The invention provides a course autopilot control system with a ship collision avoidance function. The course autopilot control system is characterized by comprising a collision risk assessment modulewhich is used for obtaining current state information of a ship through ship-borne equipment, calculating the dynamic information of the distance of closest point of approach DCPA and the time of closest point of approach TCPA and establishing a collision risk model for assessing a collision risk degree by combining course and speed information of the ship and other ships, a collision avoidance algorithm module which is used for course variation of ship collision avoidance operation and is based on an international maritime collision avoidance rule COLREGS, and a ship automatic driving coursecontrol module. According to the course autopilot design provided by the invention, automatic collision avoidance between two ships can be realized on the basis of course control, and the steering burden of a ship driver is reduced. According to the method, the distance of closest point of approach (DCPA) and the time of closest point of approach (TCPA) are combined with the speed, heading and other information of the ship to dynamically evaluate the collision risk of the ship, and the evaluation accuracy of the ship on the collision risk is improved.
本发明提供一种具有船舶避碰功能的航向自动舵控制系统,其特征在于,包括:通过船载设备获取船舶的当前状态信息,计算最近会遇距离DCPA和到达最近会遇点时间TCPA的动态信息,结合本船和他船的航向及速度信息建立碰撞风险模型用于评估碰撞风险度的碰撞风险评估模块,用于船舶避碰操作的航向变化量且基于国际海上避碰规则COLREGS的避碰算法模块以及船舶自动驾驶航向控制模块。本发明所提供的航向自动舵设计可以在航向控制的基础上,实现两船间的自动避碰,减轻了船舶驾驶员的操舵负担。本发明将最近会遇距离(DCPA)和达到最近会遇点时间(TCPA)与船舶的速度、航向等信息相结合,动态评估船舶的碰撞风险,提高了船舶对碰撞风险的评估准确度。
Course autopilot control system with ship collision avoidance function
一种具有船舶避碰功能的航向自动舵控制系统
22.05.2020
Patent
Elektronische Ressource
Chinesisch
A Self-Organising Fuzzy Control Autopilot for Ship Course Keeping
British Library Conference Proceedings | 1992
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