CN101344938A - Watercraft anti-collision decision method based on digital negotiation - Google Patents
Watercraft anti-collision decision method based on digital negotiation Download PDFInfo
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- CN101344938A CN101344938A CNA2007101707289A CN200710170728A CN101344938A CN 101344938 A CN101344938 A CN 101344938A CN A2007101707289 A CNA2007101707289 A CN A2007101707289A CN 200710170728 A CN200710170728 A CN 200710170728A CN 101344938 A CN101344938 A CN 101344938A
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Abstract
The invention discloses a decision-making method for ship collision avoidance based on digital negotiation. The method comprises Step 1: establishing an automatic negotiation software system; Step 2: inputting the parameter value of the preference model of a negotiator; Step 3: determining the role of the negotiation; Step 4: determining a negotiation proposal; and Step 5: carrying out the negotiation. The method solves the problem that: the existing automatic collision avoidance decision-making system can not coordinate and give an economical total collision avoidance proposal in the situation that two ships encounter difficulty, thereby being capable of causing two ships that encounter difficulty to obtain coordination and a more economical total collision avoidance proposal by the digital negotiation, reducing the collision avoiding cost of the ships and improving the operation safety and transporting efficiency of the ships.
Description
Technical field
The present invention relates to a kind of method of Models of Decision-making in Ship Collision Avoidance, particularly a kind of based on digital negotiation, can provide the method for coordinating with economic whole collision prevention scheme.
Background technology
Current boats and ships intelligence Decision of Collision Avoidance system mainly utilizes methods such as expert system, fuzzy reasoning, artificial neural network, fuzzy artificial neural network and evolution algorithm to carry out Models of Decision-making in Ship Collision Avoidance.Utilize these methods to solve the automatic Decision of Collision Avoidance problem of boats and ships and have inborn limitation---these methods are regarded the solution procedure of the automatic Decision of Collision Avoidance problem of boats and ships the problem solving process of as " centralized ", but not distributed problem solving.Here the Decision of Collision Avoidance problem solving of " centralized " is meant that these automatic Decision of Collision Avoidance systems do not carry out message exchange when finding the solution the collision prevention scheme, more without any the cooperation of form.The automatic Decision of Collision Avoidance of boats and ships system based on these " centralized " artificial intelligence approaches tends to provide inharmonious or uneconomic collision prevention scheme mutually under the situation that difficulty can be met.In fact, the deck officer not only utilizes they individual's wisdom (as according to their judgement to Meeting Situation, providing correct collision prevention scheme according to International Regulations for Preventing Collisions at Sea) when carrying out collision prevention, often also can utilize both sides' group wisdom.Such as under some difficult Meeting Situations, the driver of two ships may utilize VHF to carry out oral negotiation to obtain a coordination and more cost effective whole collision prevention scheme.
Summary of the invention
The object of the present invention is to provide a kind of can the solution to have automatic Decision of Collision Avoidance method often can not provide the coordination and the problem of the whole collision prevention scheme of economy under two ships difficulty Meeting Situation watercraft anti-collision decision method now based on digital negotiation.
In order to reach described purpose, method provided by the invention comprises following a few step:
Step 1: set up and consult software systems automatically.Utilize Agent software to set up two boats and ships and consult the collision prevention model, this model comprises: negotiator's set, the reservation collision prevention scheme set of consulting subject under discussion set, negotiator, the set of negotiator's collision prevention scheme effectiveness evaluation model, the set of negotiator's preference pattern, negotiator's inference pattern set and the agreement protocol between the negotiator etc.;
Step 2: preference value is consulted in input.Import negotiator's preference pattern parameter person by the software that step 1 is set up.
