Navigation simulation test method and system

Abstract

The invention provides a navigation simulation test method and system, and is applied to the technical field of ship engineering, and the method comprises the steps: obtaining the state data of a ship, a target ship state list, and the number of target scenes, respectively extracting list data from a target ship distance list, a target ship speed list and a target ship course list in the target ship state list, and combining the list data as a target ship state; according to the state of the ship and the state of the target ship, the position of an actual collision point of the ship and the target ship is obtained; under the condition that the position of the actual collision point meets a specific condition, adding the state data of the ship and the state data of the target ship as a group of scene data into a simulation test list; converting the simulation test list into a simulation test file under the condition of traversing possible combinations of all target ship state data; based on the simulation test file and the target scene number, a ship navigation simulation test is carried out, a simulation test result is generated, the simulation test efficiency can be improved, and the test result is more objective and comprehensive.

Description

Technical Field

[0001] The present application relates to the field of ship engineering technology, and in particular to a navigation simulation test method and system. Background Art

[0002] Navigation simulation testing is a virtual technology that is mainly used to evaluate and optimize the design, performance and control system of unmanned ships without actually building and operating physical ships. With the development of technology, the demand for ship navigation simulation testing is growing. Before testing in a real ocean environment, predicting possible risks and challenges in a virtual environment through simulation testing can help to plan the ship's route scientifically and rationally, effectively reduce the occurrence of ship collision accidents, and thus provide safer and more reliable simulation testing support for ship navigation.

[0003] At present, many domestic ship simulation platforms and simulators still rely on manually adding ships for simulation when conducting ship collision avoidance experiments. Operators need to manually input the size data of each target ship and adjust its position, heading, speed and other parameters. The simulation test process is cumbersome and inefficient. At the same time, since operators often set parameters according to their own habits and preferences, this not only reduces the accuracy and standardization of simulation tests, but also makes the test results subjective and one-sided, thus affecting the scientificity and effectiveness of ship navigation simulation tests.

[0004] In addition, in the scenario of multiple ship encounters, the interaction and collision risk between ships are highly complex, and different encounter situations have different impacts on navigation simulation tests. In simulation tests, manually adding ships is more likely to cause errors and omissions, which is not conducive to generating a variety of ship encounter situations and ship encounter test environments.

[0005] Therefore, in the ship navigation simulation test, how to intelligently set the ship parameters and generate more comprehensive test data, while improving the efficiency of the simulation test and ensuring the objectivity and comprehensiveness of the test results is the current problem. Summary of the invention

[0006] In view of this, the embodiment of the present application provides a navigation simulation test method and system, which can intelligently set ship parameters and generate more comprehensive test data, thereby ensuring the objectivity and comprehensiveness of the test results while improving the efficiency of the simulation test. The technical solution is as follows: On the one hand, an embodiment of the present application provides a navigation simulation test method, the method comprising: S1. Obtain own ship status data, target ship status list and target scene number, wherein the own ship status data includes own ship position, own ship speed and own ship heading, and the target ship status list includes target ship distance list, target ship speed list and target ship heading list; S2, selecting one list of data from the target ship distance list, the target ship speed list and the target ship heading list respectively, and combining them as the target ship status data; S3, calculating the position of the actual collision point between the own ship and the target ship according to the own ship state data and the target ship state data; S4, when the distance between the position of the actual collision point and the position of the own ship is less than or equal to the effective encounter distance, adding the own ship state data and the target ship state data as a set of scenario data to the simulation test list, and jumping to S2; S5, converting the simulation test list into a simulation test file while traversing all combinations of the list data of the target ship distance list, the target ship speed list and the target ship heading list; S6. Perform a ship navigation simulation test based on the simulation test file and the target scene number, and generate a simulation test result.

[0007] Further, step S3 includes the following method: Setting the simulated collision time, and calculating the position of the initial collision point in combination with the own ship's speed and the own ship's heading; Based on the proposed collision time, the position of the initial collision point, the speed of the target ship and the heading of the target ship, the initial position and relative azimuth of the target ship are calculated, wherein the relative azimuth represents the azimuth and angle of the target ship relative to the own ship; The position of the actual collision point between the target ship and the own ship is obtained by similar triangle method according to the own ship position, the position of the initial collision point, the target ship initial position, the relative azimuth and the target ship distance.

[0008] Furthermore, the scene data also includes a situation number, and the situation number corresponds to different encounter situations between the target ship and the own ship. Step S4 also includes the following method: Determine the encounter situation according to the target ship distance, the target ship speed and the target ship heading; The situation number corresponding to the encounter situation is added to the simulation test list.

