Narrow water area passing planning method and system for multiple intelligent pleasure boats and storage medium

Abstract

The invention discloses a narrow water area passing planning method and system for multiple intelligent pleasure boats and a storage medium. According to the invention, a one-way passage area with a cluster as a unit is defined in a narrow water area, and a plurality of intelligent pleasure boats which are about to enter the one-way passage area are divided into a same-direction intelligent pleasure boat queue and a reverse-direction intelligent pleasure boat queue according to the passage directions of the intelligent pleasure boats; performing passage sorting on the bidirectional intelligent pleasure-boat queue by using a pre-formulated priority rule, planning the maximum navigation speed of the multiple intelligent pleasure-boats in real time based on a passage sorting result, and issuing the maximum navigation speed of each intelligent pleasure-boat to each intelligent pleasure-boat; the multiple intelligent pleasure boats can cooperatively pass in the one-way passing area according to the planned maximum speed, confusion and collision are avoided, intelligent, regular and safe cooperative passing of the multiple intelligent pleasure boats in the narrow water area is achieved, the intelligent pleasure boats are more suitable for complexity of the urban water area environment, and higher passing efficiency and safety are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent cruise ships, and in particular to a narrow water passage planning method, system and storage medium for multiple intelligent cruise ships. Background Art

[0002] In narrow water environments within cities, such as rivers, ports or waterways, the coordinated passage of multiple smart cruise ships has always been a challenging task. Traditional water passage methods often find it difficult to effectively avoid oncoming ships, and it is easy for multiple ships to be blocked in narrow locations, resulting in low passage efficiency and poor safety. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a narrow water passage planning method, system and storage medium for multiple intelligent cruise ships, aiming to achieve more intelligent, regular and safe coordinated passage of multiple intelligent cruise ships in narrow waters, so that the intelligent cruise ships can better adapt to the complexity of the urban water environment and have higher passage efficiency and safety.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions: The first aspect of the present invention provides a narrow water passage planning method for multiple intelligent cruise ships, which includes the following steps: setting a global mission route for multiple intelligent cruise ships; defining a one-way passage area for passage in clusters; calculating the positional relationship between each intelligent cruise ship and the one-way passage area based on the status information of each intelligent cruise ship; dividing each intelligent cruise ship into a same-direction intelligent cruise ship queue and an opposite-direction intelligent cruise ship queue based on the heading angle of each intelligent cruise ship and the passage direction of the one-way passage area; based on the status information of each intelligent cruise ship and the positional relationship between each intelligent cruise ship and the one-way passage area, using a pre-established priority rule to sort the bidirectional intelligent cruise ship queue; based on the passage sorting result of the bidirectional intelligent cruise ship queue and the positional relationship between each intelligent cruise ship and the one-way passage area, real-time planning of the maximum navigation speed of multiple intelligent cruise ships; issuing the maximum navigation speed of each intelligent cruise ship to each intelligent cruise ship; monitoring the real-time status of each intelligent cruise ship, and adjusting the control strategy of the intelligent cruise ship according to the real-time status of the intelligent cruise ship.

[0005] The second aspect of the present invention provides a system for planning the passage of multiple intelligent cruise ships in narrow waters, which includes: a mission route setting module for setting the global mission route of multiple intelligent cruise ships; a one-way traffic area definition module for defining the one-way traffic area for traffic in clusters; a position relationship calculation module for calculating the position relationship between each intelligent cruise ship and the one-way traffic area based on the state information of each intelligent cruise ship; a traffic direction classification module for dividing each intelligent cruise ship into a same-direction intelligent cruise ship queue and a reverse-direction intelligent cruise ship queue based on the heading angle of each intelligent cruise ship and the traffic direction of the one-way traffic area; a queue traffic sorting module A block is used to sort the bidirectional intelligent cruise ship queues by using pre-established priority rules based on the status information of each intelligent cruise ship and the positional relationship between each intelligent cruise ship and the one-way traffic area; a maximum speed planning module is used to plan the maximum speed of multiple intelligent cruise ships in real time based on the traffic sorting of the bidirectional intelligent cruise ship queues and the positional relationship between each intelligent cruise ship and the one-way traffic area; a maximum speed sending module is used to send the maximum speed of each intelligent cruise ship to each intelligent cruise ship; a monitoring and adjustment module is used to monitor the real-time status of each intelligent cruise ship and adjust the control strategy of the intelligent cruise ship according to the real-time status of the intelligent cruise ship.

