Method and system for providing notification on basis of state of collision avoidance function

Abstract

The present document relates to a method and system for providing a notification on the basis of a state of a collision avoidance (CA) function. The proposed method for providing a notification defines a notification status to include an active state, a ready state, a low-performance state, and a failure state, wherein the active state and the ready state are defined within an operational design domain (ODD) of a CA function, the low-performance state is defined outside the ODD range of a CA function but within an operational envelope (OE) range of the CA function, and the failure state is defined outside the OE range of the CA function.

Description

Method and system for providing notifications based on the status of collision avoidance functions

[0001] The following description relates to the Collision Avoidance (CA) function of a vessel, specifically to a method for providing notifications based on the status of the CA function and a notification provision system for this purpose.

[0002] Conventional navigation aids for ships only simply recognize objects near the ship and have the function of displaying the recognized objects on a screen, thus providing only an alarm about obstacles to the operator of the powered ship.

[0003] However, since the driver focuses on the road ahead while driving, they do not continuously monitor the displayed information; furthermore, because the driver must personally perform actions such as flight planning and collision avoidance based on the provided information, it has not effectively provided the driver with functions for driving convenience and safe navigation.

[0004] Accordingly, there is a demand for an integrated ship navigation assistance system that provides collision avoidance (hereinafter referred to as “CA”) functions, and the applicant provides this as the HiNAS (Hyundai intelligent Navigation Assistant System).

[0005] These integrated ship navigation aids provide various CA functions, and research is needed on methods to provide efficient notifications to users by defining the status for each CA function.

[0006] In order to solve the problem described above, one aspect of the present invention defines various CA functions and defines the state for each CA function by considering the ODD (Operational Design Domain) / OE (Operational Envelop).

[0007] In addition, we propose a method for efficiently providing notifications based on the status of each CA function defined in this way, and a notification provision system for this purpose.

[0008] The problems to be solved by the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art to which the present invention belongs from the description below.

[0009] In one aspect of the present invention for solving the problem described above, a method for providing a notification based on the state of a Collision Avoidance (CA) function is proposed, wherein the status of the notification is defined as a state including an active state, a ready state, a low performance state, and a failure state, wherein the active state and the ready state are defined within the Operational Design Domain (ODD) of the CA function, the low performance state is defined outside the ODD range of the CA function but within the Operational Envelope (OE) range of the CA function, and the failure state is defined outside the OE range of the CA function; and the notification is provided based on any one of the active state, the ready state, the low performance state, and the failure state.

[0010] At this time, the above notification may be provided separately for the TC (Track Control) function, CAA (Collision Avoidance Assistance) function, or CAC (Collision Avoidance Control) function of the CA function.

[0011] Additionally, for one or more of the above TC function, the above CAA function, or the above CAC function, an icon corresponding to the above activation state, the above readiness state, the above low performance state, or the above failure state may be displayed.

[0012] Additionally, the above notification may be provided through a first color when based on the activation state and the readiness state, and through a second color when based on the low performance state and the failure state.

[0013] In one embodiment of the present invention, a first UI (User Interface) for selecting whether to activate each of the TC function and the CAA function is displayed, and a second UI for selecting whether to activate the CAC function may be selectively displayed depending on whether the TC function or the CAA function is activated.

[0014] At this time, the second UI may be displayed only when the TC function or the CAA function is activated.

[0015] In addition, a third UI may be additionally displayed on one or more of the first UI and the second UI, and when the third UI is selected, the status of the notification, the title of the notification, and a description of the notification may be provided.

[0016] In addition, it may additionally include displaying the movement path of the vessel and dangerous objects on the chart, and said dangerous objects may be displayed so as to be distinguished from other objects on said chart.

[0017] At this time, the above-mentioned danger object may be displayed in a blinking form on the chart, but may stop blinking after the user's confirmation response.

[0018] In addition, it may additionally include marking the XTL (Cross-Track Limit) range along the movement path of the vessel on the above-mentioned chart.

[0019] In addition, it may additionally include displaying a Positional Deviation Limit (PDL) area based on the expected position of the vessel at a specific point in time on the above-mentioned chart.

[0020] In this case, it is desirable to set the route planning so that the PDL area is maintained within the XTL range at all points in time.

[0021] Meanwhile, in another aspect of the present invention for solving the problem described above, a system for providing a notification based on the state of a Collision Avoidance (CA) function comprises: at least one processor; and at least one memory that can be operably connected to the at least one processor and stores instructions that cause the at least one processor to perform operations when executed. A notification providing system is proposed, comprising a display that provides the notification based on the state of the CA function according to the above operations, wherein the commands define the status of the notification as an active state, a ready state, a low performance state, and a failure state, wherein the active state and the ready state are defined within the ODD (Operational Design Domain) of the CA function, the low performance state is defined outside the ODD range of the CA function but within the OE (Operational Envelope) range of the CA function, and the failure state is defined outside the OE range of the CA function, and the processor is configured to provide the notification through the display based on any one of the active state, the ready state, the low performance state, and the failure state.

[0022] At this time, the processor may be configured to provide the notification separately for the TC (Track Control) function, CAA (Collision Avoidance Assistance) function, or CAC (Collision Avoidance Control) function of the CA function.

