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Method for automatically controlling a vehicle for the lateral avoidance of a fixed zone
| Details |
Inventors: Deker, Guy;
Assignee: Sextant Avionique (Velizy Villacoublay, FR)
Primary Examiner: Cuchlinski, Jr.; William A.
Assistant Examiner: Arthur; Gertrude
Attorney, Agent or Firm: Oblon, Spivak, McClelland, Maier & Neustadt, P.C.
A method for laterally avoiding a fixed zone in an aircraft. The contour of the zone to be avoided is modeled by a convex polygon shape. The planned route is located with respect to the modeled zone. The port and starboard sections of the route for exit and return of the planned route are computed. A predetermined angle is formed which meets with a corner point of the contour to obtain two avoidance routes formed by the exit and return sections of the route and by the portions of the contour. One of the two avoidance routes is then selected. |
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DETAILED DESCRIPTION The objective of the present invention is to eliminate these drawbacks.
It is also aimed at determining the new route to be followed, while reducing as far as possible the distance to be travelled.
For this purpose, it proposes a method for the automatic piloting of a vehicle for the lateral avoidance of a fixed zone.
The method according to the invention is characterized in that it comprises the following steps in succession: the modelling of the contour of the zone to be avoided by a convex polygonal shape, by approximating the contour of the zone by a succession of segments, and eliminating the points of concavity and the excessively short segments, the locating of the planned route with respect to the modelled zone, the computation of port and starboard sections of route for exit and for return to the planned route, forming a predetermined angle with the latter and meeting up with the corner point of the polygonal shape closest to the planned route, so as to obtain two avoidance routes, port and starboard, formed by the exit and return sections of route and by the portions of the modelled contour respectively connecting the port and starboard exit and return transition sections of route, and the selection of one of the two avoidance routes, port or starboard as a function of a predetermined criterion.
By virtue of these provisions, the pilot is completely unburdened of the job of modifying the flight plan and the piloting of the aerodyne with a view to avoiding the prohibited zone.
Furthermore, the new route has been optimized by reducing as far as possible the distance to be travelled.
The present invention also relates to an optimized method for changing heading in order to bypass the prohibited zone modelled by a convex polygonal shape, that is to say, with compulsory overflying of the change of heading point and prohibition to enter the zone inside the turn.
Currently, these heading changes are made with a predetermined constant turning radius, for example one which depends on the speed of the aerodyne, in such a way as to retain a constant angle of roll
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