Vehicle-based automatic traffic conflict and collision avoidance

• US 8,380,424 B2
• Filed: 09/28/2007
• Issued: 02/19/2013
• Est. Priority Date: 09/28/2007
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Bushnell, Glenn S.
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): Khatib, Rami
• Application Number:
  US11/864,335
• Publication Number:
  US 20090088972A1
• Time in Patent Office: 1,971 Days
• Field of Search: 701/17, 701120-122, 701/210, 701/223, 701/301, 701/302, 701/3, 701/4, 701/14, 701/466, 701/527, 701/528, 340/951, 340/961, 342/29, 342 34- 36, 342/455
• US Class Current: 701/122
• CPC Class Codes: G01C 23/005 Flight directors indicating arrangements specially adapted for rotary gyroscopes G01C19/32
• CPC Class Codes: G08G 5/0052 for cruising combined instruments indicating more than one navigational value G01C23/00
• CPC Class Codes: G08G 5/045 Navigation or guidance aids, e.g. determination of anti-collision manoeuvers radar or analogous systems specially adapted for anti-collision between aircraft G01S13/933

Abstract

Systems and methods for providing vehicle-centric collision avoidance are disclosed. In one embodiment, a method includes determining a first flight trajectory for a first aircraft. The method also includes determining a second flight trajectory for a second aircraft. A distance between the first aircraft and the second aircraft at a first closest point of approach (CPA) is predicted. The predicted closest point of approach is then compared to a separation perimeter layer. The separation perimeter layer is configured to provide a minimum separation distance from the first aircraft to the second aircraft. When the predicted closest point of approach breaches the separation perimeter, the first flight trajectory is altered to provide collision avoidance.

Claims

1. A method for aircraft guidance, comprising:

determining a first flight trajectory for a first aircraft;

determining a second flight trajectory for a second aircraft;

predicting a distance between the first aircraft and the second aircraft at a closest point of approach (CPA) based on the first and second flight trajectories;

establishing a three-dimensional separation perimeter layer that provides at least one minimum separation distance from the first aircraft to the second aircraft, each dimension in the three-dimensional separation perimeter layer corresponding to a respective control direction having an avoidance gain;

comparing the distance to the three-dimensional separation perimeter layer; and

altering the first flight trajectory based at least on an avoidance control command having a magnitude that includes gain contribution from the avoidance gain of each dimension when the predicted distance breaches the three-dimensional separation perimeter layer.

2. The method of claim 1, further comprising computing a first direction from a current position of the first aircraft to the predicted CPA, wherein altering the first flight trajectory includes altering the first flight trajectory in a second direction that is different from the first direction.

3. The method of claim 1, wherein predicting the distance includes continuously predicting the distance as the first aircraft moves along the first flight trajectory, and wherein comparing the distance includes continuously comparing the distance to the three-dimensional separation perimeter layer.

4. The method of claim 3, further comprising reinstating at least a portion of the first flight trajectory when the distance does not breach the three-dimensional separation perimeter layer.

5. The method of claim 1, further comprising:

comparing the first distance to a second separation perimeter layer, the second separation perimeter layer configured to provide a second minimum separation distance from the first aircraft and the second aircraft; and

altering the first flight trajectory in a second magnitude when the first distance breaches the second minimum separation distance,

wherein the second minimum separation distance is smaller than the first minimum separation distance, and wherein the second magnitude is greater than the first magnitude.

6. The method of claim 1, further comprising:

predicting a time duration to arrive at the predicted CPA for the first aircraft,

wherein the magnitude is further modified based at least on the time duration to arrive at the predicted CPA.

7. The method of claim 1, further comprising, when the predicted distance breaches the three-dimensional separation perimeter layer:

providing the avoidance control command to a flight control of the first aircraft to alter the first flight trajectory when a time duration to arrive at the CPA for the first aircraft reaches a predetermined time threshold; and

delaying the avoidance control command to a flight control of the first aircraft to alter the first flight trajectory when the time duration to arrive at the CPA is longer than the predetermined time threshold.

8. The method of claim 7, wherein the first aircraft and the second aircraft are flying in formation.

9. The method of claim 1, wherein determining a first flight trajectory for the first aircraft includes determining the first flight trajectory based on at least one of a flight plan of the first aircraft, a current position of the first aircraft, or a velocity of the first aircraft.

10. The method of claim 1, wherein determining a second flight trajectory for the second aircraft includes determining the second flight trajectory based on at least one of a flight plan of the second aircraft, a current position of the first aircraft, or a velocity of the second aircraft.

11. The method of claim 1, wherein the altering of the first flight trajectory includes implementing the avoidance control command as flight control command.

12. The method of claim 1, wherein the altering of the first flight trajectory includes overriding an existing flight control command with the avoidance control command.

13. The method of claim 1, further comprising:

predicting a second distance between the second aircraft and the first aircraft at a third closest point of approach (CPA) based on the first and second flight trajectories;

comparing the second distance to a third separation perimeter layer, the third separation perimeter layer configured to provide a third minimum separation distance from the second aircraft to the first aircraft; and

altering the second flight trajectory in a third magnitude when the second distance breaches the third separation perimeter layer.

14. The method of claim 1, wherein the establishing includes establishing the three-dimensional separation perimeter layer having a shape that is defined based at least on a velocity of the first aircraft.

15. A method comprising:

determining a first flight trajectory for a first aircraft;

determining a second flight trajectory for a second aircraft;

predicting a distance between the first aircraft and the second aircraft at a closest point of approach (CPA) based on the first and second flight trajectories;

providing at least one avoidance control command to a flight control of the first aircraft to alter the first flight trajectory when a time duration to arrive at the CPA for the first aircraft reaches a predetermined time threshold, the avoidance control command having a magnitude that includes a gain contribution from an avoidance gain of each dimension; and

delaying the at least one avoidance control command to a flight control of the first aircraft to alter the first flight trajectory when the time duration to arrive at the CPA is longer than the predetermined time threshold.