Step 3: determine to consult the role.Obligation of giving way or sailing through to and right according to system that step 1 is built and this ship and target ship are determined the role of this ship in negotiation;
Step 4: determine negotiation scheme.According to the determined role of step 3, the risk of collision degree that faced of this ship of various negotiation preference calculation of parameter of importing of software of setting up by step 1 and step 2 again, determine to initiate the opportunity of negotiation, set up the ship collision prevention solution space, determine the to hold consultation psychological threshold value of collision prevention, determine collision prevention opportunity, be correlated with Time Created relevant consulting tactical of consulting tactical, resource and the relevant consulting tactical of behavior etc., set up the computing method of collision prevention scheme cost and the computing method of collision prevention scheme total utility, generate and consult initial the proposal;
Step 5: hold consultation.Determined negotiation is initially proposed according to step 4, and software systems are being followed under the ship collision prevention agreement protocol by connected negotiation communication equipment, launches automatically to consult with its ship, finally negotiates whole collision prevention scheme, confirms mutually to carry out for the deck officer.
Negotiator's preference pattern set described in the step 1, if its negotiator's preference pattern set of give-way vessel comprises following submodel: the course preference pattern, consult intent model, collision prevention action preference pattern, the tolerance model of risk of collision, the consulting tactical model.If the set of its negotiator's preference pattern of stand-on vessel comprises following submodel: collision prevention action preference pattern, risk of collision stand model, well-meaning model.
The cost of the collision prevention scheme described in the step 4, it is to dodge the flight path tortuosity and dodge by utilization to obtain for calculation of parameter the loss of time that brings.
The total utility of the collision prevention scheme described in the step 4, it is the cartesian product that utilizes economic utility with the safe effectiveness of the collision prevention scheme of utilizing risk of collision degree reduction to calculate of the collision prevention scheme that the cost of this collision prevention scheme calculates.
Negotiation communication equipment described in the step 5 is AIS (ship automatic identification system) transceiver.
Watercraft anti-collision decision method provided by the present invention than before watercraft anti-collision decision method, utilize artificial intelligence Negotiation Technology simulation deck officer's oral negotiation Decision of Collision Avoidance process based on the automatic Decision of Collision Avoidance method of the boats and ships of digital negotiation, set up boats and ships and consult the Decision of Collision Avoidance model automatically, with ship automatic identification system (AIS) receiver as communication facilities, realize the negotiation Decision of Collision Avoidance between the boats and ships, solving existing automatic Decision of Collision Avoidance system often can not provide under two ships difficulty Meeting Situation and coordinate and the problem of economic whole collision prevention scheme, thereby can make two boats and ships under the difficult Meeting Situation obtain to coordinate and more economical whole collision prevention scheme by digital negotiation, reduce the cost that boats and ships are dodged, improved the operation safety and the conevying efficiency of boats and ships.
Description of drawings
Further specify the present invention below in conjunction with the drawings and specific embodiments.
Fig. 1 is for setting up the synoptic diagram of model among the present invention.
The synoptic diagram that Fig. 2 consults for boats and ships among the present invention.
Embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect is easy to understand, below in conjunction with concrete diagram, further set forth the present invention.
