Course autopilot control system with ship collision avoidance function

Abstract

The invention provides a course autopilot control system with a ship collision avoidance function. The course autopilot control system is characterized by comprising a collision risk assessment modulewhich is used for obtaining current state information of a ship through ship-borne equipment, calculating the dynamic information of the distance of closest point of approach DCPA and the time of closest point of approach TCPA and establishing a collision risk model for assessing a collision risk degree by combining course and speed information of the ship and other ships, a collision avoidance algorithm module which is used for course variation of ship collision avoidance operation and is based on an international maritime collision avoidance rule COLREGS, and a ship automatic driving coursecontrol module. According to the course autopilot design provided by the invention, automatic collision avoidance between two ships can be realized on the basis of course control, and the steering burden of a ship driver is reduced. According to the method, the distance of closest point of approach (DCPA) and the time of closest point of approach (TCPA) are combined with the speed, heading and other information of the ship to dynamically evaluate the collision risk of the ship, and the evaluation accuracy of the ship on the collision risk is improved.

Description

technical field [0001] The present invention relates to the technical field of autopilot control methods, in particular to a heading autopilot control method with ship collision avoidance function. Background technique [0002] Chinese patent CN 110164185A discloses an AIS-based ship collision avoidance system. The ship collision avoidance system in this invention mainly relies on the ship's position and environmental information collected by the ship's AIS (Automatic Identification System) equipment, and judges whether there will be a collision between the ships by calculating the time to the nearest meeting point and the information of the nearest meeting point. collision. Then give the ship driver an early warning message, and the driver controls the ship to avoid obstacles. The existing AIS ship collision avoidance system may misjudge other ships during actual navigation because the information used to assess the risk of collision is too single, thus giving a wrong ear...

AI Technical Summary

Problems solved by technology

The existing AIS ship collision avoidance system may misjudge other ships during actual navigation because the information used to assess the risk of collision is too single, thus giving a wrong early warning message

And because the system can only give early warning information of ship collision, the specific ship obstacle avoidance behavior still needs to be controlled by the driver

With the development of ship autonomous driving technology, this approach has obvious limitations

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