[0006] A third aspect of the present invention provides a storage medium storing program instructions, which, when executed by a processor, implement the above-mentioned narrow water passage planning method for multi-intelligent cruise ships.

[0007] The beneficial technical effect of the present invention is that the present invention demarcates a one-way traffic area in a narrow water area for traffic in clusters, divides multiple intelligent cruise ships that are about to enter the one-way traffic area into a same-direction intelligent cruise ship queue and an opposite-direction intelligent cruise ship queue according to the traffic direction of the intelligent cruise ships, and uses a pre-established priority rule to sort the traffic of the two-way intelligent cruise ship queues, and plans the maximum navigation speed of multiple intelligent cruise ships in real time based on the traffic sorting results, and sends the maximum navigation speed of each intelligent cruise ship to each intelligent cruise ship. Multiple intelligent cruise ships can cooperate in the one-way traffic area according to the planned maximum speed to avoid confusion and collision, thereby realizing the intelligent, regular and safe cooperative passage of multiple intelligent cruise ships in narrow waters, making the intelligent cruise ships more adaptable to the complexity of the urban water environment and having higher traffic efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 A schematic diagram of a flow chart of a narrow waters passage planning method for multiple intelligent cruise ships of the present invention; Figure 2 It is a structural schematic diagram of the narrow water passage planning system for multiple intelligent cruise ships of the present invention. DETAILED DESCRIPTION

[0009] In order to enable those skilled in the art to more clearly understand the objectives, technical solutions and advantages of the present invention, the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0010] The present invention provides a narrow water passage planning method for a multi-intelligent cruise ship. Before implementing the narrow water passage planning method for a multi-intelligent cruise ship, a multi-intelligent cruise ship collaborative communication system needs to be established to realize collaborative communication between a server and the multi-intelligent cruise ship. The multi-intelligent cruise ship collaborative communication system adopts a two-way communication mechanism and includes an intelligent cruise ship end and a server end. Establishing the multi-intelligent cruise ship collaborative communication system includes the following steps: Formulate communication protocols: Design communication protocols, specify the rules for sending and receiving messages, and ensure the integrity, reliability and real-time nature of information; Define the communication message format from the smart cruise ship to the server: determine the format of the smart cruise ship status information, which includes position, speed, heading, local path, etc. Define the communication message format from the server to the smart cruise ship: specify the format of collaborative planning information, including speed requirements, etc., and transmit collaborative planning information in real time through the communication system to achieve collaborative actions.

[0011] like Figure 1 As shown, in one embodiment of the present invention, the narrow water passage planning method of the multi-intelligent cruise ship includes steps S10-S80: S10, setting the global mission routes of multiple intelligent cruise ships.

[0012] In specific implementation, the step S10 further includes the following steps: S11, marking the cruise mission routes of each intelligent cruise ship in the intelligent cruise ship cluster in turn on the electronic map, and recording the positions on the marked cruise mission routes to obtain a point queue of the cruise mission routes; S12: Perform path point compensation on two adjacent points in the point queue of the cruise mission route using a linear interpolation algorithm to obtain a desired point queue, and use the desired point queue as the global mission route of the intelligent cruise ship.

[0013] S20. Define a one-way traffic area for traffic in clusters.

[0014] Definition Narrow Waters: Narrow waters are those that allow only one-way traffic of vessels.

[0015] Defining a cluster: A group of smart cruise ships are organized into a cluster, which includes smart cruise ships of the same or different types, which have the ability to work together.

[0016] Definition of one-way traffic area: A one-way traffic area refers to a specific area designated for narrow waters, where the traffic direction is limited to a single direction. The purpose of setting up this specific area is to enable multiple smart cruise ships to pass in an orderly manner along the specified direction in this specific area through the planning and coordination of traffic in clusters, so as to improve the efficiency and safety of water traffic.

[0017] The characteristics and regulations of one-way traffic areas are as follows: Direction of passage: The one-way passage area stipulates a certain direction of passage, that is, the smart cruise ship can only move along the specified direction in this area.

