A method, device, equipment and storage medium for determining a ship collision avoidance route

Abstract

The present invention is applicable to the technical field of ship navigation, and provides a method, device, equipment and storage medium for determining a ship collision avoidance route, including: when the collision risk between the first ship and the second ship is greater than a preset threshold, Obtain the collision avoidance parameter array set of the first ship; determine the optimal collision avoidance parameter array set according to the collision avoidance parameter array set and the preset double-standard multi-objective collision avoidance algorithm; determine the optimal collision avoidance parameter array set according to the optimal collision avoidance parameter array set The collision avoidance route of the first ship. The present invention uses a double-standard multi-objective genetic algorithm combining Pareto evolution and non-Pareto evolution to solve ship collision avoidance routes, and improves the update method of non-Pareto evolution populations to speed up the convergence speed of the population and increase the diversity of the population , so that the uniformity of the frontier solution set is guaranteed while speeding up the calculation efficiency of the algorithm; at the same time, through the analysis of the simulation results, it is proved that the present invention can solve safe and economical paths in various encounter scenarios.

Description

technical field [0001] The invention belongs to the technical field of ship navigation, and in particular relates to a method, device, equipment and storage medium for determining a ship collision avoidance route. Background technique [0002] Since the sea transportation of ships, ship collision avoidance has always been one of the main concerns of shipboard personnel. In the last century, countries and the International Maritime Organization jointly formulated the International Regulations for Preventing Collisions at Sea (COLREGS). The COLREGS rules stipulate the responsibilities of avoiding collisions of ships in various encounter situations, the rules of driving and sailing of ships under different visibility, and the representative information of light signs on board, etc. However, ship collision avoidance is a complex process. It is impossible to identify the collision hazard and obtain a safe collision avoidance route only through the COLREGS rules. [0003] At pre...

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Problems solved by technology

[0004] The purpose of the embodiments of the present invention is to provide a method for determining a ship’s collision avoidance route, which aims to solve the problem that the existing ship collision avoidance route planning methods do not fully consider the unpredictable characteristics of the ship’s own behavior, and there is still a long time for collision avoidance route planning. As well as the problem of poor coordination of avoidance behavior among ships

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