[0009] Furthermore, judging the encounter situation according to the target ship distance, the target ship speed and the target ship heading comprises the following method: When the target ship distance, the target ship speed and the target ship speed respectively fall within the specific distance range, specific speed range and specific heading range specified by the encounter situation, it is considered that the target ship and the own ship are in the corresponding encounter situation.

[0010] Furthermore, the encounter situation characterizes the encounter situation and urgency of the target ship and the own ship, and the encounter situation includes an urgent situation of two ships meeting, a non-urgent situation of two ships meeting, an urgent situation of overtaking, a non-urgent situation of overtaking, an urgent situation of being overtaken, a non-urgent situation of being overtaken, an urgent situation of crossing on the port side, a non-urgent situation of crossing on the port side, an urgent situation of crossing on the starboard side, and a non-urgent situation of crossing on the starboard side. The encounter situation is judged according to the distance to the target ship, the speed of the target ship and the heading of the target ship, including: Determine the degree of urgency when the target ship and the own ship meet according to the distance to the target ship; Determine the encounter situation when the target ship and the own ship meet according to the target ship speed and the target ship heading; According to the degree of urgency and the encounter situation, determine whether the encounter situation is one of the following: the urgent situation of the two ships encountering each other, the non-urgent situation of the two ships encountering each other, the urgent situation of overtaking, the non-urgent situation of overtaking, the urgent situation of being overtaken, the non-urgent situation of being overtaken, the urgent situation of crossing on the port side, the non-urgent situation of crossing on the port side, the urgent situation of crossing on the starboard side, and the non-urgent situation of crossing on the starboard side.

[0011] Furthermore, the simulation test list further includes a scene number, and the scene number represents the order in which each group of scene data is added to the simulation test list. Step S4 further includes the following method: The scenario numbers are generated based on the order in which the scenario data are added to the simulation test list.

[0012] Furthermore, the simulation test file is a csv file, and step S5 includes: When all combinations of the list data of the target ship distance list, the target ship speed list and the target ship heading list are traversed, the simulation test list is converted into a csv format output to generate a simulation test file.

[0013] Further, step S6 includes: In a case where the number of entries of the scenario data contained in the simulation test file is greater than the target scenario number, randomly sampling the scenario data in the simulation test file based on the target scenario number, selecting the scenario data for a ship navigation simulation test, and generating a simulation test result; When the number of entries of the scenario data contained in the simulation test file is less than or equal to the target number of scenarios, the target number of scenarios is updated so that the target number of scenarios is equal to the number of entries of the scenario data, and a ship navigation simulation test is performed on each scenario data in the simulation test file to generate a simulation test result.

[0014] Furthermore, the simulation test result includes a plurality of case test results, and the case test result is a test result generated by performing a ship navigation simulation test according to a certain scenario data. After step S6, the method further includes: When the use case test result is generated, the simulation test platform displays a use case end mark to remind the user that the current scenario simulation test is over; The test results of the use case and the corresponding scenario data are saved.

[0015] On the other hand, an embodiment of the present application provides a navigation simulation test system, the system comprising: A data acquisition module is used to acquire own ship status data, a target ship status list and a target scene number, wherein the own ship status data includes own ship position, own ship speed and own ship heading, and the target ship status list includes a target ship distance list, a target ship speed list and a target ship heading list; A status acquisition module, used to select one list data from the target ship distance list, the target ship speed list and the target ship heading list respectively, and combine them as the target ship status data; A position calculation module, used to calculate the position of the actual collision point between the own ship and the target ship according to the own ship state data and the target ship state data; A data adding module is used for adding the own ship status data and the target ship status data as a set of scenario data to a simulation test list when the distance between the position of the actual collision point and the own ship position is less than or equal to the effective encounter distance, and jumping to the step of selecting one list data from the target ship distance list, the target ship speed list and the target ship heading list for combination; A conversion module, for converting the simulation test list into a simulation test file while traversing all combinations of list data of the target ship distance list, the target ship speed list and the target ship heading list; The simulation module is used to perform a ship navigation simulation test based on the simulation test file and the target scene number, and generate a simulation test result.

[0016] Compared with the prior art, the at least one technical solution adopted in the embodiments of this specification can achieve the following beneficial effects: The present invention obtains own ship status data, target ship status list and target scene number. The own ship status data includes own ship position, own ship speed and own ship heading. The target ship status list includes target ship distance list, target ship speed list and target ship heading list. The more comprehensive own ship and target ship data can ensure the data accuracy of the simulation test list generated subsequently.

