A heading autopilot control system with ship collision avoidance function

A control system and heading control technology, applied in the control/adjustment system, two-dimensional position/channel control, non-electric variable control and other directions, can solve the problems of false early warning information, misjudgment, singleness, etc., to reduce the impact and improve the Evaluate the accuracy, the effect of reducing the steering burden

Active Publication Date: 2021-08-17
DALIAN MARITIME UNIVERSITY
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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

Method used

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  • A heading autopilot control system with ship collision avoidance function
  • A heading autopilot control system with ship collision avoidance function
  • A heading autopilot control system with ship collision avoidance function

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Embodiment Construction

[0080] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0081] It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate ...

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Abstract

The invention provides a heading autopilot control system with ship collision avoidance function, which is characterized in that it includes: obtaining the current state information of the ship through ship-borne equipment, calculating the dynamics of the closest encounter distance DCPA and the time to the closest encounter point TCPA Information, combined with the course and speed information of the own ship and other ships to establish a collision risk model Collision risk assessment module used to assess the degree of collision risk, used for the course change of ship collision avoidance operations and based on the international maritime collision avoidance rules COLREGS collision avoidance algorithm Module and ship autopilot heading control module. The course automatic rudder design provided by the present invention can realize the automatic collision avoidance between two ships on the basis of course control, and reduce the steering burden of the ship driver. The present invention combines the closest encounter distance (DCPA) and the time to the closest encounter point (TCPA) with information such as the speed and course of the ship, dynamically evaluates the collision risk of the ship, and improves the accuracy of the ship's assessment of the collision risk.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63H25/04G05D1/02
CPCB63H25/04G05D1/0206
Inventor 刘程李铖胡启智孙婷沙烨峰王代毅刘勇卢秀颖王欣朱泽铭
Owner DALIAN MARITIME UNIVERSITY
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