The invention discloses a ship collision avoidance optimization method under the condition of uncertain obstacle ship motion information, and the method comprises the steps: constructing a membership function for measuring the ship collision risk degree, so as to construct a ship collision risk degree mathematical model, and obtaining the current ship collision risk degree; based on international maritime collision avoidance rules, according to a preset ship collision risk degree range, ship collision avoidance danger stages and ship encounter situations and way-giving relations corresponding to the ship collision avoidance danger stages are divided and obtained, and support is provided for formulating an autonomous collision avoidance strategy for the intelligent ship under different collision avoidance situations by combining a DWA collision avoidance algorithm and a VO collision avoidance algorithm; aiming at the condition that the ship navigation state has discontinuous output, a CNN-GRU ship navigation state prediction network is provided, the ship navigation state and the uncertainty of the state are predicted based on AIS historical data, and the uncertain distribution of the position of the ship navigation state is obtained, so that under the condition that a moving obstacle cannot be continuously perceived, the ship navigation state can be accurately predicted. It can still be ensured that the intelligent decision-making system provides effective collision avoidance decision support for the intelligent ship, the uncertainty of the ship position is fully considered, and the ship field is optimized.
本发明公开了一种障碍船运动信息不定条件下的船舶避碰优化方法,通过构建用于衡量船舶碰撞危险度的隶属度函数,以构建船舶碰撞危险度数学模型获取当前船舶碰撞危险度;并基于国际海事避碰规则,根据预设船舶碰撞危险度范围划分并获取船舶避碰危险阶段及对应船舶避碰危险阶段的船舶会遇态势与让路关系,通过结合DWA避碰算法与VO避碰算法,为在不同避碰局面下为智能船自主避碰策略地制定提供支持;针对船舶航行状态存在不连续输出的情况,提出一种CNN‑GRU船舶航行状态预测网络,基于AIS历史数据对船舶航行状态及状态的不确定性进行预测,获得其位置的不确定分布,以便在移动碍航物不能被连续感知的情况下,仍能保证智能决策系统为智能船提供有效的避碰决策支持,充分考虑船舶位置的不确定性,对船舶领域进行优化。
Ship collision avoidance optimization method under condition of uncertain obstacle ship motion information
一种障碍船运动信息不定条件下的船舶避碰优化方法
2024-12-27
Patent
Electronic Resource
Chinese
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