A ship active collision avoidance decision method, device and electronic equipment

Abstract

The application relates to a ship active collision avoidance decision method, device and electronic equipment, and belongs to the technical field of water traffic safety, wherein the method comprises the following steps: taking a ship as a center, determining a collision risk between ships according to the length, width, preset collision avoidance region boundary, position, speed and heading information of the ship and a target ship; constructing a ship kinematics model according to the ship operation characteristics, ship size and safety distance between the ships based on the factors of surge, sway and yaw influencing ship operation in static water, and obtaining a ship operation data set of the ship and the target ship based on the kinematics model, so as to determine a latest steering time; and determining a latest steering position of the ship under different operation instructions according to the preset collision avoidance responsibility, the collision risk between the ships and the latest steering time. The application solves the technical problem that the ship collision avoidance timing determination method depends on a set threshold value, the ship characteristics are not considered enough, and the collision avoidance decision depends on the subjective experience of the crew.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of water traffic safety, and in particular to a ship active collision avoidance decision method, device and electronic equipment. BACKGROUND

[0002] As the core carrier of the shipping industry, the ship, under the deep integration of automation and information technology, the active collision avoidance decision method has become an inevitable trend of industry development. Ship collision is a frequent type of maritime traffic accident, often causing serious personnel casualties, property losses and environmental pollution. The application of radar and automatic identification system (AIS) has significantly improved the collision avoidance efficiency, but the lack of collision risk awareness and the subjectivity of collision avoidance decision of ship operators are still the reasons for the frequent accidents.

[0003] Currently, the ship collision avoidance timing determination method mainly depends on the setting of threshold values, and the ship characteristics such as size and maneuvering performance are not considered. Although the International Regulations for Preventing Collisions at Sea requires that collision avoidance actions be taken when collision danger occurs, the description is ambiguous, resulting in that the determination of collision avoidance timing still highly depends on the subjective experience of the crew.

[0004] Therefore, it is necessary to consider the ship collision risk, take the ship maneuvering performance as the core constraint, and according to the specific collision avoidance stage of the ship, combined with the relevant requirements of the Rules, to explore a more accurate ship active collision avoidance decision method. This method aims to clearly define the collision avoidance timing and strategy under different encounter situations, and provide scientific basis and strong support for ship operators and autonomous collision avoidance of intelligent ships. SUMMARY

[0005] Therefore, it is necessary to provide a ship active collision avoidance decision method, device and electronic equipment to solve the technical problems that the ship collision avoidance timing determination method in the prior art mainly depends on the setting of threshold values, and the ship characteristics such as size and maneuvering performance are not considered, and the collision avoidance decision depends on the subjective experience of the crew.

[0006] In order to solve the above problems, the present application provides a ship active collision avoidance decision method, comprising:

[0007] Taking the own ship as the center, the collision risk between the ships is determined according to the length, width, pre-set collision avoidance area boundary, position, speed and heading information of the own ship and the target ship; wherein the target ship is each other ship in the pre-set collision avoidance area;

[0008] Based on the factors of surge, sway and yaw in still water affecting the ship maneuvering, a ship kinematics model is constructed according to the ship operation characteristics, ship size and safety distance between ships, and ship maneuvering data sets of the own ship and the target ship are obtained based on the kinematics model;

[0009] determine a latest steering time according to the ship steering data set;

[0010] determine a latest steering position of the target ship under different operation instructions according to the preset collision avoidance responsibility, the collision risk between the ships, and the latest steering time, and determine the target ship collision avoidance operation instruction according to the collision risk value corresponding to the latest steering position of the target ship.

[0011] In a possible implementation, the collision risk between the ships is determined according to the length, width, preset collision avoidance region boundary, position, speed, and heading information of the target ship, with the ship as the center, and the collision risk between the ships includes:

[0012] determine the preset collision avoidance region boundary with the ship as the center;

[0013] construct a ship collision boundary model according to the length, width, and center point coordinates of the target ship;

[0014] determine a relative speed vector and a position vector between the ship and the target ship according to the current position, speed, and heading information of the ship and the target ship;

[0015] determine a time required for the target ship to reach the collision boundary of the ship according to the relative speed vector and the position vector between the ship and the target ship, based on the preset collision avoidance region boundary and the ship collision boundary model;

[0016] determine the collision risk between the ships according to the time required for the target ship to reach the collision boundary of the ship, and the time consumed by the target ship on the same side of the ship from the preset collision avoidance region boundary to the collision boundary of the ship collision boundary model.

[0017] In a possible implementation, the ship kinematics model is constructed according to the ship operation characteristics, the ship size, and the safety distance between the ships, based on the factors of surge, sway, and yaw affecting ship steering in still water, and the ship kinematics model includes:

[0018] determine the operation characteristics of the ship by using a preset three-degree-of-freedom MMG model based on the factors of surge, sway, and yaw affecting ship steering in still water;

[0019] determine the safety distance between the ship and the target ship by using a preset four-element ship field model according to the operation characteristics, the length, the speed, and the preset collision avoidance rule of the ship and the target ship;

[0020] construct the ship kinematics model according to the ship operation characteristics, the ship size, and the safety distance between the ships.

