Flight path search device and flight path search program

• US 9,711,052 B2
• Filed: 12/15/2015
• Issued: 07/18/2017
• Est. Priority Date: 01/16/2015
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Subaru Corp.
• Inventors: Mizutani, Takuma, Yanase, Yasuhiko
• Primary Examiner(s): Cass, Jean-Paul
• Application Number:
  US14/970,258
• Publication Number:
  US 20160210865A1
• Time in Patent Office: 581 Days
• Field of Search: 701528
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/3881 Tile-based structures
• CPC Class Codes: G08G 5/0034 Assembly of a flight plan

Abstract

In a flight path search device, storage stores map information and enemy force range information. A grid divider divides the map information into cells in grid form. A score calculator calculates, for each cell, a score about an attack avoidance degree. A cell calculator calculates a second cell that is on an extension of a line connecting the enemy forces point and a first cell within the enemy region and is outside the enemy region. A searcher searches for an optimal cell to which to move from the first cell when moving toward the second cell, based on the calculated score. An updater updates the first cell when the optimal cell disagrees with the second cell. The cell of the predetermined point is set as the first cell, and the process is repeated until the optimal cell agrees with the second cell.

Claims

1. A flight path search device that searches for a flight path of an aircraft, the flight path search device comprising:

a storage that stores in advance map information and enemy force range information of a predetermined range, the map information indicating an enemy region including an enemy forces point; and

a controller configured to implement functions of;

grid divider that divides the map information stored in the storage, into cells in a grid form on a horizontal plane;

a target cell selector that selects a first target cell from the cells, the target cell being situated within the enemy region;

a destination cell calculator that determines a first destination cell that is situated outside of the enemy region and on an extension of a first straight line connecting the enemy forces point and the first target cell within the enemy region, on the map information;

a score calculator calculates an attack avoidance degree score, for each of a first set of adjacent cells being adjacent to the first target cell based on the map information and the enemy force range information stored in the storage;

a searcher that selects, among the first set of adjacent cells, a second target cell based on the attack avoidance degree score, the second target cell being situated along the extension of the first straight line on the map information; and

a flight path identifier that identifies a first flight path that extends from the second target cell to the first target cell as the flight path for the aircraft when a location of the second target cell and a location of the first destination cell match on the map information, wherein

when the location of the second target cell and the location of the first destination cell do not match;

the destination cell calculator determines a second destination cell that is situated outside of the enemy region and on an extension of a second straight line connecting the enemy forces point and the second target cell within the enemy region on the map information,

the score calculator calculates the attack avoidance degree score, for each of a second set of adjacent cells being adjacent to the second target cell based on the map information and the enemy force range information stored in the storage, and

the searcher selects, from among the second set of adjacent cells, a third target cell based on the attack avoidance degree score, the third target cell being situated along the extension of the second straight line, and

when a location of the selected third target cell and a location of the second destination cell match on the map information, the flight path identifier identifies a second flight path that extends through the third target cell, the second target cell, and the first target cell as the flight path for the aircraft,

wherein the controller is further configured to operate a flight mechanism of the aircraft to allow the aircraft to enter an enemy region based on the set flight path of the aircraft.

2. The flight path search device according to claim 1, wherein

the score relating to attack avoidance degree for each of the cells is calculated based on a score relating to distance between the first target cell and each of the first set of adjacent cells, and a score relating to a degree of threat of enemy forces present at the enemy forces point, and

the score relating to the degree of threat of enemy forces is calculated based on a score relating to distance between the enemy forces and each of the first set of adjacent cells, and a score relating to geographical features of each of the first set of adjacent cells from the perspective of avoiding attack.