[0017] One list of data is selected from the target ship distance list, the target ship speed list and the target ship heading list respectively and combined as the target ship status data. According to the own ship status data and the target ship status data, the position of the actual collision point between the own ship and the target ship is calculated. The actual collision point is the position where the own ship and the target ship may avoid collision in the simulation. When the distance between the actual collision point and the own ship position is less than or equal to the effective encounter distance, the own ship status data and the target ship status data are added to the simulation test list as a set of scenario data. By comparing with the effective encounter distance, it can be ensured that the own ship and the target ship corresponding to the scenario data can form an effective encounter in the simulation, thereby ensuring the effectiveness of the simulation test.

[0018] Afterwards, jump to the step of selecting the target ship status data, so as to ensure that the combination of list data of all target ship distance lists, target ship speed lists and target ship heading lists is traversed, all test scenarios are covered as comprehensively and objectively as possible, and the ship parameters required in various scenarios are entered; further, the simulation test list is converted into a simulation test file, and the ship navigation simulation test is performed based on the simulation test file and the number of target scenarios to generate simulation test results.

[0019] In this process, based on the acquired own ship status data, target ship status list and target scenario number, a variety of ship encounter scenario data can be automatically generated, and a simulation test file can be generated according to the scenario data, so that the simulation test file can be called in the simulation test phase to build a complete intelligent ship encounter test environment. Through the simulation test method of this application, not only can the workload of operators manually setting ship parameters be reduced and the efficiency of simulation testing be improved, but also the objectivity and comprehensiveness of the test results can be ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 A flowchart of a navigation simulation test method provided by an exemplary embodiment of the present application is shown; Figure 2A flowchart of obtaining the collision point position provided by an exemplary embodiment of the present application is shown; Figure 3 A schematic diagram of obtaining the collision point position provided by another exemplary embodiment of the present application is shown; Figure 4 A flowchart of adding scene data provided by an exemplary embodiment of the present application is shown; Figure 5 A structural schematic diagram of a navigation simulation test system provided by an exemplary embodiment of the present application is shown. DETAILED DESCRIPTION

[0022] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0023] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0024] It should be noted that the terms "first", "second", etc. in the specification, claims and drawings of the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0025] A navigation simulation test method of the present invention is described below. Figure 1 It is a flowchart of a navigation simulation test method provided by an embodiment of the present invention. This specification provides method operation steps as described in the embodiment or flowchart, but may include more or fewer operation steps based on conventional or non-creative labor. The sequence of steps listed in the embodiment is only one way of executing the steps among many sequences, and does not represent the only execution sequence. When the actual signal automatic selection device product is executed, it can be executed sequentially or in parallel according to the method shown in the embodiment or the accompanying drawings (for example, in a parallel processor or multi-threaded processing environment). Specifically, Figure 1As shown, the above method may include: S1. Obtain own ship status data, target ship status list and target scene number. The target ship status list includes a target ship distance list, a target ship speed list and a target ship heading list.

[0026] In some embodiments, the above-mentioned ship status data includes the position of the ship, the speed of the ship and the heading of the ship. Specifically, the position of the ship may include longitude and latitude coordinates, sea area or waterway number; the speed of the ship (knots), including the speed at rest or anchor, may also include the bow speed and propeller speed, which is the absolute speed, also known as the true speed or ship speed, which is a measurement value that is not affected by external factors such as wind direction and water current, and is used to measure the straight-line distance movement ability of the ship; the heading is divided into absolute heading and relative heading, and the heading of the ship is the angle of the ship relative to the magnetic north or true north, which is the absolute heading. Optionally, the status data of the ship may also include other ship status data, such as the driving status of the ship, whether the ship is sailing, anchored, docked or waiting for orders, etc.; as well as the navigation communication data of the ship, the sensor data of the ship, the meteorological data, etc., which are not limited in this embodiment.

[0027] In some embodiments, the above-mentioned target scene number is a pre-set value, which can be set by the tester according to the specific ship navigation simulation test requirements. The above-mentioned target ship status list includes a target ship distance list, a target ship speed list and a target ship heading list. The target ship distance list contains multiple target ship distance data. Specifically, the target ship distance is the distance between the target ship and the own ship in a single ship encounter scenario. Similarly, the target ship speed list contains multiple target ship speed data, and the target ship heading list contains multiple target ship speed data. Exemplarily, the target ship distance data, target ship heading data and target ship speed data are selected from empirical data, or data set in advance by the tester according to the simulation test requirements. Similar to the own ship status data, the target ship heading is the angle of the target ship relative to the magnetic north or true north, which is an absolute heading; the target ship speed (knot) is an absolute speed, also known as true speed or ship speed, which is a measurement value that is not affected by external factors such as wind direction and water flow.

