Verification Device and Method for Ship-Bridge Active Collision Avoidance System in Bridge Area Waters

Abstract

The present invention provides a verification device and method for a ship-bridge active collision avoidance system in a bridge area water area. The device includes: a first data transmission module for receiving ship navigation data in the bridge area water area; a digital twin simulation module for obtaining virtual ship motion parameters based on the ship navigation data in the bridge area water area and a preset ship motion situation; a second data transmission module for sending the virtual ship motion parameters to the ship-bridge active collision avoidance system and receiving entity ship motion optimization data; and a function evaluation module for determining that the ship-bridge active collision avoidance system is effective when it is determined based on the virtual ship motion parameters and the entity ship motion optimization data that the entity ship motion optimization data is not distorted and the virtual ship will not collide with the bridge pier. The present invention can test and verify the effectiveness of the function of the ship-bridge active collision avoidance system in the laboratory stage without installing it in the bridge area water area.

Description

Technical Field

[0001] The present invention relates to the technical field of ships, and particularly to a verification device and method for a ship-bridge active collision avoidance system in a bridge area water area. Background Art

[0002] Since the report on statistical bridge accidents has been released, losses and even disasters caused by ship-bridge collision accidents have often been reported in the newspapers. The ship-bridge collision problem has become a current research hotspot. At present, a large number of scholars at home and abroad have made a great deal of research and efforts in the field of bridge anti-collision. At the beginning, the research focus was concentrated on the strengthening of the bridge pier structure and the research and design of pier protection devices, the research on the risk probability of ships colliding with bridges, and the cause analysis after collision accidents. However, these researches all belong to the category of passive collision avoidance and do not pay good attention to the factors of ship operators themselves.

[0003] In comparison, before a collision occurs, it is the most popular research topic in recent years - the ship-bridge active collision avoidance system - to give tips and guidance on key ship operations to ship drivers at critical moments through effective early warning and pre-control means to achieve the effect of active collision avoidance. However, this system has the characteristics of many research variables, complex structure, and different motion parameters of different ships, resulting in a huge workload for verifying the effectiveness of the verification device in the initial R & D stage. At the same time, human errors will inevitably occur, leading to deviations in the results and reducing the work efficiency of developers.

[0004] Therefore, it is necessary to provide a method and system for verifying the function of a ship-bridge active collision avoidance system in a bridge area water area to test and verify the effectiveness of its function without installing the ship-bridge active collision avoidance system in the laboratory stage in the bridge area water area. Summary of the Invention

[0005] In view of this, it is necessary to provide a verification device and method for a ship-bridge active collision avoidance system in a bridge area water area to test and verify the effectiveness of its function without installing the ship-bridge active collision avoidance system in the laboratory stage in the bridge area water area.

[0006] To achieve the above object, the present invention provides a verification device for a ship-bridge active collision avoidance system in a bridge area water area, including:

[0007] A first data transmission module, configured to receive ship navigation data in the bridge area water area, where the ship navigation data includes motion parameters of physical ships in the bridge area water area and navigation environment data;

[0008] The digital twin simulation module, communicatively connected to the first data transmission module, is configured to obtain the navigation data of ships in the bridge area waters from the first data transmission module, generate a virtual ship based on the navigation data of ships in the bridge area waters and a preset ship motion state, and simulate the full-time domain navigation state of the physical ship based on the virtual ship to obtain virtual ship motion parameters;

[0009] The second data transmission module, communicatively connected to the digital twin simulation module, is configured to obtain the virtual ship motion parameters, send the virtual ship motion parameters to the ship-bridge active collision avoidance system, and receive the optimized physical ship motion data output by the ship-bridge active collision avoidance system;

[0010] The function evaluation module, communicatively connected to the second data transmission module and the digital twin simulation module, is configured to obtain the virtual ship motion parameters and the optimized physical ship motion data, and determine that the collision avoidance function of the ship-bridge active collision avoidance system is effective when it is determined that the optimized physical ship motion data is not distorted based on the virtual ship motion parameters and the optimized physical ship motion data, and it is determined that the virtual ship will not collide with the piers in the bridge area waters;

[0011] Wherein, the ship-bridge active collision avoidance system is configured to optimize the motion mode, ship speed and course of the physical ship based on the navigation data of ships in the bridge area waters, the virtual ship motion parameters and a target optimization strategy to obtain the optimized physical ship motion data, so as to implement the collision avoidance function of the physical ship based on the optimized physical ship motion data.

[0012] Further, the virtual ship motion parameters include: the virtual ship coordinates in the geodetic coordinate system; the function evaluation module is configured to:

[0013] Determine the virtual ship coordinates in the bridge coordinate system of the bridge area waters based on the azimuth angle of the virtual ship in the bridge coordinate system of the bridge area waters, the included angle between the bridge coordinate system of the bridge area waters and the geodetic coordinate system, and the virtual ship coordinates in the geodetic coordinate system;

[0014] Determine the distance between the virtual ship and the pier based on the virtual ship coordinates in the bridge coordinate system of the bridge area waters and the pier coordinates in the bridge coordinate system of the bridge area waters;

[0015] When the distance between the virtual ship and the pier is greater than half of the sum of the longest side of the pier and the length of the virtual ship, determine that there is no risk of collision between the virtual ship and the pier.

[0016] Further, the virtual ship motion parameters further include: the ship speed and heading of the virtual ship; the physical ship motion optimization data includes: the physical ship coordinates in the bridge coordinate system of the bridge area water area, and the ship speed and heading of the physical ship; the function evaluation module is used for:

[0017] Based on the virtual ship motion parameters and the physical ship motion optimization data at multiple moments within the target duration, determine the Euclidean distance between the virtual ship and the physical ship corresponding to the multiple moments, and the Euclidean distance error rate;

[0018] If the Euclidean distance is within the preset distance range and the Euclidean distance error rate is within the preset error threshold range, determine that the physical ship motion optimization data is not distorted.

[0019] Further, the function evaluation module is also used to sum the Euclidean distances between the virtual ship and the physical ship corresponding to the multiple moments and divide by the number of times of calculating the Euclidean distance within the target duration to obtain the Euclidean distance error rate.

[0020] Further, the function evaluation module is also used to determine that the physical ship motion optimization data is distorted when the Euclidean distance between the virtual ship and the physical ship corresponding to the multiple moments is not within the preset distance range, or the Euclidean distance error rate is not within the preset error threshold range.

[0021] Further, the digital twin simulation module includes:

[0022] A data storage and scheduling unit, communicatively connected to the first data transmission module, for obtaining the ship navigation data in the bridge area water area from the first data transmission module;

[0023] A virtual ship motion simulation unit, communicatively connected to the data storage and scheduling unit and the function evaluation module, for generating a virtual ship in the digital twin model based on the ship navigation data in the bridge area water area, and the preset ship motion situation and navigation environment conditions, and simulating the full-time domain navigation state of the physical ship based on the virtual ship to obtain virtual ship motion parameters, and outputting the virtual ship motion parameters to the function evaluation module.

