Unmanned ship dynamic obstacle avoidance system and method and storage medium

Abstract

The invention relates to the technical field of unmanned ship dynamic obstacle avoidance, in particular to an unmanned ship dynamic obstacle avoidance system and method and a storage medium. Comprising a dynamic obstacle avoidance early warning platform, a database, an obstacle avoidance planning unit, an obstacle division unit, a deviation obstacle avoidance interference unit, a dynamic obstacle avoidance unit and a driving management unit. According to the invention, preliminary safety evaluation analysis is carried out from the perspective of optimal obstacle avoidance route planning, so that the optimal driving path can be reasonably selected, and obstacle recognition, division, management and analysis are carried out on the obstacles on the optimal driving path in an information feedback manner, so that the driving safety of the target unmanned ship can be improved, and the driving safety of the target unmanned ship can be improved. The collision risk of the target unmanned ship is further judged according to the actual driving environment information, so that the obstacle avoidance operation is reasonably performed, and whether the target obstacle collides with the target unmanned ship or not is analyzed from the angle of driving interaction prediction, so that the effect of efficient and safe obstacle avoidance is achieved through small changes.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned boat dynamic obstacle avoidance, and in particular to an unmanned boat dynamic obstacle avoidance system, method and storage medium. Background Art

[0002] Unmanned boats are small offshore platforms that have the ability to perceive the environment, navigate autonomously, and complete corresponding tasks autonomously. In recent years, they have been widely used in the fields of marine scientific investigation, marine search and rescue, and marine energy exploration. Since the mission environment of unmanned boats is very complex, it not only contains static obstacles, but is also affected by sea waves and other dynamic obstacles. Therefore, collision avoidance has become a key technical factor affecting the autonomous navigation of unmanned boats.

[0003] The autonomous obstacle avoidance function is the premise and guarantee for the unmanned boat to successfully complete its mission. The obstacle avoidance of the unmanned boat mainly avoids static and dynamic obstacles in the surrounding environment during navigation. After the obstacle avoidance is completed, the planned route can be continued. However, in the existing obstacle avoidance technology, it is impossible to rationally distinguish and manage static or dynamic obstacles in the driving path. At the same time, in the process of obstacle avoidance, there is a lack of obstacle avoidance planning based on the influence of actual environmental parameters, which increases the collision risk of the unmanned boat, and it is impossible to analyze the rationality of the obstacle avoidance route, thereby reducing the efficiency of obstacle avoidance management of the unmanned boat.

[0004] In view of the above technical defects, a solution is now proposed. Summary of the invention

[0005] The purpose of the present invention is to provide a dynamic obstacle avoidance system, method and storage medium for an unmanned boat to solve the technical defects mentioned above. The present invention performs a preliminary safety assessment analysis from the perspective of optimal planning of obstacle avoidance routes, so as to reasonably analyze the safety of the planned driving route autonomously generated by the target unmanned boat, so as to reasonably select the optimal driving path, and perform obstacle identification, division and management analysis on obstacles on the optimal driving path by means of information feedback, which helps to improve the driving safety of the target unmanned boat, and further performs driving deviation interference supervision analysis on the actual driving environment information, so as to determine the collision risk of the target unmanned boat according to the actual driving environment information, so as to reasonably make obstacle avoidance operations, and analyze whether the target obstacle and the target unmanned boat will collide from the perspective of driving interaction prediction, so as to perform route optimal matching analysis on the target unmanned boat with collision risk, so as to achieve efficient and safe obstacle avoidance through small changes, and at the same time help to improve the driving safety and obstacle avoidance management efficiency of the target unmanned boat.