[0018] Traffic in clusters: The traffic regulations in this area are based on clusters (units composed of multiple smart cruise ships), ensuring that smart cruise ships in the cluster travel in coordination to avoid confusion and collisions.

[0019] Traffic process: Smart cruise ships in the cluster should pass through the one-way traffic area in turn according to the predetermined traffic process to ensure orderly traffic.

[0020] Representation of one-way traffic area: A one-way traffic area can be represented by its boundary shape and traffic direction.

[0021] Boundary shape : Use geometric shapes to represent the boundaries of one-way traffic areas, such as polygons, circles, etc., and use coordinate sets or mathematical equations to represent the boundary shape: .

[0022] Traffic direction : Angles or direction vectors are usually used to indicate the direction of travel in a one-way traffic area.

[0023] S30: Calculate the positional relationship between each intelligent cruise ship and the one-way traffic area based on the status information of each intelligent cruise ship.

[0024] Smart boat status: The status information of each smart boat is represented by its position P, speed V, direction θ, and local path Path, where: Position P: Use a two-dimensional coordinate system , to indicate the position of the smart cruise ship in the water area.

[0025] Speed ​​V: indicates the speed of the smart boat.

[0026] Direction θ: An angle or unit vector is used to represent the direction of the smart boat.

[0027] Local path Path: represents the local path of the smart cruise ship within a certain length threshold starting from the current position of the smart cruise ship: .

[0028] Calculating the positional relationship between each intelligent cruise ship and the one-way traffic area includes the following steps: S31. Determine the object set of the current traffic planning.

[0029] By judging whether the local path of the smart cruise ship has an intersection with the one-way traffic area, it is determined whether the smart cruise ship has an intersection with the one-way traffic area. If the local path of the smart cruise ship has an intersection with the one-way traffic area, it is considered that the smart cruise ship has an intersection with the one-way traffic area; if the local path of the smart cruise ship has no intersection with the one-way traffic area, it is considered that the smart cruise ship has no intersection with the one-way traffic area. Multiple smart cruise ships that have an intersection with the one-way traffic area are determined as the object set of the current traffic planning.

[0030] S32, calculating the distances of each intelligent cruise ship in the object set of the current traffic planning entering the one-way traffic area.

[0031] The calculation steps of the distance for the smart cruise ship to enter the one-way traffic area include the following steps: S321, determine whether the intelligent cruise ship is within the one-way traffic area, if so, execute step S322, if not, execute step S323; S322, if the intelligent cruise ship is inside the one-way traffic area, it is considered that the distance value of the intelligent cruise ship entering the one-way traffic area is 0, and therefore, the distance value of the intelligent cruise ship entering the one-way traffic area is set to 0; S323. If the smart cruise ship is outside the one-way traffic area, a geometric method such as a line-polygon intersection algorithm is used to calculate the intersection point set of the local path Path of the smart cruise ship and the boundary shape Shape of the one-way traffic area: ; S324, through the Euclidean distance formula , calculate the distance d between the intersection coordinates and the local path Path point queue of the smart cruise ship; where d represents the distance between the intersection and the local path Path point queue, (x1, y1) represents the intersection coordinates, Represents the local path Path point queue coordinates, select the one with the smallest d value As the location information of the intersection point in the local path Path; S325, select the intersection position closest to the position of the smart cruise ship as the position for entering the one-way traffic area, and calculate the length of the local path from the position of the smart cruise ship to the intersection position by the path length calculation formula, that is, the distance value of the smart cruise ship entering the one-way traffic area is obtained. .

[0032] It should be clarified here: if the local path of the smart cruise ship has no intersection with the one-way traffic area, it is considered that the smart cruise ship has no intersection with the one-way traffic area, and the distance value for the smart cruise ship to enter the one-way traffic area is set to infinity.

[0033] Steps S321 to S325 are repeatedly executed until the distances of all the smart cruise ships in the object set of the current traffic planning entering the one-way traffic area are obtained.

[0034] S33, calculating the distances of each intelligent cruise ship in the object set of the current traffic planning out of the one-way traffic area.

