Ship collision avoidance test scenario generation method and system based on maritime collision avoidance regulations

Abstract

The present invention provides a method and system for generating a ship collision avoidance test scenario based on maritime collision avoidance rules. The method obtains AIS data of the own ship and the target ship and determines the ship encounter situation based on the maritime collision avoidance rules. The method then performs parameter decoupling on the ship encounter situation to achieve azimuth quantization and distance quantization. The azimuth of the target ship relative to the own ship and the distance between the own ship and the target ship are quantitatively calculated respectively. The ship encounter situation is divided into multiple scenario types. The range of each parameter for constructing the scenario is set according to the scenario type, and then the scenario initial parameters are generated. The closest encounter distance and the closest encounter time are calculated, and then multiple different types of ship collision avoidance test scenarios are automatically generated. The method has the advantages of high scenario generation efficiency, controllable scenario differentiation degree, high test credibility, and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of ship testing, and in particular to a method and system for generating a ship collision avoidance test scenario based on maritime collision avoidance rules. Background Art

[0002] After more than half a century of development, the research methods of ship navigation collision avoidance technology have evolved from early classical mathematical theories to the use of artificial intelligence technology and interdisciplinary disciplines. Considering the intelligent and practical needs of maritime collision avoidance rules and practical requirements, it is very necessary to test the collision avoidance algorithm.

[0003] Quantifying collision avoidance rules and complex situations is crucial in the current construction of collision avoidance test scenarios. When constructing collision avoidance scenarios based on the 1972 International Regulations for Preventing Collisions at Sea, these rules are primarily designed for shipboard crew members and lack parameterized standards, leaving their implementation dependent on subjective judgment. Therefore, they cannot be directly used to develop a comprehensive collision avoidance test scenario system and do not include information on waterway traffic scenarios. Therefore, a quantitative classification of collision avoidance indicators is necessary. Furthermore, given that collision avoidance scenarios in real-world navigation environments are difficult to exhaust and each scenario is comprised of numerous factors, the traditional manual method for generating collision avoidance scenarios is labor-intensive, inefficient, and has significant limitations. It is difficult to cover all encounter situations specified in the Regulations for Preventing Collisions at Sea, making it impossible to fully test collision avoidance algorithms. Furthermore, the relatively low probability of dangerous and extreme scenarios results in a small number of valid simulation samples and low testing efficiency. Furthermore, polar waters present unique challenges such as ice traps and floating ice, necessitating further clarification of test scenario parameters. Summary of the Invention

[0004] To address the current problems of heavy workload, low efficiency, large limitations, inability to fully test collision avoidance algorithms, and the presence of ice and floating ice in polar waters in the construction of collision avoidance scenarios, the present invention provides a method for generating ship collision avoidance test scenarios based on maritime collision avoidance rules. Based on the various types of ship encounter situations specified in the maritime collision avoidance rules, the ship encounter situations are parameterized and decoupled into multiple scenario types according to azimuth and heading angles. A large number of different types of ship collision avoidance test scenarios are quickly obtained by randomly generating determined values ​​within different ranges and using specific calculation methods, thereby effectively solving the problem of poor comprehensiveness of traditional ship collision avoidance scenario generation. The present invention also relates to a ship collision avoidance test scenario generation system based on maritime collision avoidance rules.

[0005] The technical solutions of the present invention are as follows:

[0006] A method for generating a ship collision avoidance test scenario based on maritime collision avoidance rules, characterized by comprising the following steps:

[0007] Data acquisition and parameter decoupling steps: acquiring AIS data of the own ship and the target ship, wherein the AIS data includes the latitude and longitude position information, heading angle, own ship speed and target ship speed of the own ship and the target ship; determining the ship encounter situation based on the acquired AIS data and the rules for avoiding collisions at sea; then performing parameter decoupling on the ship encounter situation to achieve azimuth quantification and distance quantification, and respectively quantitatively calculating the azimuth of the target ship relative to the own ship and the distance between the own ship and the target ship;

[0008] Scenario type determination and parameter range setting steps: Classify the ship encounter situation according to the heading angle and the quantified azimuth of the target ship relative to the own ship to obtain multiple scenario types, set the heading angle range of the own ship and the target ship, and the azimuth range of the target ship relative to the own ship according to the scenario type, and set the distance range between the own ship and the target ship according to the quantified distance between the own ship and the target ship and based on the rules for avoiding collisions at sea;

[0009] Scenario initial parameter generation step: using a random number generator to randomly generate the heading angle determination values ​​of the host ship and the target ship, the azimuth determination value of the target ship relative to the host ship, and the distance determination value between the host ship and the target ship within their respective set ranges. Each randomly generated determination value is used as the scenario initial parameter;

[0010] Relative speed vector calculation steps: calculating the own ship's speed vector based on the determined value of the own ship's heading angle and the own ship's speed, calculating the target ship's speed vector based on the determined value of the target ship's heading angle and the target ship's speed, and calculating the relative speed vector of the target ship relative to the own ship based on the own ship's speed vector and the target ship's speed vector;

[0011] The steps for calculating the closest approach distance and the closest approach time are as follows: the closest approach distance between the target ship and the own ship is calculated based on the determined distance value between the own ship and the target ship, the relative velocity vector, the determined azimuth value of the target ship relative to the own ship, and the angle formed by the relative velocity vector and the line connecting the own ship's position; and the closest approach time between the target ship and the own ship is calculated based on the determined distance value between the own ship and the target ship and the angle formed by the relative velocity vector and the line connecting the own ship's position;

[0012] Ship collision avoidance test scenario generation step: automatically generate multiple different types of ship collision avoidance test scenarios based on the generated scenario initial parameters, the speed of the own ship and the target ship, the closest encounter distance and the closest encounter time.