[0006] The object of the present invention can be achieved by the following technical solutions: an unmanned boat dynamic obstacle avoidance system, comprising a dynamic obstacle avoidance warning platform, a database, an obstacle avoidance planning unit, an obstacle division unit, a deviation obstacle avoidance interference unit, a dynamic obstacle avoidance unit and a driving management unit;

[0007] The dynamic obstacle avoidance warning platform retrieves the obstacle avoidance planning information of the target unmanned boat from the database and sends it to the obstacle avoidance planning unit;

[0008] The obstacle avoidance planning unit is used to perform obstacle avoidance route optimization planning analysis on the received obstacle avoidance planning information, and set the planned driving route corresponding to the minimum value of the product obtained by multiplying the obtained obstacle avoidance times and the corresponding value of the driving time corresponding to the planned driving route at the specified driving speed as the optimal driving path;

[0009] The obstacle division unit retrieves the best monitoring driving path, performs obstacle identification and division management analysis, compares the coordinates of the obtained target obstacle with the marked obstacle, and obtains the marked planning signal or dynamic obstacle avoidance signal;

[0010] The deviation obstacle avoidance interference unit is used to respond to the marking planning signal, collect the actual driving environment information of the target unmanned boat, and perform driving deviation interference supervision and analysis on the actual driving environment information to obtain a safety signal or a control signal;

[0011] The dynamic obstacle avoidance unit is used to respond to the dynamic obstacle avoidance signal, collect the forward information of the target obstacle, and perform collision risk discrimination feedback analysis on the forward information to obtain a passing signal or a collision avoidance signal;

[0012] When a collision avoidance signal or a control signal is generated, a route optimization matching analysis is performed, and the avoidance route corresponding to the minimum value of the obstacle avoidance recommendation evaluation coefficient T is set as the optimal obstacle avoidance route and sent to the driving management unit.

[0013] Preferably, the obstacle avoidance route optimization planning analysis process of the obstacle avoidance planning unit is as follows:

[0014] The planning information and basic driving information of the target unmanned boat are obtained, the planning information includes the starting point position coordinates and the end point position coordinates, and multiple planned driving routes autonomously generated by the target unmanned boat from the starting point position coordinates to the end point position coordinates are obtained, and the obstacle avoidance planning information of each planned driving route is obtained, and the obstacle avoidance planning information includes the number of obstacle avoidances of the planned driving route and the driving time corresponding to the planned driving route at a specified driving speed;

[0015] The planned driving route corresponding to the minimum value of the product values ​​obtained by multiplying the number of obstacle avoidance times and the driving time corresponding to the planned driving route at the specified driving speed is set as the optimal driving path.

[0016] Preferably, the obstacle identification division management analysis process of the obstacle division unit is as follows:

[0017] With the center of gravity of the target unmanned boat as the center of the circle and R1 as the radius, the area enclosed by the circle around the center of gravity of the target unmanned boat is set as the warning area; when the warning area is warned of obstacles by monitoring means during the driving period of the target unmanned boat, the monitored obstacles are set as target obstacles, and the obstacles in the optimal driving path of the target unmanned boat are set as marked obstacles; the coordinates of the target obstacle and the marked obstacle are compared and analyzed to generate a marked planning signal or a dynamic obstacle avoidance signal.

[0018] Preferably, the deviation obstacle avoidance interference unit's driving deviation interference supervision and analysis process is as follows:

[0019] The minimum straight-line distance between the marked obstacle and the target unmanned boat when the target unmanned boat is traveling on the optimal driving path is obtained; the actual driving environment information of the target unmanned boat is obtained, and the actual driving environment information includes a wind speed interference index and a water flow interference index;

[0020] The product value obtained by multiplying the corresponding values ​​of the wind speed interference index and the water flow interference index is set as the actual yaw swing value, and the set yaw swing value imported by the target unmanned boat when the optimal driving path is generated is obtained. The actual yaw swing value is compared and analyzed with the set yaw swing value to generate a feedback signal.

[0021] Preferably, when the feedback signal is generated: the yaw swing value is compared and analyzed with the preset yaw swing value interval, and then the preset yaw swing value interval corresponding to the yaw swing value is obtained, and the unmanned boat yaw risk range value set by the preset yaw swing value interval corresponding to the yaw swing value is obtained;

[0022] When the target unmanned boat is in the state of the maximum value in the unmanned boat deviation risk range, the minimum straight-line distance between the obstacle and the target unmanned boat is marked and set as the collision risk peak value, and the value obtained by subtracting the collision risk peak value from the minimum straight-line distance is set as the emergency response distance, and the emergency response distance is judged and processed: a safety signal is generated or a control signal is generated;

[0023] The wind speed interference index represents the maximum instantaneous wind speed in the target unmanned boat driving environment; the water flow interference index represents the average amplitude of the water flow in the target unmanned boat driving environment.

