With the rapid development of unmanned aerial vehicle (UAV) short-distance logistics transportation in urban scenarios, there is an urgent demand for the scientificity and safety of urban airspace planning, among which the efficient management and control of UAV route intersections constitutes one of the key technical bottlenecks. Taking the route intersections formed by the convergence of UAV routes as the research object, the core influencing factors of route intersection design were systematically sorted out, and the existing research progress and shortcomings were summarized. Furthermore, focusing on the typical scenario of controlled planar intersections, it was introduced the ground “traffic light”management concept, and combined the spatial characteristics of grade-separated intersections with the low-speed and low-altitude operational characteristics of UAVs, and constructs a general traffic model for logistics UAV intersections integrating virtual pipeline technology, traffic light control logic, and tidal layer dynamic scheduling mechanism. Additionally, a phase sequence scheme adapted to 3D airspace characteristics and a supporting optimized traffic light control strategy were designed. The proposed strategy was verified through simulation experiments, and the results show that the control strategy exhibits excellent performance in all traffic flow scenarios: in high-traffic scenarios, the traffic capacity of the intersection is increased by 47%, the average travel delay of UAVs is reduced by more than 30%, and the optimization effect is more significant in tidal traffic flow scenarios, effectively improving the operational safety and stability of the intersection. The research results provide theoretical support and technical reference for the planning and design of UAV route intersections and the optimization of management and control strategies in urban scenarios, and are of great significance for promoting the large-scale and standardized application of UAV logistics transportation systems.
为破解上述难题,学界已经开展了多维度探索。针对静态障碍规避,已有文献[3]提出基于Voronoi图的虚拟空中走廊设计方案,通过将航线约束在建筑物上方的安全区域,实现多机点对点通行的空间隔离;针对动态冲突预防,已有文献[4]进一步提出基于地面道路网络的空中路径规划思路,借助结构化航线降低碰撞概率,同时探索空域多层离散化技术,通过赋予无人机高度、航向与速度的自主选择空间,在提升空域容量的同时降低飞行成本。尽管这些研究为空中网络构建提供了基础支撑,但低空城市环境下的冲突解决仍然面临挑战。例如,基于风险的空域自适应管理策略虽然能够针对不同飞行冲突制定决策,但在交通密度显著提升时,算法可扩展性不足,难以保障管控效率[5];无人机系统交通管理(unmanned aircraft system traffic management,UTM)中引入的冲突检测与解决(conflict detection and resolution,CD&R)功能,虽然通过非线性完整优化模型实现了大规模问题的求解,却在解决方案的最优性上做出了妥协[6]。
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