From 0ff88b0ba2a2840e47209679b6334b422d4c2435 Mon Sep 17 00:00:00 2001 From: sladro Date: Wed, 4 Mar 2026 11:51:06 +0800 Subject: [PATCH] feat(collision_detection): add diverging release distance parameter - Introduced a new configuration parameter `diverging_release_distance` to the collision detection system, allowing for dynamic adjustment of the distance threshold at which conflicts are resolved when vehicles are diverging. - Updated the system configuration files and documentation to reflect this new parameter. - Implemented logic in the collision detection algorithm to utilize the diverging release distance for immediate conflict resolution when conditions are met. - Added unit tests to verify the functionality of the diverging release distance in various scenarios, ensuring that conflicts are resolved correctly based on the new parameter. --- build_verify_vs2/ALL_BUILD.vcxproj | 8 +- build_verify_vs2/ZERO_CHECK.vcxproj | 8 +- build_verify_vs2/collision_avoidance.vcxproj | 8 +- .../collisio.1B7B649D.tlog/CL.command.1.tlog | Bin 28654 -> 30578 bytes .../CustomBuild.read.1.tlog | 80 ------------ .../collision_avoidance_lib.vcxproj | 8 +- build_verify_vs2/config/system_config.json | 3 +- .../ZERO_CHECK.tlog/CustomBuild.read.1.tlog | 80 ------------ config/system_config.json | 3 +- docs/configuration_guide.md | 6 + src/config/SystemConfig.h | 3 + src/core/System.cpp | 30 ++++- src/core/System.h | 1 + src/detector/CollisionDetector.cpp | 32 ++++- src/detector/CollisionDetector.h | 6 +- src/network/ConfigHttpServer.cpp | 12 +- system_config.json | 1 + tests/BasicCollisionTest.cpp | 121 +++++++++++++++++- 18 files changed, 217 insertions(+), 193 deletions(-) diff --git a/build_verify_vs2/ALL_BUILD.vcxproj b/build_verify_vs2/ALL_BUILD.vcxproj index ba30754..80b64b8 100644 --- a/build_verify_vs2/ALL_BUILD.vcxproj +++ b/build_verify_vs2/ALL_BUILD.vcxproj @@ -120,7 +120,7 @@ endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone exit /b %1 :cmDone if %errorlevel% neq 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FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\INTERNAL\CMAKEDETERMINELINKERID.CMAKE C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\INTERNAL\CHECKSOURCECOMPILES.CMAKE -C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\INTERNAL\FEATURETESTING.CMAKE C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\PLATFORM\LINKER\WINDOWS-MSVC-C.CMAKE C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\PLATFORM\LINKER\WINDOWS-MSVC-CXX.CMAKE C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\PLATFORM\LINKER\WINDOWS-MSVC.CMAKE -C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\PLATFORM\WINDOWS-DETERMINE-CXX.CMAKE C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\PLATFORM\WINDOWS-INITIALIZE.CMAKE C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\PLATFORM\WINDOWS-MSVC-C.CMAKE C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\PLATFORM\WINDOWS-MSVC-CXX.CMAKE diff --git a/config/system_config.json b/config/system_config.json index d63542a..77f2dde 100644 --- a/config/system_config.json +++ b/config/system_config.json @@ -142,6 +142,7 @@ }, "collision_detection": { "update_interval_ms": 200, + "diverging_release_distance": 50.0, "prediction": { "time_window": 20.0, "vehicle_size": 20.0, @@ -166,4 +167,4 @@ "max_connections": 100 }, "simulated_mobile_light_target_intersection_id": "T2路口" -} \ No newline at end of file +} diff --git a/docs/configuration_guide.md b/docs/configuration_guide.md index f1b892d..1944fcc 100644 --- a/docs/configuration_guide.md +++ b/docs/configuration_guide.md @@ -273,6 +273,7 @@ ```json "collision_detection": { "update_interval_ms": 200, + "diverging_release_distance": 50.0, "prediction": { "time_window": 20.0, "vehicle_size": 20.0, @@ -283,12 +284,17 @@ ``` ### 参数说明 - **update_interval_ms**：冲突检测更新间隔时间(ms) +- **diverging_release_distance**：冲突解除距离阈值(m)。