of lines perpendicular to the road sections R1 , R2, passing through the center of gyration O, with the road sections R1, R2 and the curved path 17.
- FIG. 6 shows three road sections R1, R2, R3 connected by points A and B, and forming angles A and B at et and ⁇ '.
- two curved trajectories 17, 17 ′ passing respectively through A and B are calculated, and having a center of gyration O, O ′ and a radius of gyration R, these two curved trajectories joining respectively the road sections R1 and R3 at points T1 and T4 'by two connecting paths 18, 19'.
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/147,335 US6269301B1 (en) | 1996-06-07 | 1997-06-03 | Method for controlling a vehicle in order to change course and application of method for the lateral avoidance of a zone |
CA002257335A CA2257335A1 (fr) | 1996-06-07 | 1997-06-03 | Procede de pilotage d'un vehicule en vue d'effectuer un changement de cap et application du procede au contournement lateral d'une zone |
JP10501276A JP2000512016A (ja) | 1996-06-07 | 1997-06-03 | 機首方位の変更を目的とする輸送手段の操縦案内方法と、この方法のゾーン側方迂回への適用 |
EP97926086A EP0902878B1 (fr) | 1996-06-07 | 1997-06-03 | Procede de pilotage d'un vehicule en vue d'effectuer un changement de cap et application du procede au contournement lateral d'une zone |
DE69711873T DE69711873T2 (de) | 1996-06-07 | 1997-06-03 | Kurskorrekturmethode zur steuerung eines fahrzeuges und anwendung dieser methode zur seitlichen vermeidung einer zone |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9607076A FR2749650B1 (fr) | 1996-06-07 | 1996-06-07 | Procede de pilotage d'un vehicule en vue d'effectuer un changement de cap et application du procede au contournement lateral d'une zone |
FR96/07076 | 1996-06-07 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1997047946A1 true WO1997047946A1 (fr) | 1997-12-18 |
Family
ID=9492821
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR1997/000970 WO1997047946A1 (fr) | 1996-06-07 | 1997-06-03 | Procede de pilotage d'un vehicule en vue d'effectuer un changement de cap et application du procede au contournement lateral d'une zone |
Country Status (7)
Country | Link |
---|---|
US (1) | US6269301B1 (fr) |
EP (1) | EP0902878B1 (fr) |
JP (1) | JP2000512016A (fr) |
CA (1) | CA2257335A1 (fr) |
DE (1) | DE69711873T2 (fr) |
FR (1) | FR2749650B1 (fr) |
WO (1) | WO1997047946A1 (fr) |
Cited By (7)
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WO2002071367A1 (fr) * | 2001-03-06 | 2002-09-12 | Honeywell International Inc. | Systeme d'alerte pour intrusion sur la piste |
US7079951B2 (en) | 2002-05-15 | 2006-07-18 | Honeywell International Inc. | Ground operations and imminent landing runway selection |
US7117089B2 (en) | 2001-03-06 | 2006-10-03 | Honeywell International Inc. | Ground runway awareness and advisory system |
US7587278B2 (en) | 2002-05-15 | 2009-09-08 | Honeywell International Inc. | Ground operations and advanced runway awareness and advisory system |
US8373579B2 (en) | 2006-12-06 | 2013-02-12 | Universal Avionics Systems Corporation | Aircraft ground maneuvering monitoring system |
US8378852B2 (en) | 2006-12-06 | 2013-02-19 | Universal Avionics Systems Corp. | Aircraft-centered ground maneuvering monitoring and alerting system |
CN111736582A (zh) * | 2019-03-19 | 2020-10-02 | 北京奇虎科技有限公司 | 路径处理方法、装置、电子设备及计算机可读存储介质 |
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US6103636A (en) * | 1997-08-20 | 2000-08-15 | Micron Technology, Inc. | Method and apparatus for selective removal of material from wafer alignment marks |
US6577925B1 (en) * | 1999-11-24 | 2003-06-10 | Xerox Corporation | Apparatus and method of distributed object handling |
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US6580384B1 (en) * | 2001-12-27 | 2003-06-17 | Institute For Information Industry | Track prediction method in combined radar and ADS surveillance environment |
FR2861871B1 (fr) * | 2003-11-04 | 2006-02-03 | Thales Sa | Procede de suivi du deroulement du plan de vol d'un aeronef cooperatif |
FR2864269B1 (fr) * | 2003-12-19 | 2006-04-07 | Thales Sa | Procede d'aide a la navigation a basse altitude d'un aeronef |