[0024] Further, the target optimization strategy takes the preset ship motion model, speed optimization model, and heading optimization model as objective functions, and matches corresponding optimization algorithms to determine the optimal solution sets of the constraint conditions of the ship motion model, speed optimization model, and heading optimization model. The optimization algorithms include one or more of genetic algorithms, particle swarm optimization algorithms, ant colony algorithms, and simulated annealing algorithms.

[0025] The present invention also provides a method for verifying the ship-bridge active collision avoidance system in the bridge area waters. The method is applied to the device described in any one of the above, and the method includes:

[0026] Obtain the navigation data of ships in the bridge area waters based on the first data transmission module. Based on the navigation data of ships in the bridge area waters and the preset ship motion states, generate a virtual ship, and simulate the full-time domain navigation state of the physical ship based on the virtual ship to obtain the virtual ship motion parameters;

[0027] Send the virtual ship motion parameters to the ship-bridge active collision avoidance system, and receive the optimized physical ship motion data output by the ship-bridge active collision avoidance system;

[0028] When it is determined that the optimized physical ship motion data is not distorted based on the virtual ship motion parameters and the optimized physical ship motion data, and it is determined that the virtual ship will not collide with the bridge piers in the bridge area waters, it is determined that the collision avoidance function of the ship-bridge active collision avoidance system is effective.

[0029] Further, the virtual ship motion parameters include: the virtual ship coordinates in the geodetic coordinate system;

[0030] When it is determined that the optimized physical ship motion data is not distorted based on the virtual ship motion parameters and the optimized physical ship motion data, and it is determined that the virtual ship will not collide with the bridge piers in the bridge area waters, it is determined that the collision avoidance function of the ship-bridge active collision avoidance system is effective, including:

[0031] Based on the azimuth angle of the virtual ship in the bridge coordinate system of the bridge area waters, the included angle between the bridge coordinate system of the bridge area waters and the geodetic coordinate system, and the virtual ship coordinates in the geodetic coordinate system, determine the virtual ship coordinates in the bridge coordinate system of the bridge area waters;

[0032] Based on the virtual ship coordinates in the bridge coordinate system of the bridge area waters and the bridge pier coordinates in the bridge coordinate system of the bridge area waters, determine the distance between the virtual ship and the bridge pier;

[0033] When the distance between the virtual ship and the bridge pier is greater than half of the sum of the longest side of the bridge pier and the length of the virtual ship, it is determined that there is no risk of collision between the virtual ship and the bridge pier.

[0034] Further, the virtual ship motion parameters further include: the ship speed and heading of the virtual ship; the optimized physical ship motion data includes: the physical ship coordinates in the bridge coordinate system of the bridge area waters, and the ship speed and heading of the physical ship;

[0035] When it is determined that the optimized physical ship motion data is not distorted based on the virtual ship motion parameters and the optimized physical ship motion data, and it is determined that the virtual ship will not collide with the bridge piers in the bridge area waters, it is further determined that the collision avoidance function of the ship-bridge active collision avoidance system is effective, and it further includes:

[0036] Based on the virtual ship motion parameters and the optimized physical ship motion data at multiple moments within the target time period, determine the Euclidean distance between the virtual ship and the physical ship corresponding to the multiple moments, as well as the Euclidean distance error rate;

[0037] If the Euclidean distance is within the preset distance range and the Euclidean distance error rate is within the preset error threshold range, determine that the optimized physical ship motion data is not distorted.

[0038] The beneficial effects of adopting the above implementation method are as follows: The ship-bridge active collision avoidance system verification device and method for the bridge area waters provided by the present invention, the digital twin simulation module, generate a virtual ship based on the ship navigation data in the bridge area waters and the preset ship motion situation, and simulate the full-time domain navigation state of the physical ship based on the virtual ship to obtain the virtual ship motion parameters; and through the function evaluation module, which is communicatively connected to the second data transmission module and the digital twin simulation module, is used to obtain the virtual ship motion parameters and the optimized physical ship motion data, and when it is determined that the optimized physical ship motion data is not distorted based on the virtual ship motion parameters and the optimized physical ship motion data, and it is determined that the virtual ship will not collide with the bridge piers in the bridge area waters, it is determined that the collision avoidance function of the ship-bridge active collision avoidance system is effective. The present invention simulates the physical ship and its navigation environment, so as to test and verify the effectiveness of the function of the ship-bridge active collision avoidance system in the laboratory stage without installing it in the bridge area waters. Description of the Drawings

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those skilled in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0040] Figure 1 It is a schematic structural diagram of an embodiment of the ship-bridge active collision avoidance system verification device provided by the present invention;

[0041] Figure 2 It is a schematic coordinate diagram of the bridge area waters in an embodiment provided by the present invention;

[0042] Figure 3 It is a schematic diagram of the pier circular model in an embodiment provided by the present invention;

[0043] Figure 4 Schematic diagram of a ship circular model in an embodiment provided by the present invention;

[0044] Figure 5 Schematic diagram of a pier collision model in an embodiment provided by the present invention;

[0045] Figure 6 Schematic diagram of a virtual ship colliding with a bridge in an embodiment provided by the present invention;

[0046] Figure 7 Schematic diagram of the distance when a virtual ship collides with a bridge in an embodiment provided by the present invention;

[0047] Figure 8 Schematic diagram of the process for judging collision danger in an embodiment provided by the present invention;

[0048] Figure 9 Schematic diagram of the route comparison between a virtual ship and a physical ship in an embodiment provided by the present invention;

[0049] Figure 10 Schematic diagram of the process in an embodiment of the method for verifying the ship-bridge active collision avoidance system provided by the present invention;

[0050] Figure 11 Schematic diagram of the process in another embodiment of the method for verifying the ship-bridge active collision avoidance system provided by the present invention;

[0051] Figure 12 Schematic diagram of the process in yet another embodiment of the method for verifying the ship-bridge active collision avoidance system provided by the present invention;

[0052] Figure 13 Working flow chart inside the ship-bridge active collision avoidance system to be tested provided by the present invention. Detailed implementation manners

[0053] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

[0054] In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0055] In the embodiments of the present invention, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product or device that comprises a series of steps or modules is not necessarily limited to those steps or modules clearly listed, but may include other steps or modules not clearly listed or inherent to these processes, methods, products or devices.

[0056] In the embodiments of the present invention, the naming or numbering of steps does not mean that the steps in the method flow must be executed in the chronological / logical order indicated by the naming or numbering. The named or numbered process steps can be changed in the order of execution according to the technical purpose to be achieved, as long as the same or similar technical effects can be achieved.

[0057] Referring to "embodiments" herein means that the specific features, structures or characteristics described in connection with the embodiments can be included in at least one embodiment of the present invention. The phrase appearing in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0058] The present invention provides a verification device and method for a ship-bridge active collision avoidance system in a bridge area waters, which will be described separately below.

