Maneuvering support system, maneuvering support method, and maneuvering support program

Abstract

To provide a maneuvering support system for supporting deceleration maneuvering for stopping a vessel at a stop position.SOLUTION: A maneuvering support system includes: a storage device for storing deceleration information indicating a deceleration velocity including at least one of a target deceleration velocity, an upper limit deceleration velocity, and a lower limit deceleration velocity for a remaining distance which is a distance from a position of a vessel to a stop position; and a processor for acquiring or calculating planned navigation distance up to when a subject vessel reaches a planned stop position, deriving a deceleration velocity when the remaining distance is the planned navigation distance based on the deceleration information, setting a recommended velocity including at least one of a target recommended velocity, an upper limit recommended velocity, and a lower limit recommended velocity based on the derived deceleration velocity, and outputting information of the set recommended velocity.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a ship operation support system, a ship operation support method, and a ship operation support program.

Background Art

[0002] Patent Document 1 below discloses a ship propulsion control system that controls a propulsion unit so that the thrust does not become greater than a predetermined value when the distance to an object to be avoided such as a pier is less than a predetermined distance.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] While support technologies for avoiding collisions of ships with piers and the like as in Patent Document 1 are advancing, support technologies for stopping ships at the landing positions that the ship's operator is most concerned about have not advanced. Therefore, an object of the present disclosure is to provide a ship operation support system that supports decelerating ship operation for stopping the ship.

Means for Solving the Problems

[0005] A ship operation support system according to an aspect of the present disclosure includes a storage device that stores deceleration information indicating a relationship of a deceleration speed including at least one of a target deceleration speed, an upper limit deceleration speed, and a lower limit deceleration speed with respect to a remaining distance that is a distance from the position of the ship to the stop position, acquires or calculates a planned navigation distance until the target ship reaches the planned stop position, derives a deceleration speed when the remaining distance is the planned navigation distance based on the deceleration information, sets a recommended speed including at least one of a target recommended speed, an upper limit recommended speed, and a lower limit recommended speed based on the derived deceleration speed, and outputs information on the set recommended speed, and a processing device.

Effect of the Invention

[0006] According to this configuration, it is possible to assist in decelerating navigation to stop the ship.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Mode for Carrying Out the Invention

[0008] (Overall Configuration of the Navigation Support System) Hereinafter, embodiments will be described. FIG. 1 is a block diagram of a navigation support system 100 according to the present embodiment. The navigation support system 100 according to the present embodiment is a system that assists in decelerating navigation to gradually decelerate a sailing ship and stop it at a planned stop position, and reduces the work load of the navigator.

[0009] As shown in FIG. 1, the navigation support system 100 includes a storage device 11, a processing device 12, a display device 13, and a warning output device 14. Hereinafter, these components will be described in order.

[0010] <Storage Device> The storage device 11 is a device that stores various types of information. The storage device 11 is, for example, a non-volatile memory. The storage device 11 of the present embodiment stores deceleration information indicating the relationship between the deceleration speed and the remaining distance, which is the distance from the ship's position to the stop position. FIG. 2 is a graph showing an example of the deceleration information, where the horizontal axis in the figure is the remaining distance and the vertical axis in the figure is the deceleration speed. The deceleration speed in the present embodiment includes an upper limit deceleration speed and a lower limit deceleration speed.

[0011] Of the two graphs shown in FIG. 2, the upper graph shows the relationship between the remaining distance and the upper limit deceleration speed, and the lower graph shows the relationship between the remaining distance and the lower limit deceleration speed. Note that the deceleration speed in the present embodiment includes the upper limit deceleration speed and the lower limit deceleration speed, but instead of or in addition to these, the deceleration speed may include a target deceleration speed. That is, the deceleration information may include information indicating the relationship between the remaining distance and the target deceleration speed. Note that the target deceleration speed may have a certain speed range. The storage device 11 may store the deceleration information as shown in FIG. 2 as a numerical value or as a mathematical formula.

[0012] In the present embodiment, the upper limit deceleration speed, which is the upper limit speed at which the ship can stop without being violent, is set for each remaining distance. Also, the lower limit deceleration speed, which is the lower limit speed at which the ship can reach the stop position within an appropriate time, is set for each remaining distance. Further, when the deceleration speed includes the target deceleration speed, the target deceleration speed, which is the optimal speed at which the ship can stop with a margin without being violent and can reach the stop position with a margin within an appropriate time, may be set for each remaining distance. The deceleration information may be created based on the experience of the operator or based on past navigation data. Note that the deceleration information may differ depending on the route and the type of ship.