[0023] Additionally, the display may be configured to display icons corresponding to the activation state, the readiness state, the low performance state, or the failure state for each of one or more of the TC function, the CAA function, or the CAC function.

[0024] Additionally, the display may be configured to provide the notification through a first color when based on the activation state and the ready state, and through a second color when based on the low performance state and the failure state.

[0025] Additionally, the display may display a first UI (User Interface) for selecting whether to activate the TC function and the CAA function, respectively, and the processor may be configured such that the display selectively displays a second UI for selecting whether to activate the CAC function depending on whether the TC function or the CAA function is activated.

[0026] Additionally, the processor may be configured to display the second UI only when the TC function or the CAA function is activated.

[0027] Additionally, the display may be configured to additionally display a third UI on one or more of the first UI and the second UI, and to provide the status of the notification, the title of the notification, and a description of the notification when the third UI is selected.

[0028] In addition, the display is configured to display the movement path of the vessel and dangerous objects on the chart, and the dangerous objects can be displayed so as to be distinguished from other objects on the chart.

[0029] Preferably, the display may display the dangerous object on the chart in a blinking form, and stop the blinking after the user's acknowledgment.

[0030] According to the embodiments of the present invention as described above, CA functions can be clearly defined, and the status of each CA function can be defined in consideration of ODD / OE to provide clearer notifications to the user.

[0031] In addition, user convenience can be increased by efficiently providing notifications based on the status of each CA function defined in this way.

[0032] The effects obtainable from the present invention are not limited to those mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art from the description below.

[0033] FIG. 1 is a diagram illustrating a method for defining the state of a CA function and providing a notification accordingly, in accordance with an embodiment of the present invention.

[0034] FIG. 2 is a diagram illustrating CA functions according to an embodiment of the present invention.

[0035] FIG. 3 is a diagram illustrating a display method for providing CA notifications according to an embodiment of the present invention.

[0036] FIGS. 4 to 6 are drawings for explaining embodiments of a UI for selecting whether to activate each CA function.

[0037] FIGS. 7 to 9 are drawings for explaining embodiments that display specific information on notifications by CA function.

[0038] FIG. 10 is a drawing for explaining a method of displaying a window for selecting a navigation route according to embodiments of the present invention.

[0039] FIG. 11 is a drawing for explaining a method for indicating a dangerous object according to an embodiment of the present invention.

[0040] FIGS. 12 and FIGS. 13 are drawings for illustrating additional embodiments of the present invention.

[0041] FIG. 14 is a drawing for explaining the concepts of XTL and PDL according to one embodiment of the present invention.

[0042] FIGS. 15 and 16 are drawings for explaining a PDL area display method and its application according to embodiments of the present invention.

[0043] FIG. 17 is a drawing for explaining a notification providing system according to one embodiment of the present invention.

[0044] Hereinafter, embodiments of the present invention are described in detail with reference to the attached drawings so that those skilled in the art can easily implement the invention. However, the present invention may be embodied in various different forms and is not limited to the embodiments described herein. Furthermore, in order to clearly explain the present invention in the drawings, parts unrelated to the explanation have been omitted, and similar parts throughout the specification are denoted by similar reference numerals.

[0045] Throughout the specification, when a part is described as "including" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components.

[0046]

[0047] As described above, in one aspect of the present invention, the state for each CA function is to be defined by considering the ODD (Operational Design Domain) / OE (Operational Envelope).

[0048] FIG. 1 is a diagram illustrating a method for defining the state of a CA function and providing a notification accordingly, in accordance with an embodiment of the present invention.

[0049] In one embodiment of the present invention, it is proposed to define the status of the above-described notification to include an active state (110), a ready state (120), a low performance state (130), and a failure state (140). The active state (110) may indicate a state in which the corresponding function performs an operation; the ready state (120) may indicate a state in which the corresponding function does not perform an operation but is ready to perform an operation; the low performance state (130) may indicate a state in which there is tolerable performance degradation; and the failure state (140) may indicate a case in which operation is impossible due to an untolerable event / performance degradation.

[0050] In addition, in one embodiment of the present invention, the activation (110) / prep (120) / low performance (130) / failure (140) states defined in this way are set by considering the ODD (150) / OE (160) defined by IEC as shown in FIG. 1, thereby providing ODD / OE indication information.

[0051] ODD (150) may refer to a combination of conditions in which the function can operate normally in all tolerable events. Meanwhile, OE (160) may refer to a combination of conditions that define the operational performance and limitations of the function. As illustrated in FIG. 1, a predictable event / failure may occur within the ODD (150) range and change to the OE (160) range, and may return to the ODD (150) range through recovery.

[0052]

[0053] Specifically, in one embodiment of the present invention illustrated in FIG. 1, the active state (110) and the ready state (120) are defined within the ODD (150) of the corresponding CA function, the low performance state (130) is defined outside the ODD range (150) of the corresponding CA function but within the OE (160) range of the corresponding CA function, and the failure state (140) is defined outside the OE range (160) of the corresponding CA function.

[0054] In this embodiment, a notification is provided based on any one of the activation state (110), readiness state (120), low performance state (130), and failure state (140), and for convenience, this may be referred to as a 'CA notification' below.