[0013] Preferably, in the data acquisition and parameter decoupling steps, the ship encounter situation includes an overtaking scenario, a head-on encounter scenario and a crossing encounter scenario.

[0014] Preferably, in the step of determining the scene type and setting the parameter range, dividing the ship encounter situation according to the heading angle and the quantified azimuth of the target ship relative to the own ship includes: dividing the ship encounter situation into port and starboard according to the azimuth of the target ship relative to the own ship, and dividing the intersection encounter scenario into small-angle intersection encounter and large-angle intersection encounter according to the difference in heading angle between the own ship and the target ship.

[0015] Preferably, in the step of determining the scene type and setting the parameter range, the initial encounter situation of the two ships is also classified according to the distance range between the own ship and the target ship. If the distance between the own ship and the target ship is greater than the first preset distance threshold and is less than or equal to the urgent danger distance threshold, the initial encounter situation is regarded as an urgent danger situation; if the distance between the own ship and the target ship is greater than the urgent danger distance threshold and is less than or equal to the third preset distance threshold, the initial encounter situation is regarded as an urgent situation; if the distance between the own ship and the target ship is greater than the third preset distance threshold and is less than or equal to the fourth preset distance threshold, the initial encounter situation is regarded as a general encounter situation.

[0016] Preferably, the imminent danger distance threshold is the ship's emergency braking distance plus a 50% safety margin distance, and it is judged whether the ship is sailing in the polar region. If there is floating ice during the ship's polar navigation, the imminent danger distance threshold is the ship's emergency braking distance plus a 100% safety margin distance.

[0017] A ship collision avoidance test scenario generation system based on maritime collision avoidance rules is characterized by comprising a data acquisition and parameter decoupling module, a scenario type determination and parameter range setting module, a scenario initial parameter generation module, a relative velocity vector calculation module, a closest approach distance and closest approach time calculation module, and a ship collision avoidance test scenario generation module, which are connected in sequence.

[0018] The data acquisition and parameter decoupling module acquires AIS data of the own ship and the target ship, wherein the AIS data includes the latitude and longitude position information, heading angle, own ship speed and target ship speed of the own ship and the target ship, determines the ship encounter situation based on the acquired AIS data and the rules for avoiding collisions at sea, and then performs parameter decoupling on the ship encounter situation to achieve azimuth quantification and distance quantification, and quantitatively calculates the azimuth of the target ship relative to the own ship and the distance between the own ship and the target ship respectively;

[0019] The scenario type determination and parameter range setting module divides the ship encounter situation according to the heading angle and the quantified azimuth of the target ship relative to the own ship to obtain multiple scenario types, sets the heading angle range of the own ship and the target ship, and the azimuth range of the target ship relative to the own ship according to the scenario type, and sets the distance range between the own ship and the target ship according to the quantified distance between the own ship and the target ship and based on the rules for avoiding collisions at sea;

[0020] The scenario initial parameter generation module randomly generates, within respective set ranges, determined values ​​of the course angles of the host ship and the target ship, determined values ​​of the azimuth of the target ship relative to the host ship, and determined values ​​of the distance between the host ship and the target ship using a random number generator, and each of the randomly generated determined values ​​serves as the scenario initial parameters;

[0021] The relative speed vector calculation module calculates the own ship's speed vector based on the determined value of the own ship's heading angle and the own ship's speed, calculates the target ship's speed vector based on the determined value of the target ship's heading angle and the target ship's speed, and calculates the relative speed vector of the target ship relative to the own ship based on the own ship's speed vector and the target ship's speed vector;

[0022] The closest approach distance and closest approach time calculation module calculates the closest approach distance between the target ship and the own ship based on the determined distance between the own ship and the target ship, the relative velocity vector, the determined azimuth of the target ship relative to the own ship, and the angle formed by the relative velocity vector and the line connecting the own ship's position, and calculates the closest approach time between the target ship and the own ship based on the determined distance between the own ship and the target ship and the angle formed by the relative velocity vector and the line connecting the own ship's position;

[0023] The ship collision avoidance test scenario generation module automatically generates a plurality of different types of ship collision avoidance test scenarios based on the generated scenario initial parameters, the speeds of the own ship and the target ship, the closest approach distance, and the closest approach time.

[0024] Preferably, the ship encounter situation includes an overtaking scenario, a head-on encounter scenario and an intersection encounter scenario.

