Ship collision avoidance methods, devices, equipment, media and products based on deceleration strategy

Abstract

The present invention discloses a method, device, equipment, medium, and product for ship collision avoidance based on a deceleration strategy. The method includes: obtaining the ship position and navigation status information of the ship to be processed at the current moment, as well as the object status information corresponding to at least one obstacle object at the current moment; updating the ship speed of the ship to be processed at the current moment according to the deceleration impact 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; determining the ship position of the ship to be processed at the next moment based on the predetermined resultant force, ship position, and ship speed of 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. This technical solution achieves the effect of dynamically adjusting the ship speed to decelerate and avoid obstacles in the process of avoiding obstacles.

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 size, speed, and number of ships, navigation safety has become increasingly serious. Marine collisions are a major threat to navigation safety, accounting for a significant proportion of maritime traffic accidents. Therefore, collision avoidance detection is crucial during navigation.

[0003] Related technologies typically employ various algorithms to guide ship steering decisions for collision avoidance. However, the complex and ever-changing maritime environment, coupled with limited maneuvering space in narrow waterways or port areas, means simple steering alone cannot guarantee ship safety. Furthermore, frequent steering increases energy consumption and operating costs, impacting both economical 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 acting 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 current position and navigation status information of the vessel to be processed and the object status information corresponding to at least one obstacle object at the current moment; wherein the navigation status information includes at least the ship's speed and heading; the obstacle object is an object within a preset obstacle detection area corresponding to the vessel to be processed that the vessel to be processed needs to avoid; the object status information includes the object's position and / or motion status information;

[0007] When the target obstacle distance corresponding to the ship to be processed satisfies a preset deceleration condition, the ship speed of the ship to be processed at the current moment is updated according to a predetermined deceleration impact parameter corresponding to the ship to be processed at the current moment; wherein the deceleration impact parameter is used to reduce the ship speed of the ship to be processed; and 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 acting on 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 status 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 is configured to acquire the current position and navigation status information of the vessel to be processed, and object status information corresponding to at least one obstacle object at the current moment; wherein the navigation status information includes at least the ship's speed and heading; the obstacle object is an object within a preset obstacle detection area corresponding to the vessel to be processed that the vessel to be processed needs to avoid; and the object status information includes the object's position and / or motion status information;

[0011] a ship speed updating module, configured to update the ship speed of the ship to be processed at the current moment according to a predetermined deceleration impact parameter corresponding to the ship to be processed at the current moment, if the target obstacle distance corresponding to the ship to be processed satisfies a preset deceleration condition; wherein the deceleration impact parameter is used to reduce the ship speed of the ship to be processed; and the target obstacle distance is the minimum distance between the ship to be processed and each of the obstacle objects;

[0012] A collision avoidance decision determination module is used to determine the ship position of the ship to be processed at the next moment based on 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 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 obstacle object 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.

[0013] According to another aspect of the present invention, an electronic device is provided, 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 the deceleration strategy 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, which includes a computer program. When the computer program is executed by a processor, it implements the ship collision avoidance method based on the deceleration strategy described in any embodiment of the present invention.

[0019] The technical solution of the embodiment of the present invention is 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; 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, ship position and ship speed received by the ship to be processed at the current moment. The system 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 in related technologies that multiple steering operations need to be frequently performed to avoid ship collisions, 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 resultant force and deceleration influencing parameters acting on the ship, thereby achieving the effect of dynamically adjusting the ship speed to decelerate and avoid in the process of avoiding obstacle objects, thereby effectively improving the ship collision avoidance effect, and can achieve 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 content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily 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 This is a flow chart of a ship collision avoidance method based on a deceleration strategy according to the first embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram showing a comparison of the reference paths of ships to be processed within a preset time period without and with the deceleration strategy provided in the first embodiment of the present invention;

[0024] Figure 3 This 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 in the first embodiment of the present invention;

[0025] Figure 4 1 is a structural diagram of a ship collision avoidance system based on a deceleration strategy according to the first embodiment of the present invention;