[0021] In a possible implementation, the ship steering data set of the ship and the target ship is obtained based on the kinematics model, and the ship steering data set includes:

[0022] define a range of maneuvering instructions of the ship, based on the range of maneuvering instructions, set a plurality of collision avoidance operation options distributed at preset intervals;

[0023] based on a kinematic model, simulate according to the plurality of collision avoidance operation options according to a preset simulation time step, and based on a simulation result, obtain a ship maneuvering data set of the ship and the target ship.

[0024] In a possible implementation, the determining of the latest steering time according to the ship maneuvering data set comprises:

[0025] based on the ship maneuvering data set, superimposing a sailing track of the ship on a track of any target ship with the position of the ship as a coordinate origin, and determining the latest steering time according to a relative speed vector and a position vector between the ship and the target ship.

[0026] In a possible implementation, the determining of the latest steering position of the ship under different operation instructions according to the preset collision avoidance responsibility and the latest steering time comprises:

[0027] calculating a relative bearing between the ships according to the positions and headings of the ship and the target ship;

[0028] determining a meeting type according to the relative bearing and a preset collision avoidance rule;

[0029] determining a preset collision avoidance responsibility according to the meeting type;

[0030] determining a latest steering time data set of the ship under different operation instructions according to the preset collision avoidance responsibility;

[0031] determining a latest steering position of the ship according to the latest steering time data set of the ship.

[0032] In a possible implementation, the determining of the target ship collision avoidance maneuvering instruction according to the collision risk value corresponding to the latest steering position of the ship comprises:

[0033] constructing a ship collision risk data set under different operation instructions according to the collision risk between the ships;

[0034] selecting a collision avoidance operation instruction with the minimum collision risk as an optimal operation instruction of the ship.

[0035] In a second aspect, the present application further provides a ship active collision avoidance decision device, comprising:

[0036] a collision risk determination module, configured to determine a collision risk between ships according to lengths, widths, preset collision avoidance region boundaries, positions, speeds and headings of the ship and target ships, with the ship as the center; wherein the target ships are each other ship in the preset collision avoidance region;

[0037] A ship kinematics model construction module is configured to construct a ship kinematics model based on factors affecting ship maneuvering in still water, such as surge, sway and yaw, according to ship operation characteristics, ship size and a safe distance between ships, and obtain ship maneuvering data sets of the own ship and the target ship based on the kinematics model;

[0038] A steering time determination module is configured to determine a latest steering time according to the ship maneuvering data sets;

[0039] A steering instruction determination module is configured to determine a latest steering position of the own ship under different operation instructions according to a preset collision avoidance responsibility, a collision risk between ships and the latest steering time, and determine a target ship collision avoidance steering instruction according to a collision risk value corresponding to the latest steering position of the own ship.

[0040] In a third aspect, the present application further provides an electronic device, comprising a processor and a memory;

[0041] The memory stores a computer readable program that can be executed by the processor;

[0042] The processor executes the computer readable program to implement the steps in the ship active collision avoidance decision method.

[0043] In a fourth aspect, the present application further provides a computer readable storage medium, which stores one or more programs that can be executed by one or more processors to implement the steps in the ship active collision avoidance decision method.

[0044] The present application has the following beneficial effects: first, taking the own ship as the center, the collision risk between ships is determined according to the length, width, preset collision avoidance area boundary, position, speed and heading information of the own ship and the target ship; the target ship is each other ship in the preset collision avoidance area; by constructing a collision risk model, the ship maneuvering performance is taken as the core constraint, and according to the specific collision avoidance stage of the ship, the related requirements of the preset ship collision avoidance rules are combined, the latest steering position of the own ship under different operation instructions is determined according to the preset collision avoidance responsibility, the collision risk between ships and the latest steering time, and then the best ship collision avoidance steering instruction of the own ship is determined according to the collision risk value, which can significantly reduce the probability of ship collision events, has great significance for enhancing navigation safety, and opens up a new perspective and way for the exploration of ship intelligent collision avoidance technology. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 A method flowchart of an embodiment of the ship active collision avoidance decision method provided by the present application;

[0046] Figure 2A technical route schematic diagram of a ship active collision avoidance decision method provided by the application is provided.

[0047] Figure 3 A ship relative position schematic diagram in a ship active collision avoidance decision method provided by the application is provided.

[0048] Figure 4 A still water ship coordinate system schematic diagram in a ship active collision avoidance decision method provided by the application is provided.

[0049] Figure 5 A schematic diagram of an embodiment of a ship active collision avoidance decision device provided by the application is provided.

[0050] Figure 6 A running environment schematic diagram of an embodiment of an electronic device provided by the application is provided. DETAILED DESCRIPTION

[0051] The preferred embodiments of the application will be described in detail below with reference to the drawings, wherein the drawings constitute a part of this application and are used to explain the principles of the embodiments of the application, but are not used to limit the scope of the application.

