Collision avoidance auxiliary decision-making method based on ship driver preference

Abstract

The invention discloses a ship driver preference-based collision avoidance aid decision-making method. The scheme comprises the following steps of S1, collecting position, speed, course and captain information of a ship and surrounding ships; S2, a target ship ship domain model is established according to ship domain parameters input by a driver, and the invasion degree and invasion time of the target ship ship domain are calculated through analytic geometry to serve as a basis for judging whether potential ship collision danger exists or not; S3, when the potential collision danger exists, judging the meeting situation according to the side angle of the target ship and the side angle of the ship relative to the target ship, generating a collision avoidance steering search range, and calculating a non-inferior solution front through an improved NSGA II multi-target algorithm; S4, performing trial operation on the collision avoidance scheme on the non-inferior solution frontier through the ship control model and the ship movement model of the ship, and recording trial operation track information; And S5, displaying the trial operation track and related information of the collision avoidance scheme to a driver, and providing reference for the driver to select the collision avoidance scheme.

Description

technical field [0001] The invention belongs to the technical field of ship collision avoidance, and in particular relates to an auxiliary decision-making method for collision avoidance based on the ship driver's preference. Background technique [0002] With the development of waterway transportation, ships are moving towards larger and faster ships, the number of ships at sea is increasing day by day, the waterway traffic environment is becoming more and more complex, and ship collision accidents occur from time to time. The collision avoidance decision-making error of ship pilots is an important factor leading to ship collision accidents. [0003] In order to reduce the decision-making error rate of ship pilots and reduce the work pressure of ship pilots, the ship collision avoidance decision-making system came into being. Most of the current ship collision avoidance decision-making systems use the calculation of the minimum encounter distance (DCPA) and minimum encounte...

AI Technical Summary

Problems solved by technology

Most of the current ship collision avoidance decision-making systems use the calculation of the minimum encounter distance (DCPA) and minimum encounter time (TCPA) of the incoming ship, and compare it with the set threshold to determine whether the ship is in danger of collision avoidance, ignoring the size and size of the ship. The impact of the incoming ship's course on the driver's judgment of collision risk, and TCPA cannot accurately reflect the moment when the distance between the own ship and the target ship is less than the DCPA threshold

[0004] At the same time, most of the existing technologies can only produce a single collision avoidance decision-making scheme, which is not enough to deal with the complex and changeable maritime traffic environment

There are few technical solutions that map the collision risk to the ship speed dimension through the theory of collision risk map and speed obstacle, and generate a speed set without collision risk, rather than a complete set of collision avoidance action start time, collision avoidance action range, and return time. The collision avoidance scheme is difficult to implement in the real environment

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