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

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

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

[0029] Figure 8 This is a flow chart of a method for ship collision avoidance based on a deceleration strategy according to a fourth embodiment of the present invention;

[0030] Figure 9 1 is a schematic structural diagram of a ship collision avoidance device based on a deceleration strategy according to a fifth embodiment of the present invention;

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

[0032] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions 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 embodiments described 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 making creative efforts should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first", "second", etc. in the description 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 numbers 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 clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] Example 1

[0035] Figure 1 This is a flow chart of a ship collision avoidance method based on a deceleration strategy provided by the first embodiment of the present invention. This embodiment is applicable to situations 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 server. Figure 1 As shown, the method includes:

[0036] S110. 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.

[0037] The vessel to be processed may be a vessel that is to undergo avoidance processing to prevent collision with a corresponding obstacle. It is understood that when a vessel is sailing at sea, it may encounter an obstacle that is relatively close to the vessel. In this case, the vessel performs an avoidance maneuver to avoid collision with the obstacle, and this vessel may be considered a vessel to be processed. The vessel's position may be used to indicate the current location of the vessel to be processed. The vessel's position may be any form of location information, optionally in the form of two-dimensional coordinates. Navigation status information may be understood as information describing the specific navigation status of the vessel during navigation. Navigation status information may include various types of information describing the navigation status of the vessel, optionally including at least the vessel's speed and heading. The vessel's speed is the speed of the vessel during navigation. The vessel's heading may be the navigation direction determined and maintained by the vessel during navigation. Generally, during navigation, the vessel's navigation is represented by the angle formed by the route and a reference line in the horizontal plane, measured clockwise from the reference line. The reference line may be a geographic meridian, a magnetic meridian, or other designated reference line. In this embodiment, obstacles may be objects within a preset obstacle detection area corresponding to the target vessel that the target vessel must avoid. Optionally, obstacles include static obstacles (e.g., static obstacles at sea) and / or dynamic obstacles (e.g., other ships). The preset obstacle detection area may be an area centered on the target vessel and with a preset detection distance as its radius. This area is the area covered by the obstacle detection device corresponding to the target vessel. Generally, an obstacle detection device corresponding to the target vessel can be installed, and a preset detection distance corresponding to the obstacle detection device can be determined. Furthermore, during navigation of the target vessel, a detection area can be constructed centered on the target vessel and with a preset detection distance as its radius. Obstacle objects within this detection area can be detected, and this detection area can be used as the preset obstacle detection area. Object state information can be used to characterize the external characteristics of the obstacle object. Optionally, the object state information includes object position and / or motion state information. The object position can be used to indicate the current location of the obstacle object. The object position can be any form of position information, optionally in the form of two-dimensional coordinates. The motion state information can be used to characterize 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 navigation of a vessel to be processed, if an obstacle is detected within a preset obstacle detection area corresponding to the vessel to be processed, the vessel to be processed can be controlled to execute a collision avoidance process. To effectively avoid collision between the vessel to be processed and the obstacle, the vessel's current position and navigational status information, as well as the current position and / or motion status information of at least one obstacle, can be obtained. Based on this obtained information, a collision avoidance strategy can be determined for the vessel to be processed.

[0039] As an optional implementation of this embodiment, sensors installed on the vessel to be processed can be used to obtain the vessel's current position and navigation status information, as well as the object status information corresponding to at least one obstacle at the current moment. Furthermore, to improve the accuracy of collision avoidance decisions, the acquired object status information can be processed according to a preset preprocessing method to update the object status information. The sensors can include, for example, 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 selecting one data source from at least one data source as a target data source and using the data from the target data source as the desired data. Exemplarily, the acquired object status information includes object status information acquired via the AIS and object status information acquired via the radar detection system. Generally, the detection data acquired by the AIS is more accurate than that acquired by the radar detection system. Furthermore, data fusion can be performed on the acquired object status information, with the AIS serving as the target data source and the object status information acquired via the AIS serving as the final desired object status information.