[0055] Meanwhile, in another embodiment of the present invention, the four states described above may be defined as ready / not ready / low performance (130) / failure (140) states.

[0056] 'Not Ready' refers to the disabled state of the relevant function, which may mean a state where there is a reason preventing the function from being activated. 'Ready' refers to the disabled state of the relevant function, which may mean a state where preparations are made to activate the function.

[0057]

[0058] FIG. 2 is a diagram illustrating CA functions according to an embodiment of the present invention.

[0059] As illustrated in FIG. 2, one embodiment of the present invention may include CAA (Collision Avoidance Assistance; 210), CAC (Collision Avoidance Control; 220), and TC (Track Control; 230) as CA functions.

[0060] CAA (210) can be defined as a function that provides a safe path to the user in situations with a high risk of collision. The safe path generated by CAA (210) may be temporarily provided within the Cross Track Limit (XTL) of the planned route. Here, the XTL can be viewed as a limit line that ensures there is no risk of grounding when the vessel deviates perpendicularly from the route, and specific details will be described later.

[0061] The CAC (220) can internally control the vessel based on the safe path provided by the CAA (210) using the TC (230). In some cases, the CAC (220) may be described as a combination of the CAA (210) and the TC (230).

[0062] The state indicated by reference numeral S210 in FIG. 2 represents a state controlled by the aforementioned CAC (220). In this state S210, the navigation control system (HiNAS) by the applicant has control authority over the operation of the vessel and can perform autonomous driving along an agreed-upon safe route. This (S210) can correspond to the state in which a safe route is provided and user approval is obtained in state S220 as shown in FIG. 2, and can be changed back to state S220 when arriving at the destination of the safe route.

[0063] Table 1 below shows an example of a low-performance state of a CAC according to one embodiment of the present invention.

[0064] LOW PERFORMANCE COND.SYSTEM PARAMS.USER PARAMS.NOTES1. The safe path which CAC is following should be up to date. If CAA proposes a nerw safe path due to situation change, the user should accept the new safe path to avoid this condition---2. The trus or theoretical wind speed should be within 27 knots.Max wind speed.The parameter value is determined according to the vessel.3. The true or theoretical current speed should be within 3 knots.Max current speed.The parameter value is determined according to the vessel.4. The ship should be moving ahead faster or equal to telegraph position HALF AHEAD.---

[0065]

[0066] In FIG. 2, reference numeral S220 can be seen as a state where the CAA (210) and TC (230) are active. In this state (S220), the navigation control system (HiNAS) by the applicant has control authority over the operation of the vessel and follows a pre-prepared route, but can be seen as a state that displays a safe route provided by the CAA (210). In this state, if there is user approval, it can be changed to state S210 as described above. Also, if the CAA (210) is deactivated or fails, it can be changed to state S230. Also, if the TC (230) is deactivated or fails, it can be changed to state S240. Additionally, depending on the implementation method, state S240 may be omitted and it may be changed directly to state S250.

[0067] In FIG. 2, reference numeral S230 can be seen as a state where the TC (230) is activated. In this state (S230), the navigation control system (HiNAS) by the applicant has control authority over the operation of the vessel and follows a pre-prepared path, but can be seen as a state where the safe path provided by the CAA (210) is absent. In this state (S230), if the CAA (210) OE start condition is achieved and the CAA (210) is activated, the state may be changed to S220. Additionally, if the TC (230) is deactivated or fails, the state may be changed to S250.

[0068] Table 2 below shows an example of a CAA start condition, Table 3 shows an example of a CAA failure condition, and Table 4 shows an example of a CAA low-performance state.

[0069] STARTING COND.SYSTEM PARAMS.USER PARAMS.NOTES1. All internal modules of HiNAS shall not malfunction.---2. Primary sensor providing position of the own ship shall be available and functioning.---3. Primary sensor providing COG of the own ship shall be available and functioning---4. Primary sensor providing SOG of the own ship shall be available and functioning---5. At least one radar supplying target information shall be available and functioning.---6. AIS supplying target information shall be available and functioning properly.---

[0070] FAILURE COND.SYSTEM PARAMS.USER PARAMS.NOTES1. All internal modules of HiNAS shall not malfunction.---2. Primary sensor providing position of the own ship shall be available and functioning.---3. Primary sensor providing COG of the own ship shall be available and functioning---4. Primary sensor providing SOG of the own ship shall be available and functioning---5. At least one radar supplying target information shall be available and functioning.---

[0071] LOW PERFORMANCE COND.SYSTEM PARAM.USER PARAMS.NOTES1. AIS supplying target information should be available and functioning properly.---2. There should not be any sudden appearance of unexpected targets at close range-Distance limit (>3.5 NM)CAA can give unexpected behavior with sudden targets.3. There should not be any sudden appearance of unexpected targets with both low DCPA and low TCPA within certain distance range.DCPA limitTCPA limit-CAA can give unexpected behavior with sudden targets.4. The own ship should not be in turning state.ROT limit-CAA calculates the safe path based on the vessel's projected position if it maintains its current SOG and COG. Continuous change in COG can result unstable safe path generation5. The own ship should be in stable speed.Speed variation limit-CAA calculates the safe path based on the vessel's projected position if it maintains its current SOG and COG. Continuous change in SOG can result unstable safe path generation6.CAA shoul propose a new safe path on new collision risk sitation.--CAA path generation failure can imply the users may need to go through near-miss condition or exceed XTL or preplanned route for collision avoidance.7. CAA should propose a new safe path in case the vessel is no able to follow or not following the safe path, such as the vessel exceeds PDL, or course difference exceeds certain valuePDL limitCourse / BWW difference limit-CAA path generation failure can imply the users may need to go through near-miss codition or exceed XTL of preplanned route for collision avoidance.8. Dangerous targets detected along the safe path should not exceed certain number.Max number of targets along the safe path-CAA can give unexpected behavior with too many dangerous targets.