[0013] Also, the storage device 11 stores various programs including a ship operation support program. The ship operation support program will be described later.

[0014] <Processing device> The processing device 12 is a device that performs arithmetic processing. The processing device 12 is, for example, a CPU. The processing device 12 is electrically connected to the storage device 11 and can acquire various programs from the storage device 11. The processing device 12 performs arithmetic processing based on the various programs acquired from the storage device 11 using a volatile memory not shown.

[0015] <Display device> The display device 13 is a device that displays various types of information. The display device 13 is, for example, a display. The display device 13 is electrically connected to the processing device 12 via an I / O interface or the like, and displays various types of information based on signals transmitted from the processing device 12. The display contents of the display device 13 will be described later.

[0016] <Warning output device> The warning output device 14 is a device that outputs a warning signal. The warning output device 14 may be, for example, a speaker or a warning lamp. The display device 13 may also function as the warning output device 14. The warning output device 14 is electrically connected to the processing device 12 via an I / O interface or the like, and outputs a warning signal based on an activation signal transmitted from the processing device 12. The warning signal is a signal that can be recognized by the operator. For example, if the warning output device 14 is a speaker, the warning signal is a sound signal. Also, if the warning output device 14 is a warning lamp, the warning signal is a light signal.

[0017] The functions of the elements disclosed in this specification can be executed using a circuit or processing circuit including a general-purpose processor, a dedicated processor, an integrated circuit, an ASIC (Application Specific Integrated Circuits), a conventional circuit, and / or a combination thereof that is configured or programmed to execute the disclosed functions. Since a processor includes transistors and other circuits, it is regarded as a processing circuit or a circuit. In the present disclosure, a circuit, unit, or means is either hardware that executes the recited functions or hardware programmed to execute the recited functions. The hardware may be the hardware disclosed in this specification or other known hardware that is programmed or configured to execute the recited functions. When the hardware is a processor considered to be a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used for configuring the hardware and / or the processor.

[0018] (Vessel operation support program) Next, the vessel operation support program will be described. As described above, the vessel operation support program is stored in the storage device 11 and executed by the processing device 12. The vessel operation support program is a program for providing the operator with information (recommended speed in this embodiment) for stopping the vessel to be supported (hereinafter referred to as the "target vessel") at the planned stop position. Note that the operation of the target vessel may be automatically performed based on a computer program.

[0019] Figure 3 is a flowchart of the vessel operation support program. When the vessel operation support program is started, the processing device 12 acquires route information including the planned route until the target vessel reaches the planned stop position (step S1). For example, the route information may be stored in the storage device 11 in advance, and the processing device 12 may acquire the route information from the storage device 11. Alternatively, the processing device 12 may acquire the route information from an external route setting device or a route setting function attached to a display device.

[0020] Subsequently, the processing device 12 acquires or calculates the current position of the target ship (step S2). The processing device 12 may acquire the current position of the target ship from a GNSS (Global Navigation Satellite System), or may calculate the current position of the target ship based on the speed, traveling direction, etc. of the target ship. Note that the processing device 12 may acquire the current position of the target ship from an external measuring device installed outside the target ship (such as on land), or may calculate the current position of the target ship based on the measurement data acquired from the external measuring device installed outside the target ship. For example, a laser distance sensor may be installed on the quay where the target ship docks as the external measuring device, and the processing device 12 may acquire the current position of the target ship from this distance sensor.

[0021] Subsequently, the processing device 12 calculates the planned navigation distance until the target ship reaches the planned stop position (step S3). Specifically, the processing device 12 calculates the planned navigation distance when the target ship sails along the planned route to the planned stop position based on the route information acquired in step S1 and the current position of the target ship acquired or calculated in step S2. Note that instead of steps S1 to S3, the processing device 12 may acquire the planned navigation distance input by the operator via an input device such as a keyboard. Also, when the route is relatively straight, as a simple method, the straight-line distance between the current position and the planned stop position may be used as the planned navigation distance without using the route information.

[0022] Subsequently, the processing device 12 derives the deceleration speed when the remaining distance is the planned navigation distance calculated in step S3 from the deceleration information stored in the storage device 11 (step S4). For example, assuming that the planned navigation distance calculated in step S3 is D, as shown in FIG. 2, the upper limit deceleration speed V1 and the lower limit deceleration speed V2 when the remaining distance is D are derived.