[0040] S120. When the target obstacle distance corresponding to the ship to be processed meets the preset deceleration condition, update 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.

[0041] The target obstacle distance can be used to represent the minimum distance between the vessel to be processed and each obstacle. The preset deceleration condition can be a criterion for determining whether the vessel to be processed needs to decelerate while avoiding the obstacle. The preset deceleration condition can include at least one piece of information used to determine whether deceleration is necessary for avoidance, optionally including a preset distance threshold. The deceleration impact parameter can be a parameter used to reduce the vessel's speed. In other words, the deceleration impact parameter can be a parameter that suppresses the vessel's speed.

[0042] In this embodiment, a target obstacle distance corresponding to the target ship can be determined based on the target ship's position and the position of each obstacle. Furthermore, the target obstacle distance can be compared with a preset deceleration condition. If it is determined that the target obstacle distance meets the preset deceleration condition, a deceleration impact parameter corresponding to the current moment is determined. Furthermore, the speed of the target ship at the current moment can be updated based on the deceleration impact parameter.

[0043] As an optional implementation of this embodiment, the preset condition includes a preset distance threshold. Upon obtaining the target obstacle distance corresponding to the vessel to be processed, the target obstacle distance can be compared with the preset distance threshold. Furthermore, if the target obstacle distance is less than the preset distance threshold, a deceleration impact parameter at the current moment can be determined. Based on the deceleration impact parameter, a collision avoidance reference speed corresponding to the vessel to be processed at the current moment can be determined. This collision avoidance reference speed is then used as the vessel speed corresponding to the vessel to be processed at the current moment, thereby updating the vessel 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 based on the predetermined resultant force, ship position, and ship speed of the ship to be processed at the current moment, so as to determine a collision avoidance decision for 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] The resultant force can be determined based on the repulsive force exerted by at least one obstacle on the vessel being processed and the attractive force exerted by a preset target waypoint on the vessel being processed. In other words, the resultant force can be the combined force of the at least one repulsive force and the attractive force acting on the vessel being processed. The resultant force can guide the vessel being processed to navigate toward the target waypoint while avoiding the obstacle. The preset duration can be a pre-set predicted duration of the collision avoidance decision trajectory. The preset duration can be any length, optionally including 10 minutes, 20 minutes, or 30 minutes. The collision avoidance decision can be used to instruct the vessel being processed to adopt an obstacle avoidance strategy and / or a deceleration strategy within a preset duration after the current moment. The collision avoidance decision can be used to instruct the vessel being processed to navigate toward the target waypoint while avoiding obstacles within a preset duration after the current moment. Optionally, the collision avoidance decision can include at least one of a collision avoidance reference path, a collision avoidance reference steering direction, and a collision avoidance reference speed. The collision avoidance reference path can be a reference path that the vessel being processed follows as it avoids each obstacle and navigates toward the target waypoint. The collision avoidance reference steering may be a reference steering according to which the vessel to be processed avoids each obstacle and navigates toward the target waypoint, and the reference steering may include a direction and an angle. The collision avoidance reference speed may be a reference speed according to which the vessel to be processed avoids each obstacle and navigates toward the target waypoint.

[0047] In this embodiment, when the resultant force acting 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 acting 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 and 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 can be determined. Furthermore, the product of the ship's speed, the time difference, and the resultant force can be determined, and this product can be used as the displacement to be superimposed. Subsequently, the position of the ship to be processed at the current moment can be added to the displacement to be superimposed, and the resulting value can be used as the position of the ship to be processed at the next moment.