[0072]

[0073] In FIG. 2, reference numeral S240 can be seen as a state where the CAA (210) is activated. In this state (S240), the user has control over the operation of the vessel and can display the safe route provided by the CAA (210). In state (S240), if the TC (230) start condition is met and the TC (230) is activated, the state may change to S220. Additionally, if the CAA (210) is deactivated or fails in this state (S240), the state may change to S250.

[0074] As illustrated in FIG. 2, if the TC (230) is disabled in state S210 and the user confirms this, the state can be changed directly to state S240. Additionally, if a CAC (220) failure induced by a TC (230) failure occurs, the state can be changed directly to state S250. Additionally, if a CAC (220) failure induced by a CAA (210) failure occurs, and the CAA (210) is disabled and the user confirms this, the state can be changed directly to state S230.

[0075]

[0076] The ODD / OE instruction information described above in relation to FIGS. 1 and 2 can provide the user with information about the current status and mode of the CA function, and, for example, can provide specific information regarding disabled functions, performance degradation, or the OE / ODD of said function.

[0077] While the Alert filed concurrently by the applicant focuses on abnormal or failure events, the ODD / OE instruction information, unlike the Alert, aims to identify the cause of the state and mode of the corresponding CA function.

[0078] For example, if the above-described CAA (210) among the CA functions cannot be activated due to a violation of the OE condition and is in a "not ready" state, the violation condition may be provided through a 'CA notification' according to the present embodiment, but in the same case, an 'alarm' may not occur.

[0079] As another example, if the aforementioned CAC (220) among the CA functions fails, a corresponding 'alarm' may be generated to the user, whereas the 'CA notification' according to the present embodiment may not explain the cause of the failure. An explanation of the failed event may be provided through the alarm, and the CA notification may provide information about the "not ready" state after the failure fallback.

[0080]

[0081] FIG. 3 is a diagram illustrating a display method for providing CA notifications according to an embodiment of the present invention.

[0082] In one embodiment of the present invention, CA notifications may be provided separately for TC functions, CAA functions, or CAC functions, and may be provided in the form of a tab (310) that allows selection of CAA / TC / CAC as shown in FIG. 3. As shown in FIG. 3, entering each function (CAA / TC / CAC) tab allows checking CA notification information for the corresponding function, and FIG. 3 exemplarily shows the state in which the TC tab among the three tabs is activated.

[0083] In addition, the content of the CA notification may indicate the status (320) of the CA function (TC in FIG. 3) as described above. In one embodiment of the present invention, as shown in FIG. 3, if the CA function is based on an active state and a ready state, it may be provided through a first color indicating a normal state, and if it is based on a low-performance state and a failure state, it may be provided through a second color indicating an abnormal state. This helps the user easily distinguish between the normal state and the abnormal state.

[0084] Depending on the state classification method, the abnormal state may represent an 'unprepared state' instead of the aforementioned failure state.

[0085] In addition, as shown in FIG. 3, CA notifications in an abnormal state can be sorted in priority to focus the user's attention. FIG. 3 shows an example in which a notification item in a function OFF state (not ready) is displayed at the top, and a notification item in a function ON state (low performance state) is displayed at the bottom.

[0086]

[0087] Additionally, each notification item may be displayed in the structure of a status (320), a name (330), and a description (340) as exemplified in FIG. 3. That is, according to the present embodiment, notifications may be provided that provide different descriptions (340) for notifications of the same name (330).

[0088] In one embodiment of the present invention, the description of the notification (340) may provide a neutral description. For example, it may provide a description such as, "To activate the TC, you must check all backup navigator alarms."

[0089] However, in another embodiment of the present invention, the description (340) of the notification may be provided in a form that guides the user on the action to be taken in the current situation. For example, for a normal state, it may be provided as "All backup navigator alarms are confirmed," and as another example, for an abnormal state, it may be provided as "There are unconfirmed backup navigator notifications. TC cannot be activated. Please check the alarm list."

[0090] In addition, as shown in FIG. 3, if there is a lot of notification content, it can be provided to check the notification information in a scrolling manner through the scroll bar (350).

[0091]

[0092] FIGS. 4 to 6 are drawings for explaining embodiments of a UI for selecting whether to activate each CA function.

[0093] In the embodiment illustrated in FIG. 4, an example is illustrated in which a UI (User Interface; 420a) for selecting whether to enable the TC function and a UI (420b) for selecting whether to enable the CAA function are configured in a toggle manner. Specifically, when the UI for selecting whether to enable the TC function / CAA function is referred to as the first UI (420), the first UI can be displayed in the color and shape of a toggle icon as shown in FIG. 4.

