Ship collision early warning method and device

Abstract

The invention provides a ship collision early warning method and device, and the method comprises the steps: calculating the relative motion parameters of a current ship and a target ship through a preset relative motion parameter model in combination with the obtained current ship information and target ship information; based on the target ship information and the current ship information, constructing a ship safety field of the current ship between the current ship and the target ship during navigation; based on the ship safety field and the relative motion parameters, whether collision danger exists between the target ship and the current ship or not is judged; if the collision risk exists, quantifying the collision risk by using a fuzzy theory to obtain a ship collision risk quantized value; and based on the ship collision risk quantized value and in combination with the invasion degree of the target ship to the ship safety field, dividing ship collision risk grades. Therefore, the problems that an existing collision risk quantification and early warning method is insufficient in consideration of ship scales and behavior elements, simple in early warning grade division and high in subjectivity are solved.

Description

Technical Field

[0001] The present disclosure relates to the field of ship safety technology, and in particular to a ship collision warning method and device. Background Art

[0002] With the rapid development of the global shipping industry, maritime traffic activities are becoming increasingly frequent, and the frequency of ship collision accidents remains high, posing a serious threat to human life, property and the safety of the aquatic environment.

[0003] At present, the existing ship collision risk assessment methods mainly rely on the relative motion parameters between ships to quantify the risk. Although this method is simple to calculate, the accuracy of its risk assessment is limited because it does not fully consider important factors such as the size and maneuverability of the ship. In addition, the risk quantification method based on the ship field is mainly based on the direction and distance of the target ship entering the field of the ship, and lacks consideration of the time dimension, which makes the risk assessment not comprehensive enough.

[0004] In terms of collision warning, the existing method divides the warning level by artificially setting the threshold of ship collision risk. This method has the problem of strong subjectivity, which may lead to the division of warning levels being not objective and accurate enough.

[0005] Therefore, in order to improve the accuracy of collision risk assessment and the objectivity of warning, it is necessary to develop a new collision risk quantification method to solve the problems of insufficient consideration of ship scale and behavior factors, simple warning level division and strong subjectivity in existing collision risk quantification and warning methods. Summary of the invention

[0006] The embodiments of the present disclosure provide a ship collision warning method and device, which are used to solve the problems that existing collision risk quantification and warning methods do not take into account the ship size and behavior factors, and the warning level division is simple and highly subjective.

[0007] In a first aspect, the present disclosure provides a collision warning method for a ship, characterized by comprising:

[0008] Get the target ships and their target ship information within a 6-nautical-mile radius of the current ship;

[0009] Calculating the relative motion parameters between the current ship and the target ship by using a preset relative motion parameter model and combining the acquired current ship information and the target ship information;

[0010] Based on the target ship information and the current ship information, constructing a ship safety area of ​​the current ship during navigation between the current ship and the target ship;

[0011] Based on the ship safety field and the relative motion parameter, determining whether there is a collision risk between the target ship and the current ship;

[0012] If there is a collision risk, the collision risk is quantified using fuzzy theory to obtain a quantitative value of the ship collision risk;

[0013] Based on the quantified value of the ship collision risk and in combination with the degree of intrusion of the target ship into the ship safety area, the ship collision risk level is divided.

[0014] In an exemplary embodiment, the relative motion parameter model includes: a relative speed model, a relative heading model, a minimum encounter distance model and a minimum encounter time model; the target ship information includes: a target ship length, a target heading and a target speed; the current ship information includes: a current heading and a current speed; the relative relative motion parameters include: a relative speed, a relative heading, a minimum encounter distance and a minimum encounter time; using the preset relative motion parameter model, combined with the acquired current ship information and the target ship information, the relative motion parameters of the current ship and the target ship are calculated, including:

[0015] Calculate the relative speed and the relative heading respectively by using the relative speed model and the relative heading model in combination with the target heading, the target speed, the current heading and the current speed;

[0016] The minimum encounter distance model and the minimum encounter time model are used to calculate the minimum encounter distance model and the minimum encounter time model respectively in combination with the target ship length, the target heading and the current heading.

