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Multi-ship meeting collision avoidance method

A collision avoidance and encounter technology, which is applied in ship traffic control, instruments, traffic control systems, etc., can solve the problems of large avoidance range and time, collision danger, etc., and achieve the effect of avoiding the formation of collision danger

Active Publication Date: 2020-06-09
WUHAN UNIV OF TECH
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Problems solved by technology

Among them, if the collision avoidance rules are integrated into the avoidance evaluation function, there may be cases where the rules are not completely followed; while based on the avoidance key ship, the ship with the highest collision risk is selected for avoidance, because the impact of ship avoidance actions on other nearby ships is not considered, resulting in There may be a situation where the avoidance range and time are extremely large, and even create a new collision hazard or a more urgent collision hazard

Method used

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  • Multi-ship meeting collision avoidance method

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Embodiment approach

[0066] As an implementation, a multi-vessel encounter collision avoidance method includes:

[0067] Collect the position and operating parameters of the own ship and other ships within the preset first distance, calculate the closest encounter distance, closest encounter time and safe encounter distance between the own ship and the other ships, and calculate the other ships according to the calculation results It is divided into safe navigation ships and ships with risk of collision.

[0068] Further, according to DCPA (Closest Encounter Distance) and TCPA (Closest Encounter Time), other ships within the first distance near the own ship are divided into safe navigation ships and ships with collision risk. The first distance may be set to 6nmile.

[0069] Specifically, at time t, for a ship i (i∈N), there exists any ship j (j∈N, and j≠i) within the range of 6nmiles, and satisfies formulas (1) and (2) at the same time, then the ship is considered iThere is a risk of collision....

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Abstract

The invention discloses a multi-ship meeting collision avoidance method. The method comprises the following steps: firstly, ships are divided into safe sailing ships and ships with collision dangers according to the nearest meeting distance and the nearest meeting time, and secondly, when the avoiding direction is judged, according to the positions and relative motion parameters of the safe sailing ships and the ships with the collision dangers, the situation that new collision dangers are formed by the influence of avoiding actions on the safe ships is avoided; the avoiding amplitude is determined, all coming ships are selected to pass through as far as possible, and more urgent collision dangers are avoided; and meanwhile, the coordination and rationality under multi-ship avoidance are fully considered in the avoidance decision process, so that a multi-ship collision avoidance decision based on an avoidance conflict resolution strategy is constructed, and the multi-ship collision avoidance decision has a good avoidance effect.

Description

technical field [0001] The invention relates to the field of navigation control of intelligent ships, in particular to a multi-ship collision avoidance method. Background technique [0002] With the rapid development of artificial intelligence, big data and ship networking technology, the application of ship intelligent navigation in navigation has become an important research field of maritime intelligent transportation. Automatic driving technology is the core content of ship intelligent navigation, and ship collision avoidance decision-making research is the core content of automatic driving technology. [0003] In the study of ship collision avoidance decision-making, the decision-making for collision avoidance under the situation of multi-ship encounter is one of the difficult problems. For the multi-ship collision avoidance decision-making research, most studies only consider the "own ship" to perform avoidance operations, assuming that the "coming ship" keeps the dir...

Claims

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Application Information

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IPC IPC(8): G08G3/02
CPCG08G3/02
Inventor 刘克中刘炯炯袁志涛杨星张金奋吴晓烈王伟强
Owner WUHAN UNIV OF TECH
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