초록 ▼

This lateral maneuverability map shows the area of movement of a vehicle with the contours of the regions of complete freedom of lateral movement. It is generated from a distance map listing the distances of the points of its regions that can be negotiated by the vehicle to the regions to be circumv

This lateral maneuverability map shows the area of movement of a vehicle with the contours of the regions of complete freedom of lateral movement. It is generated from a distance map listing the distances of the points of its regions that can be negotiated by the vehicle to the regions to be circumvented. It may show the area of movement of the vehicle in the form of a subdivision into at least three types of region, namely a first type corresponding to regions to be circumvented, a second type corresponding to bands surrounding the regions to be circumvented and having the width of a maneuvering space arbitrarily considered as necessary for free lateral movement of the vehicle, and a third type of region corresponding to regions of free lateral movement. In the case of an aircraft, said map may be superimposed on the map of a TAWS system in order to specify to the pilot if he has complete freedom of lateral movement or not.

대표청구항 ▼

The invention claimed is: 1. A lateral maneuverability map for a vehicle that represents, within an area of movement: contours of nonnegotiable regions to be circumvented, bands surrounding nonnegotiable regions and having the width of a maneuver space considered as necessary for a free lateral mov

The invention claimed is: 1. A lateral maneuverability map for a vehicle that represents, within an area of movement: contours of nonnegotiable regions to be circumvented, bands surrounding nonnegotiable regions and having the width of a maneuver space considered as necessary for a free lateral movement for the vehicle, taking into account the maneuvering capabilities of the vehicle and the need for the vehicle to avoid regions arbitrarily considered as nonnegotiable, and regions of complete freedom of lateral movement for the vehicle situated outside nonnegotiable regions and surrounding bands. 2. The map as claimed in claim 1, added, as a transparent overlay, to a map delivered by a navigation system. 3. The map as claimed in claim 1, designed for an aircraft provided with a system for preventing the risk of collision with the ground, which delivers a ground collision risk map, and added, as a transparent overlay, to the ground collision risk map. 4. The map as claimed in claim 2, added, as a transparent overlay, to a map delivered by a navigation system, the regions of complete freedom of lateral movement appearing by semitransparent masking. 5. The map as claimed in claim 2, added as a transparent overlay, to a map delivered by a navigation system, the regions of complete freedom of lateral movement appearing by masking using textures. 6. The map as claimed in claim 1, wherein the different regions and surrounding bands are represented in false colors. 7. The map as claimed in claim 1, wherein the different regions and surrounding bands are represented by different textures. 8. The map as claimed in claim 1, wherein the surrounding bands and regions of complete freedom of lateral movement are represented with iso-distance lines with respect to the borders of the nonnegotiable regions to be circumvented. 9. The map as claimed in claim 1, wherein the surrounding bands and regions of complete freedom of lateral movement are represented with color gradations representative of distances from the borders of the nonnegotiable regions to be circumvented. 10. The map as claimed in claim 1, wherein the width of the surrounding bands takes into account the instantaneous performance of the aircraft. 11. The map as claimed in claim 1, wherein the width of the surrounding bands takes into account the flight envelope of the aircraft. 12. The map as claimed in claim 1, wherein the width Sd of the surrounding bands constituting the second type of region is determined by applying the equation: Sd = HLD_M + HLD_T + ( HLD_L 2 ) 2 + HLD_T 2 HLD_M being a safety margin; HLD_L being a configuration datum defined in terms of flight time or distance traveled over the ground; HLD_T being a turning radius corresponding to the equation: HLD_T = GS 2 g × tan ⁢ ⁢ ( HLD_B ) g being the gravitational acceleration; GS being the ground speed of the aircraft; and HLD_B being the maximum value permitted for the roll angle adopted by the aircraft when turning. 13. A method for obtaining a map, comprising: generation, from knowledge of the regions considered as nonnegotiable and to be circumvented, and of elements of a database of elevations of the terrain covering the area of movement, of a distance map covering the area of movement of the vehicle to be mapped and giving the distances from its external points to the regions to be circumvented, relative to the borders of the regions to be circumvented; assembly as regions of complete freedom of lateral movement, of connex points, the distances from which, provided by the distance map, are greater than a threshold arbitrarily considered as necessary for free lateral movement of the vehicle; and representation of the contours of these regions of complete freedom of lateral movement. 14. A method for obtaining a map comprising: generation, from knowledge of the regions considered as nonnegotiable and to be circumvented, and of elements of a database of elevations of the terrain covering the area of movement, of a distance map covering the area of movement of the vehicle to be mapped and giving the distances from its external points to the regions to be circumvented, relative to the borders of the regions to be circumvented; considering the regions to be circumvented as a first type of region, assembly in regions of a second type, of the connex points whose distances provided by the distance map are less than a threshold arbitrarily considered as necessary for free lateral movement of the vehicle, assembly in regions of a third type of the connex points whose distances provided by the distance map are greater than said threshold; and representation of the area of movement in the form of a subdivision into these three types of region. 15. The method as claimed in claim 13, wherein the distance map is obtained by means of a chamfer distance transform. 16. The method as claimed in claim 13, wherein the distances mentioned in the distance map are used to plot the lines of iso-distance from the borders of the nonnegotiable regions. 17. A lateral maneuverability map for a vehicle that represents, within an area of movement, the contours of regions of complete freedom of lateral movement for the vehicle, taking into account the maneuvering capabilities of the vehicle and the need for the vehicle to avoid regions arbitrarily considered as nonnegotiable, the map representing, within an area of movement, various types of regions distinguished from each other by the possibility of the vehicle to negotiate them or not and, for the types of negotiable regions by the extent of the lateral maneuvering freedom left to the vehicle owing to its maneuvering capabilities and to the need for it to avoid the nonnegotiable areas, wherein the regions represented are at least of three separate types: a first type corresponding to the nonnegotiable regions, a second type corresponding to bands surrounding the nonnegotiable regions and having the width of a maneuver space considered as necessary for a free lateral movement of the vehicle, and a third type corresponding to regions of free movement, and wherein the width Sd of the bands constituting the second type of region is determined by applying the equation: Sd = HLD_M + HLD_T + ( HLD_L 2 ) 2 + HLD_T 2 HLD_M being a safety margin; HLD_L being a configuration datum defined in terms of flight time or distance traveled over the ground; HLD_T being a turning radius corresponding to the equation: HLD_T = GS 2 g × tan ⁢ ⁢ ( HLD_B ) g being the gravitational acceleration; GS being the ground speed of the aircraft; and HLD_B being the maximum value permitted for the roll angle adopted by the aircraft when turning.