[0035] For multiple smart cruise ships in the current traffic planning object set, calculate the distance value of each smart cruise ship out of the one-way traffic area: S331, determine whether the tail of the local path of the smart cruise ship is within the one-way traffic area, if so, execute step S332, if not, execute step S333; S332. If the tail of the local path of the smart cruise ship is inside the one-way traffic area, it is considered that the distance of the smart cruise ship out of the one-way traffic area is the total length of the local path. Since the distance of the smart cruise ship out of the one-way traffic area is calculated based on the local path of the smart cruise ship, the distance of the smart cruise ship out of the one-way traffic area is limited by the total length of the local path, that is, the maximum value of the distance of the smart cruise ship out of the one-way traffic area is the total length of the local path; S333. Based on the calculation result of step S32, the intersection position farthest from the position of the intelligent cruise ship is selected as the position of the one-way traffic area, and the cumulative length value from the position of the intelligent cruise ship to the position of the one-way traffic area in the local path of the intelligent cruise ship is calculated as the distance value of the intelligent cruise ship out of the one-way traffic area, which is recorded as .

[0036] Repeat steps S331 to S333 until the distances of all smart cruise ships out of the one-way traffic area in the object set of the current traffic planning are obtained.

[0037] S40, based on the heading angles of the intelligent cruise ships and the travel directions of the one-way travel area, the intelligent cruise ships are divided into a same-direction intelligent cruise ship queue and an opposite-direction intelligent cruise ship queue.

[0038] Calculate the direction of travel of smart cruise ships and classify them: calculate the angle difference between the heading angle of each smart cruise ship and the direction angle of the one-way traffic area. If the angle difference is less than the preset threshold range, it is considered to belong to the same direction smart cruise ship queue, otherwise it is the opposite direction smart cruise ship queue.

[0039] S50: Based on the status information of each intelligent cruise ship and the positional relationship between each intelligent cruise ship and the one-way traffic area, the bidirectional intelligent cruise ship queue is sorted by using a pre-defined priority rule.

[0040] The two-way smart cruise ship queue is sorted according to the distance the smart cruise ship enters the one-way traffic area, the position of the smart cruise ship, the number of smart cruise ships, the speed of the smart cruise ships, and the direction of the smart cruise ship queue.

[0041] Predetermine the priority rules for entering one-way traffic areas: Rule 1: Priority is set based on the number of smart cruise ships in the two-way smart cruise ship queue that is about to enter the one-way traffic area, and the side with more smart cruise ships has priority; Rule 2: The smart boat queue where the smart boats are located in the one-way traffic area has priority; Rule 3: Priority is set based on the maximum speed of the first row of smart cruise ships in the two-way smart cruise ship queue. When the number of ships in the two-way smart cruise ship queue that are about to enter the one-way traffic area is the same, the first row of smart cruise ships with the larger maximum speed has a higher priority; Rule 4: When the maximum speeds of the first row of smart cruise ships in a two-way smart cruise ship queue are the same, the smart cruise ship queue that enters the one-way traffic area closer has higher priority.

[0042] Based on the above rules, the high-priority smart cruise ship queue entering the one-way traffic area is determined from the two-way smart cruise ship queue, which is recorded as: ; The other smart cruise ship queue is a low priority smart cruise ship queue, recorded as: .

[0043] S60: Based on the traffic order of the two-way intelligent cruise ship queue and the position relationship between each intelligent cruise ship and the one-way traffic area, the maximum speed of the multiple intelligent cruise ships is planned in real time.

[0044] For high priority smart boat queues , the maximum speed of each smart cruise ship is set based on the dynamic model, and the time for the entire high-priority smart cruise ship queue to leave the one-way area is calculated based on the distance and maximum speed of the last smart cruise ship in the queue out of the one-way area: , Here, Indicates the distance from the last smart cruise ship in the high-priority smart cruise ship queue to the one-way traffic area. Indicates the maximum sailing speed of the last smart cruise ship in the high-priority smart cruise ship queue.

[0045] For low priority smart boat queues , the smart cruise ships in this queue should give way to the high-priority smart cruise ship queue and let it pass through the one-way traffic area first. The maximum speed limit of the smart cruise ships in the low-priority smart cruise ship queue is calculated by the following formula: , Here, Indicates the distance for the smart cruise ships in the low-priority smart cruise ship queue to enter the one-way traffic area. Represents the i-th smart cruise ship. For the low-priority smart cruise ship queue, the maximum speed limit of each smart cruise ship is calculated based on the above formula in turn, and the maximum sailing speed of each smart cruise ship in the low-priority smart cruise ship queue can be obtained.