[0017] In an exemplary embodiment, based on the target ship information and the current ship information, constructing the ship safety field of the current ship during the navigation between the current ship and the target ship includes:

[0018] Calculate the current ship's four-element ship domain scale and the target ship's four-element ship domain scale according to the preset current ship's four-element ship domain scale model and the target ship's four-element ship domain scale model respectively;

[0019] Constructing a current ship four-element domain and a target ship four-element domain based on the current ship four-element ship domain scale and the target ship four-element ship domain scale respectively;

[0020] The target ship four-element field is superimposed on the current ship four-element field to obtain the ship safety field.

[0021] In an exemplary embodiment, the target ship information further includes: target distance; if there is a collision risk, the collision risk is quantified using fuzzy theory to obtain a quantitative value of the ship collision risk, including:

[0022] Through the preset membership function model, the membership along the relative heading, the membership vertical to the relative heading, the membership of the target distance, and the membership of the ship speed ratio are determined;

[0023] According to the preset collision quantification model, the quantified value of the ship collision risk is calculated by combining the relative heading direction membership, the vertical relative heading direction membership, the target distance membership, and the ship speed ratio membership.

[0024] In an exemplary embodiment, the target ship information further includes: target orientation; the ship safety area includes a safety area prohibited boundary; the safety area prohibited boundaries are determined based on a safety area prohibited boundary model; based on the ship safety area and the relative motion parameter, judging whether there is a collision risk between the target ship and the current ship includes:

[0025] A relative motion line is formed by the target orientation and the relative heading;

[0026] Determine the relative motion model of the relative motion line in the coordinate system of the current ship according to the point-slope equation;

[0027] Based on the relative motion model and the safety domain prohibited boundary model, it is determined whether there is a collision risk between the target ship and the current ship.

[0028] In an exemplary embodiment, the ship safety area also includes an expected safety area boundary; the prohibited safety area boundary is determined based on an expected safety area boundary model; based on the ship collision risk quantification value and in combination with the degree of intrusion of the target ship into the ship safety area, the ship collision risk level is divided, including:

[0029] Determining the intrusion degree of the target ship into the ship safety area based on the relative motion model and the expected boundary model of the safety area;

[0030] The ship collision risk level is determined according to a preset intrusion degree classification rule, combined with the intrusion degree and the ship collision risk quantification value.

[0031] In a second aspect, the present disclosure provides a collision warning device for a ship, comprising:

[0032] An acquisition module is used to acquire target ships and their target ship information within a 6-nautical-mile radius of the current ship;

[0033] A relative motion parameter determination module, used to calculate the relative motion parameters between the current ship and the target ship by using a preset relative motion parameter model in combination with the acquired current ship information and the target ship information;

[0034] A ship safety domain construction module, used to construct a ship safety domain of the current ship during the voyage between the current ship and the target ship based on the target ship information and the current ship information;

[0035] A collision risk determination module, used to determine whether there is a collision risk between the target ship and the current ship based on the ship safety area and the relative motion parameter;

[0036] A risk quantification module is used to quantify the collision risk by using fuzzy theory when there is a collision risk, so as to obtain a quantitative value of the ship collision risk;

[0037] The level classification module is used to classify the ship collision risk level based on the quantitative value of the ship collision risk and the degree of intrusion of the target ship into the ship safety area.

[0038] In a third aspect, the present disclosure provides an electronic device, comprising a processor and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps in the method provided in the first aspect are executed.

[0039] In a fourth aspect, the present disclosure provides a storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps in the method provided in the first aspect are executed.

[0040] In a fifth aspect, the present disclosure provides a computer program product, comprising a computer program, which, when executed by a processor, runs the steps in the method provided in the first aspect above.

