The invention discloses a multi-ship meeting collision avoidance method. The method comprises the following steps: firstly, ships are divided into safe sailing ships and ships with collision dangers according to the nearest meeting distance and the nearest meeting time, and secondly, when the avoiding direction is judged, according to the positions and relative motion parameters of the safe sailing ships and the ships with the collision dangers, the situation that new collision dangers are formed by the influence of avoiding actions on the safe ships is avoided; the avoiding amplitude is determined, all coming ships are selected to pass through as far as possible, and more urgent collision dangers are avoided; and meanwhile, the coordination and rationality under multi-ship avoidance are fully considered in the avoidance decision process, so that a multi-ship collision avoidance decision based on an avoidance conflict resolution strategy is constructed, and the multi-ship collision avoidance decision has a good avoidance effect.
本发明公开一种多船会遇避碰方法,首先依据最近会遇距离和最近会遇时间将来船划分为安全航行船舶和存在碰撞危险船舶,其次,在判断避让方向时,根据安全航行船舶和存在碰撞危险船舶的位置及相对运动参数,避免避让行动对安全船舶产生影响,形成新的碰撞危险;在确定避让幅度时,选择与所有来船在尽可能远的距离上通过,避免更紧迫的碰撞危险形成;同时,在避让决策过程中充分考虑多船避让下的协调性和合理性,从而构建基于避让冲突消解策略下的多船避碰决策,该多船避碰决策具有良好的避让效果。
Multi-ship meeting collision avoidance method
一种多船会遇避碰方法
2020-06-09
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
European Patent Office | 2024
|European Patent Office | 2023
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