[0024] Preferably, the collision risk discrimination feedback analysis process of the dynamic obstacle avoidance unit is as follows:

[0025] Obtain the forward information of the target obstacle and the basic driving information of the target unmanned boat, and then obtain the intersection point of the forward route of the target obstacle and the remaining optimal driving path of the target unmanned boat;

[0026] The predicted time from the target obstacle to the intersection is obtained, and the predicted time from the target unmanned boat to the intersection is obtained at the same time. The difference between the predicted time from the target obstacle to the intersection and the predicted time from the target unmanned boat to the intersection is obtained, and it is set as the interaction collision time.

[0027] The interactive collision duration is compared and analyzed with the preset interactive collision duration threshold that is internally recorded and stored, and a passing signal or a collision avoidance signal is generated.

[0028] Preferably, when a collision avoidance signal or a control signal is generated:

[0029] Obtain multiple avoidance routes autonomously generated by the target unmanned boat, and obtain basic route information of each avoidance route. The basic route information includes energy consumption value, steering angle and regional evaluation value. The energy consumption value, steering angle and regional evaluation value are labeled as NH, ZJ and QP respectively. Substitute the energy consumption value NH, steering angle ZJ and regional evaluation value QP into the formula to obtain the obstacle avoidance recommended evaluation coefficient T;

[0030] The minimum value of the obstacle avoidance recommendation evaluation coefficient T is obtained, and the avoidance route corresponding to the minimum value of the obstacle avoidance recommendation evaluation coefficient T is set as the optimal obstacle avoidance route;

[0031] The area evaluation value indicates the size of the area enclosed by the avoidance route and the optimal driving path.

[0032] The beneficial effects of the present invention are as follows:

[0033] (1) The present invention performs a preliminary safety assessment analysis from the perspective of optimal planning of obstacle avoidance routes, so as to reasonably analyze the safety of the planned driving route autonomously generated by the target unmanned boat, so as to reasonably select the best driving path, and perform obstacle identification, division, management and analysis of obstacles on the best driving path by means of information feedback, which helps to distinguish the types of obstacles on the one hand, and helps to improve the driving safety of the target unmanned boat on the other hand;

[0034] (2) The present invention further performs a driving deviation interference supervision analysis on the actual driving environment information to understand the deviation between the actual driving environment information of the target unmanned boat and the set value when the optimal driving path is generated, so as to judge the collision risk of the target unmanned boat according to the actual driving environment information, so as to reasonably make obstacle avoidance operations, and analyze whether the target obstacle and the target unmanned boat will collide from the perspective of driving interaction prediction, so as to perform route preferential matching analysis on the target unmanned boat with a collision risk, so as to achieve efficient and safe obstacle avoidance through small changes, and at the same time help to improve the driving safety and obstacle avoidance management efficiency of the target unmanned boat. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention will be further described below in conjunction with the accompanying drawings;

[0036] Figure 1 It is a flowchart of the system of the present invention;

[0037] Figure 2 It is a reference diagram of the method of the present invention. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] Embodiment 1:

[0040] See also Figure 1 to Figure 2 As shown, the present invention is a dynamic obstacle avoidance system for an unmanned boat, comprising a dynamic obstacle avoidance warning platform, a database, an obstacle avoidance planning unit, an obstacle division unit, a deviation obstacle avoidance interference unit, a dynamic obstacle avoidance unit and a driving management unit, wherein the database is connected to the dynamic obstacle avoidance warning platform in a one-way communication manner, the dynamic obstacle avoidance warning platform is connected to the obstacle avoidance planning unit in a two-way communication manner, the dynamic obstacle avoidance warning platform is connected to the obstacle division unit in a one-way communication manner, the obstacle division unit is connected to the deviation obstacle avoidance interference unit and the dynamic obstacle avoidance unit in a one-way communication manner, and the deviation obstacle avoidance interference unit and the dynamic obstacle avoidance unit are both connected to the driving management unit in a one-way communication manner;

