Ship collision avoidance method, device and equipment based on deceleration strategy, medium and product

Abstract

The invention discloses a ship collision avoidance method, device and equipment based on a deceleration strategy, a medium and a product. The method comprises the following steps: acquiring ship position and navigation state information of a ship to be processed at the current moment and corresponding object state information of at least one obstacle object at the current moment; under the condition that the target obstacle distance corresponding to the to-be-processed ship meets the preset deceleration condition, the ship navigational speed of the to-be-processed ship at the current moment is updated according to the deceleration influence parameter corresponding to the to-be-processed ship at the current moment; and determining the ship position of the to-be-processed ship at the next moment according to the predetermined resultant force of the to-be-processed ship at the current moment, the ship position and the ship navigational speed, so as to determine a collision avoidance decision of the to-be-processed ship within a preset duration after the current moment based on the ship position at the next moment and the state information of the at least one object. According to the technical scheme, the effect that the ship speed is dynamically adjusted to slow down and avoid in the process that the ship avoids the obstacle object is achieved.

Description

Technical Field

[0001] The present invention relates to the field of ship safety technology, and in particular to a ship collision avoidance method, device, equipment, medium and product based on a deceleration strategy. Background Art

[0002] In recent years, with the rapid increase in the number of ships and the development of large-scale and high-speed ships, the problem of navigation safety has become increasingly serious. Among them, ship collision at sea is the main cause of endangering the safety of ship navigation, accounting for a large proportion of marine ship traffic accidents. Therefore, during the navigation process of ships, ship collision avoidance detection is very important.

[0003] In related technologies, various algorithms are usually used to make decisions on ship steering to avoid collision. However, the marine environment is complex and changeable, and the steering space is limited in narrow waterways or port areas. Simple steering avoidance cannot guarantee the safety of ships. At the same time, frequent steering operations will increase the energy consumption and operating costs of ships, affecting economic and environmental performance. Summary of the invention

[0004] The present invention provides a ship collision avoidance method, device, equipment, medium and product based on a deceleration strategy, so as to achieve the effect of generating a ship collision avoidance decision by combining the resultant force exerted on the ship and the deceleration influencing parameters, thereby achieving the effect of dynamically adjusting the ship's speed to decelerate and avoid obstacles in the process of avoiding obstacles.

[0005] According to one aspect of the present invention, a ship collision avoidance method based on a deceleration strategy is provided, the method comprising:

[0006] Obtaining the ship position and navigation status information of the ship to be processed at the current moment and the object status information corresponding to at least one obstacle object at the current moment; wherein the navigation status information at least includes the ship speed and the ship heading; the obstacle object is an object that the ship to be processed needs to avoid within a preset obstacle detection area corresponding to the ship to be processed; the object status information includes the object position and / or motion status information;

[0007] When the target obstacle distance corresponding to the ship to be processed meets the preset deceleration condition, the ship speed of the ship to be processed at the current moment is updated according to the predetermined deceleration influence parameter corresponding to the ship to be processed at the current moment; wherein the deceleration influence parameter is used to reduce the ship speed of the ship to be processed; the target obstacle distance is the minimum distance between the ship to be processed and each obstacle object;

[0008] According to the predetermined resultant force applied to the ship to be processed at the current moment, the ship position and the ship speed, the ship position of the ship to be processed at the next moment is determined, so as to determine the collision avoidance decision of the ship to be processed within a preset time period after the current moment based on the ship position at the next moment and at least one of the object state information; wherein the resultant force is determined based on the repulsive force applied to the ship to be processed by at least one of the obstacle objects and the attractive force applied to the ship to be processed by a preset target waypoint; and the collision avoidance decision includes at least one of a collision avoidance reference path, a collision avoidance reference steering and a collision avoidance reference speed.

[0009] According to another aspect of the present invention, a ship collision avoidance device based on a deceleration strategy is provided, the device comprising:

[0010] An information acquisition module, used to acquire the ship position and navigation status information of the ship to be processed at the current moment and the object status information corresponding to at least one obstacle object at the current moment; wherein the navigation status information at least includes the ship speed and the ship heading; the obstacle object is an object that the ship to be processed needs to avoid within a preset obstacle detection area corresponding to the ship to be processed; the object status information includes object position and / or motion status information;

[0011] A ship speed update module, used for updating the ship speed of the ship to be processed at the current moment according to the predetermined deceleration influence parameter corresponding to the ship to be processed at the current moment, when the target obstacle distance corresponding to the ship to be processed meets the preset deceleration condition; wherein the deceleration influence parameter is used to reduce the ship speed of the ship to be processed; the target obstacle distance is the minimum distance between the ship to be processed and each obstacle object;

[0012] A collision avoidance decision determination module is used to determine the ship position of the ship to be processed at the next moment according to the predetermined resultant force applied to the ship to be processed at the current moment, the ship position and the ship speed, so as to determine the collision avoidance decision of the ship to be processed within a preset time period after the current moment based on the ship position at the next moment and at least one of the object state information; wherein the resultant force is determined based on the repulsive force applied to the ship to be processed by at least one of the obstacle objects and the attractive force applied to the ship to be processed by a preset target waypoint; and the collision avoidance decision includes at least one of a collision avoidance reference path, a collision avoidance reference turn and a collision avoidance reference speed.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the ship collision avoidance method based on the deceleration strategy described in any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the ship collision avoidance method based on a deceleration strategy as described in any embodiment of the present invention when executed.

[0018] According to another aspect of the present invention, a computer program product is provided, the computer program product comprising a computer program, and the computer program, when executed by a processor, implements the ship collision avoidance method based on a deceleration strategy as described in any embodiment of the present invention.

[0019] The technical solution of the embodiment of the present invention obtains the ship position and navigation state information of the ship to be processed at the current moment and the object state information corresponding to at least one obstacle object at the current moment, wherein the navigation state information at least includes the ship speed and the ship heading; further, when the target obstacle distance corresponding to the ship to be processed meets the preset deceleration condition, the ship speed of the ship to be processed at the current moment is updated according to the predetermined deceleration influence parameter corresponding to the ship to be processed at the current moment; further, the ship position of the ship to be processed at the next moment is determined according to the predetermined resultant force, the ship position and the ship speed received by the ship to be processed at the current moment. The invention is configured to determine the collision avoidance decision of the ship to be processed within a preset time period after the current moment based on the ship position at the next moment and at least one object status information, thereby solving the problem that multiple steering operations need to be frequently performed to avoid ship collisions in related technologies, thereby affecting the safety, economy and environmental protection of the ship, and achieving the effect of generating a ship collision avoidance decision by combining the combined force exerted on the ship and the deceleration influence parameters, thereby achieving the effect of dynamically adjusting the ship speed to decelerate and avoid obstacles in the process of avoiding obstacles, thereby effectively improving the ship collision avoidance effect, and achieving the effect of improving the ship collision avoidance efficiency on the basis of reducing the ship collision avoidance cost.