[0094] The first UI may be displayed differently depending on the unreadable / ready / low performance / enabled state, as shown by reference numeral 510 in FIG. 5.

[0095] In addition, the status of the TC / CAA function may be indicated by a character (410) as shown in 410 of FIG. 4 and 510 / 520 of FIG. 5. As shown in 520 of FIG. 5, the character (410) representation of the status of each CA function may be determined by the status of the sub-items of the corresponding notification.

[0096] For example, when the function is turned OFF, if all sub-items are in a ready state, the function can be indicated as ready, and if there is one or more non-ready items, the function can be indicated as non-ready. Specifically, as shown in FIG. 3, if there are non-ready items for "Autopilot Mode" and "Autopilot Signal Validity" among the sub-items for the TC function, the function can be indicated as non-ready. Meanwhile, when the function is turned ON, if all sub-items are in an active state, the function can be indicated as active, and if there is one or more low-performance items, the function can be indicated as low-performance.

[0097]

[0098] In the left side (460) of FIG. 4, an example is shown in which the first UI (420) is displayed so that only the activation status of the TC and CAA functions among the CA functions TC, CAA, and CAC described above in relation to FIG. 2 can be selected.

[0099] However, the right side (460) of FIG. 4 and reference numeral 630 of FIG. 6 illustrate, for example, a state in which both the TC function and the CAA function are activated as a condition for activating the CAC function, and may additionally include a second UI (620) for selecting whether to activate the CAC function. Such a second UI (620) can be configured in various ways, such as a form in which a toggle button is displayed next to the CAC function display section when the condition is satisfied, as in reference numeral 520 of FIG. 5; a form in which it is displayed through a pop-up window (620), as in reference numeral 630 of FIG. 6; a form in which the toggle button is simply configured to be deactivated / activated, as in reference numeral 640 of FIG. 6; or a form in which the color changes and activation occurs when the button is pressed when activation is possible, as in reference numeral 650 of FIG. 6 (for example, displaying the ready state in colorless, then displaying the activated state in green upon clicking, displaying the low performance state in orange, then displaying the non-ready state in yellow upon clicking).

[0100] That is, in one embodiment of the present invention, the second UI (620) for selecting whether to activate the CAC function may be selectively displayed depending on whether the TC function or the CAA function is activated, unlike the first UI (420) described above. Specifically, the second UI (620) may be configured to be displayed only when the TC function and the CAA function are activated, as shown in the right side (470) of FIG. 4 and 630 of FIG. 6. In addition, as shown in FIG. 6, when the TC function and the CAA function are activated, the state in which the CAC can be activated may be indicated through an additional icon (610).

[0101]

[0102] Additionally, in the embodiment shown on the right side (460) of FIG. 4, it is proposed that an icon (430) corresponding to an activated / ready / low performance / failure state be displayed for one or more functions among the TC function, CAA function, or CAC function. Depending on the embodiment, after the CAC function is activated in the form of a popup (620), the fact that the CAC function is activated may be indicated through an icon (440). That is, the icon (440) indicating the activation of the CAC function in FIG. 4 may be configured with the same shape as the icon (610) indicating the state in which the CAC function can be activated, such as 630 in FIG. 6, but it is not limited thereto.

[0103] In addition, as exemplified by reference numeral 450 in FIG. 4, the status of each function may be indicated by color (indicated by a black and white background color in FIG. 4). For example, the ready state may be uncolored, the unread state may be yellow, the low performance state may be orange, and the active state may be green.

[0104]

[0105] FIGS. 7 to 9 are drawings for explaining embodiments that display specific information on notifications by CA function.

[0106] In one embodiment of the present invention, it is proposed to additionally display a third UI (710) on one or more sides of the first UI and the second UI, and in the embodiment illustrated in FIG. 7, an example is shown in which the third UI (710) is placed at the bottom of the first UI in the form of an "Operation Detail" button.

[0107] In one embodiment of the present invention, when a user selects the third UI (710), a window (810) is displayed that provides the status (820) of the notification, the name (title; 830) and the description (840) of the notification, as shown in FIG. 8.

[0108] With respect to the specific structure of the notification, referring to FIG. 9, the status (910) for each condition can first be displayed using a color / icon / text. This status display can be arranged by condition. For example, as shown in FIG. 9, it can be arranged by un-ready / ready status, and this can be displayed in the same way for the active / low performance status.

[0109] Such notifications can be displayed for each CA function (TC / CAA / CAC), and FIG. 9 illustrates a tab (920) for selecting these CA functions.

[0110] In addition, names and descriptions can be displayed using colors / icons / text for each condition as shown in FIG. 9 (930).

[0111] In the embodiment of FIG. 9, the conditions for each state are illustrated through statistics (940), and can be displayed in the form of a bar graph as shown in FIG. 9.

[0112] In addition, in the embodiment of FIG. 9, a window displaying past records (950) is additionally displayed, and, for example, a past record of changing from an active / low performance state to an inactive (ready, not-ready) state due to failure (error, danger, etc.) can be displayed.

[0113]

[0114] FIG. 10 is a drawing for explaining a method of displaying a window for selecting a navigation route according to embodiments of the present invention.