[0050] For example, the ship position of the ship to be processed at the next moment can 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 Indicates the net force acting 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 This is a schematic diagram showing a comparison effect of the ship reference paths of the ship to be processed within a preset time period without and with the 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 the figure 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, in the situation where 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 : This is a schematic diagram of a comparison of the ship speeds of the ship to be processed within a preset time period without combining the deceleration strategy and combining the deceleration strategy provided by an embodiment of the present invention. Figure 3As shown in the figure, the red line represents the ship's speed during the preset time period without the deceleration strategy, while the blue line represents the ship's speed during the preset time period with the deceleration strategy. The red line shows that the ship's speed remains at 15 knots throughout the preset time period; the blue line shows that the ship's speed gradually decreases to 5 knots at the 10th step, and then gradually increases from 5 knots to 15 knots to restore the original 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 based on 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 based on 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 vessel to be processed. Alternatively, the target terminal may be a local terminal located on the vessel to be processed; or alternatively, the target terminal may be a central control terminal located within a central control room associated with the vessel to be processed. The vessel control instructions may be instructions for directing and controlling the navigation and operation of the vessel. Optionally, the vessel control instructions may include direction control instructions and / or speed control instructions.

[0057] As an optional implementation of this embodiment, when a collision avoidance decision is obtained for the vessel to be processed within a preset time period 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, the propulsion equipment such as the paddles and rudders in the vessel to be processed can be controlled based on the ship control instruction so that the vessel to be processed decelerates and navigates 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 structural diagram of a ship collision avoidance system based on a deceleration strategy according to an embodiment of the present invention. Figure 4As shown, a ship collision avoidance system based on a deceleration strategy includes a sensor module, a perception module, a decision module, a display, a control box, and a ship propulsion system. During navigation of a target ship, the sensor module can obtain the target ship's current position and navigation status information, as well as the object status information corresponding to at least one obstacle at the current moment. Furthermore, the perception module can perform data filtering, data source fusion, and data synchronization on the acquired object status information to update the object status information, and the display can display the updated object status information along with the acquired ship position and navigation status information. Furthermore, the decision module can process the target ship's current position and navigation status information, as well as the object status information corresponding to at least one obstacle at the current moment, and determine a collision avoidance decision for the target ship within a preset time period after the current moment. Furthermore, the display can display a collision avoidance reference path for the collision avoidance decision, and a controller can generate ship control instructions based on the collision avoidance reference steering and collision avoidance reference speed in the collision avoidance decision. Furthermore, the ship control instructions can be used to control the ship propulsion system to decelerate and avoid the target ship.

[0059] The technical solution of the embodiment of the present invention is 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; 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, ship position and ship speed received by the ship to be processed at the current moment. The system 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 in related technologies that multiple steering operations need to be frequently performed to avoid ship collisions, 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 resultant force and deceleration influencing parameters acting on the ship, thereby achieving the effect of dynamically adjusting the ship speed to decelerate and avoid in the process of avoiding obstacle objects, thereby effectively improving the ship collision avoidance effect, and can achieve the effect of improving the ship collision avoidance efficiency on the basis of reducing the ship collision avoidance cost.

[0060] Example 2

[0061] Figure 5This is a flowchart 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 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 impact 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 found in the technical solution of this embodiment. Among them, the technical terms that are the same or similar to those in the above embodiment are not repeated here.

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

[0063] S210. 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.

[0064] S220. When the target obstacle distance corresponding to the ship to be processed is less than a 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 used as a basis for determining whether a 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 and may be directly obtained from the basic configuration information of the ship to be processed.

[0066] In this embodiment, a target obstacle distance corresponding to the vessel to be processed can be first determined. The target obstacle distance can then be compared with a first preset distance threshold. Optionally, the target obstacle distance can be determined by determining the distance between the vessel to be processed and each obstacle object to obtain at least one first distance; and determining the minimum distance among 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 target ship and the obstacle object can be determined based on the target ship's position and the obstacle object's position, and this distance can be used as the first distance. Consequently, at least one first distance can be obtained. Furthermore, the first distance with the smallest distance value can be determined from the at least one first distance, and this determined first distance can be used as the target obstacle distance corresponding to the target ship.

[0069] In this embodiment, before updating the ship's speed based on the deceleration impact parameter, the deceleration impact parameter corresponding to the vessel to be processed at the current moment may be determined. Optionally, the deceleration impact parameter may be determined by: determining a ratio between the target obstacle distance and a first preset distance threshold, and determining the product of the ratio and a preset gain coefficient to serve as a candidate deceleration impact parameter; and determining the minimum value between the candidate deceleration impact parameter and the preset deceleration impact parameter to serve as the deceleration impact parameter for the vessel to be processed at the current moment.