[0059] As Figure 1 shown, the present invention provides a verification device 100 for a ship-bridge active collision avoidance system 200 in a bridge area waters, including:

[0060] A first data transmission module 110, configured to receive ship navigation data in the bridge area waters, where the ship navigation data includes the movement parameters of physical ships in the bridge area waters and the navigation environment data;

[0061] A digital twin simulation module 120, communicatively connected to the first data transmission module 110, configured to obtain the ship navigation data in the bridge area waters from the first data transmission module 110, generate a virtual ship based on the ship navigation data in the bridge area waters and a preset ship movement situation, and simulate the full-time domain navigation state of the physical ship based on the virtual ship to obtain virtual ship movement parameters;

[0062] A second data transmission module 130, communicatively connected to the digital twin simulation module 120, configured to obtain the virtual ship movement parameters, send the virtual ship movement parameters to the ship-bridge active collision avoidance system 200, and receive the optimized physical ship movement data output by the ship-bridge active collision avoidance system 200;

[0063] The function evaluation module 140 is communicatively connected to the second data transmission module 130 and the digital twin simulation module 120, and is configured to obtain the virtual ship motion parameters and the physical ship motion optimization data, and determine that the collision avoidance function of the ship-bridge active collision avoidance system 200 is effective when it is determined that the physical ship motion optimization data is not distorted based on the virtual ship motion parameters and the physical ship motion optimization data, and it is determined that the virtual ship will not collide with the piers in the bridge area waters;

[0064] Among them, the ship-bridge active collision avoidance system 200 is configured to optimize the motion mode, ship speed, and course of the physical ship based on the ship navigation data in the bridge area waters, the virtual ship motion parameters, and the target optimization strategy to obtain the physical ship motion optimization data, so as to implement the collision avoidance function of the physical ship based on the physical ship motion optimization data.

[0065] It can be understood that the first data transmission module 110 receives the ship navigation data in the bridge area waters that the to-be-tested ship-bridge active collision avoidance system 200 will apply.

[0066] The digital twin simulation module 120 integrates the historical data of the ship motion state and the navigation environment data during the ship navigation process in the bridge area waters, uses the designed digital twin model to simulate the full-time domain navigation state of the navigation historical data, forms a virtual digital twin (i.e., virtual ship), and uses the designed mathematical twin to simulate and analyze the ship motion parameter data of the ships navigating in the bridge area waters to verify the effectiveness of the to-be-tested ship-bridge active collision avoidance system 200.

[0067] The digital twin simulation module 120 constructs a digital twin that can truly reflect the geometry, physics, navigation attitude, and navigation environment of the actual ship, derives a virtual ship digital twin database in combination with machine learning technology; establishes the connection between the virtual and real spaces, and through the integrated sharing of data, uses the simulation function of the digital twin to establish a real-time full-state, multi-attribute, and multi-scale mapping between the virtual space and the physical space.

[0068] Using the digital twin, virtual simulation of ship motion during ship navigation is carried out, and at the same time, the to-be-tested ship-bridge active collision avoidance system 200 is docked to optimize the ship motion of the digital twin of the actual ship, and an intelligent algorithm is integrated as a tool for effectiveness analysis and comparison.

[0069] The second data transmission module 130 imports the simulated navigation process data in the digital twin into the to-be-tested ship-bridge active collision avoidance system 200, and transmits the physical ship motion optimization data in the to-be-tested ship-bridge active collision avoidance system 200 to the function evaluation module 140.

[0070] The function evaluation module 140 adopts verification methods in two different scenarios. In Scenario 1, it is a comparison between the optimized data of the physical ship's movement and the virtual ship's movement parameter data. If the optimized data of the physical ship's movement does not match the virtual ship's movement parameter data, that is, there is distortion in the optimized data of the physical ship's movement, the function of the active collision avoidance system 200 of the ship bridge to be tested is invalid. On the contrary, the function of the active collision avoidance system 200 of the ship bridge to be tested is valid. In Scenario 2, it is to compare whether there is a collision risk between the optimized data of the virtual ship's movement parameters and the bridge pier. If there is no collision risk, the function of the active collision avoidance system 200 of the ship bridge to be tested is valid. On the contrary, the function of the active collision avoidance system 200 of the ship bridge to be tested is invalid.

[0071] In some other embodiments, the verification device includes a first data transmission module 110, a second data transmission module 130, a digital twin simulation module 120, a function evaluation module 140, and a physical ship movement optimized data port. The first data transmission module 110 is used to receive the ship movement data and navigation environment data collected by various sensors on the object bridge area applied by the active collision avoidance system 200 of the ship bridge to be tested. Among them, the first data transmission module 110 includes technologies such as GPRS / CDMA, data transmission radio, spread spectrum microwave, wireless bridge, satellite communication, and shortwave communication with remote transmission capabilities.

[0072] The second data transmission module 130 is connected to the active collision avoidance system 200 of the ship bridge to be tested and is used to exchange ship movement data and navigation environment data. The second data transmission module 130 can adopt data interfaces such as DP, HDMI, VGA, and DVI.

[0073] There are two types of data exchanged by the second data transmission module 130: 1) Import the navigation process data simulated and simulated in the digital twin simulation module 120 into the active collision avoidance system 200 of the ship bridge to be tested. 2) Transmit the optimized results in the active collision avoidance system 200 of the ship bridge to be tested to the physical ship movement optimized data port in the verification device for verification.

[0074] The digital twin simulation module 120 is used to establish the connection between the virtual and real spaces during the ship's movement. Through the integrated sharing of data such as the navigation environment and the ship's navigation movement state, and using the function of digital twin technology to simulate and simulate, a full-state, multi-attribute, and multi-scale mapping between the virtual space-time and the physical space-time is established.

[0075] The function evaluation module 140 determines the function effectiveness of the active collision avoidance system 200 of the ship bridge to be tested through two evaluation methods in Scenario 1 and Scenario 2. And both scenarios must be fully met to determine that the function of the active collision avoidance system 200 of the ship bridge is valid, so as to evaluate whether the active collision avoidance system 200 of the ship bridge to be tested has the effect of reducing ship-bridge collisions.

