The invention provides an automatic collision avoidance method for multiple dynamic and static objects, which relates to the technical field of ship collision avoidance and comprises the following steps: acquiring all possible collision avoidance measure schemes; performing hierarchical classification and assignment on all possible collision avoidance measures according to priorities conforming to marine navigation rules; the meeting situation of the ship and surrounding objects is judged, several kinds of collision avoidance measures conforming to the marine navigation rule are selected according to the meeting situation through a matrix method, and the collision avoidance measures are sorted according to the priority level; inputting the navigation information of the ship into a collision avoidance decision making system, and sequentially searching from the measure with the highest priority level by the collision avoidance decision making system until the collision avoidance measure meeting the requirement is retrieved; the ship executes collision avoidance measures meeting the requirements, and when a decision system detects that the ship does not have collision danger with surrounding ships and obstacles, the ship sails according to a planned route or takes a re-voyage action. The method can cope with and solve almost all encountering situations encountered in the ship navigation process in an open water area.
本发明提供了一种多动静态物标自动避碰方法,涉及船舶避碰技术领域,包括如下步骤:获取所有可能的避碰措施方案;对所有可能的避碰措施按照符合海上航行规则的优先等级进行层次分类和赋值;判断本船与周围物标的会遇态势,根据所述会遇态势利用矩阵方法选择符合海上航行规则的几类避碰措施并按优先等级排序;将本船航行信息输入至避碰决策系统,所述避碰决策系统从优先等级最高的措施开始依次搜索,直到检索出满足要求的避碰措施;本船执行满足要求的避碰措施,当决策系统检测到本船与周围船舶及障碍物没有碰撞危险时,将按照计划航线航行或者采取复航行动。本发明能够应对和解决开阔水域下船舶航行过程遇到的几乎所有会遇态势。
Automatic collision avoidance method for multiple dynamic and static objects
一种多动静态物标自动避碰方法
2023-08-25
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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