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

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

[0072] For example, 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. Furthermore, 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 based on the predetermined resultant force, ship position, and ship speed of the ship to be processed at the current moment, so as to determine a collision avoidance decision for 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 is to determine 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 a first preset distance threshold, thereby obtaining the collision avoidance reference speed of the ship to be processed at the current moment, and using 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 improving the ship collision avoidance efficiency.

[0079] Example 3

[0080] Figure 6 This is a flow chart of a ship collision avoidance method based on a deceleration strategy, provided in Example 3 of the present invention. Building on the previous example, the ship's position and the position of at least one obstacle are processed using an artificial potential field algorithm to determine the net force acting on the ship at the current moment. Furthermore, based on the ship's position, speed, and net force, the ship's position at the next moment can be determined. For detailed implementation details, please refer to the technical solution of this example. Technical terms identical or similar to those in the previous examples are not repeated here.

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

[0082] S310. 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 includes at least 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 acting on the ship to be processed at the current moment.

[0084] As can be understood, the artificial potential field algorithm is an algorithm used for path planning and obstacle avoidance. Its basic concept is to create a virtual potential field for each obstacle and target point in the environment. Typically, a repulsive potential field is used to represent an obstacle, causing the ship to move away from the obstacle due to repulsion; a gravitational potential field is used to represent a target point, causing the ship to move toward the target due to attraction. The combined repulsive and gravitational forces in the composite field composed of these two potential fields guide the ship's navigation, thereby generating a collision-free path. In this embodiment, the combined force can be determined based on the repulsive force exerted by at least one obstacle on the target ship and the attractive force exerted by a preset target waypoint on the target ship. In other words, the combined force can be the force resulting from the combination of at least one repulsive force and an attractive force exerted on the target ship. The combined force can guide the ship toward the target waypoint while avoiding the obstacle. The repulsive force exerted by the obstacle on the target ship can be determined by creating a repulsive potential field using the obstacle as a potential field source. The target waypoint can be the waypoint closest to the target ship among at least one predetermined waypoint that the ship must pass through on its way to its 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, given the current position of the vessel being processed and the current position of at least one obstacle, to determine the turning direction for the vessel to navigate toward the target waypoint while avoiding the obstacle, a repulsive potential field is constructed for each obstacle using an artificial potential field algorithm to obtain the repulsive force exerted by each obstacle on the vessel being processed. Furthermore, an attractive potential field is created for the target waypoint to obtain the attractive force exerted by the target waypoint on the vessel being processed. Furthermore, the at least one repulsive force and attractive force are combined to obtain the net force acting on the vessel being 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; and 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] A gravitational potential field is a force field generated by a gravitational object, used to describe the motion of a particle under the influence of gravity. In this field, objects are affected by gravity, resulting in a tendency to move in a certain direction. In this embodiment, a target waypoint can be used as a potential field source to simulate the creation of a virtual gravitational potential field. This gravitational potential field includes the vessel to be processed. This field causes the vessel to experience the attractive force exerted by the target waypoint on the vessel within the gravitational potential field, resulting in a tendency to navigate toward the target waypoint. The target waypoint is the waypoint closest to the vessel's location among multiple preset waypoints. A repulsive potential field can be used to describe the mutually repulsive forces that exist in space. In a repulsive potential field, the interaction between objects causes repulsion, resulting in motion or deformation. In this embodiment, an obstacle can be used as a potential field source to simulate the creation of a virtual repulsive potential field. This field includes the vessel to be processed. This field causes the vessel to experience the repulsive force exerted by the obstacle on the vessel within the repulsive potential field, resulting in a tendency to navigate away from the obstacle.