[0076] Case 1 is the comparison between the optimized data of the physical ship's motion and the virtual ship's motion parameters. If the optimized data of the physical ship's motion does not match the virtual ship's motion parameters, that is, there is distortion in the optimized data of the physical ship's motion, the function of the active collision avoidance system 200 of the ship bridge to be tested is invalid. On the contrary, the function of the active collision avoidance system 200 of the ship bridge to be tested is valid. Case 2 is to compare whether there is a collision risk between the optimized data of the virtual ship's motion parameters and the bridge pier. If there is no collision risk, the function of the active collision avoidance system 200 of the ship bridge to be tested is valid. On the contrary, the function of the active collision avoidance system 200 of the ship bridge to be tested is invalid. Further, the virtual ship is constructed as follows:

[0077] In the research of ship collision avoidance, the pitching, heaving, and rolling motions of the ship are not considered. It adopts a three-degree-of-freedom variable-speed MMG simulation of the ship's maneuvering motion, and its dynamic equation is as follows:

[0078]

[0079] In the formula: Y H 、Y P 、Y R are the propulsive force and rudder force acting on the hull, propeller, and rudder along the transverse direction respectively; X H 、X P 、X R are the propulsive force and rudder force acting on the hull, propeller, and rudder along the longitudinal direction respectively; N H 、N P 、N R are the yaw moments of the propulsive force acting on the hull, propulsive force on the propeller, and rudder force respectively; m is the mass of the ship; m x 、m y are the added masses of the ship along the transverse and longitudinal directions respectively; I zz 、i zz are the yaw moment of inertia and added moment of inertia respectively; u, v, and r are the transverse velocity, forward velocity, and yaw rotation velocity respectively; are the transverse and longitudinal accelerations and yaw angular acceleration respectively.

[0080] In some embodiments, the virtual ship motion parameters include: the virtual ship coordinates in the geodetic coordinate system; the function evaluation module 140 is used for:

[0081] Based on the azimuth angle of the virtual ship in the bridge coordinate system of the bridge area water area, the included angle between the bridge coordinate system of the bridge area water area and the geodetic coordinate system, and the virtual ship coordinates in the geodetic coordinate system, determine the virtual ship coordinates in the bridge coordinate system of the bridge area water area;

[0082] Based on the virtual ship coordinates in the bridge coordinate system of the bridge area water area and the bridge pier coordinates in the bridge coordinate system of the bridge area water area, determine the distance between the virtual ship and the bridge pier;

[0083] When the distance between the virtual ship and the bridge pier is greater than half of the sum of the longest side of the bridge pier and the length of the virtual ship, it is determined that there is no risk of collision between the virtual ship and the bridge pier.

[0084] It can be understood that the maritime department will set up a bridge area water area in the bridge area to ensure that ships maintain their course and speed in this water area and avoid the risk of collision with its bridge piers, which can ensure the safety of the bridge to a certain extent.

[0085] As Figure 2 shown, XOY is the earth coordinate system, and the positive directions of the X and Y axes point due north and due east respectively; UOV is the bridge coordinate system of the bridge area water area. Taking the midpoint O of the two bridge piers across the waterway as the reference, the positive direction of the U axis points to the right bank through the bridge pier, and the positive direction of the V axis points to the water flow direction. The included angle between the earth coordinate system and the bridge coordinate system is C; θ is the azimuth angle of the ship in the UOV coordinate system; a and b are the lengths of the major and minor axes of the ellipse respectively; R is the distance from the ship along the reference O to the ellipse, and R1 is the distance from the ship to the reference. These parameters can be freely set according to the specific situation of the river-crossing bridge.

[0086] Conversion relationship between the earth coordinate system and the bridge coordinate system:

[0087]

[0088] Conversion relationship between the ship coordinates and the bridge coordinates:

[0089]

[0090] In the formula: R = kR1, where k is in [0,1], (-b, 0), (b, 0), (u1, v1) are the coordinates of the left bridge pier, right bridge pier, and ship in the UOV coordinate system respectively. The shape of the bridge pier can be fitted to the circular model equation:

[0091]

[0092] In the formula: R3 = Q / 2, where Q is the longest side of the bridge pier, as Figure 3 shown.

[0093] The circular model equation that the ship shape can be fitted to is:

[0094]

[0095] In the formula: R2 = L / 2, where L is the length of the ship, as Figure 4 shown.

[0096] Collision formula for the left bridge pier:

[0097]

[0098] Where (u| t*Δt , v| t*Δt ) are the ship coordinates at different times, and (u 左 , v 左 ) are the coordinates of the left bridge pier.

[0099] Collision formula for the right bridge pier:

[0100]

[0101] Where (u| t*Δt , v| t*Δt ) are the ship coordinates at different times, and (u 右 , v 右 ) are the coordinates of the right bridge pier, as Figure 5 shown.

[0102] In this embodiment, the schematic diagram of the virtual ship colliding with the bridge is as Figure 6 shown, and the schematic diagram of the distance between the ship and the bridge corresponding to the collision is as Figure 7 shown.

[0103] Let the positive integer K, T be the time taken for the ship to enter and leave the bridge area waters, and Δt be the calculation step size.

[0104] If then there is no risk of collision at time T.

[0105] If then there is a risk of collision at time T; the schematic diagram of the process for judging the collision risk is as Figure 8 shown.

[0106] In some embodiments, the virtual ship motion parameters further include: the ship speed and heading of the virtual ship; the physical ship motion optimization data includes: the physical ship coordinates in the bridge coordinate system of the bridge area waters, and the ship speed and heading of the physical ship; the function evaluation module 140 is used for:

[0107] Based on the virtual ship motion parameters and the physical ship motion optimization data at multiple times within the target duration, determine the Euclidean distance and the Euclidean distance error rate between the virtual ship and the physical ship corresponding to the multiple times;

[0108] If the Euclidean distance is within the preset distance range and the Euclidean distance error rate is within the preset error threshold range, determine that the physical ship motion optimization data is not distorted.

[0109] It is understandable that the optimized physical ship motion optimization data (the actual ship motion situation during the T time period) after the active collision avoidance system of the ship to be tested. Let the positive integer K, T be the time taken for the ship to enter and leave the bridge area waters, and Δt be the calculation step size.

[0110] Among them: the ship speed is: v| K＝t*Δt ,

[0111] The ship coordinates are: (u 1|K＝t*Δt , v 1|K＝t*Δt );

[0112] The course is: C 0|K＝t*Δt .

[0113] The set of optimized physical ship motion data is:

[0114] S| T＝t*Δt ∈{v| T＝t*Δt , (u1| T＝t*Δt , v1| T＝t*Δt ), C0| T＝t*Δt};

[0115] The set of virtual ship motion parameter data is:

[0116] P| T＝t*Δt ∈{v| T＝t*Δt , (u1| T＝t*Δt , v1| T＝t*Δt ), C0| T＝t*Δt};

[0117] As Figure 9 shown, the two trajectories A and B in the figure are the comparison diagrams of the actual ship and virtual ship motion parameter data respectively.

[0118] In the bridge area waters, if the Euclidean distance d| T＝t*Δt =||S| T＝t*Δt , P| T＝t*Δt || tends to be stable and the error rate μ is within the acceptable range in the bridge area waters, that is, the Euclidean distance is within the preset distance range, and the Euclidean distance error rate is within the preset error threshold range, then it is determined that the function of the active collision avoidance system 200 of the ship to be tested is effective.

[0119] In some embodiments, the function evaluation module 140 is further configured to sum the Euclidean distances between the virtual ship and the physical ship corresponding to the multiple moments, and divide by the number of times of calculating the Euclidean distance within the target time period to obtain the Euclidean distance error rate.