[0023] Subsequently, the processing device 12 sets a recommended speed based on the deceleration speed derived in step S4 (step S5). The recommended speed in this embodiment includes an upper limit recommended speed and a lower limit recommended speed. In the above example, the processing device 12 may set V1, which is the upper limit deceleration speed, as the upper limit recommended speed as it is, and set V2, which is the lower limit deceleration speed, as the lower limit recommended speed as it is. Further, the processing device 12 may set, for example, values obtained by multiplying V1, which is the upper limit deceleration speed, and V2, which is the lower limit deceleration speed, by a predetermined coefficient according to the weather conditions, as the upper limit recommended speed and the lower limit recommended speed, respectively.

[0024] Subsequently, the processing device 12 outputs information on the recommended speed set in step S5 (step S6). In this embodiment, the processing device 12 outputs information on the recommended speed to the display device 13, and the display device 13 displays the information on the recommended speed. FIG. 4 is a diagram showing the display content by the display device 13. The display device 13 of this embodiment displays the position of the target ship on the map, the planned route, etc. near the center, but displays a speed scale 21 and a speed pointer 22 near the right end. The speed pointer 22 moves along the speed scale 21 and indicates the position corresponding to the current speed of the target ship. Note that the current speed of the target ship may be calculated based on the change amount of the current position of the target ship, or may be obtained from a log installed on the target ship. Further, the processing device 12 may obtain the current speed of the target ship from an external measuring device installed outside the target ship, or may calculate the current speed of the target ship based on the measurement data obtained from the external measuring device installed outside the target ship. For example, a laser type distance sensor may be installed on the quay where the target ship docks as the external measuring device, and the processing device 12 may calculate the current speed of the target ship based on the change amount of the measurement data measured by this distance sensor.

[0025] Then, in this embodiment, a recommended speed area 23 is displayed in a portion corresponding to the upper limit recommended speed and the lower limit recommended speed on the speed scale 21. At this time, the recommended speed area 23 is displayed in a display method different from other areas, such as displaying it in a color different from other areas. Thereby, the operator can grasp the current speed of the target ship with respect to the upper limit recommended speed and the lower limit recommended speed, and can grasp whether the current speed of the target ship is within an appropriate speed range.

[0026] Subsequently, the processing device 12 determines whether or not a warning condition is satisfied (step S7). Specifically, the processing device 12 determines whether the current speed of the target ship is greater than the upper limit recommended speed set in step S5, or whether the current speed of the target ship is less than the lower limit recommended speed also set in step S5.

[0027] In step S7, when the processing device 12 determines that the warning condition is satisfied (YES in step S7), an activation signal is output to the warning output device 14 (step S8). When the warning output device 14 receives the activation signal from the processing device 12, it outputs a warning signal. By the warning output device 14 outputting a warning signal, the operator can be informed that the warning condition has been satisfied, and the operator can be prompted to perform appropriate deceleration maneuvering.

[0028] On the other hand, in step S7, when the processing device 12 determines that the warning condition is not satisfied (NO in step S7), the process proceeds to step S9.

[0029] In step S9, the processing device 12 determines whether or not the target ship has reached the planned stop position. When the processing device 12 determines that the target ship has reached the planned stop position (YES in step S9), the ship operation support program ends. On the other hand, when the processing device 12 determines that the target ship has not reached the planned stop position (NO in step S9), the process returns to step S2 and each step is repeated.

[0030] The above is the description of the ship operation support program. In the above description, in step S4, the processing device 12 derived the upper limit deceleration speed and the lower limit deceleration speed. Instead of this, the processing device 12 may derive the target deceleration speed. When the processing device 12 derives the target deceleration speed in step S4, the processing device 12 may set, in step S5, the values obtained by multiplying the target deceleration speed by different coefficients respectively as the upper limit recommended speed and the lower limit recommended speed.

[0031] In addition to the information on the recommended speed, the processing device 12 may also output the information on the telegraph command. The telegraph command is a speed command selected by the ship operator and includes FULL, HALF, SLOW, D.SLOW, STOP, etc. The processing device 12 may select an appropriate telegraph command based on the recommended speed set in step S5 and output the information on the selected telegraph command. Thereby, the work load of the ship operator can be further reduced.