[0052] One specific embodiment of the application discloses a ship active collision avoidance decision method, please refer to Figure 1 and Figure 2 , comprising:

[0053] S101, taking the ship as the center, determining the collision risk between the ships according to the length, width, preset collision avoidance region boundary, position, speed and heading information of the ship and the target ship; wherein the target ship is each other ship of the preset collision avoidance region;

[0054] S102, based on the factors of surge, sway and yaw in still water affecting ship maneuvering, constructing a ship kinematics model according to the ship operation characteristics, ship size and safety distance between ships, and obtaining the ship maneuvering data set of the ship and the target ship based on the kinematics model;

[0055] S103, determining the latest steering time according to the ship maneuvering data set;

[0056] S104, determining the latest steering position of the ship under different operation instructions according to the preset collision avoidance responsibility, the collision risk between the ships and the latest steering time, and determining the target ship collision avoidance maneuvering instruction according to the collision risk value corresponding to the latest steering position of the ship.

[0057] In the embodiment, first, the ship is taken as the center, and the collision risk between the ships is determined according to the length, width, preset collision area boundary, position, speed and heading information of the ship and the target ship; wherein the target ship is each other ship in the preset collision area; by constructing a collision risk model, taking the ship maneuvering performance as the core constraint, and according to the specific collision avoidance stage of the ship, combining the related requirements of the preset ship collision avoidance rule, according to the preset collision avoidance responsibility, the collision risk between the ships and the latest steering time, the latest steering position of the ship under different operation instructions is determined, then the best ship collision avoidance steering instruction of the ship is determined according to the collision risk value, which can significantly reduce the probability of ship collision event, has great significance for enhancing the navigation safety, and opens up a new perspective and way for the exploration of ship intelligent collision avoidance technology.

[0058] The embodiment of the application is dedicated to breaking through the limitation of the traditional ship collision avoidance timing determination method, and innovatively constructing a ship collision boundary model and a collision risk evaluation algorithm, promoting the deep combination of transportation engineering and computer information science. This is aimed at expanding the theoretical research and practical method of transportation engineering in the field of ship collision risk and collision avoidance strategy, and accelerating the modernization process of ship intelligence and intelligent shipping. The implementation of the application can significantly reduce the occurrence of ship collision events, has great significance for enhancing the navigation safety, and opens up a new perspective and way for the exploration of ship intelligent collision avoidance technology.

[0059] In some embodiments, the ship is taken as the center, and the collision risk between the ships is determined according to the length, width, preset collision area boundary, position, speed and heading information of the ship and the target ship, comprising:

[0060] The preset collision area boundary is determined with the ship as the center;

[0061] The ship collision boundary model is constructed according to the length, width of the ship and the target ship and the center point coordinates of the ship;

[0062] The relative speed vector and position vector between the ship and the target ship are determined according to the current position, speed and heading information of the ship and the target ship;

[0063] Based on the preset collision area boundary and the ship collision boundary model, the time required for the target ship to touch the ship collision boundary is determined according to the relative speed vector and position vector between the ship and the target ship;

[0064] The collision risk between the ships is determined according to the time required for the target ship to touch the ship collision boundary, and the time consumed by the target ship in the same direction as the ship from the preset collision area boundary to the collision boundary of the ship collision boundary model.

[0065] In this embodiment, first, a preset collision avoidance area boundary with a radius of r nautical miles is set, which can be adjusted according to the density of surrounding ships. Then, according to the length and width of the ship and the target ship (i.e. the ship located within the preset collision avoidance area boundary), the four parameters of the collision boundary are calculated and the collision boundary model is constructed. Finally, the collision risk between ships is comprehensively evaluated by combining the preset collision avoidance area boundary, the collision boundary, and the position, speed and heading information of the ships.

[0066] It should be noted that the target ship is a ship sailing in the preset collision avoidance area boundary of the ship, which is as follows:

[0067]

[0068]

[0069] In the formula: d ij is the distance between the ship and the target ship; ( x i , y i ), ( x j , y j ) are the positions of the ship and the target ship, respectively.

[0070] It should be noted that according to the length and width provided by the AIS data of the ship, the four parameters of the ship and the target ship are determined, and then the ship collision boundary model is constructed. The specific process is as follows:

[0071] First, the accurate size information of the ship and the target ship is obtained by using the AIS data, including the length and width of the ship. These information is the basis for calculating the four parameters.

[0072] Then, based on the size data of the ship, the four parameters are calculated, which are used to describe the geometric characteristics of the ship in the collision assessment. The four parameters may include the center point coordinates of the ship, the two end point coordinates in the length direction, and the two boundary point coordinates in the width direction, etc.

[0073] Finally, according to the calculated four parameters, the ship collision boundary model is constructed. The model can simulate the actual occupation space of the ship on the water surface, and is used for subsequent collision risk assessment. In constructing the model, the sailing direction, speed and other factors of the ship need to be considered to ensure the accuracy and practicability of the model, which is as follows:

[0074]

[0075]

[0076]

[0077] Where: sgn is the sign function; and are the longitudinal radius of the ship collision boundary, and are the transverse radius of the ship collision boundary respectively; L A , L B are the length and breadth of the ship respectively; L B is the length of the target ship.