[0041] The dynamic obstacle avoidance warning platform retrieves the obstacle avoidance planning information of the target unmanned boat from the database and sends it to the obstacle avoidance planning unit;

[0042] The obstacle avoidance planning unit is used to perform optimal planning analysis on the received obstacle avoidance planning information, so as to reasonably analyze the rationality and safety of the planned driving route autonomously generated by the target unmanned boat, so as to reasonably select the best driving path. The specific obstacle avoidance route optimal planning analysis process is as follows:

[0043] Obtain planning information and basic driving information of the target unmanned boat, including the starting point position coordinates and the end point position coordinates, obtain multiple planned driving routes autonomously generated by the target unmanned boat from the starting point position coordinates to the end point position coordinates, and obtain obstacle avoidance planning information of each planned driving route, including the number of obstacle avoidances of the planned driving route and the driving time corresponding to the planned driving route at a specified driving speed;

[0044] In the embodiment of the present invention, the basic driving information includes driving speed, acceleration, etc.;

[0045] The optimal driving path is obtained based on the quantitative analysis of the number of obstacle avoidances and the driving time corresponding to the planned driving route at the specified driving speed, and the optimal driving path is sent to the dynamic obstacle avoidance warning platform;

[0046] In the embodiment of the present invention, the quantitative analysis process of the number of obstacle avoidances and the driving time corresponding to the planned driving route at a specified driving speed is as follows:

[0047] The planned driving route corresponding to the minimum value of the product values ​​obtained by multiplying the number of obstacle avoidance times and the driving time corresponding to the planned driving route at the specified driving speed is set as the optimal driving path;

[0048] The obstacle classification unit retrieves and monitors the best driving path and performs obstacle identification and classification management analysis, which helps to distinguish the types of obstacles and improve the driving safety of the target unmanned boat. The specific obstacle identification and classification management analysis process is as follows:

[0049] With the center of gravity of the target unmanned boat as the center of the circle and R1 as the radius, the area enclosed by the circle around the center of gravity of the target unmanned boat is set as the warning area;

[0050] When the target unmanned boat is traveling, the warning area is warned of obstacles by monitoring means, the monitored obstacles are set as target obstacles, and the obstacles in the optimal driving path of the target unmanned boat are set as marked obstacles;

[0051] In the embodiment of the present invention, the monitoring means include millimeter wave radar, satellite positioning, etc.;

[0052] Compare and analyze the coordinates of the target obstacle and the marked obstacle:

[0053] If the coordinates of the target obstacle and the marked obstacle are in one-to-one correspondence, a marking planning signal is generated;

[0054] If the one-to-one correspondence between the target obstacle and the marked obstacle coordinates is not satisfied, a dynamic obstacle avoidance signal is generated.

[0055] Embodiment 2:

[0056] When the marking planning signal is generated, the deviation obstacle avoidance interference unit is used to respond to the marking planning signal, collect the actual driving environment information of the target unmanned boat, and perform driving deviation interference supervision analysis on the actual driving environment information to understand the deviation between the actual driving environment information of the target unmanned boat and the set value when the optimal driving path is generated, so as to judge the collision risk of the target unmanned boat according to the actual driving environment information, so as to make reasonable obstacle avoidance operations. The specific driving deviation interference supervision analysis process is as follows:

[0057] Obtain the minimum straight-line distance between the marked obstacle and the target unmanned boat when the target unmanned boat travels on the optimal driving path;

[0058] Acquire the actual driving environment information of the target unmanned boat, the actual driving environment information includes the wind speed interference index and the water flow interference index;

[0059] The product value obtained by multiplying the corresponding values ​​of the wind speed interference index and the water flow interference index is set as the actual yaw swing value, and the set yaw swing value imported by the target unmanned boat when the optimal driving path is generated is obtained. The actual yaw swing value is compared and analyzed with the set yaw swing value:

[0060] If the actual yaw swing value is less than or equal to the set yaw swing value, no signal is generated;

[0061] If the actual yaw swing value is greater than the set yaw swing value, a feedback signal is generated. When the feedback signal is generated, the yaw swing value is compared and analyzed with the preset yaw swing value interval, and then the preset yaw swing value interval corresponding to the yaw swing value is obtained, and the unmanned boat yaw risk range value set by the preset yaw swing value interval corresponding to the yaw swing value is obtained;

