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Dynamic collision avoidance method for mobile object
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A technology of moving objects and objects, applied in the direction of ship traffic control, instruments, traffic control systems, etc., can solve the problems of inability to intuitively observe the impact of the situation, difficult to achieve overall control and decision-making, etc., to achieve observation and early warning of collision risks. Effect
Pending Publication Date: 2020-07-14
上海雷罗智能科技有限公司
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[0004] Various methods for identifying collision risk and controlling collision risk in the current literature usually output collision avoidance schemes directly in digital form, and cannot intuitively observe the impact of various collision avoidance schemes on the situation
In a single-ship environment, since the situation is easy to analyze, this output method is not inappropriate for assisting the driver in avoiding collisions. Carry out an overall assessment of the situation, it is difficult to achieve overall control and decision-making
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Embodiment 1
[0077] In the case of ship collision avoidance, a dynamic environment collision avoidance decision-making method includes the following steps:
[0078] Step 1: Obtain the motion parameters of surrounding ships, including position, speed, and heading, through instruments such as APAR or AIS.
[0079] Step 2: Calculate the collision circle or perpendicular bisector formed by the two ships.
[0080] Step 3: Calculate the intersection point PPC of the course line of the two ships and the collision circle or the perpendicular bisector.
[0081] Step 4: Construct various geometric models based on the PPC formed by the two ships. The geometric model can be a circular, elliptical, hexagonal or dynamic model with different parameters. Multiple models can be used simultaneously to differentiate between different risks.
[0082] Step 5: Methods for Identifying Collision Risks. There is only one intersection point between the course line of the slow ship and the collision circle, and ...
Embodiment 2
[0090] In the case of ship collision avoidance, a dynamic environment collision avoidance decision-making method includes the following steps:
[0091] Step 1: Obtain the motion parameters of surrounding ships, including position, speed, and heading, through instruments such as APAR or AIS.
[0092] Step 2: Calculate the collision circle formed when the two ships are not constant speed or the perpendicular bisector formed when the two ships are constant speed.
[0093] Step 3: Calculate the intersection point PPC of the course line of the two ships and the collision circle or the perpendicular bisector.
[0094] Step 4: Construct various geometric models based on the PPC formed by the two ships. The geometric model can be a circular, elliptical, hexagonal or dynamic model with different parameters. Multiple models can be used simultaneously to differentiate between different risks.
[0095] Step 5: Identify the method of collision risk, taking the circular domain model as a...
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Abstract
The invention discloses a method for avoiding collision in a dynamic environment of a mobile object. The method comprises the following steps realized by visual processing: acquiring motion parametersof each mobile object; calculating to obtain a collision circle or a perpendicular bisector formed by the two objects; calculating the intersection point PPC of the heading lines of the two objects and the collision circle or the perpendicular bisector; constructing one or more geometric models by taking the PPC formed by the two objects as a base point; recognizing the collision risk between theobjects according to the topological intersection relation between one object heading line and the other object geometric model, and giving an alarm; the collision risk can be visually observed and early warned, the influence of the action of each object on the situation can be rapidly and visually evaluated, and a collision avoidance scheme can be rapidly obtained; the influence of any action onthe global situation can be intuitively judged in a multi-object environment, so that the meeting situation of the object to other objects in the multi-object situation is controlled.
Description
technical field [0001] The invention relates to the field of collision avoidance of moving objects, in particular to a method for avoiding collisions of moving objects in a dynamic environment. Background technique [0002] At present, the identification method of ship collision risk is mainly through the size of DCPA and TCPA. When DCPA and TCPA are less than the set value, it is considered that there is a collision risk. Since DCPA is not directional, this method of identifying collision risk cannot be distinguished from the dangers of different encounter situations, especially in complex environments with multiple ships, it cannot intuitively distinguish the situation, and it cannot be used when making collision avoidance decisions for other ships. Intuitively judge the impact of a collision avoidance action on the situation changes of each ship. [0003] In order to intuitively display the collision risk and control measures, SPERRY's ARPA first proposed the concept of ...
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