The invention provides a global collaborative collision avoidance method in a manned ship and unmanned ship mixed traffic environment. The method comprises the following steps: acquiring navigation information of all ships in a global range; calculating ship motion parameters according to the navigation information of the ships, wherein the ship motion parameters comprise the distance between the ships, the minimum meeting distance and the shortest meeting time; a five-factor weight method is adopted, and the collision risk degree between the ships is calculated according to the distance between the ships, the minimum meeting distance, the shortest meeting time, the relative orientation and the ship speed ratio; whether the global collision risk degree is larger than a threshold value or not is judged, if yes, an improved NSGA-II algorithm is used for calculating a global collision avoidance decision, if not, collision avoidance operation is not needed, and the ship can normally and directly sail. According to the invention, the problem of multi-ship cooperative collision avoidance under the mixed traffic environment of manned ships and unmanned ships can be solved, and the sailing economy is improved on the premise of ensuring the sailing safety of the ships.

    本发明提供一种有人船与无人船混合交通环境下的全局协同避碰方法,包括:获取全局范围内全部船舶的航行信息;根据船舶的航行信息计算船舶运动参数,所述船舶运动参数包括各船舶间的距离、最小会遇距离以及最短会遇时间;采用五因素权值法,根据各船舶间的距离、最小会遇距离以及最短会遇时间、相对方位以及船速比计算船舶间碰撞危险度;判断全局碰撞危险度是否大于阈值,如果大于阈值则使用改进NSGA‑II算法计算全局避碰决策,如果小于阈值则不需要避碰操作,船舶正常直航。本发明能够解决有人船与无人船混合交通环境下的多船协同避碰问题,在保证船舶航行安全的前提下提高了航行的经济性。


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    Titel :

    Global collaborative collision avoidance method in manned ship and unmanned ship mixed traffic environment


    Weitere Titelangaben:

    一种有人船与无人船混合交通环境下的全局协同避碰方法


    Beteiligte:
    ZHANG XIUGUO (Autor:in) / HUO RAN (Autor:in) / WANG SHAOBO (Autor:in) / CAO ZHIYING (Autor:in) / SONG FEIFEI (Autor:in)

    Erscheinungsdatum :

    2023-08-04


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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