[0032] In addition to the information on the recommended speed, the processing device 12 may also output the information on the future recommended speed, which is the recommended speed after a predetermined time (for example, after 2 minutes). Specifically, the processing device 12 acquires or calculates the future planned navigation distance until the target ship reaches the planned stop position after a predetermined time, and derives the deceleration speed when the remaining distance is the future planned navigation distance based on the deceleration information stored in the storage device 11. Thereafter, the processing device 12 sets the future recommended speed including at least one of the future target recommended speed, the future upper limit recommended speed, and the future lower limit recommended speed based on the derived deceleration speed, and outputs the information on the future recommended speed.

[0033] In this case, the processing device 12 outputs the information on the future recommended speed to the display device 13, and the display device 13 may simultaneously display the recommended speed, the future recommended speed, and the current speed of the target ship. For example, the display device 13 may display an arrow at the position corresponding to the future target recommended speed of the speed scale 21 in FIG. 4.

[0034] In addition, in this embodiment, the processing device 12 outputs information on the recommended speed to the display device 13 in step S6, but the processing device 12 may output the information on the recommended speed to a device other than the display device 13 or the like. For example, the processing device 12 may output the information on the recommended speed to an external route setting device or the like.

[0035] In addition, in this embodiment, the display device 13 uses the speed scale 21 to display the information on the recommended speed. However, the speed scale 21 displayed by the display device 13 does not have to be bar-shaped, and may be arc-shaped as shown in FIG. 5, for example. Further, the display device 13 may display the information on the recommended speed without using the speed scale 21. For example, the display device 13 may display the information on the recommended speed using numerical values. Further, instead of displaying the recommended speed area 23, the display device 13 may display an arrow at a position corresponding to the upper limit recommended speed and the lower limit recommended speed of the speed scale 21, for example.

[0036] (Installation Location of the Ship Handling Support System) The ship handling support system 100 may be installed on the target ship, or may be installed outside the target ship (such as other ships or land outside the target ship). Further, a part of the ship handling support system 100 may be installed on the target ship, and the remaining part may be installed outside the target ship. For example, as shown in FIG. 6, the storage device 11 and the processing device 12 may be installed on a land base (that is, on the cloud), and the display device 13 and the warning output device 14 may be installed on the target ship. In this case, the display device 13 and the warning output device 14 may acquire various information from the processing device 12 via a network such as the Internet. That is, the above ship handling support program may be executed on the cloud, and the results obtained thereby may be provided to the display device 13 and the warning output device 14 via the network.

[0037] Further, for example, the storage device 11 may be installed outside the target ship, and the processing device 12, the display device 13, and the warning output device 14 may be installed on the target ship. In this case, the processing device 12 may acquire various information from the storage device 11 via a network. According to such a configuration, since at least one of the storage device 11 and the processing device 12 does not need to be installed on the target ship, the manufacturing cost of the target ship can be suppressed, and retrofitting can also be performed at low cost.

[0038] Furthermore, the display device 13 and the warning output device 14 may be mounted on a mobile terminal such as a notebook computer, a tablet, and a smartphone. In this case, the display device 13 and the warning output device 14 may acquire various information from the processing device 12 via a network. According to this configuration, retrofitting can be performed at low cost. In addition, the operator can perform ship operation (that is, remote operation) from outside the target ship, and the degree of freedom of ship operation is improved.

[0039] (Summary) The first item disclosed in this specification is a deceleration information storage device that stores deceleration information indicating the relationship between the deceleration speed including at least one of the target deceleration speed, the upper limit deceleration speed, and the lower limit deceleration speed with respect to the remaining distance, which is the distance from the position of the ship to the stop position, and obtains or calculates the planned navigation distance until the target ship reaches the planned stop position, and based on the deceleration information, when the remaining distance is the planned navigation distance, derives the deceleration speed, and based on the derived deceleration speed, sets a recommended speed including at least one of the target recommended speed, the upper limit recommended speed, and the lower limit recommended speed, and outputs information on the set recommended speed. It is a ship operation support system provided with a processing device.

[0040] According to this configuration, the ship can be stopped at the stop position based on the information on the recommended speed output by the processing device.

[0041] The second item disclosed in this specification is the ship operation support system according to the first item, wherein at least one of the storage device and the processing device is located outside the target ship.