[0028] S2. Select one list of data from the target ship distance list, the target ship speed list and the target ship heading list respectively, and combine them as the target ship status data.

[0029] In some embodiments, the above-mentioned target ship status data may also include other ship status data, such as the target ship's driving status, whether the target ship is sailing, anchored, docked or waiting for orders, etc.; as well as target ship navigation communication data, target ship sensor data, meteorological data, etc., which are not limited in this embodiment.

[0030] S3. According to the own ship state data and the target ship state data, the position of the actual collision point between the own ship and the target ship is calculated.

[0031] In some embodiments, the position of the own ship is known, and the actual collision point is located on the extension line of the own ship's heading. The position of the actual collision point can be assumed by taking the position of the own ship as the reference point. The own ship and the target ship move forward at their respective speeds and headings, and the two will meet at the actual collision point. The distance of the target ship from the own ship when it sets off should meet the target ship distance. Therefore, the only unknown quantity can be calculated based on the own ship's position, own ship's speed and own ship's heading in the own ship's status data, and the target ship's status data, that is, the target ship distance data, target ship speed data and target ship heading data, that is, the position of the actual collision point between the own ship and the target ship is calculated.

[0032] S4. When the distance between the actual collision point and the own ship's position is less than or equal to the effective encounter distance, the own ship's state data and the target ship's state data are added to the simulation test list as a set of scenario data, and the process jumps to S2.

[0033] In some embodiments, the effective encounter distance represents the farthest distance at which the host ship and the target ship can successfully encounter each other in a single-ship encounter scenario. Since the target ship distance list, the target ship speed list and the target ship heading list all contain multiple data, multiple sets of target ship status data can be combined. However, not every set of target ship data corresponds to a target ship that can encounter the host ship on the water surface. There may also be a scenario where the target ship and the host ship's routes are staggered. The simulation test focuses on the scenario where the target ship and the host ship encounter or avoid collision. Therefore, redundant scenario data is filtered out through the effective encounter distance to improve the efficiency of the simulation test.

[0034] Correspondingly, since the target ship distance list, the target ship speed list and the target ship heading list all contain multiple data, in order to ensure the diversity and comprehensiveness of the generated target ship status data, after generating the current target ship status data, jump to step S2, so as to select different data from the three lists and combine them again, and add multiple target ship status data into the simulation test list in sequence.

[0035] S5. After traversing all combinations of list data of the target ship distance list, the target ship speed list, and the target ship heading list, convert the simulation test list into a simulation test file.

[0036] In some embodiments, the combination of list data of all target ship distance lists, target ship speed lists and target ship heading lists is traversed to ensure that the simulation test list contains comprehensive and diverse target ship status data. Exemplarily, the simulation test list can be converted into a table file format such as csv, tsv, json, etc. to generate a simulation test file, which is convenient for subsequent simulation tests to call.

[0037] S6. Perform a ship navigation simulation test based on the simulation test file and the target scenario number, and generate a simulation test result.

[0038] In some embodiments, according to the number of target scenarios, scenario data with the same number of entries in the simulation test file are retrieved, a ship navigation simulation test is performed through a simulation test platform, and simulation test results are generated, wherein the simulation test results include scenario case test results of the number of target scenarios.

[0039] In the above embodiment, the ship status data, the target ship status list and the target scene number are obtained as the initial data for simulation, and then a list data is selected from the target ship distance list, the target ship speed list and the target ship heading list in the target ship status list for combination as the target ship status data for calculation of single scene simulation; according to the ship status data and the target ship status data, the position of the actual collision point between the ship and the target ship is obtained, and the position of the actual collision point is used to judge whether the target ship and the ship can constitute an effective encounter scene. If an effective encounter can be constituted, the ship status data and the target ship status data are added to the simulation test list as a set of scene data; when traversing all possible combinations of the target ship status data, the simulation test list is converted into a simulation test file, which is convenient for subsequent simulation tests to call, and this method reduces the workload of operators to manually set ship parameters, and can improve the efficiency of simulation tests. At the same time, with the support of the acquired data, various situations of the target ship status data are traversed, and a variety of ship encounter situations can be automatically generated in combination with the ship status data. Then, a ship navigation simulation test is carried out based on the simulation test files and the target scenario number to generate simulation test results. Since more accurate and comprehensive simulation test files are called to participate in the test, the simulation test results will be more objective and diversified, and a more complete intelligent ship encounter simulation test result will be obtained.

[0040] In some embodiments, Figure 2 , Figure 3 As shown, Figure 2 A flowchart of obtaining the collision point position provided by an exemplary embodiment of the present application is shown. Figure 3 A schematic diagram of obtaining the collision point position provided by another exemplary embodiment of the present application is shown.