[0078] For further information, please refer to the AIS data. Figure 3 , the current position, speed and heading of the ship can be directly obtained. Based on this, the relative velocity vector and position vector between the own ship and the target ship can be calculated. The specific calculation formula is as follows:

[0079]

[0080]

[0081] Where: The ship at time t i Arrive at the ship j The relative position vector of The ship at time t i The abscissa of the ship's position; The ship at time t i The vertical coordinate of the ship's position; The ship at time t j The abscissa of the ship's position; The ship at time t j The vertical coordinate of the ship's position; The ship at time t i Relative velocity vector to ship j; The ship at time t i speed; The ship at time t i heading; The ship at time t j speed; The ship at time t j direction.

[0082] Next, we use the information about the ship's collision boundary and the preset collision avoidance zone boundary to calculate the time required for the target ship to reach our ship's collision boundary at time t, and the time required for the target ship at the same direction to enter our ship's collision boundary from our ship's preset collision avoidance zone boundary, as follows:

[0083]

[0084]

[0085] wherein: T ct is the time for the target ship to reach the collision boundary of the own ship at time t; T clt is the time for the target ship to reach the collision boundary from the preset collision avoidance area boundary of the own ship at time t; is the relative position vector of the target ship to the own ship at time t; i is the relative position vector of the target ship to the own ship at time t; j is the relative speed vector of the target ship to the own ship at time t; is the relative speed vector of the target ship to the own ship at time t; i ct is the distance between the target ship and the own ship at the collision boundary of the own ship at time t; j clt is the distance between the target ship and the own ship at the preset collision avoidance area boundary of the own ship at time t. d d Finally, the collision risk of the ship is quantified according to the time for the target ship to reach the collision boundary of the own ship and the time for the target ship to reach the collision boundary from the preset collision avoidance area boundary. The specific risk assessment formula is as follows:

[0086]

[0087] wherein:

[0088] is the collision risk of the own ship and the target ship; CR t is the distance between the own ship and the target ship; d ij is the distance between the own ship and the target ship; r is the radius of the preset collision avoidance area boundary of the own ship.

[0089] In some embodiments, the ship kinematics model is constructed according to the ship operation characteristics, the ship size and the safety distance between the ships based on the factors of the surge, the sway and the yaw affecting the ship operation in the static water, including:

[0090] The operation characteristics of the ship are determined by using a preset three-degree-of-freedom MMG model based on the factors of the surge, the sway and the yaw affecting the ship operation in the static water;

[0091] The safety distance between the own ship and the target ship is determined by using a preset four-element ship field model according to the operation characteristics, the ship length, the speed and the preset collision avoidance rule of the own ship and the target ship;

[0092] The ship kinematics model is constructed according to the ship operation characteristics, the ship size and the safety distance between the ships.

[0093] ​In this embodiment, based on the ship motion mathematical model and the four-element ship field model, the ship maneuvering simulation is carried out, and the ship maneuvering data set of the own ship and the target ship is established.

[0094] Firstly, the kinematics mathematical model and the four-element ship field model of the ship are constructed in combination with the ship maneuvering performance parameters and the ship size.

[0095] Three factors affecting the ship maneuvering in still water, i.e. surge, sway and yaw, are considered, and a three-degree-of-freedom MMG model is used to describe the maneuvering characteristics of the ship. The required data is divided into static and dynamic data: the static data covers the maneuvering performance parameters (such as ship length, width, draft, mass, square coefficient, propeller size) of the own ship and the ship length of the target ship; the dynamic data includes the real-time position, speed and heading of the ship.

[0096] The MMG model uses the following two coordinate systems: the terrestrial coordinate system wherein the plane is parallel to the still water surface, the axis is vertically downward; the ship coordinate system wherein o is located in the ship, x , y , z pointing to the bow, starboard and vertically downward respectively.

[0097] The bow direction Ψ is expressed as the angle between the coordinate axis x and x 0. δ is the rudder angle of the ship, r is the turning rate, u and v are expressed as the velocity of the ship x and y axis, i.e. the surge speed and the sway speed of the ship, β is the drift angle at the ship center, and U is the ship speed, . Therefore, the three-degree-of-freedom MMG model is expressed as follows:

[0098]

[0099]

[0100] In the formula: m is the mass of the ship; I zG is the moment of inertia of the ship around the center of gravity; , , are respectively u , v , rthe differential of the roll angle, the pitch angle and the yaw angle; m x , m y respectively are the added mass of the ship in the x , y direction; X , Y , N m respectively are the center of the ship excluding the added mass in the x , y direction; H , R , P respectively are the hull, the rudder and the propeller.

[0101] Further, the ship safety distance is determined by using the four- dimensional ship domain model, which takes into account the ship length, the ship speed, the ship maneuverability and the COLREGs. The ship safety distance is set to ensure that the ship domain of the own ship and the ship domain of the target ship do not overlap. The four-dimensional ship domain is shown as follows:

[0102]

[0103]

[0104] where sgn is the sign function; and respectively are the longitudinal radius of the ship domain boundary; and respectively are the transverse radius of the ship domain boundary; L is the length of the own ship, k AD and k DT respectively represent the gain coefficient of the approach distance AD and the gain coefficient of the turning diameter DT; V own is the speed of the own ship, in knots.