[0020] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 is a flow chart of a ship collision avoidance method based on a deceleration strategy provided according to Embodiment 1 of the present invention;

[0023] Figure 2 It is a schematic diagram of a comparison effect of a ship reference path within a preset time period of a ship to be processed without combining a deceleration strategy and combining a deceleration strategy according to the first embodiment of the present invention;

[0024] Figure 3 It is a schematic diagram of a comparison effect of the ship speed within a preset time period of the ship to be processed without combining the deceleration strategy and combining the deceleration strategy according to the first embodiment of the present invention;

[0025] Figure 4 2 is a schematic diagram of a structure of a ship collision avoidance system based on a deceleration strategy according to Embodiment 1 of the present invention;

[0026] Figure 5 is a flow chart of a ship collision avoidance method based on a deceleration strategy provided according to Embodiment 2 of the present invention;

[0027] Figure 6 is a flow chart of a ship collision avoidance method based on a deceleration strategy provided according to Embodiment 3 of the present invention;

[0028] Figure 7 is a flow chart of a ship collision avoidance method based on a deceleration strategy provided according to a fourth embodiment of the present invention;

[0029] Figure 8 This is a flow chart of a ship collision avoidance method based on a deceleration strategy provided in accordance with a fourth embodiment of the present invention;

[0030] Fig. 9 2 is a schematic structural diagram of a ship collision avoidance device based on a deceleration strategy provided according to Embodiment 5 of the present invention;

[0031] Fig.10 It is a structural schematic diagram of an electronic device for implementing the ship collision avoidance method based on the deceleration strategy of an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings 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, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] Embodiment 1

[0035] Figure 1 This is a flow chart of a ship collision avoidance method based on a deceleration strategy provided in the first embodiment of the present invention. This embodiment is applicable to the situation where ships avoid obstacles during navigation to avoid mutual collision. The method can be executed by a ship collision avoidance device based on a deceleration strategy. The ship collision avoidance device based on a deceleration strategy can be implemented in the form of hardware and / or software. The ship collision avoidance device based on a deceleration strategy can be configured in a terminal and / or a server. Figure 1 As shown, the method includes:

[0036] S110, obtaining the ship position and navigation status information of the ship to be processed at the current moment and the object status information corresponding to at least one obstacle object at the current moment; wherein the navigation status information at least includes the ship speed and the ship heading.

[0037] Among them, the ship to be processed may be a ship to be avoided to avoid collision with the corresponding obstacle. It can be understood that when a ship is sailing at sea, it may encounter an obstacle close to the ship. At this time, the ship performs an avoidance operation to avoid collision with the corresponding obstacle, and the ship can be used as a ship to be processed. The ship position can be used to indicate the location of the ship to be processed at the current moment. The ship position can be any form of position information, optionally, a two-dimensional coordinate. The navigation state information can be understood as information characterizing the specific navigation conditions of the ship during navigation. The navigation state information can include a variety of information characterizing the navigation conditions of the ship, optionally, at least including the ship speed and the ship heading. The ship speed is the navigation speed of the ship during navigation. The ship heading can be the navigation direction determined and maintained by the ship during navigation. Generally, during the heading process, the ship's navigation is usually represented by the angle formed by the route and the reference line in the horizontal plane, and the angle is measured by rotating clockwise from the reference line. The reference line can be a geographic meridian, a magnetic meridian or other specified reference line. In this embodiment, the obstacle object may be an object that the ship to be processed needs to avoid within the preset obstacle detection area corresponding to the ship to be processed. Optionally, the obstacle object includes a static obstacle object (e.g., a static obstacle at sea) and / or a dynamic obstacle object (e.g., other ships, etc.). The preset obstacle detection area may be an area constructed with the ship to be processed as the center and a preset detection distance as the radius, and the area is the area that the obstacle detection device corresponding to the ship to be processed can cover. Generally, an obstacle detection device corresponding to the ship to be processed may be set, and a preset detection distance corresponding to the obstacle detection device may be determined. Furthermore, during the navigation process of the ship to be processed, a detection area may be constructed with the ship to be processed as the center and a preset detection distance as the radius to detect obstacle objects in the detection area, and the detection area may be used as a preset obstacle detection area. The object state information may be used to characterize the information of the external manifestation characteristics of the obstacle object. Optionally, the object state information includes the object position and / or motion state information. The object position may be used to indicate the location of the obstacle object at the current moment. The object position may be any form of position information, and optionally, it may be a two-dimensional coordinate. The motion state information may be used to characterize the information of the specific motion of the obstacle object. Optionally, when the dynamic obstacle objects included in the obstacle objects are other ships, the motion state information may be navigation state information.

[0038] In this embodiment, during the navigation process of the ship to be processed, when an obstacle object is detected within the preset obstacle detection area corresponding to the ship to be processed, the ship to be processed can be controlled to execute the collision avoidance process. In order to effectively avoid collision between the ship to be processed and the obstacle object, the ship position and navigation state information of the ship to be processed at the current moment and the object position and / or motion state information corresponding to at least one obstacle object at the current moment can be obtained. Furthermore, the collision avoidance strategy corresponding to the ship to be processed can be determined based on the acquired information.

[0039] As an optional implementation of this embodiment, the ship position and navigation status information of the ship to be processed at the current moment and the object status information corresponding to at least one obstacle object at the current moment can be obtained by the sensor set on the ship to be processed. Further, in order to improve the accuracy of the collision avoidance decision, the acquired object status information can be processed according to the preset preprocessing method to update the object status information. Among them, the sensor can include a global positioning system (GPS), an automatic identification system (AIS), and a radar detection system. The preprocessing method can include at least one of data screening, data source fusion, and data synchronization. Data source fusion can be understood as screening out a data source from at least one data source as a target data source, and using the data of the target data source as the required data. Exemplarily, the acquired object status information includes object status information obtained by AIS and object status information obtained by a radar detection system. In general, the detection data obtained by AIS is more accurate than that of a radar detection system. Furthermore, the acquired object status information is subjected to data fusion, and AIS can be used as the target data source, and the object status information obtained by AIS can be used as the final required object status information.

[0040] S120. When the target obstacle distance corresponding to the ship to be processed meets the preset deceleration condition, the ship speed of the ship to be processed at the current moment is updated according to the predetermined deceleration influence parameter corresponding to the ship to be processed at the current moment.

[0041] The target obstacle distance may be used to characterize the minimum distance between the ship to be processed and each obstacle object. The preset deceleration condition may be a standard for measuring whether the ship to be processed needs to decelerate while avoiding the obstacle object. The preset deceleration condition may include at least one information for measuring whether deceleration is needed for avoidance, and optionally, a preset distance threshold. The deceleration effect parameter may be a parameter for reducing the speed of the ship. In other words, the deceleration effect parameter may be a parameter that inhibits the speed of the ship.

[0042] In this embodiment, the target obstacle distance corresponding to the ship to be processed can be determined according to the ship position of the ship to be processed and the object position of each obstacle object. Further, the target obstacle distance can be compared with the preset deceleration condition, and when it is determined that the target obstacle distance meets the preset deceleration condition, the deceleration influence parameter corresponding to the current moment is determined. Furthermore, the ship speed of the ship to be processed at the current moment can be updated according to the deceleration influence parameter.

[0043] As an optional implementation of this embodiment, the preset condition includes a preset distance threshold. When the target obstacle distance corresponding to the ship to be processed is obtained, the target obstacle distance can be compared with the preset distance threshold. Furthermore, when the target obstacle distance is less than the preset distance threshold, the deceleration influence parameter at the current moment can be determined, and the collision avoidance reference speed corresponding to the ship to be processed at the current moment can be determined according to the deceleration influence parameter, and the collision avoidance reference speed is used as the ship speed corresponding to the ship to be processed at the current moment, so as to update the ship speed.

[0044] It should be noted that, when the target obstacle distance corresponding to the ship to be processed does not meet the preset deceleration condition, there is no need to update the ship speed, and the ship speed of the ship to be processed at the current moment remains unchanged.

[0045] S130. Determine the ship position of the ship to be processed at the next moment according to the predetermined resultant force, the ship position and the ship speed received by the ship to be processed at the current moment, so as to determine the collision avoidance decision of the ship to be processed within a preset time period after the current moment based on the ship position at the next moment and at least one object state information.

[0046] Among them, the resultant force can be determined based on the repulsive force applied by at least one obstacle object to the ship to be processed and the attractive force applied by the preset target waypoint to the object to be processed. In other words, the resultant force can be the force obtained by synthesizing at least one repulsive force and attractive force on the ship to be processed. The resultant force can be to guide the ship to be processed to sail to the target waypoint while avoiding the obstacle object. The preset duration can be the predicted duration of the collision avoidance decision trajectory set in advance. The preset duration can be any time length, optionally, 10 minutes, 20 minutes or 30 minutes, etc. The collision avoidance decision can be used to indicate the obstacle avoidance strategy and / or deceleration strategy of the ship to be processed within the preset duration after the current moment. The collision avoidance decision can be used to indicate that the ship to be processed sails to the target waypoint while avoiding the obstacle object within the preset duration after the current moment. Optionally, the collision avoidance decision may include at least one of a collision avoidance reference path, a collision avoidance reference steering and a collision avoidance reference speed. The collision avoidance reference path can be a reference path based on which the ship to be processed avoids each obstacle object and sails to the target waypoint. The collision avoidance reference steering may be a reference steering based on which the ship to be processed avoids each obstacle object and sails to the target waypoint, and the reference steering may include a direction and an angle. The collision avoidance reference speed may be a reference speed based on which the ship to be processed avoids each obstacle object and sails to the target waypoint.