[0088] In this embodiment, the waypoint closest to the ship's position can be determined from at least one predetermined waypoint based on the ship's position, and this waypoint can be used as the target waypoint. Furthermore, a virtual gravitational potential field can be created using the target waypoint as the potential field source and the ship to be processed as the acceptance point. The ship's position and the target waypoint's position can then be processed within this gravitational potential field to determine the attractive force exerted by the target waypoint on the ship to be processed.

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

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

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

[0092] Among them, F att Indicates the attraction exerted by the target waypoint on the ship to be processed; - indicates that the direction of attraction is 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, a virtual repulsive potential field can be created, using the obstacle as the potential field source and the vessel to be processed as the force point. The vessel's position and the obstacle's position can then be processed within this repulsive potential field to determine the repulsive force exerted by the obstacle on the vessel 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 a method for determining the repulsive force. 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 position of the ship 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, when 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. In addition, 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 repulsive 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. When 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] For example, the repulsive force exerted by the obstacle on the ship to be processed may be determined based on the following formula:

[0098]

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

[0100] In this embodiment, after obtaining the attractive force exerted by the target waypoint on the vessel to be processed and the repulsive force exerted by at least one obstacle on the vessel to be processed, the at least one repulsive force can be summed and the total repulsive force can be added to the attractive force. The resulting sum is then used as the net force acting on the vessel to be processed.

[0101] For example, the resultant force on the ship to be processed can 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 acting 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 based on the predetermined resultant force, ship position, and ship speed of 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.

[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 the artificial potential field algorithm. Furthermore, 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] Example 4

[0108] Figure 7This is a flowchart of a ship collision avoidance method based on a deceleration strategy provided by the fourth embodiment of the present invention. Based on the aforementioned embodiment, 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 based on 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 after the current moment are repeated until the ship position at the next moment meets the preset decision-making conditions. A collision avoidance decision is generated for the ship to be processed within a preset time period after the current moment based on the at least one determined ship position and the acquired navigation state information. Technical terms that are the same or similar to those in the aforementioned embodiments are not repeated here.

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

[0110] S410. 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 includes at least the ship speed and the ship heading; the at least one obstacle object includes a dynamic obstacle object and / or a static obstacle object; and 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 position of the ship to be processed at the next moment based on the predetermined resultant force, the ship position, and the ship speed at the current moment. If the ship position at the next moment does not meet the preset decision-making conditions, determine the position of the dynamic obstacle object at the next moment based on the motion state information of the dynamic obstacle object, and / or use the acquired position of the static obstacle object at the current moment as the 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 that 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 the dynamic obstacle object. Optionally, when the dynamic obstacle object is another ship, 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 times the steps of determining the ship position at the next moment are executed, 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's position at the next moment, the ship's position at the next moment can be compared with the position of a preset target waypoint. Furthermore, if it is determined that the distance between the ship's position and the target waypoint is not less than a third preset distance threshold, it can be determined that the ship's position at the next moment does not meet the preset decision-making conditions. Furthermore, for a dynamic obstacle among at least one obstacle object, the acquired motion state information of the 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 among at least one obstacle object, the acquired object position of the static obstacle object at the current moment can be used as the object position of the static obstacle object at the next moment. Consequently, the object position of each obstacle object at the next moment can be obtained.

[0115] S440: Set 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 after the current moment, until the ship position at the next moment meets the preset decision-making conditions.

[0116] In this embodiment, if the ship's position at the next moment does not meet the preset decision-making conditions, and the positions of the obstacles at the next moment are determined, the next moment can be used as the current moment, and the steps of determining the net 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 can be repeated. Furthermore, until the ship's position at the next moment meets the preset decision-making conditions, at least one determined ship position can be obtained.