当航空器与车辆不再预测碰撞、且双方距离正在增大并且当前距离大于等于该值时，立即解除冲突。 - **prediction**：冲突预测模型参数 - **time_window**：预测时间窗口(s) - **vehicle_size**：车辆尺寸(m) - **aircraft_size**：航空器尺寸(m) - **min_unmanned_speed**：无人车最小速度(m/s) +运行中动态修改（HTTP）： +- `POST /config/collision/diverging_release_distance` +- Body：`{"value": 50}` + ### 冲突预警和告警参数 文件路径：`config/airport_bounds.json` diff --git a/src/config/SystemConfig.h b/src/config/SystemConfig.h index 9e1e646..dae259d 100644 --- a/src/config/SystemConfig.h +++ b/src/config/SystemConfig.h @@ -69,6 +69,7 @@ public: } prediction; int update_interval_ms; + double diverging_release_distance = 50.0; } collision_detection; struct Logging { @@ -202,12 +203,14 @@ inline void from_json(const json& j, SystemConfig::CollisionDetection::Predictio inline void to_json(json& j, const SystemConfig::CollisionDetection& p) { j = json{ {"update_interval_ms", p.update_interval_ms}, + {"diverging_release_distance", p.diverging_release_distance}, {"prediction", p.prediction} }; } inline void from_json(const json& j, SystemConfig::CollisionDetection& p) { j.at("update_interval_ms").get_to(p.update_interval_ms); + p.diverging_release_distance = j.value("diverging_release_distance", 50.0); j.at("prediction").get_to(p.prediction); } diff --git a/src/core/System.cpp b/src/core/System.cpp index 60c6670..b54060f 100644 --- a/src/core/System.cpp +++ b/src/core/System.cpp @@ -57,6 +57,7 @@ bool System::initialize() { // 前端交互接口（HTTP） // - POST http://:/config/runway/warning_zone_radius/aircraft {"value": 300} // - POST http://:/config/runway/alert_zone_radius/aircraft {"value": 200} + // - POST http://:/config/collision/diverging_release_distance {"value": 50} // - POST http://:/api/VehicleRegistry [...] config_http_server_ = std::make_unique( system_config.frontend_http_server.port, @@ -231,6 +232,17 @@ bool System::setRunwayAlertZoneAircraftRadius(double radius, double* oldValue) { return airportBounds_->setAlertZoneAircraftRadius(AreaType::RUNWAY, radius); } +bool System::setDivergingReleaseDistance(double value, double* oldValue) { + if (!collisionDetector_) { + return false; + } + const bool updated = collisionDetector_->setDivergingReleaseDistance(value, oldValue); + if (updated) { + SystemConfig::instance().collision_detection.diverging_release_distance = value; + } + return updated; +} + void System::processLoop() { while (running_) { try { @@ -558,9 +570,8 @@ void System::processCollisions( std::chrono::system_clock::now().time_since_epoch()) .count(); - broadcastVehicleCommand(parkingCmd); controllableVehicles_.sendCommand(vehicleId, parkingCmd); - Logger::info("ALERT 后补发停车指令到车辆: ", vehicleId); + Logger::info("ALERT 后补发停车指令到车辆(仅车辆链路，不广播前端): ", vehicleId); } // 更新风险记录 @@ -712,7 +723,10 @@ void System::broadcastCollisionWarning(const CollisionRisk& risk) { .count()} }; // 广播冲突预警消息 - ws_server_->broadcast(j.dump()); + const std::string payload = j.dump(); + ws_server_->broadcast(payload); + // 前端链路可靠性兜底：关键告警消息重复广播一次（仅前端，不影响车辆控制链路） + ws_server_->broadcast(payload); Logger::debug("广播冲突预警: id1=", risk.id1, " id2=", risk.id2, " distance=", risk.distance, "m", " relativeSpeed=", risk.relativeSpeed, "m/s", @@ -790,7 +804,12 @@ void System::broadcastVehicleCommand(const VehicleCommand& cmd) { j["targetLongitude"] = cmd.longitude; } - ws_server_->broadcast(j.dump()); + const std::string payload = j.dump(); + ws_server_->broadcast(payload); + // 前端链路可靠性兜底：ALERT/WARNING 重复广播一次（仅前端，不影响车辆控制链路） + if (cmd.type == CommandType::ALERT || cmd.type == CommandType::WARNING) { + ws_server_->broadcast(payload); + } } const MovingObject* System::findVehicle(const std::string& vehicleId) const { @@ -918,9 +937,8 @@ bool System::handleSafetyZoneRisk(const Vehicle& vehicle, std::chrono::system_clock::now().time_since_epoch()) .count(); - broadcastVehicleCommand(parkingCmd); controllableVehicles_.sendCommand(vehicle.id, parkingCmd); - Logger::info("安全区 ALERT 后补发停车指令到车辆: ", vehicle.id); + Logger::info("安全区 ALERT 后补发停车指令到车辆(仅车辆链路，不广播前端): ", vehicle.id); } CollisionRisk risk; diff --git a/src/core/System.h b/src/core/System.h index c1dae45..5252766 100644 --- a/src/core/System.h +++ b/src/core/System.h @@ -46,6 +46,7 @@ public: // 运行中动态修改配置：对应 airport_bounds.json 里 runway.warning_zone_radius.aircraft（默认 200） bool setRunwayWarningZoneAircraftRadius(double radius, double* oldValue = nullptr); bool setRunwayAlertZoneAircraftRadius(double radius, double* oldValue = nullptr); + bool setDivergingReleaseDistance(double value, double* oldValue = nullptr); const SystemConfig& getSystemConfig() const { return SystemConfig::instance(); } const IntersectionConfig& getIntersectionConfig() const { return intersection_config_; } diff --git a/src/detector/CollisionDetector.cpp b/src/detector/CollisionDetector.cpp index a1b1350..2dd23a8 100644 --- a/src/detector/CollisionDetector.cpp +++ b/src/detector/CollisionDetector.cpp @@ -18,11 +18,23 @@ constexpr int64_t kResolveNoRiskTimeoutMs = 5000; CollisionDetector::CollisionDetector(const AirportBounds& bounds, const ControllableVehicles& controllableVehicles) : airportBounds_(bounds), vehicleTree_(bounds.getAirportBounds(), 8), // 使用机场总边界初始化四叉树 - controllableVehicles_(&controllableVehicles) { + controllableVehicles_(&controllableVehicles), + divergingReleaseDistance_(SystemConfig::instance().collision_detection.diverging_release_distance) { // 记录初始化信息 const auto& airportBounds = bounds.getAirportBounds(); } +bool CollisionDetector::setDivergingReleaseDistance(double value, double* oldValue) { + if (!(value > 0.0) || !std::isfinite(value)) { + return false; + } + if (oldValue) { + *oldValue = divergingReleaseDistance_.load(); + } + divergingReleaseDistance_.store(value); + return true; +} + void CollisionDetector::updateTraffic(const std::vector& aircraft, const std::vector& vehicles) { Logger::debug("更新交通数据: 航空器数量=", aircraft.size(), @@ -189,9 +201,20 @@ std::vector CollisionDetector::detectCollisions() { ", level=", static_cast(level)); } else if (hasUnresolvedConflict) { // 专业化释放策略： + // 0. 新增：远离且达到解除距离 -> 立即释放 // A. 距离已明显拉开且当前不再预测碰撞 -> 立即释放 // B. 连续无风险超过阈值 -> 强制释放，防止历史 maxLevel 粘连 // C. 其余场景沿用原有几何释放条件 + const double divergingReleaseDistance = divergingReleaseDistance_.load(); + const double rx = vehicle.position.x - aircraft.position.x; + const double ry = vehicle.position.y - aircraft.position.y; + const double relVx = vv.vx - av.vx; + const double relVy = vv.vy - av.vy; + const bool isDiverging = (rx * relVx + ry * relVy) > 0.0; + const bool divergingRelease = + !collisionResult.willCollide && + isDiverging && + collisionResult.distance >= divergingReleaseDistance; const bool farEnoughAndNoRisk = !collisionResult.willCollide && collisionResult.distance >= safeDistance * kResolveDistanceMultiplier; @@ -201,13 +224,14 @@ std::vector CollisionDetector::detectCollisions() { const bool geometricResolved = checkCollisionResolved(aircraft, vehicle, it->second, safeDistance); - if (farEnoughAndNoRisk || noRiskTimeout || geometricResolved) { + if (divergingRelease || farEnoughAndNoRisk || noRiskTimeout || geometricResolved) { it->second.resolved = true; Logger::debug("冲突已解除: obj1=", aircraft.id, ", obj2=", vehicle.id, ", reason=", - farEnoughAndNoRisk ? "far_enough_no_risk" : - (noRiskTimeout ? "no_risk_timeout" : "geometric_condition")); + divergingRelease ? "diverging_release_distance" : + (farEnoughAndNoRisk ? "far_enough_no_risk" : + (noRiskTimeout ? "no_risk_timeout" : "geometric_condition"))); } else { // 虽然当前没有检测到风险，但由于未满足解除条件，继续保持原有风险等级 currentCollisions.insert(collisionKey); diff --git a/src/detector/CollisionDetector.h b/src/detector/CollisionDetector.h index 27c3e7b..d59ae34 100644 --- a/src/detector/CollisionDetector.h +++ b/src/detector/CollisionDetector.h @@ -9,6 +9,7 @@ #include "CollisionTypes.h" #include "utils/Logger.h" #include +#include #include // 碰撞风险等级 @@ -69,12 +70,15 @@ public: const MovingObject& obj1, const MovingObject& obj2, double timeWindow = 30.0) const; + + bool setDivergingReleaseDistance(double value, double* oldValue = nullptr); private: const AirportBounds& airportBounds_; QuadTree vehicleTree_; std::vector aircraftData_; const ControllableVehicles* controllableVehicles_; + std::atomic divergingReleaseDistance_{50.0}; // 冲突记录映射表：<(id1,id2), CollisionRecord> std::unordered_map, CollisionRecord, CollisionPairHash> collisionRecords_; @@ -150,4 +154,4 @@ private: double timeWindow) const; }; -#endif // AIRPORT_DETECTOR_COLLISION_DETECTOR_H \ No newline at end of file +#endif // AIRPORT_DETECTOR_COLLISION_DETECTOR_H diff --git a/src/network/ConfigHttpServer.cpp b/src/network/ConfigHttpServer.cpp index 8dc289f..8e1de29 100644 --- a/src/network/ConfigHttpServer.cpp +++ b/src/network/ConfigHttpServer.cpp @@ -177,7 +177,8 @@ private: // Body: {"value": 300} const bool isWarningZoneApi = req_.target() == "/config/runway/warning_zone_radius/aircraft"; const bool isAlertZoneApi = req_.target() == "/config/runway/alert_zone_radius/aircraft"; - if (!isWarningZoneApi && !isAlertZoneApi) { + const bool isDivergingReleaseApi = req_.target() == "/config/collision/diverging_release_distance"; + if (!isWarningZoneApi && !isAlertZoneApi && !isDivergingReleaseApi) { return send_response(json_response(req_, http::status::not_found, json{{"status", "error"}, {"message", "Not Found"}})); } @@ -193,12 +194,17 @@ private: double oldValue = 0.0; bool updated = false; const char* field = nullptr; + const char* area = "runway"; if (isWarningZoneApi) { updated = system_.setRunwayWarningZoneAircraftRadius(value, &oldValue); field = "warning_zone_radius.aircraft"; - } else { + } else if (isAlertZoneApi) { updated = system_.setRunwayAlertZoneAircraftRadius(value, &oldValue); field = "alert_zone_radius.aircraft"; + } else { + updated = system_.setDivergingReleaseDistance(value, &oldValue); + field = "collision.diverging_release_distance"; + area = "collision"; } if (!updated) { @@ -210,7 +216,7 @@ private: return send_response(json_response(req_, http::status::ok, json{{"status", "success"}, - {"area", "runway"}, + {"area", area}, {"field", field}, {"old", oldValue}, {"new", value}})); diff --git a/system_config.json b/system_config.json index cfcfcc8..376dce1 100644 --- a/system_config.json +++ b/system_config.json @@ -86,6 +86,7 @@ }, "collision_detection": { "update_interval_ms": 200, + "diverging_release_distance": 50.0, "prediction": { "time_window": 20.0, "vehicle_size": 20.0, diff --git a/tests/BasicCollisionTest.cpp b/tests/BasicCollisionTest.cpp index 1241041..f521ca9 100644 --- a/tests/BasicCollisionTest.cpp +++ b/tests/BasicCollisionTest.cpp @@ -8,6 +8,14 @@ #include "config/SystemConfig.h" #include "config/AirportBounds.h" +namespace { +void RegisterManagedVehicle(const std::string& vehicleId) { + ControllableVehicles::getInstance().updateRegistry({ + VehicleRegistryEntry{vehicleId, "WUREN"} + }); +} +} + // Mock ControllableVehicles 类 class MockControllableVehicles { public: @@ -536,4 +544,115 @@ TEST_F(BasicCollisionTest, CrossingBeforeAndAfter) { Logger::debug("无人车位置: (", vehicle.position.x, ",", vehicle.position.y, ")"); EXPECT_TRUE(risks.empty()) << "航空器已远离，无人车继续运动不应产生新的冲突"; -} \ No newline at end of file +} + +TEST_F(BasicCollisionTest, DivergingReleaseDistanceResolvesConflictImmediately) { + RegisterManagedVehicle("UT_VEH_DIVERGE_1"); + ASSERT_TRUE(detector_->setDivergingReleaseDistance(50.0)); + + Aircraft aircraft; + aircraft.id = "UT_AC_DIVERGE_1"; + aircraft.flightNo = "UT_AC_DIVERGE_1"; + aircraft.type = MovingObjectType::AIRCRAFT; + aircraft.altitude = 0.0; + aircraft.position = {100.0, 100.0}; + aircraft.speed = 10.0; + aircraft.heading = 90.0; + + Vehicle vehicle; + vehicle.id = "UT_VEH_DIVERGE_1"; + vehicle.vehicleNo = "UT_VEH_DIVERGE_1"; + vehicle.position = {180.0, 100.0}; + vehicle.speed = 10.0; + vehicle.heading = 270.0; + + detector_->updateTraffic({aircraft}, {vehicle}); + auto risks = detector_->detectCollisions(); + ASSERT_FALSE(risks.empty()) << "首帧应先建立冲突记录"; + + // 第二帧：距离在 50m 以上且正在远离，且不满足旧距离兜底(1.5 * warning = 225m) + aircraft.position = {200.0, 100.0}; + aircraft.speed = 5.0; + aircraft.heading = 270.0; + vehicle.position = {120.0, 100.0}; + vehicle.speed = 15.0; + vehicle.heading = 270.0; + + detector_->updateTraffic({aircraft}, {vehicle}); + risks = detector_->detectCollisions(); + EXPECT_TRUE(risks.empty()) << "远离且达到解除距离时应立即解除冲突"; +} + +TEST_F(BasicCollisionTest, ApproachingAboveReleaseDistanceDoesNotRelease) { + RegisterManagedVehicle("UT_VEH_APPROACH_1"); + ASSERT_TRUE(detector_->setDivergingReleaseDistance(50.0)); + + Aircraft aircraft; + aircraft.id = "UT_AC_APPROACH_1"; + aircraft.flightNo = "UT_AC_APPROACH_1"; + aircraft.type = MovingObjectType::AIRCRAFT; + aircraft.altitude = 0.0; + aircraft.position = {100.0, 100.0}; + aircraft.speed = 10.0; + aircraft.heading = 90.0; + + Vehicle vehicle; + vehicle.id = "UT_VEH_APPROACH_1"; + vehicle.vehicleNo = "UT_VEH_APPROACH_1"; + vehicle.position = {180.0, 100.0}; + vehicle.speed = 10.0; + vehicle.heading = 270.0; + + detector_->updateTraffic({aircraft}, {vehicle}); + auto risks = detector_->detectCollisions(); + ASSERT_FALSE(risks.empty()) << "首帧应先建立冲突记录"; + + // 第二帧：当前距离 149m(>50m) 但处于接近态，且 30s 内不会碰撞 + aircraft.position = {200.0, 100.0}; + aircraft.speed = 1.0; + aircraft.heading = 270.0; + vehicle.position = {51.0, 100.0}; + vehicle.speed = 1.0; + vehicle.heading = 90.0; + + detector_->updateTraffic({aircraft}, {vehicle}); + risks = detector_->detectCollisions(); + EXPECT_FALSE(risks.empty()) << "接近态不应被远离解除距离规则误解除"; +} + +TEST_F(BasicCollisionTest, LegacyReleaseFallbackStillWorksWhenNotDiverging) { + RegisterManagedVehicle("UT_VEH_FALLBACK_1"); + ASSERT_TRUE(detector_->setDivergingReleaseDistance(50.0)); + + Aircraft aircraft; + aircraft.id = "UT_AC_FALLBACK_1"; + aircraft.flightNo = "UT_AC_FALLBACK_1"; + aircraft.type = MovingObjectType::AIRCRAFT; + aircraft.altitude = 0.0; + aircraft.position = {100.0, 100.0}; + aircraft.speed = 10.0; + aircraft.heading = 90.0; + + Vehicle vehicle; + vehicle.id = "UT_VEH_FALLBACK_1"; + vehicle.vehicleNo = "UT_VEH_FALLBACK_1"; + vehicle.position = {180.0, 100.0}; + vehicle.speed = 10.0; + vehicle.heading = 270.0; + + detector_->updateTraffic({aircraft}, {vehicle}); + auto risks = detector_->detectCollisions(); + ASSERT_FALSE(risks.empty()) << "首帧应先建立冲突记录"; + + // 第二帧：不处于远离态，但满足旧逻辑的 farEnoughAndNoRisk(>=225m) + aircraft.position = {300.0, 100.0}; + aircraft.speed = 1.0; + aircraft.heading = 270.0; + vehicle.position = {70.0, 100.0}; + vehicle.speed = 1.0; + vehicle.heading = 90.0; + + detector_->updateTraffic({aircraft}, {vehicle}); + risks = detector_->detectCollisions(); + EXPECT_TRUE(risks.empty()) << "旧逻辑兜底应继续生效并解除冲突"; +}