[0041] It can be seen from the above technical solutions that the present disclosure has the following advantages:

[0042] The present disclosure provides a ship collision warning method and device, the method comprising: obtaining a target ship and its target ship information within a radius of 6 nautical miles of the current ship; using a preset relative motion parameter model, combining the current ship information obtained and the target ship information, calculating the relative motion parameters of the current ship and the target ship; constructing the ship safety field of the current ship between the current ship and the target ship during navigation based on the target ship information and the current ship information; judging whether there is a collision risk between the target ship and the current ship based on the ship safety field and the relative motion parameters; if there is a collision risk, quantifying the collision risk using fuzzy theory to obtain a ship collision risk quantification value; dividing the ship collision risk level based on the ship collision risk quantification value and combined with the degree of intrusion of the target ship into the ship safety field. This solves the problem that the existing collision risk quantification and warning methods do not take into account the ship scale and behavior factors, the warning level division is simple and subjective. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0044] Figure 1 The following is a flowchart showing the steps of the ship collision warning method provided by the first embodiment of the present disclosure;

[0045] Figure 2 The following is a flowchart showing the steps of the ship collision warning method provided by the second embodiment of the present disclosure;

[0046] Figure 3 A schematic diagram of relative motion parameters of a ship in a collision warning method for a ship provided in Embodiment 2 of the present disclosure is exemplarily shown;

[0047] Figure 4 A schematic diagram of ship safety areas and risk indicators of a ship collision warning method provided in Embodiment 2 of the present disclosure is exemplarily shown;

[0048] Figure 5 The structural block diagram of the collision warning device for a ship provided by an embodiment of the present disclosure is exemplarily shown. DETAILED DESCRIPTION

[0049] The embodiments of the present disclosure provide a ship collision warning method and device, which are used to solve the problems that the existing collision risk quantification and warning methods do not take into account the ship scale and behavior factors, the warning level division is simple and highly subjective.

[0050] In order to make the purpose, features, and advantages of the invention disclosed in the present invention more obvious and easy to understand, 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 below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] Embodiment 1

[0052] See also Figure 1 , Figure 1 The following is a flowchart of the steps of the ship collision warning method provided by the first embodiment of the present disclosure, and the method includes:

[0053] Step S101, obtaining target ships within a 6-nautical-mile radius of the current ship and their target ship information;

[0054] Step S102, using a preset relative motion parameter model, combined with the acquired current ship information and the target ship information, to calculate the relative motion parameters between the current ship and the target ship;

[0055] Step S103, constructing a ship safety area of ​​the current ship during the navigation between the current ship and the target ship based on the target ship information and the current ship information;

[0056] Step S104, judging whether there is a collision risk between the target ship and the current ship based on the ship safety area and the relative motion parameter;

[0057] Step S105, if there is a collision risk, quantify the collision risk using fuzzy theory to obtain a quantified value of the ship collision risk;

[0058] Step S106: classify the ship collision risk level based on the ship collision risk quantification value and the degree of intrusion of the target ship into the ship safety area.

[0059] A ship collision warning method provided by the embodiment of the present disclosure includes: obtaining a target ship and its target ship information within a radius of 6 nautical miles of the current ship; using a preset relative motion parameter model, combining the current ship information obtained and the target ship information, calculating the relative motion parameters of the current ship and the target ship; constructing the ship safety field of the current ship during navigation between the current ship and the target ship based on the target ship information and the current ship information; judging whether there is a collision risk between the target ship and the current ship based on the ship safety field and the relative motion parameters; if there is a collision risk, quantifying the collision risk using fuzzy theory to obtain a ship collision risk quantification value; dividing the ship collision risk level based on the ship collision risk quantification value and the degree of intrusion of the target ship into the ship safety field. This solves the problem that the existing collision risk quantification and warning methods do not take into account the ship scale and behavior factors, the warning level division is simple and subjective.

[0060] Embodiment 2

[0061] See also Figure 2 , Figure 2 The following is a flowchart of the steps of the ship collision warning method provided by the second embodiment of the present disclosure, and the method includes:

[0062] Step S201, obtaining target ships within a 6-nautical-mile radius of the current ship and their target ship information;

[0063] Step S202, using a preset relative motion parameter model, combined with the acquired current ship information and the target ship information, to calculate the relative motion parameters between the current ship and the target ship;

[0064] In an embodiment of the present invention, the relative motion parameter model includes: a relative speed model, a relative heading model, a minimum encounter distance model and a minimum encounter time model; the target ship information includes: target direction, target length, target heading and target speed; the current ship information includes: current heading and current speed; the relative relative motion parameters include: relative speed, relative heading, minimum encounter distance and minimum encounter time.

