The invention provides a ship interaction avoidance decision-making method in a hybrid navigation environment, and relates to the technical field of intelligent ship autonomous navigation, and the method comprises the following steps: S1, defining a ship operation style of a ship driver in the hybrid navigation environment, and obtaining encounter situation parameters; s2, modeling a ship collision avoidance decision stage process into a stage game interaction model according to the encounter situation parameters; s3, formulating a ship avoidance sequence inertial action priority table, and solving a Nash income equilibrium strategy of the stage game interaction model; s4, modeling a ship interaction collision avoidance process into a Markov game model according to a Nash income equilibrium strategy; and S5, inputting the encounter situation parameters into a Markov game model for Nash-Q learning to obtain the optimal avoidance action of each ship. According to the invention, the ships in the meeting scene are all considered as intelligent individuals with independent thinking and decision-making capabilities, so that the ships with different intelligent degrees in the mixed navigation scene are subjected to interactive collision avoidance, and the aim of autonomously solving the collision danger is fulfilled.
本发明提供了一种混合航行环境下的船舶交互避让决策方法,涉及智能船舶自主航行技术领域,包括如下步骤:S1、定义混合航行环境下的船舶驾驶员操船风格,获取会遇态势参数;S2、依据会遇态势参数将船舶避碰决策阶段过程建模为阶段博弈交互模型;S3、制定船舶避让序惯行动优先级表,求解阶段博弈交互模型的纳什收益均衡策略;S4、依据纳什收益均衡策略将船舶交互避碰过程建模为马尔科夫博弈模型;S5、将会遇态势参数输入至马尔科夫博弈模型进行Nash‑Q学习,得到各船的最优避让动作。本发明将会遇场景中的船舶均考虑为具有独立思考和决策能力的智能个体,实现混合航行场景下不同智能程度的船舶进行交互避碰、自主化解碰撞危险的目标。
Ship interaction avoidance decision-making method in hybrid navigation environment
一种混合航行环境下的船舶交互避让决策方法
2024-02-02
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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