The invention relates to a ship active collision avoidance decision-making method and device and electronic equipment, and belongs to the technical field of water traffic safety, and the method comprises the steps: taking a ship as a center, and determining the collision risk between ships according to the length and width of the ship and a target ship, the boundary of a preset collision avoidance region, and the position, speed and course information of the ships; the method comprises the following steps: constructing a ship kinematic model according to ship operation characteristics, ship sizes and safety distances among ships based on surging, swaying and yawing factors influencing ship operation in still water, and obtaining ship operation data sets of a current ship and a target ship based on the kinematic model so as to determine the latest steering time; and according to the preset collision avoidance responsibility, the collision risk between the ships and the latest steering time, the latest steering position of the ship under different operation instructions is determined. The method solves the technical problems that the ship collision avoidance opportunity determination method mostly depends on a set threshold value, the ship characteristics are not considered sufficiently, and the collision avoidance decision depends on the subjective experience of sailors.
本发明涉及一种船舶主动避碰决策方法、装置和电子设备,属于水上交通安全技术领域,其中,该方法包括:以本船为中心,根据本船与目标船的长度、宽度、预设避碰区域边界、船舶的位置、速度和航向信息,确定船舶间的碰撞风险;基于静水中影响船舶操纵的纵荡、横荡及艏摇因素,根据船舶操作特性、船舶尺寸和船舶间的安全距离,构建船舶运动学模型,并基于所述运动学模型获取本船和目标船的船舶操纵数据集,从而确定最晚操舵时间;根据预设避碰责任、船舶间的碰撞风险和最晚操舵时间,确定不同操作指令下的本船最晚操舵位置。本发明解决了船舶避碰时机确定方法多依赖于设定阈值,对船舶特征考虑不足,并且避碰决策依赖于船员的主观经验的技术问题。
Ship active collision avoidance decision-making method and device and electronic equipment
一种船舶主动避碰决策方法、装置和电子设备
02.05.2025
Patent
Elektronische Ressource
Chinesisch
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