[0047] In this embodiment, when the resultant force on the ship to be processed and the updated ship speed corresponding to the ship to be processed are obtained, the ship position of the ship to be processed at the next moment can be predicted based on the ship position of the ship to be processed at the current moment, the resultant force on the ship to be processed and the ship speed of the ship to be processed at the current moment.

[0048] Optionally, the ship position of the ship to be processed at the next moment is determined based on the predetermined resultant force, ship position and ship speed that the ship to be processed is subjected to at the current moment, including: determining the time difference between the current moment and the next moment; determining the product of the ship speed, the time difference and the resultant force that the ship to be processed is subjected to at the current moment as the displacement to be superimposed, and adding the ship position to the displacement to be superimposed to obtain the ship position of the ship to be processed at the next moment.

[0049] As an optional implementation of this embodiment, the time difference between the current moment and the next moment may be determined. Further, the product of the ship speed, the time difference and the resultant force may be determined, and the product may be used as the displacement to be superimposed. Afterwards, the ship position of the position to be processed at the current moment may be added to the displacement to be superimposed, and the value obtained after the addition may be used as the ship position of the ship to be processed at the next moment.

[0050] Exemplarily, the ship position of the ship to be processed at the next moment may be determined based on the following formula:

[0051] Pown (t+1)=P own (t)+v own ·Δt·F total

[0052] Among them, P own (t+1) represents the ship position vector of the ship to be processed at the next moment; P own (t) represents the position of the ship to be processed at the current moment; v own represents the speed of the ship to be processed at the current moment; Δt represents the time difference between the current moment and the next moment; F total It indicates the resultant force on the ship to be processed at the current moment.

[0053] In this embodiment, when the ship position corresponding to the ship to be processed at the next moment is obtained, the collision avoidance decision of the ship to be processed within a preset time period after the current moment can be determined based on the ship position at the next moment.

[0054] For example, Figure 2 It is a schematic diagram of a comparison effect of a ship reference path within a preset time period of a ship to be processed without a deceleration strategy and a ship to be processed with a deceleration strategy provided in an embodiment of the present invention. Figure 2 Figure a is a schematic diagram of the ship collision avoidance path without the deceleration strategy. Figure 2 Figure b in Figure 1 is a schematic diagram of the ship collision avoidance path combined with the deceleration strategy. Figure 2 As shown in the figure, the blue line is the predicted navigation path of the obstacle ship within the preset time, the green line is the collision avoidance reference path of the ship to be processed within the preset time, and the red point is the target passing point. Figure 2 As shown in Figure a, when two ships cross each other, only turning measures are taken, and the speed remains unchanged. In order to avoid the obstacle ship, the ship to be processed turns right, causing the ship to avoid the obstacle ship to the right. As a result, a stalemate may occur in which the ship to be processed and the obstacle ship sail in parallel and the ship to be processed cannot reach the target waypoint. Figure 2 As shown in Figure b, the ship to be processed slows down and avoids the obstacle ship when approaching it, and can gradually approach the target waypoint while avoiding the obstacle ship. Figure 3 1 is a schematic diagram showing a comparison of the ship speeds of the ship to be processed within a preset time period without and with the deceleration strategy provided by an embodiment of the present invention. Figure 3As shown in the figure, the red line is the ship speed of the ship to be processed without the deceleration strategy within the preset time, and the blue line is the ship speed of the ship to be processed with the deceleration strategy within the preset time. It can be seen from the red line that the ship speed of the ship to be processed within the preset time is always maintained at 15 knots; it can be seen from the blue line that the ship speed of the ship to be processed gradually decreases to 5 knots at the 10th step, and then gradually increases from 5 knots to 15 knots to restore the original ship speed.

[0055] In this embodiment, when a collision avoidance decision is obtained, the ship to be processed can be controlled to slow down and avoid the collision according to the collision avoidance decision. In addition, in order to display the collision avoidance reference path more clearly and intuitively during the ship collision avoidance process, it also includes: displaying the collision avoidance reference path in the collision avoidance decision on the display interface of the target terminal; generating a ship control instruction based on the collision avoidance reference heading and collision avoidance reference speed in the collision avoidance decision, and executing the ship control instruction to control the ship to be processed to slow down and avoid the collision according to the collision avoidance reference heading and collision avoidance reference speed along the collision avoidance reference path.

[0056] The target terminal may be a terminal associated with the ship to be processed. Optionally, the target terminal may be a local terminal set on the ship to be processed; or, it may be a master control terminal set in a master control room associated with the ship to be processed. The ship control instruction may be an instruction for guiding and controlling the navigation and operation of the ship. Optionally, the ship control instruction may include a direction control instruction and / or a speed control instruction.

[0057] As an optional implementation of this embodiment, when a collision avoidance decision is obtained for the ship to be processed within a preset time after the current moment, the collision avoidance reference path in the collision avoidance decision can be displayed on the display interface of the target terminal. In addition, a ship control instruction can be generated based on the collision avoidance reference heading and collision avoidance reference speed in the collision avoidance decision. Furthermore, propulsion equipment such as paddles and rudders in the ship to be processed can be controlled based on the ship control instruction, so that the ship to be processed decelerates and avoids navigation along the collision avoidance reference path according to the collision avoidance reference heading and collision avoidance reference speed.

[0058] For example, Figure 4 FIG. 1 is a schematic diagram of a ship collision avoidance system based on a deceleration strategy according to an embodiment of the present invention. Figure 4As shown, the ship collision avoidance system based on the deceleration strategy includes a sensor module, a perception module, a decision module, a display, a control box and a ship propulsion device. During the navigation process of the ship to be processed, the ship position and navigation status information of the ship to be processed at the current moment and the object status information corresponding to at least one obstacle object at the current moment can be obtained based on the sensor module. Further, the acquired object status information can be screened, the data source fused and synchronized based on the perception module to update the object status information, and the updated object status information and the acquired ship position and navigation status information can be displayed based on the display. Further, the ship position and navigation status information of the ship to be processed at the current moment and the object status information corresponding to at least one obstacle object at the current moment can be processed based on the decision module, and the collision avoidance decision of the ship to be processed within a preset time after the current moment can be obtained. Further, the collision avoidance reference path in the collision avoidance decision can be displayed based on the display, and the ship control instruction can be generated based on the controller according to the collision avoidance reference steering and collision avoidance reference speed in the collision avoidance decision. Further, the ship propulsion device can be controlled based on the ship control instruction to control the ship to be processed to decelerate and avoid navigation.

[0059] The technical solution of the embodiment of the present invention obtains the ship position and navigation state information of the ship to be processed at the current moment and the object state information corresponding to at least one obstacle object at the current moment, wherein the navigation state information at least includes the ship speed and the ship heading; further, when the target obstacle distance corresponding to the ship to be processed meets the preset deceleration condition, the ship speed of the ship to be processed at the current moment is updated according to the predetermined deceleration influence parameter corresponding to the ship to be processed at the current moment; further, the ship position of the ship to be processed at the next moment is determined according to the predetermined resultant force, the ship position and the ship speed received by the ship to be processed at the current moment. The invention is configured to determine the collision avoidance decision of the ship to be processed within a preset time period after the current moment based on the ship position at the next moment and at least one object status information, thereby solving the problem that multiple steering operations need to be frequently performed to avoid ship collisions in related technologies, thereby affecting the safety, economy and environmental protection of the ship, and achieving the effect of generating a ship collision avoidance decision by combining the combined force exerted on the ship and the deceleration influence parameters, thereby achieving the effect of dynamically adjusting the ship speed to decelerate and avoid obstacles in the process of avoiding obstacles, thereby effectively improving the ship collision avoidance effect, and achieving the effect of improving the ship collision avoidance efficiency on the basis of reducing the ship collision avoidance cost.