[0062] When the target unmanned boat is in the state of the maximum value in the unmanned boat deviation risk range, the minimum straight-line distance between the obstacle and the target unmanned boat is marked and set as the collision risk peak value. The value obtained by subtracting the collision risk peak value from the minimum straight-line distance is set as the emergency response distance, and the emergency response distance is judged:

[0063] If the emergency response distance is greater than the preset emergency response distance threshold, a safety signal is generated and sent to the driving management unit. After receiving the safety signal, the driving management unit immediately performs a preset warning operation corresponding to the safety signal, that is, the preset warning operation corresponding to the safety signal is to continue to move forward according to the set optimal driving path;

[0064] If the emergency response distance is greater than a preset emergency response distance threshold, a control signal is generated;

[0065] In the embodiment of the present invention, the wind speed interference index represents the maximum instantaneous wind speed in the environment in which the target unmanned boat is traveling;

[0066] In an embodiment of the present invention, the water flow interference index represents the average amplitude of the water flow in the driving environment of the target unmanned boat. The larger the water flow interference index is, the larger the swing amplitude of the target unmanned boat is, resulting in more violent swing of the target unmanned boat, a greater risk of deviation, and a smaller minimum straight-line distance between the marked obstacle and the target unmanned boat.

[0067] Embodiment three:

[0068] When a dynamic obstacle avoidance signal is generated, the dynamic obstacle avoidance unit is used to respond to the dynamic obstacle avoidance signal, collect the forward information of the target obstacle, and perform collision risk discrimination feedback analysis on the forward information to determine whether the target obstacle and the target unmanned boat will collide, so as to perform a reasonable obstacle avoidance control analysis process under the risk of collision. The specific collision risk discrimination feedback analysis process is as follows:

[0069] Obtain the forward information of the target obstacle and the basic driving information of the target unmanned boat, and then obtain the intersection point of the forward route of the target obstacle and the remaining optimal driving path of the target unmanned boat;

[0070] The predicted time from the target obstacle to the intersection is obtained, and the predicted time from the target unmanned boat to the intersection is obtained, and the difference between the predicted time from the target obstacle to the intersection and the predicted time from the target unmanned boat to the intersection is obtained, and the difference between the predicted time from the target obstacle to the intersection and the predicted time from the target unmanned boat to the intersection is set as the interaction collision time;

[0071] Compare and analyze the interaction collision duration with the preset interaction collision duration threshold stored in the internal storage:

[0072] If the interaction collision duration is greater than or equal to the preset interaction collision duration threshold, a pass signal is generated;

[0073] If the interaction collision duration is less than the preset interaction collision duration threshold, a collision avoidance signal is generated;

[0074] In the embodiment of the present invention, the forward information includes the forward speed, the forward route, etc.;

[0075] When a collision avoidance signal or a maneuvering signal is generated:

[0076] A plurality of avoidance routes autonomously generated by the target unmanned boat are obtained, and basic route information of each avoidance route is obtained. The basic route information includes energy consumption value, steering angle and regional evaluation value. The energy consumption value, steering angle and regional evaluation value are labeled as NH, ZJ and QP respectively. The energy consumption value NH, steering angle ZJ and regional evaluation value QP are substituted into the formula T=(NH×a1+ZJ×a2+QP×a3)×a4 to obtain the obstacle avoidance recommendation evaluation coefficient, wherein a1, a2 and a3 are respectively the preset weight factor coefficients of the energy consumption value, steering angle and regional evaluation value, a4 is the preset error correction factor, a1, a2, a3 and a4 are all greater than zero, and T is the obstacle avoidance recommendation evaluation coefficient. It should be noted that the obstacle avoidance recommendation evaluation coefficient T is a comprehensive quantitative analysis of the multiple avoidance routes autonomously generated, so as to reasonably screen out the optimal obstacle avoidance route, so as to achieve the effect of safe obstacle avoidance through small changes;

