The invention discloses a ship avoidance decision-making method simultaneously suitable for an open water area and a channel water area. The method comprises the following steps: extracting a channel area in a port based on an electronic chart; taking the extracted channel area as a center, setting a channel expansion distance, expanding the channel area, and marking the expanded area as a channel water area; according to the current position of the ship, judging the navigation scene of an open water area or a channel water area, starting the channel ship domain model when the ship sails in the channel water area, otherwise, determining the ship as an open water area target model; judging whether collision danger exists or not, if not, continuing to sail or re-sail, and if yes, carrying out avoidance decision analysis; according to the method, the requirements of an empirical steering constraint angle and navigation safety are comprehensively considered, feasible avoidance decision-making schemes of speed change or direction change are calculated by utilizing a speed obstacle principle, a scheme with the minimum cost is preferably selected from the feasible avoidance decision-making schemes for speed change or direction change to be output, and the safety avoidance problem of open water areas and channel water areas is solved.
本发明公开了一种同时适用于开阔水域和航道水域的船舶避让决策方法,包括:基于电子海图提取港口内航道区域;以提取的航道区域为中心,设置航道外扩距离,对航道区域进行扩充,扩充后的区域标记为航道水域;依据本船舶当前位置判断所属航行场景:开阔水域或航道水域,当船舶在航道水域航行时启用航道船舶领域模型,否则为开阔水域目标模型;判断是否存在碰撞危险,如不存在则继续航行或复航,如存在则进行避让决策分析;综合考虑经验转向约束角和航行安全的要求,利用速度障碍原理解算变速或变向的可行避让决策方案,从中优选代价最小的方案输出,解决了开阔水域和航道水域的安全避让问题。
Ship avoidance decision-making method simultaneously suitable for open water area and channel water area
一种同时适用于开阔水域和航道水域的船舶避让决策方法
2023-11-10
Patent
Electronic Resource
Chinese
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