[0025] Preferably, in the scenario type determination and parameter range setting module, dividing the ship encounter situation according to the heading angle and the quantified azimuth of the target ship relative to the own ship includes: dividing the ship encounter situation into port and starboard according to the azimuth of the target ship relative to the own ship, and dividing the intersection encounter scenario into small-angle intersection encounter and large-angle intersection encounter according to the heading angle difference between the own ship and the target ship.

[0026] Preferably, in the scenario type determination and parameter range setting module, the initial encounter situation of the two ships is also classified according to the distance range between the own ship and the target ship. If the distance between the own ship and the target ship is greater than the first preset distance threshold and is less than or equal to the urgent danger distance threshold, the initial encounter situation is regarded as an urgent danger situation; if the distance between the own ship and the target ship is greater than the urgent danger distance threshold and is less than or equal to the third preset distance threshold, the initial encounter situation is regarded as an urgent situation; if the distance between the own ship and the target ship is greater than the third preset distance threshold and is less than or equal to the fourth preset distance threshold, the initial encounter situation is regarded as a general encounter situation.

[0027] Preferably, the imminent danger distance threshold is the ship's emergency braking distance plus a 50% safety margin distance, and it is judged whether the ship is sailing in the polar region. If there is floating ice during the ship's polar navigation, the imminent danger distance threshold is the ship's emergency braking distance plus a 100% safety margin distance.

[0028] The beneficial effects of the present invention are:

[0029] The present invention provides a method for generating ship collision avoidance test scenarios based on international regulations for preventing collisions at sea. The method comprises the following steps: first, obtaining AIS data of a host ship and a target ship, determining a ship encounter situation based on the AIS data and international regulations for preventing collisions at sea, performing parameter decoupling on the ship encounter situation to achieve azimuth quantification and distance quantification, and then dividing the ship encounter situation based on the heading angle and the quantified azimuth of the target ship relative to the host ship to obtain multiple scenario types. The heading angle range of the host ship and the target ship, as well as the azimuth range of the target ship relative to the host ship, are set according to the scenario type, and the distance range between the host ship and the target ship is set based on international regulations for preventing collisions at sea. Then, a random number generator randomly selects values ​​within different ranges as initial scenario parameters, and a specific calculation method is used to quickly obtain a large number of different types of ship collision avoidance test scenarios. That is, the present invention divides the ship encounter situations into multiple levels according to the quantized azimuth and distance based on various encounter situations specified in international regulations for preventing collisions at sea, and randomly selects values ​​within different ranges. This allows for the rapid acquisition of a large number of different types of ship collision avoidance test scenarios, ensuring the diversity and comprehensiveness of the test scenarios, thereby effectively solving the problem of poor comprehensiveness in traditional ship collision avoidance scenario generation. The present invention is based on actual maritime collision avoidance test data and quantifies concepts related to collision avoidance, such as azimuth and distance. By quantifying important concepts related to maritime collision avoidance rules, complex encounter situations can be parameterized and decoupled according to the azimuth and distance of the target ship. By superimposing the speed and heading data of the own ship and the target ship, a parameterized collision avoidance test scenario can be constructed. Therefore, a large number of different types of ship collision avoidance test scenarios can be automatically obtained. In addition, the ship collision avoidance test scenarios are generated in a process-based and parallel manner, with high scenario generation efficiency, controllable scenario differentiation, and high test credibility.

[0030] The present invention also relates to a ship collision avoidance test scenario generation system based on maritime collision avoidance rules. The system corresponds to the above-mentioned ship collision avoidance test scenario generation method based on maritime collision avoidance rules, and can be understood as a system for implementing the above-mentioned ship collision avoidance test scenario generation method based on maritime collision avoidance rules. The system comprises a data acquisition and parameter decoupling module, a scenario type determination and parameter range setting module, a scenario initial parameter generation module, a relative velocity vector calculation module, a closest encounter distance and closest encounter time calculation module, and a ship collision avoidance test scenario generation module, which are connected in sequence. The modules work together to perform parameter decoupling on the ship encounter situation based on various types of ship encounter situations specified in maritime collision avoidance rules under AIS data, realize azimuth quantization and distance quantization, divide the ship encounter situation into multiple scenario types according to azimuth and heading angle, and divide the ship encounter situation into multiple levels according to distance. A large number of different types of ship collision avoidance test scenarios are quickly acquired by randomly taking values ​​within different ranges and adopting a specific calculation method, thereby effectively solving the problem of poor comprehensiveness of traditional ship collision avoidance scenario generation. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 The present invention is a flow chart of a method for generating a ship collision avoidance test scenario based on maritime collision avoidance rules.

[0032] Figure 2 It is a schematic diagram of the ship encounter situation of the present invention. DETAILED DESCRIPTION

[0033] The present invention will be described below with reference to the accompanying drawings.

