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/collision_avoidance_lib.dir/Release/collisio.1B7B649D.tlog/CustomBuild.read.1.tlog

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build_verify_vs2/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,

build_verify_vs2/x64/Release/ZERO_CHECK/ZERO_CHECK.tlog/CustomBuild.read.1.tlog

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-C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\COMPILER\SDCC-C-DETERMINECOMPILER.CMAKE
-C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\COMPILER\SUNPRO-C-DETERMINECOMPILER.CMAKE
-C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\COMPILER\SUNPRO-CXX-DETERMINECOMPILER.CMAKE
-C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\COMPILER\TI-DETERMINECOMPILER.CMAKE
-C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\COMPILER\TICLANG-DETERMINECOMPILER.CMAKE
-C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\COMPILER\TASKING-DETERMINECOMPILER.CMAKE
-C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\COMPILER\TINYCC-C-DETERMINECOMPILER.CMAKE
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-C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\COMPILER\XL-C-DETERMINECOMPILER.CMAKE
-C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\COMPILER\XL-CXX-DETERMINECOMPILER.CMAKE
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-C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\COMPILER\XLCLANG-CXX-DETERMINECOMPILER.CMAKE
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-C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\COMPILER\ZOS-CXX-DETERMINECOMPILER.CMAKE
-C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\COMPILERID\VS-10.VCXPROJ.IN
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@@ -107,13 +30,10 @@ C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\GNUINSTALLDIRS.CMAKE
 C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\INTERNAL\CMAKECLINKERINFORMATION.CMAKE
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-C:\PROGRAM 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
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 C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\PLATFORM\LINKER\WINDOWS-MSVC-CXX.CMAKE
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 C:\PROGRAM FILES\CMAKE\SHARE\CMAKE-3.31\MODULES\PLATFORM\WINDOWS-MSVC-CXX.CMAKE

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,

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`

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);
 }
 

src/core/System.cpp

@@ -57,6 +57,7 @@ bool System::initialize() {
         // 前端交互接口（HTTP）
         // - POST http://<host>:<port>/config/runway/warning_zone_radius/aircraft  {"value": 300}
         // - POST http://<host>:<port>/config/runway/alert_zone_radius/aircraft    {"value": 200}
+        // - POST http://<host>:<port>/config/collision/diverging_release_distance {"value": 50}
         // - POST http://<host>:<port>/api/VehicleRegistry  [...]
         config_http_server_ = std::make_unique<network::ConfigHttpServer>(
             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;

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_; }

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>& aircraft,
     const std::vector<Vehicle>& vehicles) {
     Logger::debug("更新交通数据: 航空器数量=", aircraft.size(),
@@ -189,9 +201,20 @@ std::vector<CollisionRisk> CollisionDetector::detectCollisions() {
                     ", level=", static_cast<int>(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<CollisionRisk> 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" :
+                        divergingRelease ? "diverging_release_distance" :
-                        (noRiskTimeout ? "no_risk_timeout" : "geometric_condition"));
+                        (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);

src/detector/CollisionDetector.h

@@ -9,6 +9,7 @@
 #include "CollisionTypes.h"
 #include "utils/Logger.h"
 #include <vector>
+#include <atomic>
 #include <unordered_map>
 
 // 碰撞风险等级
@@ -70,11 +71,14 @@ public:
         const MovingObject& obj2,
         double timeWindow = 30.0) const;
 
+    bool setDivergingReleaseDistance(double value, double* oldValue = nullptr);
+    
 private:
     const AirportBounds& airportBounds_;
     QuadTree<Vehicle> vehicleTree_;
     std::vector<Aircraft> aircraftData_;
     const ControllableVehicles* controllableVehicles_;
+    std::atomic<double> divergingReleaseDistance_{50.0};
     
     // 冲突记录映射表：<(id1,id2), CollisionRecord>
     std::unordered_map<std::pair<std::string, std::string>, CollisionRecord, CollisionPairHash> collisionRecords_;

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}}));

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,

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:
@@ -537,3 +545,114 @@ TEST_F(BasicCollisionTest, CrossingBeforeAndAfter) {
     
     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";
 } 
+
+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";
+}