[0065] See also Figure 3 , Figure 3A schematic diagram of the relative motion parameters of a ship in the collision warning method for a ship provided in the second embodiment of the present disclosure is shown by way of example. In a specific implementation, a relative speed model and a relative heading model are used to calculate the relative speed and the relative heading respectively in combination with the target heading, the target speed, the current heading and the current speed; at the same time, a minimum encounter distance model and a minimum encounter time model are used to calculate the minimum encounter distance model and the minimum encounter time model respectively in combination with the target ship length, the target heading and the current heading.

[0066] The relative velocity model is:

[0067]

[0068] The relative heading model is:

[0069]

[0070] The minimum encounter distance model is:

[0071]

[0072] The minimum encounter time model is:

[0073]

[0074] Where R is the target distance, is the target heading, V t is the target speed, is the current heading, V o is the current speed, V is the relative speed, is the relative heading, D cpa is the minimum encounter distance, T cpa is the minimum encounter time.

[0075] Step S203, calculating the current ship's four-element ship field scale and the target ship's four-element ship field scale according to the preset current ship's four-element ship field scale model and the target ship's four-element ship field scale model respectively;

[0076] Step S204, constructing a current ship four-element domain and a target ship four-element domain based on the current ship four-element ship domain scale and the target ship four-element ship domain scale respectively;

[0077] See also Figure 4 , Figure 4A schematic diagram of ship safety domain and risk index of the collision warning method for ships provided in the second embodiment of the present disclosure is exemplarily shown. In the embodiment of the present application, the center of the current ship and the center of the target ship are respectively taken as the origin, the right side transverse direction is taken as the positive direction of the x-axis, and the bow direction is taken as the positive direction of the y-axis. Establish respective ship coordinate systems, and then calculate the current ship four-element ship domain scale and the target ship four-element ship domain scale according to the preset current ship four-element ship domain scale model and the target ship four-element ship domain scale model, wherein the current ship four-element ship domain scale model is:

[0078]

[0079] in, is the longitudinal front radius of the current ship's quaternary field, is the longitudinal rear radius of the current ship's quaternary field, is the lateral left radius of the current ship's quaternion field, is the lateral right radius of the current ship's quaternion field, L o is the current ship captain, k ad,o is the current ship turning distance coefficient, k dt,o is the current ship turning initial diameter coefficient, and the calculation expressions of the current ship turning distance coefficient and the current ship turning initial diameter coefficient are:

[0080]

[0081] The target ship four-element ship domain scale model is:

[0082]

[0083] in, is the longitudinal front radius of the target ship's quaternary field, is the longitudinal rear radius of the target ship's quaternary field, is the lateral left radius of the target ship's quaternary field, is the lateral right radius of the target ship's quaternary field, k ad,t is the target ship turning distance coefficient, k dt,t is the target ship turning initial diameter coefficient, and the calculation expressions of the target ship turning distance coefficient and the target ship turning initial diameter coefficient are as follows:

[0084]

[0085] Step S205, superimposing the target ship four-element field to the current ship four-element field to obtain the ship safety field;

[0086] See also Figure 4 , Figure 4The schematic diagram of the ship safety field and risk index of the ship collision warning method provided in the second embodiment of the present disclosure is exemplarily shown. In the embodiment of the present application, the target ship four-element field is superimposed on the current ship four-element field to obtain the ship safety field, and the radius r of the ship safety field is f 、r a 、r s 、r p The length of is the sum of the four-dimensional ship domain scales of the own ship and the target ship, and is calculated as follows:

[0087]