[0115] The path selection function of TC in the embodiment illustrated in FIG. 10 is explained. In this embodiment, the CAC function does not exist separately, but rather the TC follows the path proposed by CAA.

[0116] When the TC's route selection function (accessible UI such as buttons) is activated, a route selection window is displayed to select a route, and if the avoidance route suggested by CAA is selected, CAC can be activated internally.

[0117] If CAA proposes a path and CAC activation is possible, the possibility of CAC activation can be indicated on the path using colors / icons, etc., as described above.

[0118] However, it is desirable for a separate CAC mode to exist due to risk conditions that must be considered internally within the system and are not visible to the user.

[0119]

[0120] In FIG. 10, reference numeral 1010 illustrates a window for selecting a path while CAA is disabled. In the path selection window (1010), only predetermined paths may be displayed for selection.

[0121] In FIG. 10, reference numeral 1020 illustrates a window for selecting a route in the CAA-enabled state. The route selection window (1020a) may display a predetermined route and a proposed safe route for selection. Additionally, if a new avoidance route is proposed, it is desirable to highlight it in the route selection window (1020b) through a color change (indicated by a black and white background color in the drawing) and / or an icon display.

[0122] Additionally, in FIG. 10, reference numeral 1030 illustrates a route selection window when a new avoidance route is proposed while the CAC is active. In the route selection window (1030a), a predetermined route, a currently operating route, and a newly proposed route may be displayed. Furthermore, in this case as well, when a new avoidance route is proposed, it is desirable to highlight it in the route selection window (1030b) through a color change (indicated as a black and white background color in the drawing) and / or an icon display.

[0123]

[0124] FIG. 11 is a drawing for explaining a method for indicating a dangerous object according to an embodiment of the present invention.

[0125] In one embodiment of the present invention, as shown in FIG. 11, the movement path of a vessel (1120) and a danger object (1130) can be displayed on a nautical chart (1110). At this time, it is preferable that the danger object (1130) be displayed on the nautical chart (1110) so as to be distinguishable from other objects, and methods such as color may be used for this.

[0126] However, in one embodiment of the present invention, it is proposed that a danger object (1130) be displayed in a blinking form on a chart (1110) to attract the user's attention. However, it is proposed that when the user checks the notification related to the danger object (1130) and inputs a confirmation response, the blinking of the danger object (1130) be stopped. Even when the blinking of the danger object (1130) is stopped, it is preferable to display it in a color that is distinguishable from other objects such as a ship (1120).

[0127]

[0128] FIGS. 12 and FIGS. 13 are drawings for illustrating additional embodiments of the present invention.

[0129] First, reference numeral 1210 in FIG. 12 illustrates a display method that helps improve the user experience by displaying the three functions of CA, TC, CAA, and CAC, so that the user can immediately check them from a UI perspective at Depth 0. In conventional navigation equipment, the three functions of CA could not be specifically defined in this way, and thus could not be displayed at Depth 0.

[0130] In addition, one embodiment of the present invention proposes an example in which each function of TC / CAA / CAC is displayed in a different color according to its state, as indicated by reference numeral 1220. For example, the ready / active state may be displayed in green or gray, the unreadable state in yellow, and the low performance state in orange.

[0131]

[0132] Meanwhile, FIG. 13 illustrates a modified example of the notification display method of FIG. 9. In the embodiment of FIG. 13, the TC / CAA / CAC function can be selected through the function selection tab (1310), but the display configuration and method of the status (1320) are configured differently from FIG. 9.

[0133] As a method of indicating the state (1320), the embodiment of FIG. 13 illustrates an example of additionally indicating a "fallback" state, which may indicate a change from an active / low performance state to an inactive (ready, not-ready) state due to failure (an unavoidable situation such as an error or danger). FIG. 13 assumes a case where the failure state is not separately defined.

[0134] Additionally, the embodiment of FIG. 13 suggests displaying condition statistics (1330) for each state, for example, the number of worst conditions for each function. FIG. 13 illustrates an example in which the number of items corresponding to "fallback" as the worst conditions is displayed through statistics (1330).

[0135]

[0136] FIG. 14 is a drawing for explaining the concepts of XTL and PDL according to one embodiment of the present invention.

[0137] Classification societies such as DNV require that areas safe from collision risks be displayed to the user. Accordingly, one embodiment of the present invention proposes providing a display of a safe area to the user based on the concept of a Positional Deviation Limit (PDL).

[0138] To this end, first, the concept of the XTL described above is explained in relation to Fig. 2 as a stranding / contact safety guarantee zone.

[0139] In a route, there is a concept of Cross-Track Limit (XTL), which is the maximum displacement limit that a vessel can have in a direction perpendicular to the route. As illustrated in FIG. 14, each leg of the route (1540) has an XTL (1520, 1530) in the port and starboard directions, respectively, and it is recommended that the vessel navigate within the range (1510) defined by the XTL of the planned route.

[0140] The Electronic Chart Display and Information System (ECDIS) must ensure that the route planned by the user is free of land and fixed landmarks within the XTL range (1510) in all sections of the route. Additionally, in one embodiment of the present invention, it is proposed to notify the user with an alert if the vessel deviates from the planned XTL corridor (e.g., out of the XTL range (1510)).