[0105] Further, the ship maneuvering command range is set to be between -35° and 35°, and is discretized into n maneuvering options with certain intervals. Then, these K maneuvering commands are simulated as rudder angles with a simulation time step of 1 second, while the target ship speed and heading are constant. The simulation is terminated when the own ship heading changes more than or equal to 90°. K

[0106]

[0107] where DATA os ​Simulation data set for collision avoidance maneuvering of the own ship; K Number of collision avoidance maneuvering instructions; Simulation result when the operation instruction is K; Simulation result at time t; T=i Simulation result at time t; Simulation time; Rudder angle of the own ship; Respectively, the ship position horizontal coordinate, the ship position vertical coordinate, the ship heading, the ship surge velocity, the ship sway velocity, the ship length, and the ship width of the own ship at time T = i; Respectively, T=i Ship position horizontal coordinate, ship position vertical coordinate, ship heading, ship surge velocity, ship sway velocity, ship length, and ship width of the target ship at time T = i.

[0108] In some embodiments, the ship maneuvering data set of the own ship and the target ship is obtained based on the kinematic model, including:

[0109] Defining a maneuvering instruction range of the own ship, and based on the operation instruction range, setting a plurality of collision avoidance operation options distributed at preset intervals;

[0110] Based on the kinematic model, simulation is performed according to a preset simulation time step using the plurality of collision avoidance operation options, and based on the simulation result, the ship maneuvering data set of the own ship and the target ship is obtained.

[0111] In this embodiment, according to the ship maneuvering data set of the own ship and the target ship, referring to Figure 4 , the position of the own ship is set as the coordinate origin, and the heading is aligned with the y axis (0°). Then, the sailing trajectory of the own ship is superimposed on the trajectory of the target ship. According to the four-element ship field and the relative velocity information between the two ships, the latest time point (the latest steering time) at which the ship performs the collision avoidance operation is calculated. Based on this, a data set containing the latest steering time corresponding to different operation instructions is established.

[0112] It should be noted that according to the data set of the own ship and the target ship DATA os The dynamic information such as the ship position, ship speed, and heading provided is used to map the ship maneuvering motion trajectory of the own ship on the motion trajectory of the target ship, as follows:

[0113]

[0114] In the formula: , , Respectively, T=i Ship position horizontal coordinate, vertical coordinate, and heading of the target ship at time t; x o|T=i , yo|T=i , x t|T=i and y t|T=i They are T=i Positions of own ship and target ship at the moment; θ o|T=i , θ t|T=i They are T=i The headings of the own ship and the target ship at the moment, from the own ship collision avoidance maneuver simulation data set DATA os It is known; , They are T=i The x- and y-axis components of the target ship's velocity relative to the own ship at this moment; , They are T=i The horizontal and vertical coordinates of the starting point of the target ship's velocity vector relative to the own ship at the moment; , They are T=i The horizontal and vertical coordinates of the end point of the target ship's speed vector relative to the own ship at the moment; , They are T=0 The components of the ship's relative velocity on the x and y axes at the moment; u o|T=0 , v o|T=0 , u t|T=0 , v t|T=0 The time between the own ship and the target ship in simulation time T=0 speed at 1 hour; θ o|T=0 , θ t|T=0 They are T=0 The headings of the own ship and the target ship at time t are obtained from the own ship collision avoidance maneuver simulation data set in step 3. DATA os Available.

[0115] Furthermore, according to the mapped target ship's position and relative speed, a ray equation is established with the target ship's position as the origin and the relative speed as the direction, as shown below:

[0116]

[0117] Where: is the speed of the target ship relative to the own ship; x(d), y(d) are T=i The x- and y-axis components of the target ship's speed relative to the own ship at the moment in the earth-fixed coordinate system, d forT=i the projection of the distance of the target ship to the ship domain of the own ship on the relative velocity.

[0118] Next, the x and y axis components of the target ship velocity relative to the own ship in the earth fixed coordinate system are substituted into the ship collision boundary equation and the four element ship domain equation respectively, to solve the intrusion situation of the target ship to the ship domain of the own ship, as shown in the following equations:

[0119]

[0120]

[0121]

[0122]

[0123]

[0124] wherein: and is the projection of the distance of the target ship to the ship domain of the own ship on the relative velocity.

[0125] Further, based on the intrusion situation of the ship domain of the own ship, the time required for the target ship to reach the boundary of the ship domain of the own ship is calculated using the projection of the distance of the target ship to the boundary of the ship domain of the own ship on the relative velocity and the ship velocity of the target ship relative to the own ship. t target Specifically, as shown in the following equation:

[0126]

[0127] wherein: is T=i the time required for the target ship to reach the boundary of the ship domain of the own ship; t target is the time required for the target ship to reach the boundary of the ship domain of the own ship data set. When is 0, the target ship has intruded into the ship domain of the own ship, and the own ship must immediately take the steering command to avoid collision; when is None , no steering command is required to avoid collision, and the own ship can sail in the same direction and at the same speed. Similarly, the time required for the own ship to reach the boundary of the ship domain of the target ship data set can be obtained.