[0120] It is understandable that, μ can be adjusted according to the bridge area water environment. T / Δt is the number of times of calculating the Euclidean distance within the target time period.

[0121] In some embodiments, the function evaluation module 140 is further configured to determine that the entity ship motion optimization data is distorted when the Euclidean distance between the virtual ship and the entity ship corresponding to the multiple moments is not within the preset distance range, or the Euclidean distance error rate is not within the preset error threshold range.

[0122] It can be understood that if the Euclidean distance d| T＝t*Δt = ||S| T＝t*Δt ,P| T＝t*Δt || has obvious fluctuations or the error rate μ is not within the acceptable range in the bridge area waters, that is, the Euclidean distance is not within the preset distance range, or the Euclidean distance error rate is not within the preset error threshold range, then it is determined that the active ship-bridge collision avoidance system 200 to be tested is invalid.

[0123] In some embodiments, the digital twin simulation module 120 includes:

[0124] A data storage and scheduling unit, communicatively connected to the first data transmission module 110, for obtaining the ship navigation data in the bridge area waters from the first data transmission module 110;

[0125] A virtual ship motion simulation unit, communicatively connected to the data storage and scheduling unit and the function evaluation module 140, for generating a virtual ship in the digital twin model based on the ship navigation data in the bridge area waters, as well as the preset ship motion situation and navigable environment conditions, simulating the full-time domain navigation state of the entity ship based on the virtual ship, obtaining virtual ship motion parameters, and outputting the virtual ship motion parameters to the function evaluation module 140.

[0126] It can be understood that the digital twin simulation module 120 includes a data storage and scheduling unit and a virtual ship motion simulation unit (i.e., the virtual ship digital twin database). The data storage and scheduling unit includes a navigable environment data unit block and a real ship motion parameter unit. By using digital twin technology, the real ship motion parameter unit, the virtual ship motion simulation unit, and the function evaluation module 140 are integrated into a visualization system, and a 3D graphical scene containing the above three modules and having a friendly human-computer interaction is constructed by using 3D view software; this 3D graphical scene can restore the real ship model, the real ship motion model, and the bridge area water area on the computer display terminal.

[0127] The data storage and scheduling unit is used to receive the data received by the transmission unit and classify and store the data into two parts: navigable environment data and actual ship motion parameter data. The navigable environment data includes: hydrometeorology, traffic density, turning parameter data, etc.; store these data and schedule them to the corresponding data processing ports according to the preset attributes. The actual ship motion parameter data includes: evaluation index data such as heading and speed; store these data and schedule them to the corresponding data processing ports for verification.

[0128] The virtual ship motion simulation unit derives the virtual ship motion parameter data of the ship bridge active collision avoidance system 200 to be measured through intelligent algorithms or machine learning and serves as the data port to be verified. The virtual ship motion simulation unit includes a virtual data training module and a virtual ship motion parameter data generation module. The virtual data training module uses machine learning technology, takes the navigable environment, navigation parameters and other data transmitted by the data storage and scheduling module as input, and takes the ship motion parameters as output, and trains the mapping of other attributes such as the energy consumption of the digital twin ship under different working conditions; and stores the simulated ship motion parameters as the data port to be verified.

[0129] In some embodiments, the target optimization strategy takes the preset ship motion model, speed optimization model and heading optimization model as the objective functions, and matches the corresponding optimization algorithms to determine the optimal solution sets of the constraint conditions of the ship motion model, speed optimization model and heading optimization model. The optimization algorithms include one or more of genetic algorithms, particle swarm optimization algorithms, ant colony algorithms and simulated annealing algorithms.

[0130] It can be understood that the ship bridge active collision avoidance system 200 generally includes a data acquisition unit, a data communication unit, a data processing unit and a data storage unit.

[0131] The data acquisition unit uses a variety of sensors to collect bridge area AIS (Automatic Identification System) data, radar ranging data, video detection data and navigable environment parameters. The variety of sensors includes an AIS receiver, a radar rangefinder, a high-definition camera, an anemometer and a hydrological monitor. The AIS receiver is used to collect the dynamic and static information of ships in the bridge area; the radar rangefinder is used to collect the distance between the ships in the bridge area and the bridge; the anemometer is used to collect the wind speed and direction of the ship's bridge area environment; the hydrological monitor is used to collect the water flow condition of the bridge area water area; the high-definition camera is used to collect the ship distribution, information recognition and ship tracking in the bridge area water area.

[0132] The data communication unit includes a serial port server, an Ethernet switch, and a protocol converter. Among them, the data acquisition unit is connected to the serial port server through a serial communication interface, the serial port server is connected to the Ethernet switch through Ethernet, the data processing unit and the data storage unit are respectively connected to the Ethernet switch, and the protocol converter is used for relaying and protocol conversion.

[0133] The data storage unit is used to store the parameters and historical data collected by the data acquisition unit for the data processing unit to call, and the data is recorded and stored on the hard disk of the server in the form of a database.

[0134] The data processing unit is used to select a specific optimization strategy according to the data and historical data collected by the data acquisition unit according to the characteristics of the bridge area, and optimize the performance of the actual ship such as maneuvering, speed, and course according to the selected optimization strategy. At the same time, some auxiliary decisions are given according to the optimization results. The optimization strategy takes the ship motion model, speed optimization model, and course optimization model as the objective functions, and at the same time matches appropriate optimization algorithms to obtain the optimal solution set that satisfies the constraint conditions of the corresponding models. Among them, the optimization algorithms include heuristic swarm intelligence algorithms such as genetic algorithms, particle swarm optimization algorithms, ant colony algorithms, and simulated annealing algorithms.

[0135] The ship motion model takes the collision risk of the ship-bridge active collision avoidance system 200 to be measured as the objective function, combines the ship type parameters and ship motion parameter data, and uses machine learning or intelligent optimization algorithms to predict the ship-bridge collision risk and ship motion parameters of the ship in the future for a period of time, and gives auxiliary decision-making suggestions for ship maneuvering.

[0136] The speed optimization model considers the influence of factors such as the navigable environment, navigation attitude (drift angle), and ship-bridge collision risk on the ship speed. The objective function usually has the following two aspects: 1. Considering the ship-bridge collision risk, that is, optimizing the ship speed without increasing the ship-bridge collision risk; 2. Considering the navigable efficiency, that is, optimizing the ship speed with the bridge-crossing efficiency as the goal, and then making a navigation optimization decision.

[0137] The course optimization model involves multiple optimization objectives such as oblique navigation (drift angle), stability, loading capacity, and trim. Among these objectives, the key issues considered are drift angle optimization and stability optimization, and both of these optimization problems belong to linear programming problems. Drift angle optimization considers the longitudinal force distribution of the ship's wind and current pressure, while stability optimization considers the vertical distribution of containers. The two are linearly independent, and the linear function programming problem to be solved has an optimal solution.