According to the system that this method forms, this system comprises two parts:
One, software systems are finished the setting of consulting initial parameter and are consulted computing, and these software systems form utilizes Agent software that boats and ships are carried out modeling; Set up two ships with reference to the heuristic protocol model of multi-Agent and consult the collision prevention model, this model represents that with a set as shown in Figure 1: A represents that the negotiator gathers, and generally is made up of a give-way vessel and a stand-on vessel, perhaps is made up of two give-way vessels.X represents it is to consult the subject under discussion set, consults subject under discussion and mainly refers to the collision prevention scheme that the negotiator intends taking.R represents it is negotiator's reservation collision prevention scheme set, and the collision prevention scheme cost that negotiates should not be higher than the cost that keeps the collision prevention scheme.U represents it is the set of negotiator's collision prevention scheme effectiveness evaluation model.P represents it is the set of negotiator's preference pattern; When two ships are under the Meeting Situation, a ship may be a give-way vessel, may be stand-on vessel.Different roles often takes different measures, that is to say different preference patterns.In native system, the preference pattern of give-way vessel comprises following five submodels: 1. are course preference patterns, it is described as when give-way vessel diasporometer plot a course or during near turning point, human pilot likes best the size in the course of taking psychologically; 2. be to consult intent model, it is described as when there is risk of collision in two ships, and give-way vessel is want the degree with the stand-on vessel negotiation most; 3. be collision prevention action preference pattern, it is described as the preference in different collision preventions action, such as right-hand rotation, turns left, and quickens, slow down, or among them both; 4. be the tolerance model of risk of collision, it is described as the room and time degree that give-way vessel is stood stand-on vessel; 5. be the consulting tactical model, it is described as the strategy that give-way vessel is taked in negotiations process.The preference pattern of stand-on vessel comprises following submodel: 1. collision prevention action preference pattern; 2. risk of collision stands model; 3. well-meaning model, it is described as the concession degree of stand-on vessel in negotiations process.∏ represents it is each negotiator's inference pattern set, and inference pattern is used for generating to be consulted to propose and anti-the proposal.ξ represents the agreement protocol between the negotiator.
Two, hardware, promptly negotiation communication equipment adopts AIS (ship automatic identification system) transceiver.
Software systems operate on the computing machine, link to each other with GPS (satellite navigator) with the AIS transceiver respectively by serial ports.Connect after AIS transceiver and the GPS, the software of Decision of Collision Avoidance system is consulted in operation, and software systems at first provide an interface, imports following parameters for the user:
(1) boats and ships basic parameter is as the tonnage of ship;
(2) course data is as the intended course in each turning point position, every section course line and speed of a ship or plane etc.;
(3) collision prevention preference parameter is as critical steering angle, the risk of collision tolerance parameter of consulting wish threshold value, the psychological threshold value of violating collision regulation, consulting tactical parameter, variable speed operation, consult well-meaning model parameter etc.
Set after the above parameter, system will enter running status.Software systems will ceaselessly be read in this ship position and course information from GPS, read in the multidate information of its ship simultaneously from the AIS transceiver.In case receive the multidate information of its ship, will do you judge that its ship and this ship have risk of collision? if have, judge whether to need to launch to consult Decision of Collision Avoidance? if desired, system will set up one automatically and consult thread, consults with the negotiation collision avoidance system expansion of its ship; When it is consulted,, just can determine the role of this ship in negotiation according to the obligation of giving way or sailing through to and the right of this ship and target ship because boats and ships are consulted the collision prevention model automatically and set up.Generally speaking, if this ship is a give-way vessel, and the target ship is a stand-on vessel, and then this ship is a negotiation initiator.If two ships are give-way vessel each other, then by finding that at first two ships exist the boats and ships of risk of collision to bear the role of negotiation initiator, and another boats and ships are as negotiate response person.Some special circumstances are also arranged, and near next turning point, and give-way vessel does not initiate to consult such as stand-on vessel, and this moment, stand-on vessel may also can initiate to consult.Enter the time of this ship security fields and the safe manoeuvring time of this ship is parameter with safety of ship field, DCPA, target ship, calculate the risk of collision degree that this ship faces, determine to initiate the opportunity of consulting; Whether set up the ship collision prevention solution space, expressing this ship with the subspace in this space needs and the hold consultation psychological threshold value of collision prevention of target ship; According to required execution time of the collision prevention scheme that provides of collision prevention expert system with handle the slack time and determine collision prevention opportunity; Set up relevant consulting tactical Time Created, the relevant consulting tactical of resource and the relevant consulting tactical of behavior etc. for consulting the collision prevention participant, in negotiations process, select for use for them; Utilization dodge the flight path tortuosity and dodge the loss of time that brings be the