[0041] In step S3, the position of the actual collision point between the own ship and the target ship is calculated based on the own ship state data and the target ship state data, which can be achieved in the following way: S201, setting the simulated collision time, and calculating the position of the initial collision point in combination with the ship's speed and the ship's heading.

[0042] In some embodiments, Figure 3As shown, it includes the position of the own ship 310, the initial position of the target ship 320, the initial collision point 330, the actual position of the target ship 340, and the actual collision point 350.

[0043] First, it can be known that the actual collision point 350 is located on the extension line of the ship's heading. The simulated collision time is set, and the position of the initial collision point can be obtained according to the ship's speed and the ship's heading. The simulated collision time can be set according to the specific simulation test requirements. Preferably, the simulated collision time can be set to 100 seconds.

[0044] S202: Based on the simulated collision time, the position of the initial collision point, the speed of the target ship and the heading of the target ship, the initial position and relative azimuth of the target ship are calculated.

[0045] Exemplarily, the position of the target ship can be inferred by taking the position of the initial collision point 330 as a reference point. When the proposed collision time is known and multiplied by the target ship's speed, the distance traveled by the target ship from the initial position of the target ship to the initial collision point can be obtained. The target ship's heading is used as a constraint, and the initial position of the target ship is obtained by taking the position of the initial collision point 330 as a reference point. When the target ship's initial position and heading are known, the azimuth and angle (relative azimuth) of the target ship relative to the own ship can be calculated.

[0046] S203, according to the position of the own ship, the position of the initial collision point, the initial position of the target ship, the relative azimuth and the distance to the target ship, the position of the actual collision point between the target ship and the own ship is obtained by using a similar triangle method.

[0047] For example, in Figure 3 It can be seen that the triangle formed by the ship's position 310, the target ship's initial position 320, and the initial collision point 330, and the triangle formed by the ship's position 310, the target ship's actual position 340, and the actual collision point 350 are similar triangles to each other. At the same time, the target ship distance is the distance from the ship's position 310 to the target ship's actual position 340. When the ship's position, the initial collision point, the target ship's initial position, the relative azimuth, and the target ship's distance are known, the distance from the ship's position 310 to the actual collision point 350 can be calculated through the geometric relationship of similar triangles, thereby obtaining the position of the actual collision point 350.

[0048] In the above embodiment, by setting the simulated collision time, the initial position and the initial collision point of the target ship are preliminarily calculated, and then based on the simulated collision time, the position of the initial collision point, the speed of the target ship and the heading of the target ship, the initial position and relative azimuth of the target ship are calculated. The triangle formed by the position of the own ship, the initial position of the target ship and the initial collision point, and the triangle formed by the position of the own ship, the actual position of the target ship and the actual collision point are similar triangles to each other, and then the position of the actual collision point is calculated through the geometric relationship of the similar triangles, which facilitates the subsequent generation of a simulation test list according to the position of the actual collision point.

[0049] In some embodiments, Figure 4 As shown, Figure 4 A flowchart for adding scene data provided by an exemplary embodiment of the present application is shown.

[0050] In some embodiments, the scenario data further includes a situation number, and the situation number corresponds to different encounter situations of the target ship and the own ship. In step S4, when the distance between the position of the actual collision point and the position of the own ship is less than or equal to the effective encounter distance, the own ship state data and the target ship state data are added to the simulation test list as a set of scenario data, and the process is skipped to S2, which also includes the following method: S401. Determine the encounter situation according to the distance, speed and heading of the target ship.

[0051] Specifically, when the target ship distance, target ship speed and target ship speed respectively fall into the specific distance range, specific speed range and specific heading range specified by the encounter situation, the target ship and the own ship are considered to be in the corresponding encounter situation. Exemplarily, the specific speed range represents the range of relative speeds between the own ship and the target ship, the specific distance range represents the range of relative distances between the own ship and the target ship, and the specific heading range represents the heading range of the own ship relative to the heading of the target ship.

[0052] Exemplarily, the encounter situation characterizes the encounter situation and urgency of the target ship and the own ship. The encounter situation includes an urgent situation of two ships meeting, a non-urgent situation of two ships meeting, an urgent situation of overtaking, a non-urgent situation of overtaking, an urgent situation of being overtaken, a non-urgent situation of being overtaken, an urgent situation of crossing on the port side, a non-urgent situation of crossing on the port side, an urgent situation of crossing on the starboard side, and a non-urgent situation of crossing on the starboard side. The encounter situation is judged according to the distance from the target ship, the speed of the target ship and the heading of the target ship. Therefore, judging the encounter situation according to the distance from the target ship, the speed of the target ship and the heading of the target ship includes the following methods: 1. Determine the urgency of the encounter between the target ship and own ship based on the distance to the target ship.