[0042] According to this configuration, the manufacturing cost of the target ship can be suppressed, and retrofitting can also be performed at low cost.

[0043] The third item disclosed in this specification is the steering support system according to the first or second item, wherein the processing device acquires or calculates the current position of the target ship, and calculates the planned navigation distance based on the acquired or calculated current position of the target ship.

[0044] According to this configuration, the planned navigation distance can be calculated at any time.

[0045] The fourth item disclosed in this specification is the steering support system according to the third item, wherein the processing device acquires route information including a planned route until the target ship reaches the planned stop position, and calculates the planned navigation distance based on the acquired route information and the acquired or calculated current position of the target ship.

[0046] According to this configuration, an accurate planned navigation distance can be calculated.

[0047] The fifth item disclosed in this specification is the steering support system according to the third or fourth item, wherein the processing device acquires the current position of the target ship from an external measuring device located outside the target ship, or calculates the current position of the target ship based on measurement data acquired from the external measuring device.

[0048] According to this configuration, since it is not necessary to install equipment for acquiring or calculating the current position on the target ship, the manufacturing cost of the target ship can be suppressed.

[0049] The sixth item disclosed in this specification is the steering support system according to any one of the first to fifth items, wherein the processing device selects one of a plurality of telegraph commands based on a set recommended speed, and outputs information on the selected telegraph command.

[0050] According to this configuration, the workload of the operator can be further reduced.

[0051] Item 7 disclosed in this specification is the ship operation support system according to any one of Items 1 to 6, which includes a display device that simultaneously displays the recommended speed and the current speed of the target ship.

[0052] According to this configuration, the operator can easily grasp the relationship between the recommended speed and the current speed of the target ship.

[0053] Item 8 disclosed in this specification is the ship operation support system according to Item 7, wherein the current speed of the target ship is the speed measured by an external measuring device located outside the target ship or the speed calculated based on the measurement data measured by the external measuring device.

[0054] According to this configuration, since there is no need to install equipment for acquiring or calculating the current speed of the target ship, the manufacturing cost of the target ship can be suppressed.

[0055] Item 9 disclosed in this specification is the ship operation support system according to any one of Items 1 to 8, which includes a warning output device that outputs a warning signal when the current speed of the target ship is greater than the upper limit recommended speed set by the processing device or when the current speed of the target ship is less than the lower limit recommended speed set by the processing device.

[0056] According to this configuration, the operator can be prompted to perform appropriate deceleration operation.

[0057] Item 10 disclosed in this specification is that the processing device acquires or calculates a future planned navigation distance until the target ship reaches the planned stop position after a predetermined time, derives a deceleration speed when the remaining distance is the future planned navigation distance based on the deceleration information, sets a future recommended speed including at least one of a future target recommended speed, a future upper limit recommended speed, and a future lower limit recommended speed based on the derived deceleration speed, and outputs information on the set future recommended speed, which is the ship handling support system according to any one of Items 1 to 9.

[0058] According to this configuration, since the ship can be stopped at the stop position based not only on the information of the recommended speed but also on the information of the future recommended speed, more accurate deceleration ship handling becomes possible.

[0059] Item 11 disclosed in this specification is the ship handling support system according to Item 10, which includes a display device that simultaneously displays the recommended speed, the future recommended speed, and the current speed of the target ship.

[0060] According to this configuration, the ship operator can easily grasp the relationship among the recommended speed, the future recommended speed, and the current speed of the target ship.

[0061] Item 12 disclosed in this specification is a ship handling support method that acquires or calculates a planned navigation distance until the target ship reaches the planned stop position, derives a deceleration speed when the remaining distance is the planned navigation distance based on deceleration information indicating the relationship of at least one of a target deceleration speed, an upper limit deceleration speed, and a lower limit deceleration speed with respect to the remaining distance, which is the distance from the ship's position to the stop position, sets a recommended speed including at least one of a target recommended speed, an upper limit recommended speed, and a lower limit recommended speed based on the derived deceleration speed, and outputs information on the set recommended speed.

[0062] According to this configuration, the ship can be stopped at the stop position based on the output information of the recommended speed.