[0128] Next, according to the time required for the target ship to reach the boundary of the ship domain of the own ship data set t target and the time required for the own ship to reach the boundary of the ship domain of the target ship data set t owncalculating the latest steering time of the ship, and establishing a data set of the latest steering time of the ship corresponding to different operation instructions of the ship.

[0129]

[0130]

[0131]

[0132] In the formula: is the latest steering time of the ship; Time is a data set of the latest steering instruction time of the ship corresponding to different operation instructions of the ship; is a ship steering instruction; K is the number of simulation operation instructions of the ship.

[0133] In some embodiments, the determination of the latest steering position of the ship under different operation instructions according to the preset collision avoidance responsibility and the latest steering time comprises:

[0134] calculating the relative bearing between the ship and the target ship according to the positions and the headings of the ship and the target ship;

[0135] determining the encounter type according to the relative bearing and the preset collision avoidance rule;

[0136] determining the preset collision avoidance responsibility according to the encounter type;

[0137] determining the data set of the latest steering time of the ship under different operation instructions according to the preset collision avoidance responsibility;

[0138] determining the latest steering position of the ship according to the data set of the latest steering time of the ship.

[0139] In this embodiment, the positions and the headings of the ship are used as the basis, the Rules are combined to judge the encounter type and the collision avoidance responsibility of the ship, and the range of available collision avoidance steering instructions of the ship is determined.

[0140] Further, the relative bearing between the ship and the target ship is calculated according to the positions and the headings of the ship and the target ship, as shown below:

[0141]

[0142]

[0143]

[0144]

[0145]

[0146]

[0147] wherein: is the longitudinal difference of ship position between the own ship and the target ship; is the longitudinal coordinate of the own ship ship position; is the latitude coordinate of the own ship ship position; is the latitude difference of ship position between the own ship and the target ship; is the longitudinal coordinate of the target ship ship position; is the latitude coordinate of the target ship ship position; is the relative distance between the own ship and the target ship; is the true bearing of the target ship; is the true heading of the own ship, which is replaced by the ship heading in AIS data, is the bearing of the target ship relative to the own ship.

[0148] Further, in order to determine the ship maneuvering instruction range, the ship encounter scenario and the collision avoidance responsibility need to be defined. According to the preset collision avoidance rules, the ship encounter scenario and the ship collision avoidance responsibility are defined, and the ship encounter scenario type is divided into meeting, right-hand crossing, left-hand crossing and overtaking by using the ship relative bearing, as follows:

[0149]

[0150] wherein: is the ship encounter scenario type; is the bearing of the target ship relative to the own ship.

[0151] Then, the ship collision avoidance responsibility in the ship encounter scenario type is further defined by using the ship relative bearing, and the ship collision avoidance responsibility is divided into straight-ahead ship and giving-way ship, as shown below:

[0152]

[0153] wherein: is the bearing of the target ship relative to the own ship; is the bearing of the own ship relative to the target.

[0154] Further, the ship maneuvering instruction range is usually within 35° to the left and right, i.e. [-35°, 35°]. According to the Rules, the giving-way ship should avoid turning to the left when performing collision avoidance; the straight-ahead ship should usually take the most effective action to avoid collision when performing collision avoidance. Therefore, the giving-way ship only considers the maneuvering instruction of turning to the right, the range of which is [0°, 35°], and the straight-ahead ship includes the maneuvering instructions of turning to the left and right, the range of which is [-35°, 35°].

[0155] Based on the ship encounter scenario and the collision avoidance responsibility, the ship maneuvering instruction range of different collision avoidance responsibilities is defined as follows:

[0156]

[0157] Further, according to the established ship collision avoidance responsibility and the corresponding range of steering instructions, combined with the latest steering time data under different operation instructions, the latest steering time data set corresponding to the actual situation of the ship collision avoidance responsibility is constructed. Then, the risk value is calculated for each collision avoidance steering instruction, aiming to select the ship collision avoidance steering instruction with the lowest risk and the best effect.

[0158] Further, according to the real-time AIS data, the ship position, ship speed and heading of the target ship at the current time are extracted, and the latest steering time data set of the ship corresponding to different operation instructions of the ship is screened through the ship collision avoidance responsibility and the corresponding range of available collision avoidance steering instructions of the ship. The screened ship steering instruction is , and the ship latest steering time data set is , that is, the ship latest steering time data set corresponding to the ship collision avoidance responsibility. Wherein k is the number of available collision avoidance steering instructions of the ship corresponding to the ship collision avoidance responsibility, and k<K . K is the number of simulation operation instructions of the ship.

