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针对城市低空飞行器快速增加后与地面智能交通系统分属不同管理域、运行规则差异大、调度资源难以统一配置等问题,提出一种面向低空-地面一体化运行的跨模式协同与调度方法。首先,将低空飞行器、道路车辆、地面换乘节点、垂直起降点和管制空域抽象为异构交通网络,构建包含时间、能耗、容量、安全间隔和碳排放约束的跨模式状态模型。然后,提出“空地走廊-节点缓冲-滚动调度”协同框架,将低空航路、道路路段和换乘节点统一映射为时空资源单元,通过跨模式阻抗函数刻画不同交通方式之间的运行代价转换关系。在此基础上,设计考虑任务紧迫度、交通拥堵度和空域冲突风险的分层调度策略。最后,构建典型城市片区算例,并补充拥堵增强、节点受限、空域扰动和混合需求等扩展工况进行对比验证。结果表明,在设定仿真条件下,所提方法能够在保障安全间隔的前提下降低平均任务完成时间、减少空域冲突等待和地面拥堵传播,提高低空飞行器与智能交通系统的整体协同效率。

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