[0060] Embodiment 2

[0061] Figure 5It is a flow chart of a ship collision avoidance method based on a deceleration strategy provided in the second embodiment of the present invention. On the basis of the above-mentioned embodiment, when the target obstacle distance corresponding to the ship to be processed is less than the first preset distance threshold, the product between the deceleration influence parameter and the preset maximum ship speed is determined as the collision avoidance reference speed of the ship to be processed at the current moment, and the collision avoidance reference speed is used as the ship speed of the ship to be processed at the current moment. The specific implementation method can be referred to the technical solution of this embodiment. Among them, the technical terms that are the same or similar to those in the above-mentioned embodiments are not repeated here.

[0062] like Figure 5 As shown, the method includes:

[0063] S210, obtaining the ship position and navigation status information of the ship to be processed at the current moment and the object status information corresponding to at least one obstacle object at the current moment; wherein the navigation status information at least includes the ship speed and the ship heading.

[0064] S220. When the target obstacle distance corresponding to the ship to be processed is less than the first preset distance threshold, determine the product of the deceleration influence parameter corresponding to the current moment and the preset maximum ship speed, obtain the collision avoidance reference speed of the ship to be processed at the current moment, and use the collision avoidance reference speed as the ship speed of the ship to be processed at the current moment.

[0065] The first preset distance threshold may be a basis for judging whether the ship needs to slow down. The first preset distance threshold may be any distance value. The maximum ship speed may be a predetermined maximum achievable speed of the ship. Generally, the maximum ship speed may be a basic parameter of the ship, which may be directly obtained from the basic configuration information of the ship to be processed.

[0066] In this embodiment, the target obstacle distance corresponding to the ship to be processed may be determined first. Then, the target obstacle distance may be compared with a first preset distance threshold. Optionally, the process of determining the target obstacle distance is: determining the distance between the ship to be processed and each obstacle object to obtain at least one first distance; determining the minimum distance of the at least one first distance as the target obstacle distance.

[0067] The first distance may be the distance between the ship to be processed and the obstacle object.

[0068] As an optional implementation of this embodiment, for at least one obstacle object, the distance between the ship to be processed and the obstacle object can be determined according to the ship position of the ship to be processed and the object position of the obstacle object, and the distance is used as the first distance. Then, at least one first distance can be obtained. Further, the first distance with the smallest distance value can be determined from the at least one first distance, and the determined first distance is used as the target obstacle distance corresponding to the ship to be processed.

[0069] In this embodiment, before updating the ship speed according to the deceleration influence parameter, the deceleration influence parameter corresponding to the ship to be processed at the current moment may be determined. Optionally, the process of determining the deceleration influence parameter is: determining the ratio between the target obstacle distance and the first preset distance threshold, and determining the product between the ratio and the preset gain coefficient as a candidate deceleration influence parameter; determining the minimum value between the candidate deceleration influence parameter and the preset deceleration influence parameter as the deceleration influence parameter of the ship to be processed at the current moment.

[0070] The preset deceleration influence parameter may be any predetermined value, and optionally, may be 1.

[0071] As an optional implementation of this embodiment, when the target obstacle distance corresponding to the ship to be processed is obtained, the ratio between the target obstacle distance and the first preset distance threshold can be determined, and the product between the ratio and the preset gain coefficient can be determined, and the product can be used as the candidate deceleration influence parameter. Further, the candidate deceleration influence parameter can be compared with the preset deceleration influence parameter, and the minimum value between the two influence parameters can be used as the deceleration influence parameter of the ship to be processed at the current moment.

[0072] Exemplarily, the deceleration impact parameter of the ship to be processed at the current moment may be determined based on the following formula:

[0073]

[0074] Among them, v factor Indicates the deceleration effect parameter; min() indicates the minimum value; k indicates the preset gain coefficient; d own,dyno represents the target obstacle distance; d1 represents the first preset distance threshold.

[0075] As an optional implementation manner of this embodiment, when it is determined that the target obstacle distance corresponding to the ship to be processed is less than the first preset distance threshold, and the deceleration influence parameter corresponding to the ship to be processed at the current moment is determined, the product between the deceleration influence parameter and the preset maximum ship speed can be determined, and the product can be used as the collision avoidance reference speed of the ship to be processed at the current moment, and then, the collision avoidance reference speed can be used as the ship speed of the ship to be processed at the current moment to update the ship speed.

[0076] It should be noted that, when the target obstacle distance corresponding to the ship to be processed is not less than the first preset distance threshold, the ship speed of the ship to be processed at the current moment can be used as the collision avoidance reference speed, that is, there is no need to update the ship speed.

[0077] S230. Determine the ship position of the ship to be processed at the next moment according to the predetermined resultant force, the ship position and the ship speed received by the ship to be processed at the current moment, so as to determine the collision avoidance decision of the ship to be processed within a preset time period after the current moment based on the ship position at the next moment and at least one object state information.

[0078] The technical solution of the embodiment of the present invention, by determining the product between the deceleration influence parameter corresponding to the current moment and the preset maximum ship speed when the target obstacle distance corresponding to the ship to be processed is less than the first preset distance threshold, obtains the collision avoidance reference speed of the ship to be processed at the current moment, and uses the collision avoidance reference speed as the ship speed of the ship to be processed at the current moment, thereby achieving the effect of adjusting the ship speed during the collision avoidance process according to the deceleration influence parameter, and achieving the effect of deceleration and avoidance during the ship collision avoidance process, thereby effectively improving the ship collision avoidance effect and the ship collision avoidance efficiency.

[0079] Embodiment 3

[0080] Figure 6 This is a flow chart of a ship collision avoidance method based on a deceleration strategy provided in the third embodiment of the present invention. On the basis of the above-mentioned embodiment, the position of the ship and the object position of at least one obstacle object are processed according to the artificial potential field algorithm to determine the resultant force on the ship to be processed at the current moment. Furthermore, the ship position of the ship to be processed at the next moment can be determined based on the ship position, ship speed and resultant force. The specific implementation method can refer to the technical solution of this embodiment. Among them, the technical terms that are the same or similar to those in the above-mentioned embodiments are not repeated here.

[0081] like Figure 6 As shown, the method includes:

[0082] S310, obtaining the ship position and navigation status information of the ship to be processed at the current moment and the object status information corresponding to at least one obstacle object at the current moment; wherein the navigation status information at least includes the ship speed and the ship heading; the object status information includes the object position and / or motion status information.

[0083] S320: Process the position of the ship and the position of at least one obstacle object according to an artificial potential field algorithm to determine the resultant force on the ship to be processed at the current moment.

[0084] It can be understood that the artificial potential field algorithm is an algorithm for path planning and obstacle avoidance, and its basic idea is to create a virtual potential field for each obstacle and target point in the environment. Usually, the repulsive potential field is used to represent the obstacle, and the ship is repelled and moves away from the obstacle; the gravitational potential field is used to represent the target point, and the ship is attracted and moves toward the target point. The combined force of the repulsive force and the gravitational force in the composite field composed of these two potential fields will guide the ship to sail, thereby generating a collision-free path. In this embodiment, the combined force can be determined based on the repulsive force applied by at least one obstacle object to the ship to be processed and the attractive force applied by the preset target waypoint to the object to be processed. In other words, the combined force can be the force obtained by synthesizing at least one repulsive force and attractive force on the ship to be processed. The combined force can be a guide to sail to the target waypoint while avoiding the obstacle object. Among them, the repulsive force applied by the obstacle object to the ship to be processed can be determined by creating a repulsive potential field using the obstacle object as the potential field source. The target waypoint can be the waypoint closest to the ship to be processed among at least one waypoint that the ship needs to pass through on the way to the destination. The attractive force exerted by the target waypoint on the object to be processed can be determined by creating a gravitational potential field using the target waypoint as a potential field source.