[0053] 2. Determine the encounter situation between the target ship and own ship based on the target ship's speed and heading.

[0054] 3. According to the degree of urgency and the encounter situation, determine whether the encounter situation is one of the following: an urgent situation of two ships encountering each other, a non-urgent situation of two ships encountering each other, an urgent situation of overtaking, a non-urgent situation of overtaking, an urgent situation of being overtaken, a non-urgent situation of being overtaken, an urgent situation of crossing on the port side, a non-urgent situation of crossing on the port side, an urgent situation of crossing on the starboard side, or a non-urgent situation of crossing on the starboard side.

[0055] In practical applications, the ten encounter situations each correspond to a specific distance range, speed range, and heading range. In a possible implementation, the specific distance range, speed range, and heading range of the ten encounter situations can be set according to the following data: The situation of two ships encountering each other: Relative distance: 2-3 nautical miles (urgent) / 4-5 nautical miles (non-urgent) Speed: 8-14 knots Heading: 157.5 degrees - 202.5 degrees Starboard Crossing Situation: Relative distance: 2-3 nautical miles (urgent) / 4-5 nautical miles (non-urgent) Speed: 8-20 knots Heading: 202.5 degrees - 292.5 degrees Step 13: The value range of port crossing situation step 3 is: Relative distance: 2-3 nautical miles (urgent) / 4-5 nautical miles (non-urgent) Speed: 8-20 knots Heading: 67.5 degrees - 157.5 degrees Step 14: The value range of overtaking situation step 3 is: Relative distance: 2-3 nautical miles (urgent) / 4-5 nautical miles (non-urgent) Speed: 2-4 knots Heading: 292.5 degrees - 360 degrees and 0 degrees to 67.5 degrees Step 15: The value range of step 3 for being overtaken is: Relative distance: 2-3 nautical miles (urgent) / 4-5 nautical miles (non-urgent) Speed: 20-28 knots Heading: 292.5 degrees - 360 degrees and 0 degrees to 67.5 degrees S402, adding the situation number corresponding to the encountered situation to the simulation test list.

[0056] In some embodiments, the two-ship encounter urgent situation, the two-ship encounter non-urgent situation, the overtaking urgent situation, the overtaking non-urgent situation, the overtaking urgent situation, the overtaking non-urgent situation, the port crossing urgent situation, the port crossing non-urgent situation, the starboard crossing urgent situation, and the starboard crossing non-urgent situation are numbered 1-10 in sequence.

[0057] In some embodiments, the above ten encounter situations are all single-ship encounter situations. In actual applications, there are also multi-ship encounter situations. Exemplarily, the encounter situations may also include: two-ship encounter, four-ship encounter and ten-ship encounter. Accordingly, these three encounter situations are numbered 11-13.

[0058] Optionally, the scene data may also include water scenes. Specifically, the water scenes are divided into open waters, narrow waterways, and separate navigation channels. Corresponding water scene numbers 1-3 are set. When the status data of the own ship and the status data of the target ship meet specific conditions, it is considered that the own ship and the target ship are sailing in the corresponding water scenes.

[0059] In the above embodiment, when the distance between the actual collision point and the position of the own ship is less than or equal to the effective encounter distance, the own ship status data and the target ship status data are added to the simulation test list as a set of scene data, and compared with the effective encounter distance, it can be ensured that the own ship and the target ship corresponding to the scene data can form an effective encounter during the simulation, thereby ensuring the effectiveness of the simulation test. At the same time, the encounter situation between the own ship and the target ship is judged, which is convenient for classifying various simulation scenarios, and can also check and supplement the simulation scenarios according to the encounter situation, which is convenient for subsequent simulation testing. In some embodiments, the simulation test list further includes a scene number, and the scene number represents the order in which each set of scene data is added to the simulation test list. Step S4 further includes the following method: Generate scenario numbers based on the order in which scenario data is added to the simulation test list.

[0060] In some embodiments, the simulation test file is a csv file, and step S5 includes: In the case of traversing all combinations of list data of target ship distance lists, target ship speed lists and target ship heading lists, the simulation test list is converted into csv format output to generate a simulation test file. Exemplarily, the generated csv file headers are, from left to right, the latitude of the ship, the longitude of the ship, the speed of the ship (knots), the heading of the ship (°), the distance of the target ship from the ship (nautical miles), the azimuth of the target ship from the ship (°), the speed of the target ship (absolute), the heading of the target ship (°), the scene number, and the situation number. The above-mentioned latitude and longitude of the ship are the position of the ship in the above-mentioned embodiment, the distance of the target ship from the ship is also the distance of the target ship in the above-mentioned embodiment, and the azimuth of the target ship from the ship is the relative azimuth in the above-mentioned embodiment.