[0034] The present invention relates to a method for generating a ship collision avoidance test scenario based on maritime collision avoidance rules. The method decouples the complex encounter situation according to the target ship azimuth and target ship distance, and superimposes the initial speed and heading data of the own ship and the target ship to form a parameterized collision avoidance test scenario. The flowchart of the method is shown in FIG. Figure 1 As shown, the following steps are included in sequence:

[0035] 1. Data acquisition and parameter decoupling steps: Obtain the AIS data of the own ship and the target ship. The AIS data includes the latitude and longitude position information, heading angle, own ship speed and target ship speed of the own ship and the target ship. According to the acquired AIS data and based on the Regulations for Preventing Collisions at Sea, the ship encounter situation is determined. That is, according to Articles 13, 14 and 15 of the Regulations for Preventing Collisions at Sea, the ship encounter situation is divided into overtaking, meeting and crossing. Then, the ship encounter situation is parameterized and decoupled to achieve azimuth quantification and distance quantification, and the azimuth of the target ship relative to the own ship is quantified and calculated respectively, that is, Figure 1 The azimuth of the target ship shown is quantified, that is, the azimuth of the target ship relative to the own ship is calculated according to the longitude and latitude of the own ship and the longitude and latitude of the target ship, and the distance between the own ship and the target ship is quantitatively calculated, that is, Figure 1 Quantification of target ship distance shown.

[0036] Specifically, the AIS data of the own ship and the target ship are first queried from the database. The AIS data includes the initial latitude and longitude position information of the own ship and the target ship, the heading angle θ of the own ship, and the target ship's heading angle θ. O 、Target ship heading angle θ T 、Own ship speed V O and target ship speed V T , and according to the longitude and latitude of the ship (lon O ,lat O ) and the target ship's latitude and longitude (lon T ,lat T ) respectively calculate the azimuth angle θ of the target ship relative to the own ship d And the distance d0 between the own ship and the target ship. Among them, the distance between two points on the earth's surface is calculated according to the Haversine formula:

[0037]

[0038] In the above formula, a is an intermediate variable calculated using spherical trigonometric functions, which represents the projection ratio of the straight-line distance between two points on the sphere, c is the length of the arc between the two points on the earth's surface, and R is the radius of the earth.

[0039] 2. Scenario type determination and parameter range setting step, which can also be called the ship encounter situation quantification and parameter range setting step: the ship encounter situation is divided according to the heading angle and the quantified azimuth of the target ship relative to the own ship to obtain multiple scenario types, and the heading angle range of the own ship and the target ship, as well as the azimuth range of the target ship relative to the own ship are set according to the scenario type, and the distance range between the own ship and the target ship is set based on the International Regulations for Preventing Collisions at Sea.

[0040] Specifically, if Figure 2 As shown in the figure, the ship encounter situation is first divided into port and starboard based on the quantified azimuth of the target ship relative to the own ship. The intersection encounter scenario is then divided into small-angle intersection encounter and large-angle intersection encounter based on the heading angle difference between the own ship and the target ship. This results in multiple scenario types. In other words, the ship encounter situation is quantified and subdivided into multiple levels. The heading angle range of the own ship and the target ship, as well as the azimuth range of the target ship relative to the own ship, are then set according to the scenario type. The ship encounter situation quantification is shown in Table 1.

[0041] Table 1

[0042]

[0043]

[0044] After quantifying the ship encounter situation, the distance range between the own ship and the target ship is set based on the quantified distance between the own ship and the target ship and the International Regulations for Preventing Collisions at Sea. The initial encounter situation of the two ships is classified according to the distance range between the own ship and the target ship, that is, the initial encounter situation is quantified.

[0045] Specifically, the current rules for preventing collisions at sea do not give precise definitions for many important concepts, such as urgent situations and imminent danger situations, which reflect the changing process of the relationship between ships during navigation. Therefore, the present invention quantitatively characterizes concepts such as direction and distance related to collision avoidance based on actual collision avoidance test data at sea. The present invention is based on the International Regulations for Preventing Collisions at Sea and classifies the initial encounter situation of the two ships according to the distance range between the own ship and the target ship. If the distance between the own ship and the target ship is greater than the first preset distance threshold and less than or equal to the imminent danger distance threshold D S, that is, 0<distance≤D S , then the initial encounter situation is regarded as an imminent danger situation; if the distance between the ship and the target ship is greater than the imminent danger distance threshold and less than the third preset distance threshold, that is, D S If the distance between the own ship and the target vessel is greater than the third preset distance threshold and less than the fourth preset distance threshold, that is, 1 < distance ≤ 6, the initial encounter situation is considered a normal encounter situation. This means that the initial encounter situation is classified according to the distance between the own ship and the target vessel, and during the avoidance phase, it is divided into normal encounter situations, urgent situations, and imminent danger situations. This can also be called the quantification of the initial encounter situation, as shown in Table 2.

[0046] Table 2:

[0047] Type Name Minimum distance (nmile) Maximum distance (nmile) Usually encounter situations 1 6** Urgent situation <![CDATA[D S ]]> 1 Imminent and dangerous situation 0 <![CDATA[D S *]]>

[0048] A "normal situation" refers to avoiding an urgent situation under any visibility conditions. A "urgent situation" means that a single vessel cannot pass at a safe distance. An "imminent danger situation" means that a collision cannot be avoided by a single vessel.