[0063] The 13th item disclosed in this specification is a ship handling support program for causing a processing device to acquire or calculate a planned navigation distance until a target ship reaches a planned stop position, and based on deceleration information indicating a relationship of a deceleration speed including at least one of a target deceleration speed, an upper limit deceleration speed, and a lower limit deceleration speed with respect to a remaining distance which is a distance from the position of the ship to the stop position, to derive a deceleration speed when the remaining distance is the planned navigation distance, to set a recommended speed including at least one of a target recommended speed, an upper limit recommended speed, and a lower limit recommended speed based on the derived deceleration speed, and to output information on the set recommended speed.

[0064] According to this configuration, the ship can be stopped at the stop position based on the information on the recommended speed output by the processing device.

Explanation of Signs

[0065] 11 Storage device 12 Processing device 13 Display device 14 Warning output device 21 Speed scale 22 Speed pointer 23 Recommended speed area 100 Ship handling support system

Claims

1. A storage device that stores deceleration information indicating the relationship of a deceleration speed including at least one of a target deceleration speed, an upper limit deceleration speed, and a lower limit deceleration speed with respect to a remaining distance that is the distance from the position of a ship to a stop position; A navigation support system comprising: a processing device that acquires or calculates a planned navigation distance until a target ship reaches a planned stop position, derives a deceleration speed when the remaining distance is the planned navigation distance based on the deceleration information, and sets a recommended speed including at least one of a target recommended speed, an upper limit recommended speed, and a lower limit recommended speed based on the derived deceleration speed, and outputs information on the set recommended speed.

2. The navigation support system according to claim 1, wherein at least one of the storage device and the processing device is located outside the target ship.

3. The navigation support system according to claim 1, wherein the processing device acquires or calculates the current position of the target ship, and calculates the planned navigation distance based on the acquired or calculated current position of the target ship.

4. The navigation support system according to claim 3, wherein the processing device acquires route information including a planned route until the target ship reaches the planned stop position, and calculates the planned navigation distance based on the acquired route information and the acquired or calculated current position of the target ship.

5. The navigation support system according to claim 3, wherein the processing device acquires the current position of the target ship from an external measuring device located outside the target ship, or calculates the current position of the target ship based on measurement data acquired from the external measuring device.

6. The navigation support system according to claim 1, wherein the processing device selects one of a plurality of telegraph commands based on the set recommended speed, and outputs information on the selected telegraph command.

7. The navigation support system according to claim 1, further comprising a display device that simultaneously displays the recommended speed and the current speed of the target ship.

8. The navigation support system according to claim 7, wherein the current speed of the target ship is a speed measured by an external measuring device located outside the target ship, or a speed calculated based on measurement data measured by the external measuring device.

9. The ship operation support system according to claim 1, further comprising a warning output device that outputs a warning signal when the current speed of the target ship is greater than the upper recommended speed set by the processing device or when the current speed of the target ship is less than the lower recommended speed set by the processing device.

10. The processing device acquires or calculates a future planned navigation distance until the target ship reaches the planned stop position after a predetermined time, derives a deceleration speed when the remaining distance is the future planned navigation distance based on the deceleration information, sets a future recommended speed including at least one of a future target recommended speed, a future upper recommended speed, and a future lower recommended speed based on the derived deceleration speed, and outputs information on the set future recommended speed. The ship operation support system according to claim 1.

11. The ship operation support system according to claim 10, further comprising a display device that simultaneously displays the recommended speed, the future recommended speed, and the current speed of the target ship.

12. Acquire or calculate the planned navigation distance until the target ship reaches the planned stop position. Based on deceleration information indicating the relationship of a deceleration speed including at least one of a target deceleration speed, an upper limit deceleration speed, and a lower limit deceleration speed with respect to the remaining distance, which is the distance from the ship to the stop position, derive the deceleration speed when the remaining distance is the planned navigation distance. Set a recommended speed including at least one of a target recommended speed, an upper limit recommended speed, and a lower limit recommended speed based on the derived deceleration speed. A ship operation support method for outputting information on the set recommended speed.

13. For the processing device, Cause it to acquire or calculate the planned navigation distance until the target ship reaches the planned stop position. Based on deceleration information indicating the relationship of a deceleration speed including at least one of a target deceleration speed, an upper limit deceleration speed, and a lower limit deceleration speed with respect to the remaining distance, which is the distance from the ship to the stop position, cause it to derive the deceleration speed when the remaining distance is the planned navigation distance. Based on the derived deceleration speed, cause it to set a recommended speed including at least one of a target recommended speed, an upper limit recommended speed, and a lower limit recommended speed. A ship operation support program for causing it to output information on the set recommended speed.

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