[0088] In the specific implementation, after obtaining the ship safety domain, it is layered. The first layer is the prohibited intrusion area for other ships, and the second layer is the safety area that ships hope to maintain when they meet. The outer boundary of the current ship's four-element ship domain is used as the prohibited boundary of the safety domain, and the outer boundary of the ship's safety domain is used as the expected boundary of the safety domain. The prohibited boundary of the safety domain is determined based on the prohibited boundary model of the safety domain, and the prohibited boundary of the safety domain is determined based on the expected boundary model of the safety domain. The prohibited boundary model of the safety domain and the expected boundary model of the safety domain are:

[0089]

[0090]

[0091]

[0092] Among them, f ban (x,y) is the forbidden boundary equation, f exp (x, y) is the expected boundary equation, and sgn(·) is the sign decision function.

[0093] Step S206, forming a relative motion line through the target orientation and the relative heading;

[0094] Step S207, determining a relative motion model of the relative motion line in the coordinate system of the current ship according to the point-slope equation;

[0095] In the embodiment of the present application, a relative motion line is constructed by the target azimuth and the relative heading, and an expression of the relative motion line in the coordinate system of the current ship is obtained according to the point-slope equation, that is, a relative motion model, which is specifically:

[0096]

[0097] Step S208, judging whether there is a collision risk between the target ship and the current ship based on the relative motion model and the safety field prohibited boundary model;

[0098] In the embodiment of the present application, the number of intersections n is determined according to the safety domain prohibited boundary model and the relative motion model. e If the relative motion line passes through the safety area of ​​own ship, that is, n e >0, indicating that there is a risk of collision between own ship and target ship.

[0099] Step S209, if there is a collision risk, quantify the collision risk using fuzzy theory to obtain a quantified value of the ship collision risk;

[0100] In an embodiment of the present application, the membership along the relative heading direction, the membership perpendicular to the relative heading direction, the membership of the target distance, and the membership of the ship speed ratio are determined through a preset membership function model; and according to a preset collision quantification model, the quantified value of the ship collision risk is calculated by combining the membership along the relative heading direction, the membership perpendicular to the relative heading direction, the membership of the target distance, and the membership of the ship speed ratio.

[0101] In the specific implementation, select along the relative heading direction D cpa , vertical relative heading direction T cpa , distance between the two ships R, speed ratio K, relative heading As an evaluation index, the ship speed ratio K = V t / V o .

[0102] Among them, along the relative heading direction D cpa Membership function μ of the indicator Dcpa for:

[0103]

[0104]

[0105]

[0106]

[0107]

[0108] Among them, r b Along D cpa The distance from own ship to the prohibited boundary in the direction of the line, r e Along D cpa The distance from the ship to the desired boundary in the direction of the line, x0 and y0 are the horizontal and vertical coordinates of the intersection of the relative motion line and the x-axis and y-axis of the ship's coordinate system, respectively; r x,b 、r y,b 、r x,e 、r y,e Select a function for the domain semiaxis.

[0109] Vertical relative heading direction T cpa Membership function μ of the indicator Tcpa for:

[0110]

[0111]

[0112] Among them, x e ,y e is the horizontal and vertical coordinates of the intersection of the relative motion line and the expected boundary, T e It is the closest encounter time when own ship is at the intersection point.

[0113] Membership function μ of the distance R between two ships R for:

[0114]

[0115]

[0116] Among them, x e ,y e is the horizontal and vertical coordinates of the intersection of the relative motion line and the expected boundary, R e is the distance from own ship to the intersection point.

[0117] Relative heading The membership function for:

[0118]

[0119] Membership function μ of ship speed ratio K K for:

[0120]

[0121] For open sea areas, when there is a risk of collision between ships, the index evaluation matrix [0.36, 0.32, 0.14, 0.08, 0.1] is selected, and the ship collision risk value is obtained using the generalized weighted average fuzzy operator; when there is no risk of collision between ships, the collision risk value is 0:

[0122]

[0123] Among them, I R Quantify the risk of ship collision.

[0124] Step S210: classify the ship collision risk level based on the ship collision risk quantification value and the degree of intrusion of the target ship into the ship safety area.