[0085] In this embodiment, when the ship position of the ship to be processed at the current moment and the object position of at least one obstacle object at the current moment are obtained, in order to determine the turning direction of the ship to be processed while avoiding the obstacle object and sailing towards the target waypoint, a repulsive potential field can be constructed for each obstacle object according to the artificial potential field algorithm to obtain the repulsive force applied by each obstacle object to the ship to be processed; and a gravitational potential field can be created for the target waypoint to obtain the attractive force applied by the target waypoint to the ship to be processed. Further, at least one repulsive force and attractive force are synthesized to obtain the resultant force on the ship to be processed at the current moment.

[0086] Optionally, the ship position and the object position of at least one obstacle object are processed according to an artificial potential field algorithm to determine the resultant force on the ship to be processed at the current moment, including: creating a gravitational potential field with a preset target waypoint as a potential field source and the ship to be processed as a force receiving point, and processing the ship position and the position of the preset target waypoint based on the gravitational potential field to determine the attraction exerted by the target waypoint on the ship to be processed; for at least one obstacle object, creating a repulsive potential field with the obstacle object as a potential field source and the ship to be processed as a force receiving point, and processing the ship position and the object position corresponding to the obstacle object based on the repulsive potential field to determine the repulsive force exerted by the obstacle object on the ship to be processed; synthesizing the attraction exerted by the target waypoint on the ship to be processed and the repulsive force exerted by at least one obstacle object on the ship to be processed to obtain the resultant force on the ship to be processed at the current moment.

[0087] Among them, the gravitational potential field is a force field generated by a gravitational object, which is used to describe the motion state of a particle under the action of gravity. In this field, the object is affected by gravity and has a tendency to move in a certain direction. In this embodiment, the target waypoint can be used as a potential field source to simulate the creation of a virtual gravitational potential field, which includes the ship to be processed, so that the ship to be processed is affected by the attraction force applied by the target waypoint to the ship to be processed in the gravitational potential field, and has a tendency to sail to the target waypoint. The target waypoint is the waypoint with the closest distance to the ship position among the preset multiple waypoints. The repulsive potential field can be used to describe a mutually repulsive force existing in space. In the repulsive potential field, the interaction between objects will cause repulsion between them, thereby generating movement or deformation. In this embodiment, the obstacle object can be used as a potential field source to simulate the creation of a virtual repulsive potential field, which includes the ship to be processed, so that the ship to be processed is affected by the repulsive force applied by the obstacle to the ship to be processed in the repulsive potential field, and has a tendency to sail away from the obstacle object.

[0088] In this embodiment, a waypoint closest to the ship's position can be determined from at least one predetermined waypoint according to the ship's position, and the waypoint can be used as a target waypoint. Furthermore, a virtual gravitational potential field can be created with the target waypoint as a potential field source and the ship to be processed as an acceptance point. Furthermore, the ship's position and the position of the target waypoint can be processed in the gravitational potential field to obtain the attraction exerted by the target waypoint on the ship to be processed.

[0089] As an optional implementation of this embodiment, the difference between the ship position and the position of the target waypoint can be determined. Further, the product between the difference and the gravity gain coefficient can be determined, and the product is used as the attraction of the target waypoint to the ship to be processed.

[0090] Exemplarily, the attractiveness may be determined based on the following formula:

[0091] F att =-k att (P own -P goal )

[0092] Among them, F att represents the attraction exerted by the target waypoint on the ship to be processed; - represents the direction of attraction from the target waypoint to the ship to be processed; P own Indicates the ship's position; P goal Indicates the location of the target waypoint.

[0093] In this embodiment, for at least one obstacle object, a virtual repulsive potential field can be created with the obstacle object as the potential field source and the ship to be processed as the force point. Furthermore, the ship position and the object position of the obstacle object can be processed in the repulsive potential field to obtain the repulsive force applied by the obstacle object to the ship to be processed.

[0094] Optionally, the ship position and the object position corresponding to the obstacle object are processed based on the repulsive potential field to determine the repulsive force applied by the obstacle object to the ship to be processed, including: determining the distance between the ship position and the object position of the obstacle object as the obstacle distance; when the obstacle distance is less than a second preset distance threshold, determining the repulsive force applied by the obstacle object to the ship to be processed based on the obstacle distance, the ship position, the object position and the second preset distance threshold; when the obstacle distance is not less than the second preset distance threshold, using the preset repulsive force as the repulsive force applied by the obstacle object to the ship to be processed.

[0095] The second preset distance threshold may be a reference for determining the repulsive force determination method. The second preset distance threshold may be any distance value. The preset repulsive force may be any repulsive force, and optionally, may be 0.

[0096] As an optional implementation of this embodiment, the distance between the ship position and the object position of the obstacle object can be determined, and the distance can be used as the obstacle distance, and the obstacle distance can be compared with the second preset distance threshold. Further, in the case where the obstacle distance is less than the second preset distance threshold, the difference between the reciprocal of the obstacle distance and the reciprocal of the second preset distance threshold can be determined to obtain a first value. And, the obstacle distance is squared, and the reciprocal of the square is determined as the second value, and the gradient of the obstacle distance is calculated, and the obtained gradient is used as the third value. Further, the product of the first value, the second value, the repulsion gain coefficient and the third value can be determined, and the product can be used as the repulsive force applied by the obstacle object to the ship to be processed. In the case where the obstacle distance is not less than the second preset distance threshold, the preset repulsive force can be used as the repulsive force applied by the obstacle object to the ship to be processed.

[0097] Exemplarily, the repulsive force exerted by the obstacle object on the ship to be processed may be determined based on the following formula:

[0098]

[0099] Among them, F rep represents the repulsive force exerted by the obstacle object on the ship to be processed; k rep represents the repulsion gain coefficient; ρ(P own , P dyno ) represents the obstacle distance; d2 represents the second preset distance threshold; It means to find the gradient with respect to the obstacle distance.

[0100] In this embodiment, when the attraction force exerted by the target waypoint on the ship to be processed and the repulsion force exerted by at least one obstacle object on the ship to be processed are obtained, at least one repulsion force may be summed, and the total repulsion force obtained may be added to the attraction force. Then, the force obtained after the addition is used as the resultant force exerted on the ship to be processed.

[0101] Exemplarily, the resultant force on the ship to be processed may be determined based on the following formula:

[0102] F total =F att +∑ dyno F rep

[0103] Among them, F total It represents the resultant force on the ship to be processed.

[0104] S330: When the target obstacle distance corresponding to the ship to be processed meets the preset deceleration condition, the ship speed of the ship to be processed at the current moment is updated according to the predetermined deceleration influence parameter corresponding to the ship to be processed at the current moment.

[0105] S340. Determine the ship position of the ship to be processed at the next moment according to the predetermined resultant force, ship position and ship speed received by the ship to be processed at the current moment, so as to determine the collision avoidance decision of the ship to be processed within a preset time period after the current moment based on the ship position at the next moment and at least one object status information.

[0106] The technical solution of the embodiment of the present invention determines the resultant force on the ship to be processed at the current moment by processing the ship position and the object position of at least one obstacle object according to an artificial potential field algorithm. Further, the ship position of the ship to be processed at the next moment is determined based on the predetermined resultant force on the ship to be processed at the current moment, the ship position and the ship speed, thereby achieving the effect of combining collision avoidance path planning with the artificial potential field algorithm to generate ship collision avoidance decisions, thereby enhancing the effectiveness and safety of ship collision avoidance decisions.

[0107] Embodiment 4

[0108] Figure 7It is a flow chart of a ship collision avoidance method based on a deceleration strategy provided by the fourth embodiment of the present invention. On the basis of the above-mentioned embodiments, at least one obstacle object includes a dynamic obstacle object and / or a static obstacle object; when the ship position at the next moment does not meet the preset decision-making conditions, the object position of the dynamic obstacle object at the next moment is determined according to the object state information of the dynamic obstacle object, the next moment is taken as the current moment, and the steps of determining the resultant force on the ship to be processed, updating the ship speed and determining the ship position at the next moment of the current moment are repeated until the ship position at the next moment meets the preset decision-making conditions; a collision avoidance decision for the ship to be processed within a preset time period after the current moment is generated according to the at least one determined ship position and the acquired navigation state information. Among them, the technical terms that are the same or similar to those in the above-mentioned embodiments are not repeated here.