[0077] The minimum value of the obstacle avoidance recommendation evaluation coefficient T is obtained, and the avoidance route corresponding to the minimum value of the obstacle avoidance recommendation evaluation coefficient T is set as the optimal obstacle avoidance route, and the optimal obstacle avoidance route is sent to the driving management unit. After receiving the optimal obstacle avoidance route, the driving management unit immediately performs obstacle avoidance driving according to the optimal obstacle avoidance route. On the one hand, it helps to achieve the effect of efficient and safe obstacle avoidance through small changes, and on the other hand, it helps to improve the driving safety and obstacle avoidance management efficiency of the target unmanned boat;

[0078] In the embodiment of the present invention, the regional evaluation value represents the size of the area enclosed by the avoidance route and the optimal driving path. It should be noted that the smaller the value of the regional evaluation value, the smaller the yaw change of the target unmanned boat under the premise of obstacle avoidance safety, and the faster the navigation is resumed.

[0079] Embodiment 4:

[0080] A method for dynamic obstacle avoidance of an unmanned boat comprises the following steps:

[0081] Step 1: Obstacle avoidance planning information is collected to perform optimal planning analysis of obstacle avoidance routes, and the planned driving route corresponding to the minimum value of the product obtained by multiplying the number of obstacle avoidance times and the driving time corresponding to the planned driving route at the specified driving speed is set as the optimal driving path;

[0082] Step 2: Based on the obstacle identification and division management analysis of the optimal driving path, the target obstacle is compared with the marked obstacle. If a marked planning signal is obtained, the process proceeds to step 3. If a dynamic obstacle avoidance signal is obtained, the process proceeds to step 4:

[0083] Step 3: Based on the actual driving environment information under information feedback, the driving yaw interference supervision analysis is performed to determine the collision risk of the target unmanned boat, and the obtained emergency response distance is processed. If a safety signal is obtained, feedback is output; if a control signal is obtained, step 5 is entered;

[0084] Step 4: Perform collision risk discrimination feedback analysis by means of information feedback to determine whether the target obstacle and the target unmanned boat will collide, and compare and analyze the obtained interactive collision duration. If a passing signal is obtained, feedback is output; if a collision avoidance signal is obtained, proceed to step 5;

[0085] Step 5: Perform route optimization matching analysis in a layer-by-layer manner, set the avoidance route corresponding to the minimum value of the obstacle avoidance recommendation evaluation coefficient T as the optimal obstacle avoidance route, and output the optimal obstacle avoidance route as feedback;

[0086] A computer-readable storage medium storing a computer program, wherein the computer program implements the above method when executed by a processor;

[0087] In summary, the present invention performs a preliminary safety assessment analysis from the perspective of optimal planning of obstacle avoidance routes, so as to reasonably analyze the safety of the planned driving route autonomously generated by the target unmanned boat, so as to reasonably select the optimal driving path, and perform obstacle identification, division, management and analysis on the obstacles on the optimal driving path by means of information feedback, which helps to distinguish the types of obstacles on the one hand, and helps to improve the driving safety of the target unmanned boat on the other hand. The actual driving environment information is further analyzed for driving deviation interference supervision to understand the deviation between the actual driving environment information of the target unmanned boat and the set value when the optimal driving path is generated, so as to judge the collision risk of the target unmanned boat according to the actual driving environment information, so as to reasonably make obstacle avoidance operations, and analyze whether the target obstacle and the target unmanned boat will collide from the perspective of driving interaction prediction, so as to perform route optimal matching analysis on the target unmanned boat with a collision risk, so as to achieve efficient and safe obstacle avoidance through small changes, and at the same time help to improve the driving safety and obstacle avoidance management efficiency of the target unmanned boat.

[0088] The threshold is set to facilitate comparison. The size of the threshold depends on the amount of sample data and the number of bases set by technicians in this field for each group of sample data; as long as it does not affect the proportional relationship between the parameter and the quantized value.

[0089] The above formulas are obtained by collecting a large amount of data for software simulation and selecting a formula that is close to the actual value. The coefficients in the formula are set by technical personnel in this field according to actual conditions. The above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited to this. Any technical personnel familiar with the technical field within the technical scope disclosed by the present invention, according to the technical solution and the inventive concept of the present invention, make equivalent replacement or change, which should be covered within the protection scope of the present invention.