[0125] In an embodiment of the present application, based on the relative motion model and the expected boundary model of the safety field, the degree of intrusion of the target ship into the ship safety field is determined; and according to the preset intrusion degree classification rules, the ship collision risk level is determined in combination with the intrusion degree and the quantitative value of the ship collision risk.

[0126] In the specific implementation, if there is a collision risk between the current ship and the target ship, the expected boundary of the safety field is used as the basis for calculating the ship collision risk threshold, and the ship collision risk threshold characterization function I' is established by using the ratio of the collision risk value when the target ship enters the expected boundary of the safety field of the current ship and the collision risk value when the target ship reaches the nearest encounter point. R , calculated as follows:

[0127]

[0128] in, is the collision risk value when the target ship enters the expected boundary of the safety area at the target heading and target speed, It is the collision risk value when the target ship reaches the closest encounter point at the target course and target speed.

[0129] According to the relationship between the degree of intrusion in the ship safety field, the ship collision risk value and the collision risk threshold, the collision warning between two ships is divided into 5 levels, among which Ⅰ>Ⅱ>Ⅲ>Ⅳ>Ⅴ, as shown in the following table:

[0130]

[0131] In a multi-ship encounter scenario, the collision warning level between the own ship and each target ship is obtained through the above-mentioned classification standard, and the highest warning level is used as the current comprehensive warning level of the own ship.

[0132] A ship collision warning method provided by the embodiment of the present disclosure includes: obtaining a target ship and its target ship information within a radius of 6 nautical miles of the current ship; using a preset relative motion parameter model, combining the current ship information obtained and the target ship information, calculating the relative motion parameters of the current ship and the target ship; constructing the ship safety field of the current ship between the current ship and the target ship during navigation based on the target ship information and the current ship information; judging whether there is a collision risk between the target ship and the current ship based on the ship safety field and the relative motion parameters; if there is a collision risk, quantifying the collision risk using fuzzy theory to obtain a ship collision risk quantification value; dividing the ship collision risk level based on the ship collision risk quantification value and the degree of intrusion of the target ship into the ship safety field. The effective combination of multiple collision risk indicators and multi-layer safety field boundaries can reflect the collision risk change trend between ships in real time and accurately. The proposed ship collision 5-level warning method reduces the role of human factors, improves the accuracy of collision warning between ships, and realizes the refined warning of ship collision in open waters.

[0133] Embodiment 3

[0134] See also Figure 5 , Figure 5 The structural block diagram of the collision warning device for a ship provided in the third embodiment of the present disclosure is exemplarily shown, and the device includes:

[0135] An acquisition module 301 is used to acquire target ships and target ship information within a 6-nautical-mile radius of the current ship;

[0136] The relative motion parameter determination module 302 is used to calculate the relative motion parameters between the current ship and the target ship by using a preset relative motion parameter model in combination with the acquired current ship information and the target ship information;

[0137] A ship safety domain construction module 303 is used to construct a ship safety domain of the current ship during the voyage between the current ship and the target ship based on the target ship information and the current ship information;

[0138] A collision risk determination module 304 is used to determine whether there is a collision risk between the target ship and the current ship based on the ship safety area and the relative motion parameter;

[0139] The risk quantification module 305 is used to quantify the collision risk by using fuzzy theory to obtain a quantified value of the ship collision risk when there is a collision risk;

[0140] The level classification module 306 is used to classify the ship collision risk level based on the ship collision risk quantification value and the degree of intrusion of the target ship into the ship safety area.

[0141] In an exemplary embodiment, the relative motion parameter model includes: a relative speed model, a relative heading model, a minimum encounter distance model and a minimum encounter time model; the target ship information includes: a target ship length, a target heading and a target speed; the current ship information includes: a current heading and a current speed; the relative relative motion parameters include: a relative speed, a relative heading, a minimum encounter distance and a minimum encounter time; the relative motion parameter determination module 302 includes:

[0142] A first relative motion parameter determination submodule, configured to use the relative speed model and the relative heading model, in combination with the target heading, the target speed, the current heading and the current speed, to respectively calculate the relative speed and the relative heading;

[0143] The second relative motion parameter determination submodule is used to use the minimum encounter distance model and the minimum encounter time model, in combination with the target ship length, the target heading and the current heading, to respectively calculate the minimum encounter distance model and the minimum encounter time model.

