To provide an automatic guidance method for a vessel, an automatic guidance program for a vessel, an automatic guidance system for a vessel, and a vessel, capable of controlling deviation from a planned route to a certain deviation or less even if disturbance occurs without the necessity of a large amount of calculation.SOLUTION: An automatic guidance method for a vessel using an automatic steering device at least carrying out automatic steering of a traveling vessel includes: a planned route generation step S1 for acquiring a planned route or carrying out calculation for the planned route; a vessel information acquirement step S3 for acquiring a position of the vessel and bow orientation; a pure pursuit calculation step S4 for calculating a target point fulfilling a prescribed condition on a planned route in the proceeding direction of the vessel or calculating orientation of the target point based on the position and the bow orientation; an automatic steering calculation step S5 for calculating the steering angle of the vessel based on the target point or the orientation, and the position or the bow orientation; and a control step S6 for controlling the automatic steering device based on the calculated steering angle.SELECTED DRAWING: Figure 2
【課題】大量の計算を必要とすることなく、外乱があっても計画経路からの偏差を一定以下に抑制することができる船舶の自動誘導方法、船舶の自動誘導プログラム、船舶の自動誘導システム、及び船舶を提供すること。【解決手段】航走する船舶の少なくとも操舵を自動的に行う自動操船装置を用いた船舶の自動誘導方法においては、計画経路を取得又は計画経路の計算を行う計画経路生成過程S1と、船舶の位置及び船首方位を取得する船舶情報取得過程S3と、位置及び船首方位に基づいて、船舶の進行方向の計画経路の上に所定の条件を満たす目標点を計算する又は目標点の方位を計算するピュアパシュート計算過程S4と、目標点又は方位と、位置又は船首方位に基づいて船舶の操舵角を計算する自動操船計算過程S5と、計算した操舵角に基づいて自動操船装置を制御する制御過程S6とを有する。【選択図】図2
AUTOMATIC GUIDANCE METHOD FOR VESSEL, AUTOMATIC GUIDANCE PROGRAM FOR VESSEL, AUTOMATIC GUIDANCE SYSTEM FOR VESSEL, AND VESSEL
船舶の自動誘導方法、船舶の自動誘導プログラム、船舶の自動誘導システム、及び船舶
25.11.2021
Patent
Elektronische Ressource
Japanisch
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