[0049] It should be noted that the imminent danger distance D S This refers to the ship's emergency braking distance plus a 50% safety margin. During polar navigation, if there is drifting ice, the imminent danger distance needs to be further increased to the ship's emergency braking distance plus a 100% safety margin. The 6 nautical miles requirement for detecting the target vessel is required by the Regulations for Preventing Collisions at Sea, so only situations within 6 nautical miles are considered.

[0050] 3. Steps for generating initial parameters for the scenario: Within the respective set ranges, a random number generator is used to randomly generate the heading angle determination values ​​of the host ship and the target ship, the azimuth determination value of the target ship relative to the host ship, and the distance determination value between the host ship and the target ship. The randomly generated determination values ​​are all used as the initial parameters for the scenario.

[0051] That is to say, after the value ranges of the initial heading angles, azimuth angles and distances of the own ship and the target ship are determined, the present invention randomly generates a certain value within each value range through a computer random value method as the initial parameter of the scene, and then generates a parameterized collision avoidance test scene in subsequent steps.

[0052] 4. Relative speed vector calculation steps: Calculate the own ship's speed vector based on the determined value of the own ship's heading angle and the own ship's speed, and calculate the target ship's speed vector based on the determined value of the target ship's heading angle and the target ship's speed. Calculate the relative speed vector of the target ship relative to the own ship based on the own ship's speed vector and the target ship's speed vector.

[0053] Specifically, let the ship's speed be VO , the determined value of the ship's heading angle is θ O , the target ship speed is V T , the heading angle of the target ship is determined to be θ T , determine the value θ according to the ship's heading angle O and own ship's speed V O Calculate the ship's speed vector V Ox and V Oy , and determine the value θ according to the heading angle of the target ship T and target ship speed V T Calculate the target ship speed vector V Tx and V Ty , that is, converting the heading angle and speed of the own ship and the target ship into the component V of the velocity vector Ox 、V Oy 、V Tx 、V Ty (Assuming that the east direction is the positive direction of the x-axis and the north direction is the positive direction of the y-axis), it can be expressed as:

[0054]

[0055] Then, the relative speed vector V of the target ship relative to the own ship is calculated based on the own ship's speed vector and the target ship's speed vector. R , then:

[0056]

[0057] Among them, V R is the magnitude of the relative velocity vector, θ R is the direction of the relative velocity vector (angle relative to the x-axis).

[0058] 5. Calculation steps for closest approach distance and closest approach time: Calculate the closest approach distance between the target ship and own ship based on the determined distance between own ship and target ship, the relative velocity vector, the determined azimuth of the target ship relative to own ship, and the angle formed by the relative velocity vector and the line connecting own ship's position. Calculate the closest approach time between own ship and target ship based on the determined distance between own ship and target ship and the angle formed by the relative velocity vector and the line connecting own ship's position.

[0059] Specifically, the value d0, the relative speed vector The azimuth angle of the target ship relative to the own ship is determined as θ d The angle α formed by the relative velocity vector and the line connecting the own ship's position is used to calculate the closest approach distance DCPA between the target ship and the own ship. The collision point of the two ships can be determined based on the calculated closest approach distance DCPA. The value d0 and the relative velocity vector are determined based on the distance between the own ship and the target ship. The angle α formed by the line connecting the target ship and the own ship's position is used to calculate the closest approach time TCPA between the target ship and own ship. The calculation formula is as follows:

[0060]

[0061] Where D is the closest approach distance DCPA between the own ship and the target ship, and T is the closest approach time TCPA between the own ship and the target ship.

[0062] 6. Ship collision avoidance test scenario generation step: Based on the generated initial parameters of the scenario (i.e., the heading angles of the own ship and the target ship are determined as θ O ,θ T , the azimuth angle of the target ship relative to the own ship θ d , and the distance between the own ship and the target ship is determined by d0), the speed V of the own ship and the target ship O 、V T , closest approach distance D and closest approach time T, and automatically generate multiple different types of ship collision avoidance test scenarios.

[0063] It should be noted that in order to ensure that the ship must take necessary avoidance actions, the process of automatically generating scenarios requires that the DCPA value be as small as possible (generally 0), while ensuring that the TCPA value is greater than zero (when the TCPA value is less than zero, the DCPA point is missed and the plan is invalid).

[0064] Example:

[0065] A detailed explanation is given by taking the generation of an intersection collision avoidance scenario as an example.

[0066] 1) First, determine the initial parameter range of the own ship and the target ship.

[0067] The course angle range of own ship: assumes the course angle of own ship is between 60 degrees and 120 degrees; the azimuth range of target ship relative to own ship: assumes the target ship is between 0 degrees and 90 degrees to the starboard side of own ship; the distance range between own ship and target ship: assumes the distance is between 1 nautical mile and 3 nautical miles.

[0068] 2) Generate random initial parameters.