[0138] Online monitoring, which is a ship motion data monitor; it includes real-time data and historical data divided by time and space; and it includes the navigation data of the ship (ship speed, AIS data, DCPA (distance to closest point of approach), TCPA (Time to the closest point of approach), rudder angle, course), real-time data of the navigable environment (water flow speed and direction, wind speed and direction, water depth), data related to drift angle optimization, as well as optimized data, prediction data and evaluation data derived by combining intelligent algorithms. The monitoring module includes: a display, a keyboard and a mouse.

[0139] The hardware systems of the data processing unit and the data storage unit are industrial control computers. The industrial control computer is also connected to input devices, a keyboard, a mouse and a display. The data communication unit can be divided into two categories according to the communication type: lower-level serial communication and upper-level Ethernet communication. The upper computer (i.e., the industrial control computer) is connected to the Ethernet switch through the RS485 communication method, the Ethernet switch is connected to each serial port server through optical fiber communication, and the serial port server is connected to each sensor through the RS485 communication method. The human-machine interface display unit reads and displays the data collected by the lower computer through the display, and displays some comprehensive parameters after processing through a mathematical model.

[0140] The human-machine interaction interface strives to depict the actual ship information and waterway conditions one by one in terms of display effect. The interface is designed in a hierarchical manner according to the overall interface → subsystems. The interface can be divided into the following according to the overall composition: Interface 1: 3D view of the actual ship and waterway information; Interface 2: Real ship motion parameter data (including real ship motion parameter data and ship motion parameter optimization data); Interface 3: Virtual ship digital twin database; Interface 4: Ship bridge equipment model library module (the active collision avoidance system 200 of the ship to be tested will apply the ship maneuvering motion model by checking or entering parameters); Interface 5: Virtual ship motion parameter optimization database; Interface 6: Validity verification platform. The layout of each of the above interfaces is completed in the form of graphic and control matching.

[0141] In summary, in the bridge active collision avoidance system verification device 100 of the bridge active collision avoidance system 200 provided by the present invention, through the digital twin simulation module 120, based on the ship navigation data in the bridge area waters and the preset ship motion posture, a virtual ship is generated, and based on the virtual ship, the full-time domain navigation state of the physical ship is simulated to obtain the virtual ship motion parameters; and through the function evaluation module 140, which is communicatively connected to the second data transmission module 130 and the digital twin simulation module 120, it is used to obtain the virtual ship motion parameters and the physical ship motion optimization data, and based on the virtual ship motion parameters and the physical ship motion optimization data, when it is determined that the physical ship motion optimization data is not distorted and the virtual ship will not collide with the piers in the bridge area waters, it is determined that the collision avoidance function of the bridge active collision avoidance system 200 is effective. The present invention simulates the physical ship and its navigation environment, so as to test and verify the effectiveness of the function of the bridge active collision avoidance system 200 in the laboratory stage without installing it in the bridge area waters.

[0142] The present invention also provides a method for verifying the bridge active collision avoidance system 200 in the bridge area waters. The method is applied to the device described in any one of the above, as Figure 10 shown, the method includes:

[0143] Step 1010: Obtain the ship navigation data in the bridge area waters based on the first data transmission module 110. Based on the ship navigation data in the bridge area waters and the preset ship motion posture, generate a virtual ship, and based on the virtual ship, simulate the full-time domain navigation state of the physical ship to obtain the virtual ship motion parameters;

[0144] Step 1020: Send the virtual ship motion parameters to the bridge active collision avoidance system 200, and receive the physical ship motion optimization data output by the bridge active collision avoidance system 200;

[0145] Step 1030: Based on the virtual ship motion parameters and the physical ship motion optimization data, when it is determined that the physical ship motion optimization data is not distorted and the virtual ship will not collide with the piers in the bridge area waters, it is determined that the collision avoidance function of the bridge active collision avoidance system 200 is effective.

[0146] It can be understood that by integrating the historical data of the ship motion state and the navigation environment data during the ship navigation in the bridge area waters, using the designed digital twin model to simulate and analyze the full-time domain navigation state of the navigation historical data, forming a virtual digital twin (i.e., a virtual ship), and using the designed mathematical twin to simulate and analyze the ship motion parameter data of the ships navigating in the bridge area waters to verify the effectiveness of the to-be-tested bridge active collision avoidance system 200.

[0147] The digital twin simulation module 120 constructs a digital twin that can truly reflect the geometry, physics, navigation attitude, and navigable environment of the actual ship, and derives a virtual ship digital twin database in combination with machine learning technology; establishes the connection between the virtual and physical spaces, and through the integrated sharing of data, uses the function of digital twin simulation to establish a real-time, full-state, multi-attribute, and multi-scale mapping between the virtual space and the physical space.

[0148] Using the digital twin, conduct virtual simulation of ship motion during ship navigation. At the same time, dock with the active collision avoidance system 200 of the ship bridge to be tested to optimize the ship motion of the digital twin of the actual ship, and integrate intelligent algorithms as tools for effective analysis and comparison.

[0149] Adopt two different verification methods. In the first case, compare the optimized data of the actual ship motion and the parameter data of the virtual ship motion. If the optimized data of the actual ship motion does not match the parameter data of the virtual ship motion, that is, there is distortion in the optimized data of the actual ship motion and the function of the active collision avoidance system 200 of the ship bridge to be tested is invalid. Otherwise, the function of the active collision avoidance system 200 of the ship bridge to be tested is valid. In the second case, compare whether the optimized data of the virtual ship motion parameters and the bridge pier constitute a collision risk. If there is no collision risk, the function of the active collision avoidance system 200 of the ship bridge to be tested is valid. Otherwise, the function of the active collision avoidance system 200 of the ship bridge to be tested is invalid.

[0150] In some embodiments, the virtual ship motion parameters include: the virtual ship coordinates in the geodetic coordinate system;

[0151] When it is determined that there is no distortion in the optimized data of the actual ship motion based on the virtual ship motion parameters and the optimized data of the actual ship motion, and it is determined that the virtual ship will not collide with the bridge pier in the bridge area waters, determining that the collision avoidance function of the ship bridge active collision avoidance system 200 is effective includes:

[0152] Based on the azimuth angle of the virtual ship in the bridge coordinate system of the bridge area waters, the angle between the bridge coordinate system of the bridge area waters and the geodetic coordinate system, and the virtual ship coordinates in the geodetic coordinate system, determine the virtual ship coordinates in the bridge coordinate system of the bridge area waters;

[0153] Based on the virtual ship coordinates in the bridge coordinate system of the bridge area waters and the bridge pier coordinates in the bridge coordinate system of the bridge area waters, determine the distance between the virtual ship and the bridge pier;

[0154] When the distance between the virtual ship and the bridge pier is greater than half of the sum of the longest side of the bridge pier and the length of the virtual ship, determine that there is no risk of collision between the virtual ship and the bridge pier.