[0141] In the embodiment illustrated in FIG. 14, an example is shown in which the above-described XTL corridor range (1510) is displayed to the user through shading, but the method of displaying to the user is not limited to this.

[0142] That is, according to the present embodiment, the XTL corridor serves to display an area (1510) to the user that is safe from the risk of stranding.

[0143] Meanwhile, a similar concept is also required for collision risk, and in one embodiment of the present invention, it is proposed to introduce PDL as a concept corresponding to XTL in grounding risk.

[0144]

[0145] The PDL can be defined as a limit value for the maximum range from which a vessel can deviate from its expected position at a specific point in time on a planned collision avoidance route. Since a collision takes into account other vessels or moving targets, unlike a grounding / contact, it can be indicated as a time-varying area (1550) rather than a fixed area. In the example of FIG. 14, the PDL area (1550) is shown as a circle of a specific color (e.g., pink), but the method of displaying the PDL area (1550) is not limited to this.

[0146]

[0147] The PDL area (1550) is an area based on the expected location at a specific point in time on the collision avoidance route, and navigators are advised to navigate so that their vessel is located within that area. The collision avoidance function must ensure that no other vessel or moving object exists within the PDL area (1550) at any point in time on the planned collision avoidance route within the expected scenario.

[0148] In one embodiment of the present invention, the collision avoidance function suggests performing the following when it recognizes that the vessel has moved out of the PDL area (1550) or that the out-of-ship situation is different from the expected scenario. (The case where another vessel encroaches on the PDL area (1550) can also be considered as the out-of-ship situation being different from the expected scenario.)

[0149] Notifies the user of the situation through an alert.

[0150] Replan the collision avoidance route in the current situation. If this fails, notify the user via an alert.

[0151] That is, the PDL area (1550) serves to display to the user an area that is safe from collision risk at the current time.

[0152]

[0153] FIGS. 15 and 16 are drawings for explaining a PDL area display method and its application according to embodiments of the present invention.

[0154] The PDL area (1550) must be clearly distinguishable from other shapes within the electronic chart or equivalent user interface.

[0155] FIG. 15 sequentially illustrates examples in which the PDL area (1610) is shown as a circle and the CCRP (Consistent Common Reference Point) is located at the center of the circle, examples in which the PDL area (1620) is shown as a circle and the CCRP is not located at the center of the circle, examples in which the PDL area (1630) is shown as a circle and the bow direction is not due north, examples in which the PDL area (1640) is shown as a polygon, examples in which the PDL area (1650) is shown as a shape shifted to the right to reflect the COLREGs (Convention on the International Regulations for Preventing Collisions at Sea), and examples (1660) that are identical to the example of reference numeral 1650 but the bow direction is northwest.

[0156] That is, as illustrated in FIG. 15, the PDL area (1550) may be represented as a circle (1610, 1620, 1630) or a polygon (1640, 1650, 1660) containing the expected position at a specific point in time on the collision avoidance route according to the collision risk model being considered. Additionally, it is preferable that the shape of the PDL area (1550) rotates according to the bow direction of the vessel.

[0157] Additionally, the PDL area (1550) may be variable depending on the ship's maneuverability, environmental conditions, and maritime traffic conditions.

[0158] Additionally, the PDL area (1550) may be variable depending on the collision avoidance route section.

[0159] Additionally, in one embodiment of the present invention, it is proposed that the PDL area (1550) be displayed only on the route planned for collision avoidance. The planning for collision avoidance can be performed by a person or a system.

[0160]

[0161] Meanwhile, in one embodiment of the present invention, it is proposed that the collision avoidance function be configured so that when planning a collision avoidance route, there is no point where the PDL area (1550) goes outside the XTL corridor (1710) as in FIG. 16.

[0162] That is, the collision avoidance function should not cause other maritime accident risks, and for example, to avoid the risk of grounding / contact, it is proposed that the PDL area (1550) at all points in time be set to be contained within the XTL corridor (1510).

[0163]

[0164] FIG. 17 is a drawing for explaining a notification providing system according to one embodiment of the present invention.

[0165] As illustrated in FIG. 17, the notification providing system may include at least one processor (1410), and at least one memory (1420) that can be operably connected to the at least one processor (1410) and stores instructions that cause the at least one processor (1410) to perform operations when executed.

[0166] These commands may be commands for software-based processing of the notification provision method as described above in relation to Figures 1 and 2.

[0167] Additionally, a notification providing system according to one embodiment of the present invention may include a display (1430) that provides a notification based on the state of the CA function according to these operations.

[0168] The display (1430) may be configured to provide notifications to the user in the manner described above in relation to FIGS. 3 to 16.

[0169]

[0170] The detailed description of the preferred embodiments of the present invention disclosed above is provided to enable those skilled in the art to implement and practice the present invention. Although the present invention has been described with reference to preferred embodiments, those skilled in the art will understand that various modifications and changes can be made to the present invention without departing from the scope of the invention. For example, those skilled in the art may utilize each configuration described in the above embodiments in a manner that combines with one another.

[0171] Accordingly, the present invention is not intended to be limited to the embodiments shown herein, but to be given the broadest scope consistent with the principles and novel features disclosed herein.

[0172] The method and system for providing notifications based on the state of a collision avoidance function according to the embodiments of the present invention as described above can be utilized for navigation assistance in current vessels and can be widely utilized to implement next-generation autonomous vessels.