[0109] like Figure 7 As shown, the method includes:

[0110] S410, obtaining the ship position and navigation status information of the ship to be processed at the current moment and the object status information corresponding to at least one obstacle object at the current moment; wherein the navigation status information at least includes the ship speed and the ship heading; the at least one obstacle object includes a dynamic obstacle object and / or a static obstacle object; the object status information includes the object position and / or motion status information.

[0111] S420: When the target obstacle distance corresponding to the ship to be processed meets the preset deceleration condition, the ship speed of the ship to be processed at the current moment is updated according to the predetermined deceleration influence parameter corresponding to the ship to be processed at the current moment.

[0112] S430. Determine the ship position of the ship to be processed at the next moment according to the predetermined resultant force, the ship position and the ship speed received by the ship to be processed at the current moment, so that when the ship position at the next moment does not meet the preset decision-making conditions, determine the object position of the dynamic obstacle object at the next moment according to the motion state information of the dynamic obstacle object, and / or use the acquired object position of the static obstacle object at the current moment as the object position of the static obstacle object at the next moment.

[0113] Among them, the preset decision generation condition can be a basis for measuring whether the collision avoidance decision generation standard is met. Optionally, the preset decision generation condition includes that the distance between the ship position at the next moment and the position of the preset target waypoint is less than a third preset distance threshold, or the number of executions of the ship position at the next moment reaches a preset number threshold. The motion state information can be information characterizing the motion of a dynamic obstacle object. Optionally, in the case where the dynamic obstacle object is other ships, the motion state information can be the ship's heading and the ship's speed. The number of executions of the ship position at the next moment can be the number of steps to determine the ship position at the next moment, that is, the number of iterations of the ship position at the next moment. The preset number threshold can be any pre-set number of executions.

[0114] As an optional implementation of this embodiment, after obtaining the ship position at the next moment, the ship position at the next moment can be compared with the position of the preset target waypoint, and then, when it is determined that the distance between the ship position and the position of the target waypoint is not less than the third preset distance threshold, it can be determined that the ship position at the next moment does not meet the preset decision generation condition. Furthermore, for a dynamic obstacle object among at least one obstacle object, the motion state information of the acquired dynamic obstacle object can be processed according to a preset position prediction algorithm to obtain the object position of the dynamic obstacle object at the next moment. For a static obstacle object among at least one obstacle object, the object position of the acquired static obstacle object at the current moment can be used as the object position of the static obstacle object at the next moment. Then, the object position of each obstacle object at the next moment can be obtained.

[0115] S440, taking the next moment as the current moment, and repeating the steps of determining the resultant force on the ship to be processed, updating the ship speed, and determining the ship position at the next moment of the current moment, until the ship position at the next moment meets the preset decision generation conditions.

[0116] In this embodiment, when it is determined that the ship position at the next moment does not meet the preset decision generation condition, and the object position of each obstacle object at the next moment is determined, the next moment can be used as the current moment, and the steps of determining the resultant force on the ship to be processed, updating the ship speed, and determining the ship position at the next moment of the current moment are repeatedly performed. Further, until the ship position at the next moment meets the preset decision generation condition, at least one ship position that has been determined can be obtained.

[0117] As an optional implementation mode of this embodiment, the steps of determining the resultant force acting on the ship to be processed, updating the ship speed and determining the ship position at the next moment after the current moment are repeatedly performed. Furthermore, when the distance between the obtained ship position at the next moment and the position of the preset target waypoint is less than a third preset distance threshold, it can be determined that the preset decision generation condition is met.

[0118] As another optional implementation of this embodiment, the steps of determining the resultant force acting on the ship to be processed, updating the ship's speed and determining the ship's position at the next moment after the current moment are repeatedly executed. Furthermore, when the number of times the step of determining the ship's position at the next moment is executed reaches a preset number threshold, it can be determined that the preset decision generation conditions are met.

[0119] S450: Generate a collision avoidance decision for the ship to be processed within a preset time period after the current moment according to the determined at least one ship position and the acquired navigation status information.

[0120] In this embodiment, when the ship position at each next moment after the current moment is determined, a collision avoidance reference path can be generated according to the ship position of the ship to be processed at each next moment. Also, the collision avoidance reference speed corresponding to each next moment after the current moment of the ship to be processed can be determined according to the determined ship speed of the ship to be processed at each next moment. Also, the collision avoidance reference steering of the ship to be processed at each next moment after the current moment is determined according to the determined resultant force of the ship to be processed at each moment after the current moment and the ship heading in the acquired heading state information. Further, a collision avoidance decision for the ship to be processed within a preset time length after the current moment can be generated according to the determined collision avoidance reference path, collision avoidance reference speed and collision avoidance reference steering.

[0121] For example, Figure 8 FIG. 1 is a flow chart of a ship collision avoidance method based on a deceleration strategy according to an embodiment of the present invention. Figure 8As shown, the ship position and navigation status information of the ship to be processed at the current moment and the ship position and navigation status information corresponding to the obstacle ship at the current moment can be obtained as perception information. Further, the gravitational force and repulsive force on the ship to be processed can be determined based on the ship position of the ship to be processed and the ship position of the obstacle ship, and the resultant force on the ship to be processed at the current moment can be determined based on the gravitational force and repulsive force. Further, the deceleration influence parameter can be determined, and the ship speed of the ship to be processed at the current moment can be updated according to the determined resultant force and deceleration influence parameter. Further, the ship position and attitude of the ship to be processed at the next moment can be updated according to the determined resultant force and ship speed, and when it is determined that the ship position at the next moment does not meet the preset decision generation condition, the steps of determining the resultant force on the ship to be processed, updating the ship speed and determining the ship position at the next moment of the current moment are repeated until the ship position at the next moment meets the preset decision generation condition.

[0122] The technical solution of the embodiment of the present invention is to determine the object position of the dynamic obstacle object at the next moment according to the motion state information of the dynamic obstacle object when the ship position at the next moment does not meet the preset decision generation condition; and / or, use the object position of the static obstacle object at the current moment that has been obtained as the object position of the static obstacle object at the next moment; further, use the next moment as the current moment, and repeat the steps of determining the resultant force on the ship to be processed, updating the ship speed, and determining the ship position at the next moment of the current moment until the ship position at the next moment meets the preset decision generation condition; further, generate the collision avoidance decision of the ship to be processed within a preset time after the current moment according to at least one determined ship position and the obtained navigation state information, so as to achieve the effect of iteratively determining the ship position at each moment according to the information obtained at the current moment, and then generating the ship collision avoidance decision according to the iteratively obtained information, and achieve the effect of predicting the ship collision avoidance decision at the future moment according to the information obtained at the current moment, and then achieve the automation and intelligence of ship collision avoidance.

[0123] Embodiment 5

[0124] Fig. 9 Schematic diagram of the structure of a ship collision avoidance device based on a deceleration strategy provided by Embodiment 5 of the present invention. Fig. 9 As shown, the device includes: an information acquisition module 510, a ship speed update module 520 and a ship speed update module 530.

[0125] The information acquisition module 510 is used to obtain the ship position and navigation status information of the ship to be processed at the current moment and the object status information corresponding to at least one obstacle object at the current moment; wherein the navigation status information at least includes the ship speed and the ship heading; the obstacle object is an object that the ship to be processed needs to avoid within the preset obstacle detection area corresponding to the ship to be processed; the object status information includes the object position and / or motion status information; the ship speed update module 520 is used to update the speed of the ship to be processed at the current moment according to the predetermined target obstacle distance corresponding to the ship to be processed when the target obstacle distance corresponding to the ship to be processed meets the preset deceleration condition. The deceleration influence parameter is used to update the ship speed of the ship to be processed at the current moment; wherein the deceleration influence parameter is used to reduce the ship speed of the ship to be processed; a collision avoidance decision determination module 530 is used to determine the ship position of the ship to be processed at the next moment according to the predetermined resultant force received by the ship to be processed at the current moment, the ship position and the ship speed, so as to determine the collision avoidance decision of the ship to be processed within a preset time period after the current moment based on the ship position at the next moment and at least one of the object state information; wherein the collision avoidance decision includes at least one of a collision avoidance reference path, a collision avoidance reference steering and a collision avoidance reference speed.