[0144] In an exemplary embodiment, the ship safety domain building module 303 includes:

[0145] A four-element ship domain scale determination submodule is used to calculate the four-element ship domain scale of the current ship and the four-element ship domain scale of the target ship according to the preset four-element ship domain scale model of the current ship and the four-element ship domain scale model of the target ship respectively;

[0146] A target ship four-element domain construction submodule is used to construct a current ship four-element domain and a target ship four-element domain based on the current ship four-element ship domain scale and the target ship four-element ship domain scale respectively;

[0147] The ship safety domain acquisition submodule is used to superimpose the target ship four-element domain onto the current ship four-element domain to obtain the ship safety domain.

[0148] In an exemplary embodiment, the target ship information further includes: target distance; the risk quantification module 305 includes:

[0149] The membership determination submodule is used to determine the membership along the relative heading direction, the membership vertical to the relative heading direction, the membership of the target distance, and the membership of the ship speed ratio through a preset membership function model;

[0150] The quantization value determination submodule is used to calculate the quantization value of the ship collision risk according to a preset collision quantization model, combining the relative heading direction membership, the vertical relative heading direction membership, the target distance membership, and the ship speed ratio membership.

[0151] In an exemplary embodiment, the target ship information further includes: target position; the ship safety area includes a safety area prohibited boundary; the safety area prohibited boundaries are determined based on a safety area prohibited boundary model; the collision risk determination module 304 includes:

[0152] A relative motion line construction submodule, used to construct a relative motion line through the target orientation and the relative heading;

[0153] A relative motion model determination submodule, used to determine the relative motion model of the relative motion line in the coordinate system of the current ship according to the point-slope equation;

[0154] The judgment submodule is used to judge whether there is a collision risk between the target ship and the current ship based on the relative motion model and the safety field prohibited boundary model.

[0155] In an exemplary embodiment, the ship safety domain also includes a safety domain expected boundary; the safety domain prohibited boundary is determined based on a safety domain expected boundary model; the level classification module 306 includes:

[0156] An intrusion degree determination submodule, used to determine the intrusion degree of the target ship into the ship safety area based on the relative motion model and the expected boundary model of the safety area;

[0157] The ship collision risk level determination submodule is used to determine the ship collision risk level according to a preset intrusion degree classification rule, combined with the intrusion degree and the ship collision risk quantification value.

[0158] Embodiment 4

[0159] An embodiment of the present disclosure further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of a ship collision warning method of any embodiment.

[0160] Embodiment 5

[0161] The embodiments of the present disclosure further provide a computer storage medium having a computer program stored thereon, and when the computer program is executed by the processor, the steps of a ship collision warning method of any embodiment are implemented.

[0162] Embodiment 6

[0163] The embodiments of the present disclosure further provide a computer program product having a computer program stored thereon, and when the computer program is executed by the processor, the steps of a ship collision warning method of any embodiment are implemented.

[0164] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0165] In the several embodiments provided in the present application, it should be understood that the methods, devices, electronic devices and storage media disclosed in the present disclosure can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0166] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0167] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0168] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a readable storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned readable storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0169] As described above, the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A ship collision warning method, characterized in that: include: Get the target ships and their target ship information within a 6-nautical-mile radius of the current ship; Calculating the relative motion parameters between the current ship and the target ship by using a preset relative motion parameter model and combining the acquired current ship information and the target ship information; Based on the target ship information and the current ship information, constructing a ship safety area of ​​the current ship during navigation between the current ship and the target ship; Based on the ship safety area and the relative motion parameter, determining whether there is a collision risk between the target ship and the current ship; If there is a collision risk, the collision risk is quantified using fuzzy theory to obtain a quantitative value of the ship collision risk; Based on the quantified value of the ship collision risk and in combination with the degree of intrusion of the target ship into the ship safety area, the ship collision risk level is divided.