[0159] It should be noted that the latest steering position of the ship under different steering instructions is calculated according to the ship latest steering time data set corresponding to the ship collision avoidance responsibility, as follows:

[0160]

[0161] In the formula: , is the latest steering position of the ship when the ship steering instruction is k; , are the current ship positions provided by the real-time AIS data, respectively; is the latest steering time of the ship when the steering instruction is k; is the ship speed of the ship.

[0162] Then, according to the latest steering time when the ship steering instruction is k , the ship position of the target ship is calculated, as follows:

[0163]

[0164] In the formula: , is the ship position of the target ship when the ship steering instruction is k; , are the current ship positions of the target ship provided by the real-time AIS data, respectively; The latest steering time of the ship is determined according to the steering instruction k. The ship speed of the target ship.

[0165] In some embodiments, after determining the latest steering position of the ship under different operation instructions, the method further comprises:

[0166] According to the collision risk between the ships, a ship collision risk data set under different operation instructions is constructed;

[0167] The collision avoidance operation instruction with the minimum collision risk is selected as the optimal operation instruction of the ship.

[0168] In this embodiment, according to the latest steering position of the ship, the bow direction of the ship, the ship speed of the ship, the ship position of the target ship, the bow direction of the target ship and the ship speed of the target ship when the ship steering instruction is k, the ship collision risk calculation method described in step 1 is used to construct a ship collision risk data set under different operation instructions. k When the ship collision risk is the minimum, the corresponding ship operation instruction of the ship is the optimal ship operation instruction of the ship.

[0169] Based on the above-mentioned ship active collision avoidance decision method, the embodiment of the application further provides a ship active collision avoidance decision device, please refer to Figure 5 , comprising:

[0170] The collision risk determination module 510 is configured to determine the collision risk between the ships based on the length, width, preset collision avoidance region boundary, position, speed and heading information of the ship and the target ship with the ship as the center; wherein the target ship is each other ship in the preset collision avoidance region.

[0171] The ship kinematics model construction module 520 is configured to construct a ship kinematics model based on the factors of surge, sway and yaw in still water affecting ship steering, according to the ship operation characteristics, ship size and safety distance between ships, and obtain the ship steering data set of the ship and the target ship based on the kinematics model.

[0172] The steering time determination module 530 is configured to determine the latest steering time according to the ship steering data set.

[0173] The steering instruction determination module 540 is configured to determine the latest steering position of the ship under different operation instructions according to the preset collision avoidance responsibility, the collision risk between the ships and the latest steering time, and determine the target ship collision avoidance steering instruction according to the collision risk value corresponding to the latest steering position of the ship.

[0174] As Figure 6 ​As shown, based on the above ship active collision avoidance decision method, the application also correspondingly provides an electronic device, which can be a mobile terminal, a desktop computer, a notebook, a palm computer, a server and other computing electronic devices. The electronic device includes a processor 610, a memory 620 and a display 630. Figure 6 Only part of the components of the electronic device are shown, but it should be understood that all the shown components are not required, and more or less components can be alternatively implemented.

[0175] The memory 620 can be an internal storage unit of the electronic device in some embodiments, such as a hard disk or a memory of the electronic device. The memory 620 can also be an external storage device of the electronic device in other embodiments, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device. Further, the memory 620 can include both the internal storage unit and the external storage device of the electronic device. The memory 620 is used to store application software and various data installed on the electronic device, such as program codes installed on the electronic device. The memory 620 can also be used to temporarily store data that has been output or will be output. In an embodiment, the memory 620 stores a ship active collision avoidance decision program 640, which can be executed by the processor 610 to implement the ship active collision avoidance decision method of the embodiments of the application.

[0176] The processor 610 can be a central processing unit (CPU), a microprocessor or other data processing chip in some embodiments, used to run program codes stored in the memory 620 or process data, such as to execute the ship active collision avoidance decision method, etc.

[0177] The display 630 can be an LED display, a liquid crystal display, a touch liquid crystal display, an OLED (Organic Light-Emitting Diode) touch, etc. in some embodiments. The display 630 is used to display information of the ship active collision avoidance decision electronic device and to display a visual user interface. The components 610-630 of the electronic device communicate with each other through a system bus.

[0178] Those skilled in the art can understand that all or part of the processes of the above-mentioned embodiments can be completed by a computer program instructing related hardware, and the program can be stored in a computer readable storage medium. The computer readable storage medium includes a magnetic disk, an optical disk, a read-only memory or a random access memory, etc.