[0117] As an optional implementation 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 based on the determined position of at least one ship 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 based on 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 can be determined based on 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 can be determined based on 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. Furthermore, a collision avoidance decision for the ship to be processed within a preset time period after the current moment can be generated based on 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 method for ship collision avoidance 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 vessel to be processed at the current moment and the corresponding ship position and navigation status information of the obstacle vessel at the current moment can be obtained as perception information. Furthermore, the gravitational force and repulsive force acting on the vessel to be processed can be determined based on the ship position of the vessel to be processed and the ship position of the obstacle vessel, and the resultant force acting on the vessel to be processed at the current moment can be determined based on the gravitational force and repulsive force. Furthermore, a deceleration influence parameter can be determined, and the ship speed of the vessel to be processed at the current moment can be updated based on the determined resultant force and deceleration influence parameter. Furthermore, the ship position and attitude of the vessel to be processed at the next moment can be updated based on the determined resultant force and ship speed. If it is determined that the ship position at the next moment does not meet the preset decision-making conditions, the steps of determining the resultant force acting on the vessel to be processed, updating the ship speed, and determining the ship position at the next moment after the current moment are repeated until the ship position at the next moment meets the preset decision-making conditions.

[0122] The technical solution of the embodiment of the present invention determines the object position of the dynamic obstacle object at the next moment based on the motion state information of the dynamic obstacle object when the ship position at the next moment does not meet the preset decision-making conditions; and / or uses 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, using the next moment as the current moment, repeatedly executing 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 until the ship position at the next moment meets the preset decision-making conditions; further, generating a collision avoidance decision for the ship to be processed within a preset time period after the current moment based on at least one determined ship position and the obtained navigation state information, thereby achieving the effect of iteratively determining the ship position at each moment based on the information obtained at the current moment, and then generating a ship collision avoidance decision based on the iteratively obtained information, achieving the effect of predicting the ship collision avoidance decision at a future moment based on the information obtained at the current moment, and thus realizing the automation and intelligence of ship collision avoidance.

[0123] Example 5

[0124] Figure 9 This is a structural diagram of a ship collision avoidance device based on a deceleration strategy provided by the fifth embodiment of the present invention. Figure 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 speed of 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. 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 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 status 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 is 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; 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, ship position and ship speed received by the ship to be processed at the current moment. The system 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 in related technologies that multiple steering operations need to be frequently performed to avoid ship collisions, 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 resultant force and deceleration influencing parameters acting on the ship, thereby achieving the effect of dynamically adjusting the ship speed to decelerate and avoid in the process of avoiding obstacle objects, thereby effectively improving the ship collision avoidance effect, and can achieve 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 impact parameter determination module and a deceleration impact 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 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 further includes: a resultant force determination module.

[0132] a resultant force determination module, configured to process the position of the vessel and the position of at least one of the obstacle objects according to an artificial potential field algorithm to determine a resultant force acting on the vessel to be processed at the current moment; wherein the resultant force is determined based on a repulsive force exerted on the vessel to be processed by at least one of the obstacle objects and an attractive force exerted on the object to be processed by a preset target waypoint.

[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, configured to create a gravitational potential field using a preset target waypoint as a potential field source and the vessel to be processed as a force receiving point, and to process the vessel's 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 vessel to be processed; wherein the target waypoint is the waypoint closest to the vessel's position 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 process the position of the ship 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;

[0136] The resultant force determining unit is configured to synthesize the attractive force 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, so as to obtain the resultant force exerted on 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 vessel 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 exerted by the obstacle object on the ship to be processed based on the obstacle distance, the ship position, the object position, and the second preset distance threshold;

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

[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, configured to determine a 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 determining unit, configured to determine, if the ship position at the next moment does not satisfy a preset decision-making condition, the object position of the dynamic obstacle object at the next moment based on the motion state information of the dynamic obstacle object; 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 unit, configured to use 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 satisfies the preset decision-making 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 based on the determined at least one ship position 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 that the number of executions of the ship position at the next moment reaches a preset number threshold.

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

[0150] A collision avoidance reference path display module, configured 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 based on 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] Example 6

[0154] Figure 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 claimed herein.

[0155] like Figure 10As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. 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 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0156] Multiple 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 magnetic 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 via a computer network such as the Internet and / or various telecommunication networks.

