Dynamic collision avoidance method for fast moving objects and slow moving objects

Abstract

The invention discloses a dynamic collision avoidance method for fast moving objects and slow moving objects. According to the method, the moving speed of the fast moving objects is higher than that of the slow moving objects. The dynamic collision avoidance method comprises the following steps of: acquiring motion parameters of each fast moving object and each slow moving object; selecting a point on the fast moving objects as a base point; obtaining a plurality of relative orientations through calculation or setting a plurality of relative orientations as required on the basis of the set base point, motion directions and the determined speed parameters of the high-speed objects and the speed parameters of the low-speed objects; according to manipulation characteristics or safety distancerequirements, one point is cut out from each calculated or set relative orientation to serve as the vertex of a domain model; selecting all or part of vertexes and connecting the vertexes through multiple line types to form a collision avoidance safety domain model composed of one or more areas; and implementing dynamic collision avoidance.

Description

technical field [0001] 本发明涉及船舶避碰技术领域,尤其涉及一种快速移动物体与慢速移动物体动态避碰方法。 Background technique [0002] 中国沿海海岸线长且渔业资源丰富,渔船密集。在海上航行,渔船没有明确的目的地,在海上进行捕鱼作业为目的,往往根据捕鱼作业需要频繁变向变速。渔船驾驶员的普遍存在船舶驾驶培训不足、疲劳驾驶、瞭望条件差、助航设备不足等情况,常以危险方式驾驶船舶。由于商船尺度大、惯性大、转向变速需要很大空间,使得商、渔船避碰成为难点。渔船有船小人多的特点,商渔船碰撞事故常导致群死群伤事故。 [0003] 标绘是船舶几何避碰原理的基础,对于定量研究和把握避碰问题具有重要作用。但目前的标绘避碰方法,仅在定向定速的前提下适用,一旦物标变向变速,尤其是渔船频繁变向变速时,则不能有效地识别和管控碰撞风险。 [0004] 20世纪六七十年代,日本的加藤提出了船舶航行安全领域的概念至今,研究者提出了各种形状、尺度的船舶航行安全领域模型。但这些领域模型存在以下问题,不能适用于渔船频繁变向变速的密集渔区航行:(1)都是以物标定向定速为前提;(2)当物标频繁变向变速时,领域尺度过小则不能有效管控风险,领域尺度过大则在密集水域航行时没有足够安全水域导致无安全航向输出。 Contents of the invention [0005] 鉴于目前存在的上述不足,本发明提供一种快速移动物体与慢速移动物体动态避碰方法,能够根据渔船速度性能较慢的特性,以渔船在任意时刻均可能变向变速为前提,在一定范围内设置不同碰撞风险级别的船舶领域模型,根据渔船的船位与该领域模型的相对位置即可判断渔船任意时刻变向变速时可能碰撞风险大小,则可通过操纵本船,使渔船船位处于船舶领域安全区域的方法提高渔区航行的安全性。 [0006] In order to achieve the above object, embodiments of the present invention adopt the following technical solutions: [0007] 一种快速移动物体与慢速移动物体动态避碰方法,所述快速移动物体移动速度大于慢速移动物体移动速度,所述动态避碰方法包括以下步骤: [000...

AI Technical Summary

Problems solved by technology

However, these domain models have the following problems, which are not suitable for navigation in dense fishing areas where fishing boats frequently change direction and speed: (1) they are based on the premise of object calibration and speed; (2) when objects frequently change direction and speed, domain scale If it is too small, the risk cannot be effectively controlled. If the domain scale is too large, there will not be enough safe waters when navigating in dense waters, resulting in no safe heading output.

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