The invention provides a route planning device and a route planning method which avoid obstacles such as other ships and set an appropriate route plan. The route planning device is provided with: a planned route acquisition unit for receiving a planned route indicating the route and direction of the water-borne moving body from the current position of the water-borne moving body; a moving body information acquisition unit that receives moving body information including any one or two or more pieces of information relating to the position, route direction, and speed of the moving body; an obstacle information acquisition unit that receives obstacle information including any one or two or more of information relating to the position, movement direction, and speed of the obstacle; a collision risk value calculation unit that determines a collision risk value associated with a planned route along the route direction on the basis of the moving body information and the obstacle information; and a collision risk evaluation unit that determines, on the basis of the collision risk value associated with the planned route, whether the water-borne moving body should avoid from the planned route or continue to navigate on the planned route.
本发明提供一种避开其他船等障碍物并设定适当的航路计划的航路计划装置以及航路计划方法。航路计划装置具有:计划航路获取部,接收表示从水上移动体的当前位置的水上移动体的航路和方向的计划航路;移动体信息获取部,接收包括与移动体的位置、航路方向以及速度相关的信息中的任意一个或两个以上的信息在内的移动体信息;障碍物信息获取部,接收包括与障碍物的位置、移动方向以及速度相关的信息中的任意一个或两个以上的信息在内的障碍物信息;碰撞风险值计算部,基于移动体信息和障碍物信息,来决定与沿着航路方向的计划航路相关联的碰撞风险值;以及碰撞风险评价部,基于与计划航路相关联的碰撞风险值,来判断水上移动体应该从计划航路避开、还是继续在计划航路上航行。
ROUTE PLANNING DEVICE AND ROUTE PLANNING METHOD
航路计划装置以及航路计划方法
2023-12-12
Patent
Electronic Resource
Chinese
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