[0179] The above description is only the preferred embodiment of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A method of active collision avoidance decision making for a marine vessel, characterized in that, The application relates to a method for determining a collision avoidance maneuvering instruction of a target ship based on a ship motion model. The method comprises the following steps: determining a collision risk between the ship and the target ship based on the length, width, preset collision avoidance area boundary, position, speed and heading information of the ship and the target ship, wherein the target ship is each other ship in the preset collision avoidance area; constructing a ship motion model based on the ship operating characteristics, ship size and safe distance between the ships according to the factors of the surge, sway and yaw affecting ship maneuvering in static water, and obtaining a ship maneuvering data set of the ship and the target ship based on the motion model; determining a latest steering time according to the ship maneuvering data set; determining a latest steering position of the ship under different operation instructions according to the preset collision avoidance responsibility, the collision risk between the ships and the latest steering time, and determining the collision avoidance maneuvering instruction of the target ship according to the collision risk value corresponding to the latest steering position of the ship; the method for constructing a ship motion model based on the ship operating characteristics, ship size and safe distance between the ships according to the factors of the surge, sway and yaw affecting ship maneuvering in static water comprises the following steps: determining the operating characteristics of the ship by adopting a preset three-degree-of-freedom MMG model based on the factors of the surge, sway and yaw affecting ship maneuvering in static water; determining the safe distance between the ship and the other ship by adopting a preset four-element ship field model according to the operating characteristics, ship length, speed and preset collision avoidance rule of the ship and the target ship; 2. The ship proactive collision avoidance decision method according to claim 1, characterized in that, constructing a ship motion model based on the ship operating characteristics, ship size and safe distance between the ships. the method for determining a collision risk between the ship and the target ship based on the length, width, preset collision avoidance area boundary, position, speed and heading information of the ship and the target ship with the ship as the center comprises the following steps: determining the preset collision avoidance area boundary with the ship as the center; constructing a ship collision boundary model according to the length, width and center point coordinates of the ship; determining the relative speed vector and position vector between the ship and the target ship according to the current position, speed and heading information of the ship and the target ship; determining the time required for the target ship to touch the collision boundary of the ship based on the preset collision avoidance area boundary and the ship collision boundary model according to the relative speed vector and position vector between the ship and the target ship; 3. The ship proactive collision avoidance decision method according to claim 1, characterized in that, determining the collision risk between the ships according to the time required for the target ship to touch the collision boundary of the ship, and the time consumed by the target ship on the same side of the ship from the preset collision avoidance area boundary to the collision boundary of the ship collision boundary model. the method for obtaining a ship maneuvering data set of the ship and the target ship based on the motion model comprises the following steps: defining a steering instruction range of the ship, and setting a plurality of collision avoidance operation options distributed at preset intervals based on the steering instruction range; 4. The ship proactive collision avoidance decision method according to claim 2, characterized in that, simulating the plurality of collision avoidance operation options according to a preset simulation time step based on the motion model, and obtaining the ship maneuvering data set of the ship and the target ship based on the simulation results. the method for determining a latest steering time according to the ship maneuvering data set comprises the following steps: taking the position of the ship as a coordinate origin, superimposing the navigation track of the ship on the track of any target ship, and determining the latest steering time according to the relative speed vector and position vector between the ship and the target ship.

5. The ship proactive collision avoidance decision method according to claim 1, characterized in that, The method comprises the following steps: According to the relative position between the ship and the target ship, the encounter type is determined according to the preset collision avoidance rule; According to the encounter type, the preset collision avoidance responsibility is determined; According to the preset collision avoidance responsibility, the ship's latest steering time data set under different operation instructions is determined; According to the ship's latest steering position, the ship's collision risk value corresponding to the steering position is determined. The method comprises the following steps:

6. The ship proactive collision avoidance decision method according to claim 5, characterized in that, According to the ship collision risk data set under different operation instructions, the ship collision risk data set under different operation instructions is constructed; The operation instruction with the smallest collision risk is selected as the optimal operation instruction of the ship. The method comprises the following steps:

7. A ship active collision avoidance decision device, characterized by, The collision risk determination module is used to determine the collision risk between the ship and the target ship based on the length, width, preset collision avoidance area boundary, position, speed and heading information of the ship and the target ship, wherein the target ship is each other ship in the preset collision avoidance area; The ship kinematics model construction module is used to construct a ship kinematics model based on the factors affecting ship steering in still water, such as surge, sway and yaw, according to the ship operation characteristics, ship size and safety distance between ships, and obtain the ship steering data set of the ship and the target ship based on the kinematics model; The steering time determination module is used to determine the latest steering time according to the ship steering data set; The steering instruction determination module is used to determine the latest steering position of the ship under different operation instructions according to the preset collision avoidance responsibility, collision risk between ships and latest steering time, and determine the target ship collision avoidance steering instruction according to the collision risk value corresponding to the latest steering position of the ship. The ship kinematics model is constructed based on the factors affecting ship steering in still water, such as surge, sway and yaw, according to the ship operation characteristics, ship size and safety distance between ships, which comprises: The preset three-degree-of-freedom MMG model is used to determine the operation characteristics of the ship based on the factors affecting ship steering in still water, such as surge, sway and yaw; The preset four-element ship field model is used to determine the safety distance between the ship and the other ship according to the operation characteristics, length, speed and preset collision avoidance rule of the ship and the other ship; The ship kinematics model is constructed according to the ship operation characteristics, ship size and safety distance between ships. The method comprises the following steps:

8. An electronic device, comprising: A processor and a memory; The memory stores a computer readable program that can be executed by the processor; The processor executes the computer readable program to realize the steps in the ship active collision avoidance decision method of any one of claims 1-6. The computer readable storage medium stores one or more programs that can be executed by one or more processors to realize the steps in the ship active collision avoidance decision method of any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, ​

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