[0157] The processor 11 can be any general-purpose and / or specialized processing component 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 specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the 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 embodiments of the systems and techniques described 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), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes 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, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

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

[0162] To provide interaction with a user, the systems and techniques described herein can 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 pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0163] The systems and techniques described herein can be implemented in a computing system that includes back-end 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 front-end components (e.g., a user computer with a graphical user interface or 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 back-end components, middleware components, or front-end components. The components of the system can 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 clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0165] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0166] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A ship collision avoidance method based on a deceleration strategy, characterized in that: include: Obtaining the current position and navigation status information of the vessel to be processed and the object status information corresponding to at least one obstacle object at the current moment; wherein the navigation status information includes at least the ship's speed and heading; the obstacle object is an object within a preset obstacle detection area corresponding to the vessel to be processed that the vessel to be processed needs to avoid; the object status information includes the object's position and / or motion status information; When the target obstacle distance corresponding to the ship to be processed satisfies a preset deceleration condition, the ship speed of the ship to be processed at the current moment is updated according to a predetermined deceleration impact parameter corresponding to the ship to be processed at the current moment; wherein the deceleration impact parameter is used to reduce the ship speed of the ship to be processed; and the target obstacle distance is the minimum distance between the ship to be processed and each obstacle object; Determining the position of the ship to be processed at a next moment based on the predetermined resultant force acting on the ship to be processed at the current moment, the ship position, and the ship speed, and determining a collision avoidance decision for 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; The resultant force is 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 a preset target waypoint to the ship to be processed; 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 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 of the ratio and a preset gain coefficient as a candidate deceleration influence parameter; The minimum value between the candidate deceleration impact parameter and the preset deceleration impact parameter is determined as the deceleration impact 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, 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 acting on the ship to be processed at the current moment.

5. The ship collision avoidance method based on 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 vessel to be processed as a force receiving point, and the position of the vessel and the position of the preset target waypoint are processed based on the gravitational potential field to determine the attractive force exerted by the target waypoint on the vessel to be processed; wherein the target waypoint is the waypoint closest to the position of the vessel among the preset multiple waypoints; For at least one obstacle object, a repulsive potential field is created using 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 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 synthesized to obtain a resultant force exerted on 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 position of the vessel 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 exerted by the obstacle object on the ship to be processed according to the obstacle distance, the position of the ship, the position of the object, and the second preset distance threshold; In a case where 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, characterized in that: The determining the ship position of the ship to be processed at the next moment based on the predetermined resultant force acting on the ship to be processed at the current moment, the ship position, and the ship speed includes: Determining a time difference between the current moment and the next moment; The product of the ship speed, the time difference, and the resultant force acting 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-making conditions, determining the object position of the dynamic obstacle object at the next moment based on the motion state information of the dynamic obstacle object; and / or using 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 position of the ship at the next moment after the current moment, until the position of the ship at the next moment satisfies the preset decision-making condition; A collision avoidance decision for the ship to be processed within a preset time period after the current moment is generated based on the determined at least one ship position 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 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.

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 is configured to acquire the current position and navigation status information of the vessel to be processed, and object status information corresponding to at least one obstacle object at the current moment; wherein the navigation status information includes at least the ship's speed and heading; the obstacle object is an object within a preset obstacle detection area corresponding to the vessel to be processed that the vessel to be processed needs to avoid; and the object status information includes the object's position and / or motion status information; a ship speed updating module, configured to update the ship speed of the ship to be processed at the current moment according to a predetermined deceleration impact parameter corresponding to the ship to be processed at the current moment, if the target obstacle distance corresponding to the ship to be processed satisfies a preset deceleration condition; wherein the deceleration impact parameter is used to reduce the ship speed of the ship to be processed; and the target obstacle distance is the minimum distance between the ship to be processed and each of the obstacle objects; A collision avoidance decision determination module is used to determine the ship position of the ship to be processed at the next moment based on 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 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 obstacle object 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.

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 that can be executed by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the ship collision avoidance method based on the deceleration strategy according to any one of claims 1 to 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 according to any one of claims 1 to 10 when executed.

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

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