[0046] S70: Send the maximum sailing speed of each intelligent cruise ship to each intelligent cruise ship.

[0047] The maximum speed calculated in step S60 is sent to the regulation and control system of each intelligent cruise ship. The regulation and control system of each intelligent cruise ship receives and analyzes the received speed information, and then adjusts the propulsion system of the ship, including adjusting the power and direction of the motor or propeller, to execute the planned maximum speed and realize the coordinated passage of multiple intelligent cruise ships.

[0048] S80: monitor the real-time status of each intelligent cruise ship, and adjust the control strategy of the intelligent cruise ship according to the real-time status of the intelligent cruise ship.

[0049] Continuously monitor the real-time status of each smart cruise ship, including the location, speed, direction and other information of the smart cruise ship; timely adjust the control strategy of the smart cruise ship and update the smart cruise ship collaborative traffic plan according to the real-time feedback of the smart cruise ship status, to ensure that the entire smart cruise ship cluster can make accurate adjustments in a real-time environment. It should be noted that the specific process of adjusting the control strategy of the smart cruise ship according to the real-time status of the smart cruise ship is to repeat the process of steps S30-S70, and the control strategy adjustment of the smart cruise ship and the update of the smart cruise ship collaborative traffic plan are completed by re-executing steps S30-S70.

[0050] Based on Figure 1 The narrow waters passage planning method of a multi-intelligent cruise ship in the embodiment shown in the figure, the present invention provides a narrow waters passage planning system of a multi-intelligent cruise ship. Figure 2 As shown, the narrow water passage planning system of the multi-intelligent cruise ship includes: The mission route setting module 10 is used to set the global mission route of multiple intelligent cruise ships, that is, to execute the following Figure 1 Step S10 in the narrow waters passage planning method for multiple intelligent cruise ships in the illustrated embodiment; The one-way traffic area definition module 20 is used to define a one-way traffic area for traffic in clusters, that is, to perform the following steps: Figure 1 Step S20 in the narrow waters passage planning method for multiple intelligent cruise ships in the illustrated embodiment; The position relationship calculation module 30 is used to calculate the position relationship between each intelligent cruise ship and the one-way traffic area based on the state information of each intelligent cruise ship, that is, to perform the following steps: Figure 1Step S30 in the narrow waters passage planning method for multiple intelligent cruise ships in the illustrated embodiment; The traffic direction classification module 40 is used to classify the intelligent cruise ships into a same-direction intelligent cruise ship queue and a reverse-direction intelligent cruise ship queue based on the heading angle of each intelligent cruise ship and the traffic direction of the one-way traffic area, that is, to perform the following operations: Figure 1 Step S40 in the narrow waters passage planning method for multiple intelligent cruise ships in the illustrated embodiment; The queue passage sorting module 50 is used to sort the bidirectional intelligent cruise ship queues according to the status information of each intelligent cruise ship and the position relationship between each intelligent cruise ship and the one-way passage area using a pre-defined priority rule, that is, to perform the following operations: Figure 1 Step S50 in the narrow waters passage planning method for multiple intelligent cruise ships in the illustrated embodiment; The maximum speed planning module 60 is used to plan the maximum speed of multiple intelligent cruise ships in real time based on the traffic order of the two-way intelligent cruise ship queue and the position relationship between each intelligent cruise ship and the one-way traffic area, that is, to execute the following operations: Figure 1 Step S60 in the narrow waters passage planning method for multiple intelligent cruise ships in the illustrated embodiment; The maximum speed sending module 70 is used to send the maximum speed of each intelligent cruise ship to each intelligent cruise ship, that is, to execute the following steps: Figure 1 Step S70 in the narrow waters passage planning method for multiple intelligent cruise ships in the illustrated embodiment;

[0051] The monitoring and adjustment module 80 is used to monitor the real-time status of each intelligent cruise ship and adjust the control strategy of the intelligent cruise ship according to the real-time status of the intelligent cruise ship, that is, to execute the following steps: Figure 1 Step S80 in the narrow waters passage planning method for multiple intelligent cruise ships in the illustrated embodiment.