[0061] In some embodiments, step S6 performs a ship navigation simulation test based on the simulation test file and the target scenario number, and before generating the simulation test results, it also includes a simulation test initialization step, specifically including simulating the GPS data of the ship through the simulation test platform, preferably, the sending frequency is 1HZ; the simulation test platform simulates the compass data of the ship, preferably, the sending frequency is 1HZ; the simulation test platform simulates the perception fusion module, parameter optimization, global path and speed planning module of the ship, preferably, the sending frequency is 1HZ.

[0062] In some embodiments, step S6 performs a ship navigation simulation test based on the simulation test file and the target scenario number to generate a simulation test result, which can be implemented in the following manner: When the number of scene data entries contained in the simulation test file is greater than the number of target scenes, randomly sampling is performed in the simulation test file based on the number of target scenes, scene data is selected for ship navigation simulation test, and simulation test results are generated; When the number of scene data entries contained in the simulation test file is less than or equal to the target scene number, the target scene number is updated to make the target scene number equal to the number of scene data entries, and a ship navigation simulation test is performed on each scene data in the simulation test file to generate a simulation test result.

[0063] Exemplarily, the simulation test result includes multiple use case test results, and the use case test result is a test result generated by performing a ship navigation simulation test according to a certain scenario data. When the use case test result is generated, the simulation test platform displays a use case end mark to remind the user that the current scenario simulation test is over; Save the use case test results and their corresponding scenario data so that testers can retrieve the use case test results for review. Optionally, the test result data can also be reproduced in the software as a test object, and directly called and reproduced by the simulation test platform instead of manual review.

[0064] like Figure 5 As shown, Figure 5 The following is a schematic diagram of a ship simulation system provided as an exemplary embodiment. Specifically, the system may include: The data acquisition module 501 is used to acquire the own ship status data, the target ship status list and the target scene number, the own ship status data includes the own ship position, the own ship speed and the own ship heading, and the target ship status list includes the target ship distance list, the target ship speed list and the target ship heading list; The state acquisition module 502 is used to select one list data from the target ship distance list, the target ship speed list and the target ship heading list respectively, and combine them as the target ship state data; The position calculation module 503 is used to calculate the position of the actual collision point between the own ship and the target ship according to the own ship state data and the target ship state data; The data adding module 504 is used for adding the own ship state data and the target ship state data as a set of scenario data to the simulation test list when the distance between the actual collision point and the own ship position is less than or equal to the effective encounter distance, and jumping to the step of selecting one list data from the target ship distance list, the target ship speed list and the target ship heading list for combination; A conversion module 505, for converting the simulation test list into a simulation test file while traversing all combinations of list data of the target ship distance list, the target ship speed list and the target ship heading list; The simulation module 506 is used to perform a ship navigation simulation test based on the simulation test file and the target scene number, and generate a simulation test result.

[0065] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0066] In this specification, the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the embodiments described later, the description is relatively simple, and the relevant parts can be referred to the partial description of the previous embodiments.

[0067] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A navigation simulation test method, characterized in that: The method comprises: S1. Obtain own ship status data, target ship status list and target scene number, wherein the own ship status data includes own ship position, own ship speed and own ship heading, and the target ship status list includes target ship distance list, target ship speed list and target ship heading list; S2, selecting one list of data from the target ship distance list, the target ship speed list and the target ship heading list respectively, and combining them as the target ship status data; S3, calculating the position of the actual collision point between the own ship and the target ship according to the own ship state data and the target ship state data; S4, when the distance between the position of the actual collision point and the position of the own ship is less than or equal to the effective encounter distance, adding the own ship state data and the target ship state data as a set of scenario data to the simulation test list, and jumping to S2; S5, converting the simulation test list into a simulation test file while traversing all combinations of the list data of the target ship distance list, the target ship speed list and the target ship heading list; S6. Perform a ship navigation simulation test based on the simulation test file and the target scene number, and generate a simulation test result.

2. The method according to claim 1, characterized in that: Step S3 includes the following method: Setting the simulated collision time, and calculating the position of the initial collision point in combination with the own ship's speed and the own ship's heading; Based on the proposed collision time, the position of the initial collision point, the speed of the target ship and the heading of the target ship, the initial position and relative azimuth of the target ship are calculated, wherein the relative azimuth represents the azimuth and angle of the target ship relative to the own ship; The position of the actual collision point between the target ship and the own ship is obtained by similar triangle method according to the own ship position, the position of the initial collision point, the target ship initial position, the relative azimuth and the target ship distance.

