Vessel Berthing Path Segmentation to Reduce Final-Approach Collision Risk
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Solution Overview
Problem
Existing berthing path generation methods for vessels often result in increased collision risk due to course change sections with short lengths near berthing facilities, especially when deviations occur, and do not adequately consider marine environment and vessel characteristics.
Innovation Solution
A berthing path generation method that determines waypoint nodes using different cost functions based on the vessel's proximity to the berthing position, considering factors like vessel length, width, weight, steering performance, and berthing facility length, to minimize collisions by adjusting heading directions and turning angles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a path is generated simply by following the shortest distance to a berthing facility, then the navigation path is optimized for speed and efficiency, but the course change section becomes too short causing increased collision risk
Solution Approach 1:
The patent segments the berthing path into multiple sections with different cost function applications. A first cost function is used for the approach section (from current position to reference distance waypoint), and a second cost function is used for the final berthing section (from reference distance waypoint to berthing position). This segmentation allows the system to optimize for speed in the approach section while ensuring safety and proper alignment in the final section, thereby resolving the contradiction between berthing efficiency and collision risk.
Solution Approach 2:
The patent changes the parameters of the cost function based on the vessel's position relative to the berthing facility. By switching between different cost functions (first cost function for approach, second cost function for final approach), the system dynamically adjusts path generation parameters to balance efficiency and safety at different stages of the berthing process.
2Device complexity
If a shortest path is generated without considering vessel characteristics, then the path calculation is simple and fast, but the path is virtually impossible for the vessel to follow due to ignoring steering performance and dimensions
Solution Approach 1:
The patent applies different cost function characteristics to different spatial locations along the path. The first cost function is applied in the approach region (outside reference distance), and the second cost function is applied in the final berthing region (within reference distance). This local differentiation ensures that vessel-specific characteristics like steering performance and dimensions are properly considered in the critical final approach section while maintaining computational efficiency in the earlier approach section.
Solution Approach 2:
The patent makes the path generation system dynamic by switching between different cost functions based on the vessel's real-time position relative to the berthing facility. This dynamic adaptation allows the system to adjust path generation criteria according to the vessel's current state and proximity to the berthing position, improving path followability without excessive complexity.
3Loss of time
If a single cost function is used for the entire path, then the path generation is computationally efficient, but it cannot adequately handle the different requirements for approach and final berthing sections
Solution Approach 1:
The patent divides the path generation task into two segments with different cost functions. The first cost function handles the approach section efficiently, while the second cost function handles the final berthing section with higher adaptability requirements. This segmentation allows the system to balance computational efficiency with the need for adaptable, vessel-specific path generation in the critical final approach phase.
Data Source
AI summary
The present invention relates to a berthing path generation method for a vessel, comprising: a step of obtaining an obstacle map including a plurality of nodes corresponding to positions at sea; a step of selecting a current node corresponding to a current position of the vessel on the obstacle map and a berthing node corresponding to a berthing position; a step of determining a current heading direction of the vessel at the current node and a berthing heading direction at the berthing node; a step of determining a reference distance; a step of determining a plurality of waypoint nodes using the reference distance and a predetermined expected berthing path cost function; and a step of generating the berthing path using the plurality of determined waypoint nodes.