2. The ship collision warning method according to claim 1, characterized in that: The relative motion parameter model includes: a relative speed model, a relative heading model, a minimum encounter distance model and a minimum encounter time model; the target ship information includes: target ship length, target heading and target speed; the current ship information includes: current heading and current speed; the relative relative motion parameters include: relative speed, relative heading, minimum encounter distance and minimum encounter time; using the preset relative motion parameter model, combined with the acquired current ship information and the target ship information, the relative motion parameters of the current ship and the target ship are calculated, including: Calculate the relative speed and the relative heading respectively by using the relative speed model and the relative heading model in combination with the target heading, the target speed, the current heading and the current speed; The minimum encounter distance model and the minimum encounter time model are used to calculate the minimum encounter distance model and the minimum encounter time model respectively in combination with the target ship length, the target heading and the current heading.

3. The ship collision warning method according to claim 2, characterized in that: Based on the target ship information and the current ship information, constructing the ship safety field of the current ship during the navigation between the current ship and the target ship, including: Calculate the current ship's four-element ship domain scale and the target ship's four-element ship domain scale according to the preset current ship's four-element ship domain scale model and the target ship's four-element ship domain scale model respectively; Constructing a current ship four-element domain and a target ship four-element domain based on the current ship four-element ship domain scale and the target ship four-element ship domain scale respectively; The target ship four-element field is superimposed on the current ship four-element field to obtain the ship safety field.

4. The ship collision warning method according to claim 2, characterized in that: The target ship information also includes: target distance; if there is a collision risk, the collision risk is quantified using fuzzy theory to obtain a quantitative value of the ship collision risk, including: Through the preset membership function model, the membership along the relative heading, the membership vertical to the relative heading, the membership of the target distance, and the membership of the ship speed ratio are determined; According to the preset collision quantification model, the quantified value of the ship collision risk is calculated by combining the relative heading direction membership, the vertical relative heading direction membership, the target distance membership, and the ship speed ratio membership.

5. The ship collision warning method according to claim 2, characterized in that: The target ship information further includes: target orientation; the ship safety area includes a safety area prohibited boundary; the safety area prohibited boundaries are determined based on a safety area prohibited boundary model; based on the ship safety area and the relative motion parameter, judging whether there is a collision risk between the target ship and the current ship, including: A relative motion line is formed by the target orientation and the relative heading; Determine the relative motion model of the relative motion line in the coordinate system of the current ship according to the point-slope equation; Based on the relative motion model and the safety domain prohibited boundary model, it is determined whether there is a collision risk between the target ship and the current ship.

6. The ship collision warning method according to claim 5, characterized in that: The ship safety area also includes an expected boundary of the safety area; the prohibited boundary of the safety area is determined based on the expected boundary model of the safety area; based on the quantified value of the ship collision risk and in combination with the degree of intrusion of the target ship into the ship safety area, the ship collision risk level is divided, including: Determining the intrusion degree of the target ship into the ship safety area based on the relative motion model and the expected boundary model of the safety area; The ship collision risk level is determined according to a preset intrusion degree classification rule, combined with the intrusion degree and the ship collision risk quantification value.

7. A ship collision warning device, characterized in that: include: An acquisition module is used to acquire target ships and their target ship information within a 6-nautical-mile radius of the current ship; A relative motion parameter determination module, used to calculate the relative motion parameters between the current ship and the target ship by using a preset relative motion parameter model in combination with the acquired current ship information and the target ship information; A ship safety domain construction module, used to construct a ship safety domain of the current ship during the voyage between the current ship and the target ship based on the target ship information and the current ship information; A collision risk determination module, used to determine whether there is a collision risk between the target ship and the current ship based on the ship safety area and the relative motion parameter; A risk quantification module is used to quantify the collision risk by using fuzzy theory when there is a collision risk, so as to obtain a quantitative value of the ship collision risk; The level classification module is used to classify the ship collision risk level based on the quantitative value of the ship collision risk and the degree of intrusion of the target ship into the ship safety area.

8. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 6 is executed.

9. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is executed.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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