[0155] It is understandable that the risk of collision between the virtual ship and the bridge pier is determined to be zero.

[0156] It is understandable that the maritime department will set up a bridge area in the bridge area waters to ensure that ships maintain their course and speed in this waters and avoid the risk of collision with its bridge piers, which can ensure the safety of the bridge to a certain extent.

[0157] As Figure 2 shown, XOY is the earth coordinate system, and the positive directions of the X and Y axes point due north and due east respectively; UOV is the bridge coordinate system of the bridge area waters, with the midpoint O of the two bridge piers across the waterway as the reference, the positive direction of the U axis points to the right bank through the bridge pier, and the positive direction of the V axis points to the water flow direction. The included angle between the earth coordinate system and the bridge coordinate system is C; θ is the azimuth angle of the ship in the UOV coordinate system; a and b are the lengths of the major and minor axes of the ellipse respectively; R is the distance from the ship along the reference O to the ellipse, and R1 is the distance from the ship to the reference. These parameters can be freely set according to the specific situation of the river-crossing bridge.

[0158] Conversion relationship between the earth coordinate system and the bridge coordinate system:

[0159]

[0160] Conversion relationship between the ship coordinates and the bridge coordinates:

[0161]

[0162] In the formula: R = kR1, where k is in [0,1], (-b,0), (b,0), (u1,v1) are the coordinates of the left bridge pier, right bridge pier, and ship in the UOV coordinate system respectively.

[0163] In some embodiments, the virtual ship motion parameters further include: the ship speed and heading of the virtual ship; the physical ship motion optimization data includes: the physical ship coordinates in the bridge coordinate system of the bridge area waters, and the ship speed and heading of the physical ship;

[0164] When it is determined that the physical ship motion optimization data is not distorted based on the virtual ship motion parameters and the physical ship motion optimization data, and it is determined that the virtual ship will not collide with the bridge piers in the bridge area waters, determining that the collision avoidance function of the ship-bridge active collision avoidance system 200 is effective further includes:

[0165] Based on the virtual ship motion parameters and the physical ship motion optimization data at multiple moments within the target time period, determining the Euclidean distance and the Euclidean distance error rate between the virtual ship and the physical ship corresponding to the multiple moments;

[0166] If the Euclidean distance is within a preset distance range and the Euclidean distance error rate is within a preset error threshold range, it is determined that the optimized data of the entity ship's motion is not distorted.

[0167] It can be understood that the optimized data of the entity ship's motion (the actual ship motion situation in the T time period) after being optimized by the active collision avoidance system of the ship to be measured. Let the positive integer K, T be the time taken for the ship to enter and leave the bridge area, and Δt be the calculation step size.

[0168] Among them: the ship speed is: v| K＝t*Δt ,

[0169] The ship coordinates are: (u1| K＝t*Δt , v1| K＝t*Δt );

[0170] The course is: C0| K＝t*Δt .

[0171] The set of optimized data of the entity ship's motion is:

[0172] S| T＝t*Δt ∈{v| T＝t*Δt , (u1| T＝t*Δt , v1| T＝t*Δt ), C0| T＝t*Δt};

[0173] The set of virtual ship motion parameter data is:

[0174] P| T＝t*Δt ∈{v| T＝t*Δt , (u1| T＝t*Δt , v1| T＝t*Δt ), C0| T＝t*Δt};

[0175] In the bridge area, if the Euclidean distance d| T＝t*Δt =||S| T＝t*Δt , P| T＝t*Δt || tends to be stable and the error rate μ is within the acceptable range in the bridge area, that is, the Euclidean distance is within the preset distance range and the Euclidean distance error rate is within the preset error threshold range, then it is determined that the function of the active collision avoidance system 200 of the ship-bridge to be measured is effective.

[0176] In some other embodiments, as Figure 11 shown, the verification method for the active collision avoidance system 200 of the ship-bridge in the bridge area includes:

[0177] 1. Initialize the time T = 0, and the sets S, P, and d are empty sets; the set S is the set of optimized data of the entity ship's motion, and the set P is the set of virtual ship motion parameters.

[0178] 2. Convert the geodetic coordinate system XOY to the bridge coordinate system UOV.

[0179] 3. Perform a circular outer wrapping on the bridge piers and ships in the bridge area waters to obtain a circular model of the bridge piers and a circular model of the ships.

[0180] 4. Based on the virtual ship simulation navigation of the variable-speed MMG model, output motion parameter data such as heading, speed, position (geodetic coordinates), etc.

[0181] 5. Update the coordinates (u1, v1) of the virtual ship entering the bridge area waters within the T time period.

[0182] 6. Update the set P of the motion parameters of the virtual ship within the T time period.

[0183] 7. Update the set S of the entity ship motion optimization data of the system to be tested within the T time period.

[0184] 8. Compare the Euclidean distance error rate μ of the time lines of the sets P and S, and the effectiveness of the system to be tested can be judged according to the above-mentioned situation 1.

[0185] 9. If it is judged that there is a collision risk between the ship and the bridge pier, the effectiveness of the system to be tested can be judged according to the above-mentioned situation 2.

[0186] 10. If both situation 1 and situation 2 judge that the system to be tested is effective, then the system to be tested is effective. Otherwise, it is invalid.

[0187] In some other embodiments, the flow of the verification method for the ship-bridge active collision avoidance system 200 in the bridge area waters is as Figure 12 shown, and the working flow chart of the ship-bridge active collision avoidance system 200 is as Figure 13 shown.

[0188] Those skilled in the art can understand that all or part of the processes of implementing the above-mentioned embodiment methods can be completed by instructing relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. Among them, the computer-readable storage medium is a disk, an optical disk, a read-only memory or a random access memory, etc.

[0189] The above has introduced in detail the verification device and method for the ship-bridge active collision avoidance system in the bridge area waters provided by the present invention. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A verification device for a ship-bridge active collision avoidance system in a bridge area waters, characterized in that Including: A first data transmission module, configured to receive the navigation data of ships in the bridge area waters, where the ship navigation data includes the motion parameters of physical ships in the bridge area waters and the navigation environment data; A digital twin simulation module, communicatively connected to the first data transmission module, configured to obtain the ship navigation data in the bridge area waters from the first data transmission module, generate a virtual ship based on the ship navigation data in the bridge area waters and a preset ship motion situation, and simulate the full-time domain navigation state of the physical ship based on the virtual ship to obtain virtual ship motion parameters; A second data transmission module, communicatively connected to the digital twin simulation module, configured to obtain the virtual ship motion parameters, send the virtual ship motion parameters to the ship-bridge active collision avoidance system, and receive the physical ship motion optimization data output by the ship-bridge active collision avoidance system; A function evaluation module, communicatively connected to the second data transmission module and the digital twin simulation module, configured to obtain the virtual ship motion parameters and the physical ship motion optimization data, and determine that the collision avoidance function of the ship-bridge active collision avoidance system is effective when it is determined that the physical ship motion optimization data is not distorted based on the virtual ship motion parameters and the physical ship motion optimization data, and it is determined that the virtual ship will not collide with the piers in the bridge area waters; Wherein, the ship-bridge active collision avoidance system is configured to optimize the motion mode, ship speed and heading of the physical ship based on the ship navigation data in the bridge area waters, the virtual ship motion parameters and a target optimization strategy to obtain the physical ship motion optimization data, so as to realize the collision avoidance function of the physical ship based on the physical ship motion optimization data.