[0069] Randomly generate a fixed value for the course angle of the own ship: for example, the randomly generated course angle of the own ship is 90 degrees; randomly generate a fixed value for the azimuth angle of the target ship relative to the own ship: for example, the randomly generated azimuth angle of the target ship relative to the own ship is 30 degrees; randomly generate a fixed value for the distance between the own ship and the target ship: for example, the randomly generated distance is 2 nautical miles.

[0070] 3) Determine the encounter type: Based on the azimuth of the target ship relative to own ship, it is determined that this is a crossing encounter with the target ship located on the starboard side of own ship, because the azimuth of the target ship relative to own ship is 30 degrees, which is within the range of 0 degrees to 90 degrees.

[0071] 4) Calculate the distance to closest approach (DCPA) and time to closest approach (TCPA).

[0072] 5) Automatically generate a cross-contact ship collision avoidance test scenario based on the determined values ​​of the heading angles of the own ship and the target ship, the speeds of the own ship and the target ship, the determined value of the azimuth of the target ship relative to the own ship, the determined value of the distance between the own ship and the target ship, the closest encounter distance, and the closest encounter time.

[0073] The present invention also relates to a ship collision avoidance test scenario generation system based on maritime collision avoidance rules. The system corresponds to the above-mentioned ship collision avoidance test scenario generation method based on maritime collision avoidance rules, and can be understood as a system for implementing the above-mentioned method. The system includes a data acquisition and parameter decoupling module, a scenario type determination and parameter range setting module, a scenario initial parameter generation module, a relative speed vector calculation module, a closest encounter distance and closest encounter time calculation module, and a ship collision avoidance test scenario generation module, which are connected in sequence. Specifically,

[0074] The data acquisition and parameter decoupling module acquires AIS data of the own ship and the target ship, wherein the AIS data includes the latitude and longitude position information, heading angle, own ship speed and target ship speed of the own ship and the target ship, determines the ship encounter situation based on the acquired AIS data and the rules for avoiding collisions at sea, and then performs parameter decoupling on the ship encounter situation to achieve azimuth quantification and distance quantification, and quantitatively calculates the azimuth of the target ship relative to the own ship and the distance between the own ship and the target ship respectively;

[0075] The scenario type determination and parameter range setting module divides the ship encounter situation according to the heading angle and the quantified azimuth of the target ship relative to the own ship to obtain multiple scenario types, sets the heading angle range of the own ship and the target ship, and the azimuth range of the target ship relative to the own ship according to the scenario type, and sets the distance range between the own ship and the target ship according to the quantified distance between the own ship and the target ship and based on the rules for avoiding collisions at sea;

[0076] The scenario initial parameter generation module randomly generates, within respective set ranges, determined values ​​of the course angles of the host ship and the target ship, determined values ​​of the azimuth of the target ship relative to the host ship, and determined values ​​of the distance between the host ship and the target ship using a random number generator, and each of the randomly generated determined values ​​serves as the scenario initial parameters;

[0077] The relative speed vector calculation module calculates the own ship's speed vector based on the determined value of the own ship's heading angle and the own ship's speed, calculates the target ship's speed vector based on the determined value of the target ship's heading angle and the target ship's speed, and calculates the relative speed vector of the target ship relative to the own ship based on the own ship's speed vector and the target ship's speed vector;

[0078] The closest approach distance and closest approach time calculation module calculates the closest approach distance between the target ship and the own ship based on the determined distance between the own ship and the target ship, the relative velocity vector, the determined azimuth of the target ship relative to the own ship, and the angle formed by the relative velocity vector and the line connecting the own ship's position, and calculates the closest approach time between the target ship and the own ship based on the determined distance between the own ship and the target ship and the angle formed by the relative velocity vector and the line connecting the own ship's position;

[0079] The ship collision avoidance test scenario generation module automatically generates a plurality of different types of ship collision avoidance test scenarios based on the generated scenario initial parameters, the speeds of the own ship and the target ship, the closest approach distance, and the closest approach time.

[0080] Preferably, the ship encounter situation includes an overtaking scenario, a head-on encounter scenario and a cross-encounter scenario.

[0081] Preferably, in the scenario type determination and parameter range setting module, dividing the ship encounter situation according to the heading angle and the quantified azimuth angle of the target ship relative to the own ship includes: dividing the ship encounter situation into port and starboard according to the azimuth angle of the target ship relative to the own ship, and dividing the intersection encounter scenario into small-angle intersection encounter and large-angle intersection encounter according to the heading angle difference between the own ship and the target ship.

[0082] Preferably, in the scene type determination and parameter range setting module, the initial encounter situation of the two ships is also classified according to the distance range between the own ship and the target ship. If the distance between the own ship and the target ship is greater than the first preset distance threshold and is less than or equal to the urgent danger distance threshold, the initial encounter situation is regarded as an urgent danger situation; if the distance between the own ship and the target ship is greater than the urgent danger distance threshold and is less than or equal to the third preset distance threshold, the initial encounter situation is regarded as an urgent situation; if the distance between the own ship and the target ship is greater than the third preset distance threshold and is less than or equal to the fourth preset distance threshold, the initial encounter situation is regarded as a general encounter situation.

