A Causal Model for Safety Assessment Purposes in Opening the Low-Altitude Urban Airspace of Chinese Pilot Cities

Table 2

Information of function components.

Class	Num.	Description
Main; Model		Set initial parameters
		Update trajectory list TYList
		Sort TYList by set priority
		Check the conflict between TYi and NTYList
		Divide matched conflicts into Nc groups
		Conflict Resolution Controller
		Time Scheduling Based Technique
		Vertical Change Based Technique
		Add revised TYi to NTYList
		Set related parameters
		Choose the i-th element of waypoints as RP
		Accelerate
		Decelerate
		Set related parameters
		Choose the i-th element of waypoints as RP
		Split the altitude variation equitably
		Calculate RPs^insert and RPe^insert