2. The verification device for the ship-bridge active collision avoidance system in the bridge area waters according to claim 1, characterized in that The virtual ship motion parameters include: the virtual ship coordinates in the geodetic coordinate system; the function evaluation module is configured to: Determine the virtual ship coordinates in the bridge area waters bridge coordinate system based on the azimuth angle of the virtual ship in the bridge area waters bridge coordinate system, the angle between the bridge area waters bridge coordinate system and the geodetic coordinate system, and the virtual ship coordinates in the geodetic coordinate system; Determine the distance between the virtual ship and the pier based on the virtual ship coordinates in the bridge area waters bridge coordinate system and the pier coordinates in the bridge area waters bridge coordinate system; Determine that there is no risk of collision between the virtual ship and the pier when the distance between the virtual ship and the pier is greater than half of the sum of the longest side of the pier and the length of the virtual ship.

3. The verification device for the ship-bridge active collision avoidance system in the bridge area waters according to claim 2, characterized in that, The virtual ship motion parameters further include: the ship speed and heading of the virtual ship; the physical ship motion optimization data includes: the physical ship coordinates in the bridge area waters bridge coordinate system, and the ship speed and heading of the physical ship; the function evaluation module is configured to: Determine the Euclidean distance and the Euclidean distance error rate between the virtual ship and the physical ship corresponding to multiple moments based on the virtual ship motion parameters and the physical ship motion optimization data at multiple moments within a target time period; If the Euclidean distance is within a preset distance range and the Euclidean distance error rate is within a preset error threshold range, it is determined that the optimized motion data of the physical ship is not distorted.

4. The verification device for the ship-bridge active collision avoidance system in the bridge area waters according to claim 3, characterized in that, The function evaluation module is further configured to sum the Euclidean distances between the virtual ships and the physical ship corresponding to the multiple moments, and divide the sum by the number of times of calculating the Euclidean distance within the target duration to obtain the Euclidean distance error rate.

5. The verification device for the ship-bridge active collision avoidance system in the bridge area waters according to claim 3, wherein The function evaluation module is further configured to determine that the optimized motion data of the physical ship is distorted if the Euclidean distance between the virtual ships and the physical ship corresponding to the multiple moments is not within the preset distance range, or the Euclidean distance error rate is not within the preset error threshold range.

6. The verification device for the ship-bridge active collision avoidance system in the bridge area waters according to claim 1, characterized in that, The digital twin simulation module includes: A data storage and scheduling unit, communicatively connected to the first data transmission module, for obtaining the ship navigation data in the bridge area waters from the first data transmission module; A virtual ship motion simulation unit, communicatively connected to the data storage and scheduling unit and the function evaluation module, for generating a virtual ship in the digital twin model based on the ship navigation data in the bridge area waters, as well as the preset ship motion situation and navigable environment conditions, simulating the full-time domain navigation state of the physical ship based on the virtual ship to obtain virtual ship motion parameters, and outputting the virtual ship motion parameters to the function evaluation module.

7. The verification device for the ship-bridge active collision avoidance system in the bridge area waters according to any one of claims 1-6, characterized in that The target optimization strategy takes the preset ship motion model, speed optimization model, and course optimization model as objective functions, and matches corresponding optimization algorithms to determine the optimal solution sets of the constraint conditions of the ship motion model, speed optimization model, and course optimization model. The optimization algorithms include one or more of genetic algorithms, particle swarm optimization algorithms, ant colony algorithms, and simulated annealing algorithms.

8. A verification method for a ship-bridge active collision avoidance system in a bridge area water area, characterized in that, The method is applied to the device according to any one of claims 1-7. The method includes: Obtaining ship navigation data in the bridge area waters based on the first data transmission module, generating a virtual ship based on the ship navigation data in the bridge area waters and the preset ship motion situation, and simulating the full-time domain navigation state of the physical ship based on the virtual ship to obtain virtual ship motion parameters; Sending the virtual ship motion parameters to the ship-bridge active collision avoidance system, and receiving the optimized motion data of the physical ship output by the ship-bridge active collision avoidance system; Determining that the collision avoidance function of the ship-bridge active collision avoidance system is effective when it is determined that the optimized motion data of the physical ship is not distorted based on the virtual ship motion parameters and the optimized motion data of the physical ship, and it is determined that the virtual ship will not collide with the piers in the bridge area waters.

9. The method for verifying the ship-bridge active collision avoidance system in the bridge area waters according to claim 8, wherein The virtual ship motion parameters include: the virtual ship coordinates in the geodetic coordinate system; The determining that the collision avoidance function of the ship-bridge active collision avoidance system is effective when it is determined that the optimized motion data of the physical ship is not distorted based on the virtual ship motion parameters and the optimized motion data of the physical ship, and it is determined that the virtual ship will not collide with the piers in the bridge area waters includes: Determine the virtual ship coordinates in the bridge coordinate system of the bridge area water area based on the azimuth angle of the virtual ship in the bridge coordinate system of the bridge area water area, the included angle between the bridge coordinate system of the bridge area water area and the geodetic coordinate system, and the virtual ship coordinates in the geodetic coordinate system; Determine the distance between the virtual ship and the pier based on the virtual ship coordinates in the bridge coordinate system of the bridge area water area and the pier coordinates in the bridge coordinate system of the bridge area water area; When the distance between the virtual ship and the pier is greater than half of the sum of the longest side of the pier and the length of the virtual ship, determine that there is no risk of collision between the virtual ship and the pier.

10. The method for verifying the ship-bridge active collision avoidance system in the bridge area waters according to claim 8, characterized in that, The virtual ship motion parameters further include: the ship speed and heading of the virtual ship; the physical ship motion optimization data includes: the physical ship coordinates in the bridge coordinate system of the bridge area water area, and the ship speed and heading of the physical ship; When determining that the physical ship motion optimization data is not distorted based on the virtual ship motion parameters and the physical ship motion optimization data, and determining that the virtual ship will not collide with the piers in the bridge area water area, determining that the collision avoidance function of the ship-bridge active collision avoidance system is effective further includes: Based on the virtual ship motion parameters and the physical ship motion optimization data at multiple moments within the target duration, determine the Euclidean distance and the Euclidean distance error rate between the virtual ship and the physical ship corresponding to the multiple moments; If the Euclidean distance is within the preset distance range and the Euclidean distance error rate is within the preset error threshold range, determine that the physical ship motion optimization data is not distorted.

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