[0126] The technical solution of the embodiment of the present invention obtains the ship position and navigation state information of the ship to be processed at the current moment and the object state information corresponding to at least one obstacle object at the current moment, wherein the navigation state information at least includes the ship speed and the ship heading; further, when the target obstacle distance corresponding to the ship to be processed meets the preset deceleration condition, the ship speed of the ship to be processed at the current moment is updated according to the predetermined deceleration influence parameter corresponding to the ship to be processed at the current moment; further, the ship position of the ship to be processed at the next moment is determined according to the predetermined resultant force, the ship position and the ship speed received by the ship to be processed at the current moment. The invention is configured to determine the collision avoidance decision of the ship to be processed within a preset time period after the current moment based on the ship position at the next moment and at least one object status information, thereby solving the problem that multiple steering operations need to be frequently performed to avoid ship collisions in related technologies, thereby affecting the safety, economy and environmental protection of the ship, and achieving the effect of generating a ship collision avoidance decision by combining the combined force exerted on the ship and the deceleration influence parameters, thereby achieving the effect of dynamically adjusting the ship speed to decelerate and avoid obstacles in the process of avoiding obstacles, thereby effectively improving the ship collision avoidance effect, and achieving the effect of improving the ship collision avoidance efficiency on the basis of reducing the ship collision avoidance cost.

[0127] Optionally, the ship speed update module 520 is specifically used to determine the product between the deceleration impact parameter corresponding to the current moment and the preset maximum ship speed when the target obstacle distance corresponding to the ship to be processed is less than a first preset distance threshold, to obtain the collision avoidance reference speed of the ship to be processed at the current moment, and to use the collision avoidance reference speed as the ship speed of the ship to be processed at the current moment.

[0128] Optionally, the device further includes: a candidate deceleration influence parameter determination module and a deceleration influence parameter determination module.

[0129] a candidate deceleration influence parameter determination module, configured to determine a ratio between the target obstacle distance and a first preset distance threshold, and to determine a product between the ratio and a preset gain coefficient as a candidate deceleration influence parameter;

[0130] The deceleration influence parameter determination module is used to determine the minimum value between the candidate deceleration influence parameter and the preset deceleration influence parameter to serve as the deceleration influence parameter of the ship to be processed at the current moment.

[0131] Optionally, the device also includes: a combined force determination module.

[0132] a resultant force determination module, for processing the position of the ship and the object position of at least one of the obstacle objects according to an artificial potential field algorithm, and determining the resultant force to which the ship to be processed is subjected at the current moment; wherein the resultant force is determined based on the repulsive force applied by at least one of the obstacle objects to the ship to be processed and the attractive force applied by a preset target waypoint to the object to be processed.

[0133] Optionally, the resultant force determination module includes: an attraction force determination unit, a repulsion force determination unit and a resultant force determination unit.

[0134] an attraction determination unit, for creating a gravitational potential field with a preset target waypoint as a potential field source and the ship to be processed as a force receiving point, and processing the position of the ship and the position of the preset target waypoint based on the gravitational potential field to determine the attraction exerted by the target waypoint on the ship to be processed; wherein the target waypoint is the waypoint with the shortest distance to the position of the ship among the preset multiple waypoints;

[0135] a repulsive force determination unit, configured to create a repulsive potential field for at least one obstacle object, using the obstacle object as a potential field source and the ship to be processed as a force receiving point, and to process the ship position and the object position corresponding to the obstacle object based on the repulsive potential field, so as to determine the repulsive force applied by the obstacle object to the ship to be processed;

[0136] The resultant force determination unit is used to synthesize the attraction force applied by the target waypoint to the ship to be processed and the repulsion force applied by at least one obstacle object to the ship to be processed, so as to obtain the resultant force applied by the ship to be processed at the current moment.

[0137] Optionally, the repulsive force determining unit includes: an obstacle distance determining subunit, a first repulsive force determining subunit and a second repulsive force determining subunit.

[0138] an obstacle distance determination subunit, configured to determine a distance between the position of the ship and the object position of the obstacle object as the obstacle distance;

[0139] a first repulsive force determining subunit, configured to determine, when the obstacle distance is less than a second preset distance threshold, the repulsive force applied by the obstacle object to the ship to be processed according to the obstacle distance, the ship position, the object position and the second preset distance threshold;

[0140] The repulsive force second determination subunit is used to use the preset repulsive force as the repulsive force applied by the obstacle object to the ship to be processed when the obstacle distance is not less than a second preset distance threshold.

[0141] Optionally, the collision avoidance decision determination module 530 includes: a time difference determination unit and a ship position determination unit.

[0142] A time difference determining unit, used to determine the time difference between the current moment and the next moment;

[0143] The ship position determination unit is used to determine the product of the ship speed, the time difference and the resultant force applied to the ship to be processed at the current moment as the displacement to be superimposed, and add the ship position to the displacement to be superimposed to obtain the ship position of the ship to be processed at the next moment.

[0144] Optionally, at least one of the obstacle objects includes a dynamic obstacle object and / or a static obstacle object; the collision avoidance decision determination module 530 includes: an object position determination unit, a step repetition execution unit and a collision avoidance decision generation unit.

[0145] an object position determination unit, configured to determine the object position of the dynamic obstacle object at the next moment according to the motion state information of the dynamic obstacle object when the ship position at the next moment does not meet the preset decision generation condition; and / or to use the acquired object position of the static obstacle object at the current moment as the object position of the static obstacle object at the next moment;

[0146] a step repeating execution unit, configured to take the next moment as the current moment, and repeatedly execute the steps of determining the resultant force on the ship to be processed, updating the ship speed, and determining the ship position at the next moment after the current moment, until the ship position at the next moment meets the preset decision generation condition;

[0147] The collision avoidance decision generating unit is used to generate a collision avoidance decision for the ship to be processed within a preset time period after the current moment according to at least one of the determined ship positions and the acquired navigation status information.

[0148] Optionally, the preset decision generation condition includes that the distance between the ship position at the next moment and the position of the preset target waypoint is less than a third preset distance threshold, or the number of executions of the ship position at the next moment reaches a preset number threshold.

[0149] Optionally, the device also includes: a collision avoidance reference path display module and a control instruction generation module.

[0150] A collision avoidance reference path display module, used to display the collision avoidance reference path in the collision avoidance decision on a display interface of a target terminal;

[0151] The collision avoidance reference path display module is used to generate a ship control instruction according to the collision avoidance reference heading and the collision avoidance reference speed in the collision avoidance decision, and execute the ship control instruction to control the ship to be processed to slow down and avoid along the collision avoidance reference path according to the collision avoidance reference heading and the collision avoidance reference speed.

[0152] The ship collision avoidance device based on the deceleration strategy provided in the embodiment of the present invention can execute the ship collision avoidance method based on the deceleration strategy provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0153] Embodiment 6

[0154] Fig.10 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0155] like Fig.10As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0156] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0157] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The processor 11 executes the various methods and processes described above, such as a ship collision avoidance method based on a deceleration strategy.

[0158] In some embodiments, the ship collision avoidance method based on the deceleration strategy can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the ship collision avoidance method based on the deceleration strategy described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the ship collision avoidance method based on the deceleration strategy by any other appropriate means (for example, by means of firmware).