FR2870607B1 (fr) * | 2004-05-18 | 2006-08-11 | Airbus France Sas | Procede et dispositif pour construire une trajectoire de vol a basse altitude destinee a etre suivie par un aeronef |
FR2870517B1 (fr) * | 2004-05-18 | 2006-07-28 | Airbus France Sas | Procede et dispositif de securisation d'un vol a basse altitude d'un aeronef |
FR2870610B1 (fr) * | 2004-05-18 | 2010-11-12 | Airbus France | Procede et dispositif pour determiner automatiquement une trajectoire de capture d'une trajectoire de vol pour un aeronef, ainsi que methode et systeme de guidage automatique d'un aeronef |
FR2870604B1 (fr) * | 2004-05-18 | 2006-08-11 | Airbus France Sas | Procede et dispositif de securisation d'un vol a basse altitude d'un aeronef |
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US7512462B2 (en) * | 2004-11-16 | 2009-03-31 | Northrop Grumman Corporation | Automatic contingency generator |
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FR2906921B1 (fr) * | 2006-10-10 | 2010-08-13 | Thales Sa | Procede de formation d'une trajectoire d'urgence en 3d pour aeronef et dispositif de mise en oeuvre |
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US7483790B2 (en) * | 2007-01-31 | 2009-01-27 | Honeywell International Inc. | Systems and methods for constructing variable offset paths |
FR2916841B1 (fr) * | 2007-05-29 | 2009-09-11 | Thales Sa | Procede d'elaboration d'un plan de vol d'aeronef |
FR2937454B1 (fr) * | 2008-10-22 | 2015-01-02 | Airbus France | Procede et systeme d'evitement de terrain pour un aeronef |
US8935174B2 (en) * | 2009-01-16 | 2015-01-13 | The Boeing Company | Analyzing voyage efficiencies |
JP5696987B2 (ja) * | 2010-01-13 | 2015-04-08 | 独立行政法人 宇宙航空研究開発機構 | 乱気流回避操縦支援装置 |
US9157746B2 (en) * | 2011-11-16 | 2015-10-13 | The Boeing Company | Vessel routing system |
FR3020706B1 (fr) * | 2014-04-30 | 2017-10-06 | Airbus Operations Sas | Procede et dispositif de comparaison automatique de deux trajectoires de vol pour un aeronef. |
KR102030737B1 (ko) * | 2018-06-14 | 2019-10-10 | 한국항공우주연구원 | 안전 항로 설계 장치 및 방법 |
US10878706B2 (en) * | 2018-10-12 | 2020-12-29 | Aurora Flight Sciences Corporation | Trajectory planner for a vehicle |
KR102100967B1 (ko) * | 2019-06-28 | 2020-04-14 | 아주대학교산학협력단 | 드론 비행 금지 구역 회피 경로 제공 방법 및 장치 |
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- 1997-06-03 EP EP97926086A patent/EP0902878B1/fr not_active Expired - Lifetime
- 1997-06-03 DE DE69711873T patent/DE69711873T2/de not_active Expired - Fee Related
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Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2002071367A1 (fr) * | 2001-03-06 | 2002-09-12 | Honeywell International Inc. | Systeme d'alerte pour intrusion sur la piste |
US6606563B2 (en) | 2001-03-06 | 2003-08-12 | Honeywell International Inc. | Incursion alerting system |
US7117089B2 (en) | 2001-03-06 | 2006-10-03 | Honeywell International Inc. | Ground runway awareness and advisory system |
US7079951B2 (en) | 2002-05-15 | 2006-07-18 | Honeywell International Inc. | Ground operations and imminent landing runway selection |
US7206698B2 (en) | 2002-05-15 | 2007-04-17 | Honeywell International Inc. | Ground operations and imminent landing runway selection |
US7363145B2 (en) | 2002-05-15 | 2008-04-22 | Honeywell International Inc. | Ground operations and imminent landing runway selection |
US7587278B2 (en) | 2002-05-15 | 2009-09-08 | Honeywell International Inc. | Ground operations and advanced runway awareness and advisory system |
US8373579B2 (en) | 2006-12-06 | 2013-02-12 | Universal Avionics Systems Corporation | Aircraft ground maneuvering monitoring system |
US8378852B2 (en) | 2006-12-06 | 2013-02-19 | Universal Avionics Systems Corp. | Aircraft-centered ground maneuvering monitoring and alerting system |
CN111736582A (zh) * | 2019-03-19 | 2020-10-02 | 北京奇虎科技有限公司 | 路径处理方法、装置、电子设备及计算机可读存储介质 |
Also Published As
Publication number | Publication date |
---|---|
JP2000512016A (ja) | 2000-09-12 |
CA2257335A1 (fr) | 1997-12-18 |
FR2749650A1 (fr) | 1997-12-12 |
DE69711873T2 (de) | 2002-10-10 |
FR2749650B1 (fr) | 1998-09-11 |
EP0902878B1 (fr) | 2002-04-10 |
EP0902878A1 (fr) | 1999-03-24 |
DE69711873D1 (de) | 2002-05-16 |
US6269301B1 (en) | 2001-07-31 |
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