3. The method according to claim 1, characterized in that The scene data also includes a situation number, and the situation number corresponds to different encounter situations between the target ship and the own ship. Step S4 also includes the following method: Determine the encounter situation according to the target ship distance, the target ship speed and the target ship heading; The situation number corresponding to the encounter situation is added to the simulation test list.

4. The method according to claim 3, characterized in that The method of judging the encounter situation according to the target ship distance, the target ship speed and the target ship heading includes the following methods: When the target ship distance, the target ship speed and the target ship speed respectively fall within the specific distance range, specific speed range and specific heading range specified by the encounter situation, it is considered that the target ship and the own ship are in the corresponding encounter situation.

5. The method according to claim 4, characterized in that The encounter situation represents the encounter situation and urgency of the target ship and the own ship. The encounter situation includes an urgent situation of two ships meeting, a non-urgent situation of two ships meeting, an urgent situation of overtaking, a non-urgent situation of overtaking, an urgent situation of being overtaken, a non-urgent situation of being overtaken, an urgent situation of crossing on the port side, a non-urgent situation of crossing on the port side, an urgent situation of crossing on the starboard side, and a non-urgent situation of crossing on the starboard side. The encounter situation is judged according to the distance to the target ship, the speed of the target ship and the heading of the target ship, including: Determine the degree of urgency when the target ship and the own ship meet according to the distance to the target ship; Determine the encounter situation when the target ship and the own ship meet according to the target ship speed and the target ship heading; According to the degree of urgency and the encounter situation, determine whether the encounter situation is one of the following: the urgent situation of the two ships encountering each other, the non-urgent situation of the two ships encountering each other, the urgent situation of overtaking, the non-urgent situation of overtaking, the urgent situation of being overtaken, the non-urgent situation of being overtaken, the urgent situation of crossing on the port side, the non-urgent situation of crossing on the port side, the urgent situation of crossing on the starboard side, and the non-urgent situation of crossing on the starboard side.

6. The method according to claim 1, characterized in that The simulation test list also includes a scene number, and the scene number represents the order in which each group of scene data is added to the simulation test list. Step S4 also includes the following method: The scenario numbers are generated based on the order in which the scenario data are added to the simulation test list.

7. The method according to claim 1, characterized in that The simulation test file is a csv file, and step S5 includes: When all combinations of the list data of the target ship distance list, the target ship speed list and the target ship heading list are traversed, the simulation test list is converted into a csv format output to generate a simulation test file.

8. The method according to claim 1, characterized in that Step S6 includes: In a case where the number of entries of the scenario data contained in the simulation test file is greater than the target scenario number, randomly sampling the scenario data in the simulation test file based on the target scenario number, selecting the scenario data for a ship navigation simulation test, and generating a simulation test result; When the number of entries of the scenario data contained in the simulation test file is less than or equal to the target number of scenarios, the target number of scenarios is updated so that the target number of scenarios is equal to the number of entries of the scenario data, and a ship navigation simulation test is performed on each scenario data in the simulation test file to generate a simulation test result.

9. The method according to claim 1, characterized in that: The simulation test result includes a plurality of case test results, and the case test result is a test result generated by performing a ship navigation simulation test according to a certain scenario data. After step S6, the method further includes: When the use case test result is generated, the simulation test platform displays a use case end mark to remind the user that the current scenario simulation test is over; The test results of the use case and the corresponding scenario data are saved.

10. A navigation simulation test system, characterized in that: The system comprises: A data acquisition module is used to acquire own ship status data, a target ship status list and a target scene number, wherein the own ship status data includes own ship position, own ship speed and own ship heading, and the target ship status list includes a target ship distance list, a target ship speed list and a target ship heading list; A status acquisition module, used to select one list data from the target ship distance list, the target ship speed list and the target ship heading list respectively, and combine them as the target ship status data; A position calculation module, used to calculate the position of the actual collision point between the own ship and the target ship according to the state of the own ship and the state of the target ship; A data adding module, used for adding the own ship state data and the target ship state data as a set of scenario data to a simulation test list when the distance between the position of the actual collision point and the own ship position is less than or equal to the effective encounter distance, and jumping to S2; A conversion module, for converting the simulation test list into a simulation test file while traversing all combinations of list data of the target ship distance list, the target ship speed list and the target ship heading list; The simulation module is used to perform a ship navigation simulation test based on the simulation test file and the target scene number, and generate a simulation test result.

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