[0052] The present invention also provides a storage medium, wherein the storage medium stores program instructions, and when the program instructions are executed by a processor, the various steps of the narrow water passage planning method for the above-mentioned multi-intelligent cruise ships are implemented. Among them, the storage medium can be a memory including program instructions, and the memory can be implemented by one or more volatile or non-volatile storage devices of any type or a combination thereof, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, referred to as EPROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, magnetic disk or optical disk. The above-mentioned program instructions can be executed by a processor to complete Figure 1 The various steps of the narrow water passage planning method for multiple intelligent cruise ships in the illustrated embodiment.

[0053] The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Those skilled in the art can make various equivalent changes and improvements based on the above embodiments, and all equivalent changes or modifications made within the scope of the claims should fall within the protection scope of the present invention.

Claims

1. A method for planning the passage of multiple intelligent cruise ships in narrow waters, characterized in that: The steps include: S10, setting the global mission route of multiple intelligent cruise ships; S20, defining a one-way traffic area for traffic in clusters; S30, calculating the position relationship between each intelligent cruise ship and the one-way traffic area based on the status information of each intelligent cruise ship; S40, based on the heading angles of the intelligent cruise ships and the travel directions of the one-way travel area, the intelligent cruise ships are divided into a same-direction intelligent cruise ship queue and a reverse-direction intelligent cruise ship queue; S50, based on the status information of each intelligent cruise ship and the position relationship between each intelligent cruise ship and the one-way traffic area, the bidirectional intelligent cruise ship queue is sorted by using a pre-defined priority rule; S60, based on the traffic sorting results of the two-way intelligent cruise ship queue and the position relationship between each intelligent cruise ship and the one-way traffic area, real-time planning of the maximum speed of multiple intelligent cruise ships; S70, issuing the maximum sailing speed of each smart cruise ship to each smart cruise ship; S80, monitoring the real-time status of each intelligent cruise ship, and adjusting the control strategy of the intelligent cruise ship according to the real-time status of the intelligent cruise ship.

2. The narrow waters passage planning method for multi-intelligent cruise ships according to claim 1, characterized in that: The step S10 further includes the following steps: S11, marking the cruise mission routes of each intelligent cruise ship in the intelligent cruise ship cluster in turn on the electronic map, and recording the positions on the marked cruise mission routes to obtain a point queue of the cruise mission routes; S12: Perform path point compensation on two adjacent points in the point queue of the cruise mission route using a linear interpolation algorithm to obtain a desired point queue, and use the desired point queue as the global mission route of the intelligent cruise ship.

3. The narrow waters passage planning method for multi-intelligent cruise ships according to claim 1, characterized in that: The one-way traffic area is represented by its boundary shape and traffic direction, wherein the boundary shape of the one-way traffic area is represented by a coordinate set or a mathematical equation. : ; Use angles or direction vectors to indicate the direction of travel in a one-way traffic area.

4. The narrow waters passage planning method for multi-intelligent cruise ships according to claim 1, characterized in that: The step S30 further comprises the following steps: S31, determining an object set of current traffic planning; S32, calculating the distances of each intelligent cruise ship in the object set of the current traffic planning entering the one-way traffic area; S33, calculating the distances of each intelligent cruise ship in the object set of the current traffic planning out of the one-way traffic area.

5. The narrow waters passage planning method for multi-intelligent cruise ships according to claim 4, characterized in that: The step S32 further comprises the following steps: S321, determine whether the intelligent cruise ship is within the one-way traffic area, if so, execute step S322, if not, execute step S323; S322, setting the distance value of the smart cruise ship entering the one-way traffic area to 0; S323, using a line-polygon intersection algorithm, calculate a set of intersections between the local path of the smart cruise ship and the boundary shape of the one-way traffic area; S324, through the Euclidean distance formula , calculate the distance d between the intersection coordinates and the local path point queue of the smart cruise ship, where (x1, y1) represents the intersection coordinates, Represents the local path point queue coordinates, and selects the one with the smallest d value As the position information of the intersection point in the local path; S325, select the intersection position closest to the position of the smart cruise ship as the position for entering the one-way traffic area, and calculate the length of the local path from the position of the smart cruise ship to the intersection position by the path length calculation formula, that is, the distance value of the smart cruise ship entering the one-way traffic area is obtained. ; Steps S321 to S325 are repeatedly executed until the distances of all the smart cruise ships in the object set of the current traffic planning entering the one-way traffic area are obtained.

