To facilitate the search for routes in a sea area where a plurality of other ships exist.SOLUTION: A collision avoidance route searching device includes an information collecting section 110, a condition setting section 130, a predicted collision avoidance region calculating section 140, a route searching section 150, and a repeating control section 180. The information collecting section collects information on positions and speed of an own ship and other ships in the periphery. The condition setting section sets conditions for the positions and the speed of the own ship and the other ships. The predicted collision avoidance region calculating section calculates a predicted collision avoidance region that is a region satisfying predetermined conditions for a collision avoidance region, for each of the other ships, on the basis of the positions and the speed of the own ship and the other ships set by the condition setting section. The route searching section searches for route point candidates from points on a borderline of the predicted collision avoidance region that satisfy predetermined route search conditions, if there is any predicted collision avoidance region on a straight line connecting a predetermined destination and an own ship set by the condition setting section. A collision avoidance route searching support device includes an information collecting section and a predicted collision avoidance region calculating section.SELECTED DRAWING: Figure 1
【課題】他船が複数存在する海域での経路探索を容易にする。【解決手段】避航経路探索装置は、情報収集部110、条件設定部130、予測避航領域計算部140、経路探索部150、繰り返し制御部を180備える。情報収集部は、自船および周辺の他船の位置と速度の情報を収集する。条件設定部は、自船および他船の位置と速度の条件を設定する。予測避航領域計算部は、条件設定部が設定した自船および他船の位置と速度に基づいて、他船ごとに、あらかじめ定めた避航領域の条件を満たす領域である予測避航領域を計算する。経路探索部は、あらかじめ定めた目的地と条件設定部が設定した自船とを結ぶ直線上にいずれかの予測避航領域がある場合に、あらかじめ定めた経路探索の条件を満たす予測避航領域の境界線上の点から経路点候補を探索する。避航経路探索支援装置は、情報収集部と予測避航領域計算部を備える。【選択図】図1
COLLISION AVOIDANCE ROUTE SEARCHING DEVICE, COLLISION AVOIDANCE ROUTE SEARCHING SUPPORT DEVICE, COLLISION AVOIDANCE ROUTE SEARCHING METHOD, COLLISION AVOIDANCE ROUTE SEARCHING SUPPORT METHOD, AND PROGRAM
避航経路探索装置、避航経路探索支援装置、避航経路探索方法、避航経路探索支援方法、プログラム
2021-10-11
Patent
Electronic Resource
Japanese
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