[0083] Preferably, the imminent danger distance threshold is the ship's emergency braking distance plus a 50% safety margin distance, and it is judged whether the ship is sailing in the polar region. If there is floating ice during the ship's polar navigation, the imminent danger distance threshold is the ship's emergency braking distance plus a 100% safety margin distance.

[0084] The present invention provides an objective and scientific method and system for generating ship collision avoidance test scenarios based on the rules for avoiding collisions at sea. Based on the various ship encounter situations specified in the rules for avoiding collisions at sea, the ship encounter situations are divided into multiple scenario types according to the azimuth and heading angles, and the ship encounter situations are divided into multiple levels according to the distance between the two ships. By randomly taking values ​​within different ranges, a large number of different types of ship collision avoidance test scenarios can be quickly obtained, thereby effectively solving the problem of poor comprehensiveness in traditional ship collision avoidance scenario generation.

[0085] It should be noted that the specific embodiments described above can enable those skilled in the art to more fully understand the present invention, but do not limit the present invention in any way. Therefore, although this specification has described the present invention in detail with reference to the drawings and embodiments, those skilled in the art should understand that the present invention can still be modified or replaced with equivalents. In short, all technical solutions and improvements that do not depart from the spirit and scope of the present invention should be included in the scope of protection of the patent for the present invention.

Claims

1. A method for generating a ship collision avoidance test scenario based on maritime collision avoidance rules, characterized in that: The following steps are involved: Data acquisition and parameter decoupling steps: acquiring AIS data of the own ship and the target ship, wherein the AIS data includes the latitude and longitude position information, heading angle, own ship speed and target ship speed of the own ship and the target ship; determining the ship encounter situation based on the acquired AIS data and the rules for avoiding collisions at sea; then performing parameter decoupling on the ship encounter situation to achieve azimuth quantification and distance quantification, and respectively quantitatively calculating the azimuth of the target ship relative to the own ship and the distance between the own ship and the target ship; Scenario type determination and parameter range setting steps: Classify the ship encounter situation according to the heading angle and the quantified azimuth of the target ship relative to the own ship to obtain multiple scenario types, set the heading angle range of the own ship and the target ship, and the azimuth range of the target ship relative to the own ship according to the scenario type, and set the distance range between the own ship and the target ship according to the quantified distance between the own ship and the target ship and based on the rules for avoiding collisions at sea; Scenario initial parameter generation step: using a random number generator to randomly generate the heading angle determination values ​​of the host ship and the target ship, the azimuth determination value of the target ship relative to the host ship, and the distance determination value between the host ship and the target ship within their respective set ranges. Each randomly generated determination value is used as the scenario initial parameter; Relative speed vector calculation steps: calculating the own ship's speed vector based on the determined value of the own ship's heading angle and the own ship's speed, calculating the target ship's speed vector based on the determined value of the target ship's heading angle and the target ship's speed, and calculating the relative speed vector of the target ship relative to the own ship based on the own ship's speed vector and the target ship's speed vector; The steps for calculating the closest approach distance and the closest approach time are as follows: the closest approach distance between the target ship and the own ship is calculated based on the determined distance value between the own ship and the target ship, the relative velocity vector, the determined azimuth value of the target ship relative to the own ship, and the angle formed by the relative velocity vector and the line connecting the own ship's position; and the closest approach time between the target ship and the own ship is calculated based on the determined distance value between the own ship and the target ship and the angle formed by the relative velocity vector and the line connecting the own ship's position; Ship collision avoidance test scenario generation step: automatically generate multiple different types of ship collision avoidance test scenarios based on the generated scenario initial parameters, the speed of the own ship and the target ship, the closest encounter distance and the closest encounter time.

2. The method for generating a ship collision avoidance test scenario based on maritime collision avoidance rules according to claim 1, characterized in that: In the data acquisition and parameter decoupling steps, the ship encounter situations include overtaking scenarios, head-on encounter scenarios and crossing encounter scenarios.

3. The method for generating a ship collision avoidance test scenario based on maritime collision avoidance rules according to claim 2, characterized in that: In the step of determining the scenario type and setting the parameter range, dividing the ship encounter situation according to the heading angle and the quantified azimuth angle of the target ship relative to the own ship includes: dividing the ship encounter situation into port and starboard according to the azimuth angle of the target ship relative to the own ship, and dividing the intersection encounter scenario into small-angle intersection encounter and large-angle intersection encounter according to the heading angle difference between the own ship and the target ship.

4. The method for generating a ship collision avoidance test scenario based on maritime collision avoidance rules according to claim 1, characterized in that: In the step of determining the scene type and setting the parameter range, the initial encounter situation of the two ships is also classified according to the distance range between the own ship and the target ship. If the distance between the own ship and the target ship is greater than the first preset distance threshold and less than or equal to the urgent danger distance threshold, the initial encounter situation is regarded as an urgent danger situation; if the distance between the own ship and the target ship is greater than the urgent danger distance threshold and less than or equal to the third preset distance threshold, the initial encounter situation is regarded as an urgent situation; if the distance between the own ship and the target ship is greater than the third preset distance threshold and less than or equal to the fourth preset distance threshold, the initial encounter situation is regarded as a general encounter situation.