Claims

1. A dynamic obstacle avoidance system for an unmanned boat, characterized in that: It includes a dynamic obstacle avoidance warning platform, a database, an obstacle avoidance planning unit, an obstacle division unit, a deviation obstacle avoidance interference unit, a dynamic obstacle avoidance unit, and a driving management unit; The dynamic obstacle avoidance warning platform retrieves the obstacle avoidance planning information of the target unmanned boat from the database and sends it to the obstacle avoidance planning unit; The obstacle avoidance planning unit is used to perform obstacle avoidance route optimization planning analysis on the received obstacle avoidance planning information, and set the planned driving route corresponding to the minimum value of the product obtained by multiplying the obtained obstacle avoidance times and the corresponding value of the driving time corresponding to the planned driving route at the specified driving speed as the optimal driving path; The obstacle division unit retrieves the best monitoring driving path, performs obstacle identification and division management analysis, compares the coordinates of the obtained target obstacle with the marked obstacle, and obtains the marked planning signal or dynamic obstacle avoidance signal; The deviation obstacle avoidance interference unit is used to respond to the marking planning signal, collect the actual driving environment information of the target unmanned boat, and perform driving deviation interference supervision and analysis on the actual driving environment information to obtain a safety signal or a control signal; The dynamic obstacle avoidance unit is used to respond to the dynamic obstacle avoidance signal, collect the forward information of the target obstacle, and perform collision risk discrimination feedback analysis on the forward information to obtain a passing signal or a collision avoidance signal; When a collision avoidance signal or a control signal is generated, a route optimization matching analysis is performed, and the avoidance route corresponding to the minimum value of the obstacle avoidance recommendation evaluation coefficient T is set as the optimal obstacle avoidance route and sent to the driving management unit.

2. The unmanned boat dynamic obstacle avoidance system according to claim 1, characterized in that: The obstacle avoidance route optimization planning analysis process of the obstacle avoidance planning unit is as follows: The planning information and basic driving information of the target unmanned boat are obtained, the planning information includes the starting point position coordinates and the end point position coordinates, and multiple planned driving routes autonomously generated by the target unmanned boat from the starting point position coordinates to the end point position coordinates are obtained, and the obstacle avoidance planning information of each planned driving route is obtained, and the obstacle avoidance planning information includes the number of obstacle avoidances of the planned driving route and the driving time corresponding to the planned driving route at a specified driving speed; The planned driving route corresponding to the minimum value of the product values ​​obtained by multiplying the number of obstacle avoidance times and the driving time corresponding to the planned driving route at the specified driving speed is set as the optimal driving path.

3. The unmanned boat dynamic obstacle avoidance system according to claim 2, characterized in that: The obstacle identification and division management analysis process of the obstacle division unit is as follows: With the center of gravity of the target unmanned boat as the center of the circle and R1 as the radius, the area enclosed by the circle around the center of gravity of the target unmanned boat is set as the warning area; when the warning area is warned of obstacles by monitoring means during the driving period of the target unmanned boat, the monitored obstacles are set as target obstacles, and the obstacles in the optimal driving path of the target unmanned boat are set as marked obstacles; the coordinates of the target obstacle and the marked obstacle are compared and analyzed to generate a marked planning signal or a dynamic obstacle avoidance signal.

4. The unmanned boat dynamic obstacle avoidance system according to claim 3, characterized in that: The deviation obstacle avoidance interference unit's driving yaw interference supervision and analysis process is as follows: The minimum straight-line distance between the marked obstacle and the target unmanned boat when the target unmanned boat is traveling on the optimal driving path is obtained; the actual driving environment information of the target unmanned boat is obtained, and the actual driving environment information includes a wind speed interference index and a water flow interference index; The product value obtained by multiplying the corresponding values ​​of the wind speed interference index and the water flow interference index is set as the actual yaw swing value, and the set yaw swing value imported by the target unmanned boat when the optimal driving path is generated is obtained. The actual yaw swing value is compared and analyzed with the set yaw swing value to generate a feedback signal.

