The present invention relates to a method for avoiding the collision of a vessel. In accordance with the present invention, the method for avoiding the collision of the vessel comprises the following steps of: comparing a vessel's preset reference path with collected moving paths of another vessel while moving the vessel, and calculating and storing a risk level of collision of the vessel with the other vessel and the change rate in risk level of collision in real time; a step of drawing the vessel's evasive navigation entrance angle of the vessel for the evasive navigation of the vessel to the other vessel based on the risk level of collision and the change rate in risk level of collision in accordance with the relative movement of the vessel and the other vessel; and a step of executing a differential control corresponding to the change rate in risk level of collision as well as a proportional control corresponding to the risk level of collision to the vessel's rudder so that the vessel can make evasive navigation corresponding to the evasive navigation entrance angle. Accordingly, the present invention is able to consider the change rate in risk level of collision, which changes in real time, as well as the risk level between the vessel and the other vessel in the determination of collision evasive navigation, perform a safe, efficient evasive navigation, and provide an economical evasive path for the evasive navigation.

    본 발명에 따른 선박의 충돌 회피방법은, 자선의 이동 중에 타선의 수집된 이동 경로에 대해 자선의 설정된 기준 경로를 비교함으로써 타선에 대한 자선의 충돌 위험도 및 충돌 위험도 변화율을 실시간 산출하여 저장하는 단계, 타선과 자선의 상대 이동에 따른 충돌 위험도와 충돌 위험도 변화율을 기초로 타선에 대한 자선의 회피기동을 위한 자선의 회피기동 선수각을 도출하는 단계, 및 자선이 회피기동 선수각에 대응하여 회피기동하도록 충돌 위험도에 대응한 비례 제어 및 충돌 위험도 변화율에 대응한 차동 제어를 자선의 방향타에 실행하는 단계를 포함한다. 이에 따르면, 자선과 타선 간의 충돌 위험도뿐만 아니라, 실시간으로 변화하는 충돌 위험도의 변화율을 충돌회피 기동판단에 고려함으로써 안전하고 효율적인 회피기동을 수행할 수 있으며, 회피기동을 위한 경제적인 회피 경로를 제공할 수 있다.


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    Title :

    METHOD FOR VESSEL COLLISION AVOIDANCE


    Additional title:

    선박의 충돌 회피방법


    Contributors:

    Publication date :

    2021-10-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS




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