5. The method for generating a ship collision avoidance test scenario based on maritime collision avoidance rules according to claim 4, characterized in that: The imminent danger distance threshold is the ship's emergency braking distance plus a 50% safety margin distance, and it is judged whether the ship is sailing in polar waters. If there is floating ice during the ship's polar sailing, the imminent danger distance threshold is the ship's emergency braking distance plus a 100% safety margin distance.

6. A ship collision avoidance test scenario generation system based on maritime collision avoidance rules, characterized in that: It includes a data acquisition and parameter decoupling module, a scenario type determination and parameter range setting module, a scenario initial parameter generation module, a relative velocity vector calculation module, a closest approach distance and closest approach time calculation module, and a ship collision avoidance test scenario generation module. The data acquisition and parameter decoupling module acquires AIS data of the own ship and the target ship, wherein the AIS data includes the latitude and longitude position information, heading angle, own ship speed and target ship speed of the own ship and the target ship, determines the ship encounter situation based on the acquired AIS data and the rules for avoiding collisions at sea, and then performs parameter decoupling on the ship encounter situation to achieve azimuth quantification and distance quantification, and quantitatively calculates the azimuth of the target ship relative to the own ship and the distance between the own ship and the target ship respectively; The scenario type determination and parameter range setting module divides the ship encounter situation according to the heading angle and the quantified azimuth of the target ship relative to the own ship to obtain multiple scenario types, sets the heading angle range of the own ship and the target ship, and the azimuth range of the target ship relative to the own ship according to the scenario type, and sets the distance range between the own ship and the target ship according to the quantified distance between the own ship and the target ship and based on the rules for avoiding collisions at sea; The scenario initial parameter generation module randomly generates, within respective set ranges, determined values ​​of the course angles of the host ship and the target ship, determined values ​​of the azimuth of the target ship relative to the host ship, and determined values ​​of the distance between the host ship and the target ship using a random number generator, and each of the randomly generated determined values ​​serves as the scenario initial parameters; The relative speed vector calculation module calculates the own ship's speed vector based on the determined value of the own ship's heading angle and the own ship's speed, calculates the target ship's speed vector based on the determined value of the target ship's heading angle and the target ship's speed, and calculates the relative speed vector of the target ship relative to the own ship based on the own ship's speed vector and the target ship's speed vector; The closest approach distance and closest approach time calculation module calculates the closest approach distance between the target ship and the own ship based on the determined distance between the own ship and the target ship, the relative velocity vector, the determined azimuth of the target ship relative to the own ship, and the angle formed by the relative velocity vector and the line connecting the own ship's position, and calculates the closest approach time between the target ship and the own ship based on the determined distance between the own ship and the target ship and the angle formed by the relative velocity vector and the line connecting the own ship's position; The ship collision avoidance test scenario generation module automatically generates a plurality of different types of ship collision avoidance test scenarios based on the generated scenario initial parameters, the speeds of the own ship and the target ship, the closest approach distance, and the closest approach time.

7. The ship collision avoidance test scenario generation system based on maritime collision avoidance rules according to claim 6, characterized in that: The ship encounter situations include overtaking scenarios, head-on encounter scenarios and crossing encounter scenarios.

8. The ship collision avoidance test scenario generation system based on maritime collision avoidance rules according to claim 7, characterized in that: In the scenario type determination and parameter range setting module, dividing the ship encounter situation according to the heading angle and the quantified azimuth angle of the target ship relative to the own ship includes: dividing the ship encounter situation into port and starboard according to the azimuth angle of the target ship relative to the own ship, and dividing the intersection encounter scenario into small-angle intersection encounter and large-angle intersection encounter according to the heading angle difference between the own ship and the target ship.

9. The ship collision avoidance test scenario generation system based on maritime collision avoidance rules according to claim 6, characterized in that: In the scenario type determination and parameter range setting module, the initial encounter situation of the two ships is also classified according to the distance range between the own ship and the target ship. If the distance between the own ship and the target ship is greater than a first preset distance threshold and less than or equal to an urgent danger distance threshold, the initial encounter situation is regarded as an urgent danger situation; if the distance between the own ship and the target ship is greater than the urgent danger distance threshold and less than or equal to a third preset distance threshold, the initial encounter situation is regarded as an urgent situation; if the distance between the own ship and the target ship is greater than the third preset distance threshold and less than or equal to a fourth preset distance threshold, the initial encounter situation is regarded as a general encounter situation.

10. The ship collision avoidance test scenario generation system based on maritime collision avoidance rules according to claim 9, characterized in that: The imminent danger distance threshold is the ship's emergency braking distance plus a 50% safety margin distance, and it is judged whether the ship is sailing in polar waters. If there is floating ice during the ship's polar sailing, the imminent danger distance threshold is the ship's emergency braking distance plus a 100% safety margin distance.

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