cost of calculation of parameter collision prevention scheme, utilize the cost of this collision prevention scheme to calculate its economic utility; Utilize risk of collision degree reduction to calculate the safe effectiveness of this collision prevention scheme.Because safe effectiveness and economic utility are orthogonality relations, the cartesian product of the two is the total utility of this collision prevention scheme; Because boats and ships are that unit carries out steering operation with 1 degree generally, and its speed value generally has only 9 (from advancing four to retreating four), therefore, the collision prevention solution space of boats and ships has 360 * 9 collision prevention schemes at the most, seeks the proposal of certain effectiveness in this solution space; By analyzing sea manners's method of navigating, the tendency course and the speed of a ship or plane when determining boats and ships at the diasporometer plot a course or near next turning point, and value (rather than the current course of this ship and speed of a ship or plane) is calculated the tortuosity and the loss of time in course line based on this, thereby reach more excellent collision prevention negotiation result.At last with AIS (ship automatic identification system) transceiver as communication facilities, follow the ship collision prevention agreement protocol, realize the digital communication when boats and ships are consulted collision prevention automatically, carry out concrete negotiation, its process following (as shown in Figure 2):
1. consulting the starting stage, the negotiator at first can exchange the initial message of a series of negotiations by the AIS transceiver, such as: boats and ships gross tonnage (GT), the risk of collision tolerance model of maximum negotiation time and two ships etc.By these message, give-way vessel is found out a collision prevention scheme by the collision prevention expert system earlier from the collision prevention solution space that meets International Rules of the Road, as keeping the collision prevention scheme.Then, whether give-way vessel surpasses psychological threshold value according to the cost of reservation scheme and determines whether that needs and target ship hold consultation.After the target ship receives that the negotiation of negotiation initiator requires, estimate and whether hold consultation with negotiation initiator according to oneself well-meaning model and evaluation function.
2. consult to propose always to begin to send from negotiation initiator, such as: a Propose or a Request sent.A Propose represents to send the complete proposal of a whole collision prevention scheme, and a Request represents to send one or more parts proposals.Part proposes to refer in this proposal, and negotiation initiator is only made proposal with regard to himself scheme, and the scheme of target ship is not made proposal.Here, use Request to send the process that a plurality of proposals are quickened to consult.In the proposal of Request, must occur simultaneously concrete symbol '? ', it is considered to the request that negotiation initiator is sent to the respondent, and it is convenient to stand-on vessel and replys with concrete scheme.
3. initiate to send mutually between ship and the respondent and instead propose that as time goes by, the two is compromised gradually, to reaching an agreement, or, withdraw from negotiation, represent that with Accept or Withdraw negotiations process finishes because overtime.
If negotiate whole collision prevention scheme, software systems will be presented at negotiation result on the interface, confirm to carry out for the both sides marine navigator.
More than be one of embodiments of the present invention,, do not spend performing creative labour, on the basis of the foregoing description, can do multiple variation, can realize purpose of the present invention equally for those skilled in the art.But this variation obviously should be in the protection domain of claims of the present invention.
Claims (6)
- Based on the watercraft anti-collision decision method of digital negotiation, it is characterized in that 1, this method comprises following a few step:Step 1: set up and consult software systems automatically, utilize Agent software to set up two boats and ships and consult the collision prevention model, this model comprises: negotiator's set, the reservation collision prevention scheme set of consulting subject under discussion set, negotiator, the set of negotiator's collision prevention scheme effectiveness evaluation model, the set of negotiator's preference pattern, negotiator's inference pattern set and the agreement protocol between the negotiator etc.;Step 2: preference value is consulted in input, imports negotiator's preference pattern parameter person by the software that step 1 is set up;Step 3: determine to consult the role, determine the role of this ship in negotiation according to the obligation of giving way or sailing through to and the right of system that step 1 is built and this ship and target ship;Step 4: determine negotiation scheme, according to the determined role of step 3, the risk of collision degree that faced of this ship of various negotiation preference calculation of parameter of importing of software of setting up by step 1 and step 2 again, determine to initiate the opportunity of negotiation, set up the ship collision prevention solution space, determine the to hold consultation psychological threshold value of collision prevention, determine collision prevention opportunity, be correlated with Time Created relevant consulting tactical of consulting tactical, resource and the relevant consulting tactical of behavior etc., set up the computing method of collision prevention scheme cost and the computing method of collision prevention scheme total utility, generate and consult initial the proposal;Step 5: hold consultation, determined negotiation is initially proposed according to step 4, and software systems are by connected negotiation communication equipment, following under the ship collision prevention agreement protocol, automatically launch to consult with its ship, finally negotiate whole collision prevention scheme, confirm mutually to carry out for the deck officer.