6. The narrow waters passage planning method for multi-intelligent cruise ships according to claim 5, characterized in that: The step S33 further comprises the following steps: S331, determine whether the tail of the local path of the smart cruise ship is within the one-way traffic area, if so, execute step S332, if not, execute step S333; S332, setting the distance of the intelligent cruise ship out of the one-way traffic area as the total length value of the local path; S333, select the intersection position farthest from the position of the intelligent cruise ship as the position of the one-way traffic area, calculate the cumulative length value from the position of the intelligent cruise ship to the position of the one-way traffic area in the local path of the intelligent cruise ship, and use it as the distance value of the intelligent cruise ship out of the one-way traffic area, recorded as ; Repeat steps S331 to S333 until the distances of all smart cruise ships out of the one-way traffic area in the object set of the current traffic planning are obtained.

7. The narrow waters passage planning method for multi-intelligent cruise ships according to claim 1, characterized in that: The priority rules include: Rule 1: Priority is set based on the number of smart cruise ships in the two-way smart cruise ship queue that is about to enter the one-way traffic area, and the side with more smart cruise ships has priority; Rule 2: The smart boat queue where the smart boats are located in the one-way traffic area has priority; Rule 3: Priority is set based on the maximum speed of the first row of smart cruise ships in the two-way smart cruise ship queue. When the number of ships in the two-way smart cruise ship queue that are about to enter the one-way traffic area is the same, the first row of smart cruise ships with the larger maximum speed has a higher priority; Rule 4: When the maximum speeds of the first row of smart cruise ships in a two-way smart cruise ship queue are the same, the smart cruise ship queue that enters the one-way traffic area closer has higher priority.

8. The narrow waters passage planning method for multi-intelligent cruise ships according to claim 1, characterized in that: The step S60 further includes the following steps: S61: For the high-priority smart cruise ship queue, the maximum speed value of each smart cruise ship is set based on the dynamic model, and the time for the entire high-priority smart cruise ship queue to leave the one-way passage area is calculated based on the distance and maximum speed of the last smart cruise ship in the queue to leave the one-way passage area. : ； in, Indicates the distance from the last smart cruise ship in the high-priority smart cruise ship queue to the one-way traffic area. Indicates the maximum sailing speed of the last smart cruise ship in the high-priority smart cruise ship queue; S62: For the low-priority smart cruise ship queue, the maximum speed limit of each smart cruise ship in the low-priority smart cruise ship queue is calculated by the following formula: : ； in, Indicates the distance for the smart cruise ships in the low-priority smart cruise ship queue to enter the one-way traffic area. represents the i-th smart cruise ship.

9. A multi-intelligent cruise ship traffic planning system in narrow waters, characterized in that: Included are: Mission route setting module, used to set the global mission routes of multiple intelligent cruise ships; One-way traffic area definition module, used to define one-way traffic areas in clusters; A position relationship calculation module, used to calculate the position relationship between each intelligent cruise ship and the one-way traffic area based on the status information of each intelligent cruise ship; A traffic direction classification module is used to classify each intelligent cruise ship into a same-direction intelligent cruise ship queue and a reverse-direction intelligent cruise ship queue based on the heading angle of each intelligent cruise ship and the traffic direction of the one-way traffic area; The queue passage sorting module is used to sort the bidirectional intelligent cruise ship queue by using the pre-established priority rules based on the status information of each intelligent cruise ship and the position relationship between each intelligent cruise ship and the one-way passage area; The maximum speed planning module is used to plan the maximum speed of multiple intelligent cruise ships in real time based on the traffic order of the two-way intelligent cruise ship queue and the position relationship between each intelligent cruise ship and the one-way traffic area; A maximum speed sending module is used to send the maximum speed of each smart cruise ship to each smart cruise ship; The monitoring and adjustment module is used to monitor the real-time status of each intelligent cruise ship and adjust the control strategy of the intelligent cruise ship according to the real-time status of the intelligent cruise ship.

10. A storage medium, characterized in that: The storage medium stores program instructions, and when the program instructions are executed by the processor, the narrow water passage planning method for a multi-intelligent cruise ship according to any one of claims 1-8 is implemented.

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