The invention discloses a ship navigation auxiliary method and device and a storage medium, and the method comprises the steps: creating an initial grid map in a preset sea area, mapping a static obstacle into the initial grid map, generating a grid occupied area of the static obstacle in the initial grid map, and storing the grid occupied area of the static obstacle in the initial grid map; dividing the grid occupancy probability of each boundary coordinate point into neighborhood grids according to a preset sampling radius by taking each boundary coordinate point in the first boundary point coordinate set as a center, determining a grid of which the occupancy probability is greater than a set threshold value from the neighborhood grids as a target grid, and determining the grid of which the occupancy probability is greater than the set threshold value according to the row and column coordinates and the target grid. And generating a second boundary point coordinate set, and re-planning the route of the ship equipment based on the planned navigation line and the regional boundary line to generate a target navigation line. Therefore, the projection image can enter the frame. Therefore, the detection precision of the obstacle edge line is improved, and obstacle avoidance of the ship is facilitated.

    本发明公开了一种船舶的航行辅助方法、装置及存储介质,该方法包括:创建预设海域内的初始栅格地图,将静态障碍物映射到初始栅格地图中,以在初始栅格地图中生成静态障碍物的栅格占据区域,以第一边界点坐标集合中的各个边界坐标点为中心,按照预设采样半径将各个边界坐标点的栅格占用概率划分至邻域栅格中,从邻域栅格中确定占用概率大于设定阈值的栅格为目标栅格,根据行列坐标和目标栅格,生成第二边界点坐标集合,基于规划航行线和区域边界线对船舶设备的航线进行重新规划,以生成目标航行线。从而实现投影图像的入框。从而提高了障碍物边缘线的检测精度,便于船舶进行障碍物避让。


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    Title :

    Ship sailing assisting method and device and storage medium


    Additional title:

    船舶的航行辅助方法、装置及存储介质


    Contributors:

    Publication date :

    2023-11-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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