Claims

1. A method for providing notifications based on the status of a Collision Avoidance (CA) function, The status of the above notification is defined as a state including active, ready, low performance, and failure states, The above activation state and the above readiness state are defined within the ODD (Operational Design Domain) of the CA function, and The above low-performance state is defined as being outside the ODD range of the CA function, but within the OE (Operational Envelope) range of the CA function, and The above failure state is defined outside the OE range of the above CA function; and Providing the notification based on any one of the above-mentioned activation state, the above-mentioned ready state, the above-mentioned low-performance state, and the above-mentioned failure state, Method of providing notifications.

2. In Paragraph 1, The above notification is, Provided separately for the TC (Track Control), CAA (Collision Avoidance Assistance), or CAC (Collision Avoidance Control) functions of the above CA function, Method of providing notifications.

3. In Paragraph 2, For one or more of the above TC function, the above CAA function, or the above CAC function, Icons corresponding to the above-mentioned active state, above-mentioned ready state, above-mentioned low-performance state, or above-mentioned failure state are displayed, Method of providing notifications.

4. In Paragraph 1, The above notification is, Based on the above activation state and the above preparation state, provided through the first color, In the case based on the above low performance state and the above failure state, provided through the second color, Method of providing notifications.

5. In Paragraph 2, Displays a first UI (User Interface) for selecting whether to activate each of the above TC function and the above CAA function, A second UI for selecting whether to enable the above CAC function is selectively displayed depending on whether the above TC function or the above CAA function is enabled, Method of providing notifications.

6. In Paragraph 5, The above second UI is displayed only when the above TC function or the above CAA function is activated, Method of providing notifications.

7. In Paragraph 5, A third UI is additionally displayed on one or more of the first UI and the second UI, wherein When the above third UI is selected, providing the state of the above notification, the title of the above notification, and a description of the above notification, Method of providing notifications.

8. In Paragraph 1, It additionally includes marking the vessel's movement path and dangerous objects on the nautical chart, The above-mentioned dangerous object is marked on the above-mentioned chart to be distinguishable from other objects, Method of providing notifications.

9. In Paragraph 8, The above-mentioned danger object is displayed on the above-mentioned chart in a blinking form, Stops blinking and displays after the user's acknowledgment, Method of providing notifications.

10. In Paragraph 8, It additionally includes marking the XTL (Cross-Track Limit) range along the movement path of the vessel on the above-mentioned nautical chart, and additionally including marking a Positional Deviation Limit (PDL) area based on the expected position of the vessel at a specific point in time on the above-mentioned nautical chart, Method of providing notifications.

11. In Paragraph 10, Setting so that the above PDL area is maintained within the above XTL range at all points in time when planning the route, Method of providing notifications.

12. In a system that provides notifications based on the status of a Collision Avoidance (CA) function, At least one processor; and At least one memory that can be operably connected to the at least one processor and stores instructions that cause the at least one processor to perform operations when executed; and A display that provides the notification based on the state of the CA function according to the above operations, The above commands are, The status of the above notification is defined as a state including active, ready, low performance, and failure states, The above activation state and the above readiness state are defined within the ODD (Operational Design Domain) of the CA function, and The above low-performance state is defined as being outside the ODD range of the CA function, but within the OE (Operational Envelope) range of the CA function, and The above failure state is defined within a range outside the OE range of the above CA function, and, The above processor is, Configured to provide the notification through the display based on any one of the above activation state, the above ready state, the above low performance state, and the above failure state, Notification provision system.

13. In Paragraph 12, The above processor is, Configured to provide the above notifications separately for the TC (Track Control) function, CAA (Collision Avoidance Assistance) function, or CAC (Collision Avoidance Control) function of the above CA function, Notification provision system.

14. In Paragraph 13, The above display is, For one or more of the above TC function, the above CAA function, or the above CAC function, Configured to display an icon corresponding to the above-mentioned active state, above-mentioned ready state, above-mentioned low-performance state, or above-mentioned failure state, Notification provision system.

15. In Paragraph 12, The above display, the above notification, Based on the above activation state and the above preparation state, provided through the first color, Based on the above low performance state and the above failure state, configured to be provided through a second color, Notification provision system.

16. In Paragraph 13, The above display displays a first UI (User Interface) for selecting whether to activate each of the TC function and the CAA function, wherein The processor is configured such that the display selectively displays a second UI for selecting whether to enable the CAC function, depending on whether the TC function or the CAA function is enabled. Notification provision system.

17. In Paragraph 16, The processor is configured to display the second UI only when the TC function or the CAA function is activated, Notification provision system.

18. In Paragraph 16, The above display additionally displays a third UI on one side of one or more of the first UI and the second UI, wherein When the above third UI is selected, configured to provide the state of the above notification, the title of the above notification, and a description of the above notification, Notification provision system.

19. In Paragraph 12, The above display is configured to display the vessel's movement path and dangerous objects on a nautical chart, The above-mentioned dangerous object is marked on the above-mentioned chart to be distinguishable from other objects, Notification provision system.

20. In Paragraph 19, The above display shows the dangerous object on the chart in a blinking form, Stops blinking and displays after the user's acknowledgment, Notification provision system.

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