- 2, the watercraft anti-collision decision method based on digital negotiation according to claim 1, it is characterized in that, described negotiator's preference pattern set, if its negotiator's preference pattern set of give-way vessel comprises following submodel: the course preference pattern, consult intent model, collision prevention action preference pattern, the tolerance model of risk of collision, consulting tactical model.
- 3, the watercraft anti-collision decision method based on digital negotiation according to claim 1, it is characterized in that, described negotiator's preference pattern set, if its negotiator's preference pattern set of stand-on vessel comprises following submodel: collision prevention action preference pattern, risk of collision stand model, well-meaning model.
- 4, the watercraft anti-collision decision method based on digital negotiation according to claim 1 is characterized in that, the cost of described collision prevention scheme, and it is to dodge the flight path tortuosity and dodge by utilization to obtain for calculation of parameter the loss of time that brings.
- 5, the watercraft anti-collision decision method based on digital negotiation according to claim 1, it is characterized in that, the total utility of described collision prevention scheme, it is the cartesian product that utilizes economic utility with the safe effectiveness of the collision prevention scheme of utilizing risk of collision degree reduction to calculate of the collision prevention scheme that the cost of this collision prevention scheme calculates.
- 6, the watercraft anti-collision decision method based on digital negotiation according to claim 1 is characterized in that, described negotiation communication equipment is AIS, i.e. the ship automatic identification system transceiver.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103204223A (en) * | 2013-04-15 | 2013-07-17 | 大连海事大学 | Fuzzy four-element ship safety domain model and ship collision avoidance method |
| CN109976342A (en) * | 2019-03-22 | 2019-07-05 | 智慧航海（青岛）科技有限公司 | A kind of intelligent ship multi-ship situation collision prevention method of News Search |
| CN111186549A (en) * | 2020-01-15 | 2020-05-22 | 大连海事大学 | Course autopilot control system with ship collision avoidance function |
| CN112542064A (en) * | 2019-09-23 | 2021-03-23 | 廖秉军 | Dynamic collision avoidance method for fast moving object and slow moving object |
-
2007
- 2007-11-21 CN CN2007101707289A patent/CN101344938B/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103204223A (en) * | 2013-04-15 | 2013-07-17 | 大连海事大学 | Fuzzy four-element ship safety domain model and ship collision avoidance method |
| CN109976342A (en) * | 2019-03-22 | 2019-07-05 | 智慧航海（青岛）科技有限公司 | A kind of intelligent ship multi-ship situation collision prevention method of News Search |
| CN112542064A (en) * | 2019-09-23 | 2021-03-23 | 廖秉军 | Dynamic collision avoidance method for fast moving object and slow moving object |
| CN112542064B (en) * | 2019-09-23 | 2024-03-26 | 廖秉军 | Dynamic collision prevention method for fast moving object and slow moving object |
| CN111186549A (en) * | 2020-01-15 | 2020-05-22 | 大连海事大学 | Course autopilot control system with ship collision avoidance function |
| CN111186549B (en) * | 2020-01-15 | 2021-08-17 | 大连海事大学 | Course autopilot control system with ship collision avoidance function |
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| CN101344938B (en) | 2012-07-25 |
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