5. The unmanned boat dynamic obstacle avoidance system according to claim 4, characterized in that: When the feedback signal is generated: the yaw swing value is compared and analyzed with the preset yaw swing value interval, and then the preset yaw swing value interval corresponding to the yaw swing value is obtained, and the unmanned boat yaw risk range value set by the preset yaw swing value interval corresponding to the yaw swing value is obtained; When the target unmanned boat is in the state of the maximum value in the unmanned boat deviation risk range, the minimum straight-line distance between the obstacle and the target unmanned boat is marked and set as the collision risk peak value, and the value obtained by subtracting the collision risk peak value from the minimum straight-line distance is set as the emergency response distance, and the emergency response distance is judged and processed: a safety signal is generated or a control signal is generated; The wind speed interference index represents the maximum instantaneous wind speed in the target unmanned boat driving environment; the water flow interference index represents the average amplitude of the water flow in the target unmanned boat driving environment.

6. The unmanned boat dynamic obstacle avoidance system according to claim 5, characterized in that: The collision risk discrimination feedback analysis process of the dynamic obstacle avoidance unit is as follows: Obtain the forward information of the target obstacle and the basic driving information of the target unmanned boat, and then obtain the intersection point of the forward route of the target obstacle and the remaining optimal driving path of the target unmanned boat; The predicted time from the target obstacle to the intersection is obtained, and the predicted time from the target unmanned boat to the intersection is obtained at the same time. The difference between the predicted time from the target obstacle to the intersection and the predicted time from the target unmanned boat to the intersection is obtained, and it is set as the interaction collision time. The interactive collision duration is compared and analyzed with the preset interactive collision duration threshold that is internally recorded and stored, and a passing signal or a collision avoidance signal is generated.

7. The unmanned boat dynamic obstacle avoidance system according to claim 6, characterized in that: When a collision avoidance signal or a maneuvering signal is generated: Obtain multiple avoidance routes autonomously generated by the target unmanned boat, and obtain basic route information of each avoidance route. The basic route information includes energy consumption value, steering angle and regional evaluation value. The energy consumption value, steering angle and regional evaluation value are labeled as NH, ZJ and QP respectively. Substitute the energy consumption value NH, steering angle ZJ and regional evaluation value QP into the formula to obtain the obstacle avoidance recommended evaluation coefficient T; The minimum value of the obstacle avoidance recommendation evaluation coefficient T is obtained, and the corresponding avoidance route is set as the optimal obstacle avoidance route; the area evaluation value represents the area size of the area enclosed by the avoidance route and the optimal driving path.

8. A method for dynamic obstacle avoidance of an unmanned boat, the method being applied to a dynamic obstacle avoidance system of an unmanned boat as claimed in claim 7, characterized in that: The following steps are involved: Step 1: Obstacle avoidance planning information is collected to perform optimal planning analysis of obstacle avoidance routes, and the planned driving route corresponding to the minimum value of the product obtained by multiplying the number of obstacle avoidance times and the driving time corresponding to the planned driving route at the specified driving speed is set as the optimal driving path; Step 2: Based on the obstacle identification and division management analysis of the optimal driving path, the target obstacle is compared with the marked obstacle. If a marked planning signal is obtained, the process proceeds to step 3. If a dynamic obstacle avoidance signal is obtained, the process proceeds to step 4: Step 3: Based on the actual driving environment information under information feedback, the driving yaw interference supervision analysis is performed to determine the collision risk of the target unmanned boat, and the obtained emergency response distance is processed. If a safety signal is obtained, feedback is output; if a control signal is obtained, step 5 is entered; Step 4: Perform collision risk discrimination feedback analysis by means of information feedback to determine whether the target obstacle and the target unmanned boat will collide, and compare and analyze the obtained interactive collision duration. If a passing signal is obtained, feedback is output; if a collision avoidance signal is obtained, proceed to step 5; Step 5: Perform route optimization matching analysis in a step-by-step manner, set the avoidance route corresponding to the minimum value of the obstacle avoidance recommendation evaluation coefficient T as the optimal obstacle avoidance route, and output the optimal obstacle avoidance route as feedback.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to claim 8 is implemented.

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