[0159] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0160] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0161] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0162] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0163] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0164] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0165] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0166] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A ship collision avoidance method based on a deceleration strategy, characterized in that: include: Obtaining the ship position and navigation status information of the ship to be processed at the current moment and the object status information corresponding to at least one obstacle object at the current moment; wherein the navigation status information at least includes the ship speed and the ship heading; the obstacle object is an object that the ship to be processed needs to avoid within a preset obstacle detection area corresponding to the ship to be processed; the object status information includes the object position and / or motion status information; When the target obstacle distance corresponding to the ship to be processed meets the preset deceleration condition, the ship speed of the ship to be processed at the current moment is updated according to the predetermined deceleration influence parameter corresponding to the ship to be processed at the current moment; wherein the deceleration influence parameter is used to reduce the ship speed of the ship to be processed; the target obstacle distance is the minimum distance between the ship to be processed and each obstacle object; Determine the ship position of the ship to be processed at the next moment according to the predetermined resultant force received by the ship to be processed at the current moment, the ship position and the ship speed, so as to determine the collision avoidance decision of the ship to be processed within a preset time period after the current moment based on the ship position at the next moment and at least one of the object state information; Wherein, the resultant force is determined based on the repulsive force applied by at least one of the obstacle objects to the ship to be processed and the attractive force applied by a preset target waypoint to the ship to be processed; and the collision avoidance decision includes at least one of a collision avoidance reference path, a collision avoidance reference steering and a collision avoidance reference speed.

2. The ship collision avoidance method based on the deceleration strategy according to claim 1 is characterized in that: When the target obstacle distance corresponding to the ship to be processed meets the preset deceleration condition, updating the ship speed of the ship to be processed at the current moment according to the predetermined deceleration influence parameter corresponding to the current moment includes: When the target obstacle distance corresponding to the ship to be processed is less than a first preset distance threshold, the product of the deceleration influence parameter corresponding to the current moment and the preset maximum ship speed is determined to obtain the collision avoidance reference speed of the ship to be processed at the current moment, and the collision avoidance reference speed is used as the ship speed of the ship to be processed at the current moment.

3. The ship collision avoidance method based on deceleration strategy according to claim 2 is characterized in that: Also includes: Determining a ratio between the target obstacle distance and a first preset distance threshold, and determining a product between the ratio and a preset gain coefficient as a candidate deceleration influence parameter; The minimum value between the candidate deceleration influence parameter and the preset deceleration influence parameter is determined as the deceleration influence parameter of the ship to be processed at the current moment.

4. The ship collision avoidance method based on deceleration strategy according to claim 1 is characterized in that: Also includes: The position of the ship and the object position of at least one of the obstacle objects are processed according to an artificial potential field algorithm to determine the resultant force on the ship to be processed at the current moment.

5. The ship collision avoidance method based on the deceleration strategy according to claim 4 is characterized in that: The processing of the ship position and the object position of at least one obstacle object according to the artificial potential field algorithm to determine the resultant force on the ship to be processed at the current moment includes: A gravitational potential field is created using a preset target waypoint as a potential field source and the ship to be processed as a force point, and the position of the ship and the position of the preset target waypoint are processed based on the gravitational potential field to determine the attraction exerted by the target waypoint on the ship to be processed; wherein the target waypoint is the waypoint that is closest to the position of the ship among the preset multiple waypoints; For at least one obstacle object, a repulsive potential field is created with the obstacle object as a potential field source and the ship to be processed as a force receiving point, and the position of the ship and the object position corresponding to the obstacle object are processed based on the repulsive potential field to determine the repulsive force applied by the obstacle object to the ship to be processed; The attraction force applied by the target waypoint to the ship to be processed and the repulsion force applied by at least one obstacle object to the ship to be processed are synthesized to obtain the resultant force applied to the ship to be processed at the current moment.

6. The ship collision avoidance method based on deceleration strategy according to claim 5 is characterized in that: The processing of the ship position and the object position corresponding to the obstacle object based on the repulsive potential field to determine the repulsive force applied by the obstacle object to the ship to be processed includes: determining a distance between the ship position and the object position of the obstacle object as an obstacle distance; When the obstacle distance is less than a second preset distance threshold, determining the repulsive force applied by the obstacle object to the ship to be processed according to the obstacle distance, the ship position, the object position and the second preset distance threshold; When the obstacle distance is not less than a second preset distance threshold, a preset repulsive force is applied to the ship to be processed by the obstacle object as a repulsive force.

7. The ship collision avoidance method based on deceleration strategy according to claim 1 is characterized in that: The determining the ship position of the ship to be processed at the next moment according to the predetermined resultant force on the ship to be processed at the current moment, the ship position and the ship speed comprises: Determine a time difference between the current moment and the next moment; The product of the ship speed, the time difference and the resultant force on the ship to be processed at the current moment is determined as the displacement to be superimposed, and the ship position is added to the displacement to be superimposed to obtain the ship position of the ship to be processed at the next moment.

8. The ship collision avoidance method based on deceleration strategy according to claim 1, characterized in that: At least one of the obstacle objects includes a dynamic obstacle object and / or a static obstacle object; and determining the collision avoidance decision of the ship to be processed within a preset time period after the current moment based on the ship position at the next moment and at least one of the object status information includes: If the ship position at the next moment does not meet the preset decision generation condition, determine the object position of the dynamic obstacle object at the next moment according to the motion state information of the dynamic obstacle object; and / or use the acquired object position of the static obstacle object at the current moment as the object position of the static obstacle object at the next moment; Taking the next moment as the current moment, repeatedly executing the steps of determining the resultant force on the ship to be processed, updating the ship speed, and determining the ship position at the next moment after the current moment, until the ship position at the next moment meets the preset decision generation condition; A collision avoidance decision for the ship to be processed within a preset time period after the current moment is generated based on at least one of the determined ship positions and the acquired navigation status information.

9. The ship collision avoidance method based on deceleration strategy according to claim 8, characterized in that: The preset decision generation conditions include that the distance between the ship position at the next moment and the position of the preset target waypoint is less than a third preset distance threshold, or that the number of executions of the ship position at the next moment reaches a preset number threshold.

10. The ship collision avoidance method based on deceleration strategy according to claim 1, characterized in that: Also includes: Displaying the collision avoidance reference path in the collision avoidance decision on a display interface of a target terminal; According to the collision avoidance reference heading and the collision avoidance reference speed in the collision avoidance decision, a ship control instruction is generated, and the ship control instruction is executed to control the ship to be processed to slow down and avoid along the collision avoidance reference path according to the collision avoidance reference heading and the collision avoidance reference speed.

11. A ship collision avoidance device based on a deceleration strategy, characterized in that: include: An information acquisition module, used to acquire the ship position and navigation status information of the ship to be processed at the current moment and the object status information corresponding to at least one obstacle object at the current moment; wherein the navigation status information at least includes the ship speed and the ship heading; the obstacle object is an object that the ship to be processed needs to avoid within a preset obstacle detection area corresponding to the ship to be processed; the object status information includes object position and / or motion status information; A ship speed update module, used for updating the ship speed of the ship to be processed at the current moment according to the predetermined deceleration influence parameter corresponding to the ship to be processed at the current moment, when the target obstacle distance corresponding to the ship to be processed meets the preset deceleration condition; wherein the deceleration influence parameter is used to reduce the ship speed of the ship to be processed; the target obstacle distance is the minimum distance between the ship to be processed and each obstacle object; A collision avoidance decision determination module is used to determine the ship position of the ship to be processed at the next moment according to the predetermined resultant force applied to the ship to be processed at the current moment, the ship position and the ship speed, so as to determine the collision avoidance decision of the ship to be processed within a preset time period after the current moment based on the ship position at the next moment and at least one of the object state information; wherein the resultant force is determined based on the repulsive force applied to the ship to be processed by at least one of the obstacle objects and the attractive force applied to the ship to be processed by a preset target waypoint; and the collision avoidance decision includes at least one of a collision avoidance reference path, a collision avoidance reference turn and a collision avoidance reference speed.

12. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the ship collision avoidance method based on the deceleration strategy described in any one of claims 1-10.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the ship collision avoidance method based on a deceleration strategy as described in any one of claims 1 to 10 when executed.

14. A computer program product, characterized in that The computer program product comprises a computer program, which, when executed by a processor, implements the ship collision avoidance method based on the deceleration strategy according to claims 1-10.

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