CN104485023B - Planning method for ship conflict release - Google Patents

Abstract

The invention relates to a planning method for ship conflict release. The method comprises the steps that firstly, shape tracks, speculated at each sampling moment, of all ships in a future time period are acquired through a maritime traffic control center; sequences are observed on the basis of current operation states and historic positions of the ships, and sea area wind field variables are obtained; then at on the basis of the operation states of all the ships and a set safety rule set which is required to be met by the ships in the sea area during the operation each sampling moment, when a condition which might violate safety rules occurs among the ships, dynamic behaviors of the ships are monitored, and timely warning information is provided for the maritime traffic control center; finally, when the warning information occurs, on the premise that ship physical properties and sea area traffic rules are met, rolling planning is performed on a ship collision avoidance track with a self-adaption control theory method by setting an optimization indicator function and infusing wind field variables, and a planning result is transmitted to all the ships to be executed.

Description

The planing method of boats and ships conflict Resolution

Technical field

The present invention relates to a kind of marine site traffic control method, particularly relate to a kind of boats and ships conflict based on Rolling Planning strategy The planing method freed.

Background technology

Along with the fast development of whole world shipping business, the traffic in the busy marine site of part is the most crowded.Close in vessel traffic flow The complicated marine site of collection, still uses sail plan to combine the regulation model of artificial interval allotment the most not for the collision scenario between boats and ships Adapt to the fast development of shipping business.For ensureing the personal distance between boats and ships, enforcement effective conflict allotment just becomes marine site and hands over The emphasis of siphunculus system work.Boats and ships conflict Resolution is a key technology in navigational field, frees scheme pair safely and efficiently In increasing marine site boats and ships flow and guaranteeing that sea-freight safety is significant.

In order to improve the efficiency of navigation of boats and ships, marine radar automatic plotter has been widely applied to ship monitor With in collision prevention, this equipment provides reference frame by extracting boats and ships relevant information for the judgement of collision scenario between boats and ships.Although this Kind equipment greatly reduces manual supervisory load, but it does not has boats and ships automatic conflict Resolution function.For boats and ships conflict Freeing problem, current processing mode mainly includes geometric deterministic algorithm and the big class scheme of Heuristic Intelligent Algorithm two, phase Close conflict avoiding planning algorithm that literature research is concentrated mainly under unconfined condition between two boats and ships and many with " off-line form " Freeing track for there is the boats and ships planning of conflict, thereby resulting in each boats and ships and freeing the dynamic adaptable of track and robustness relatively Difference.

Summary of the invention

The technical problem to be solved in the present invention is to provide the planing method of a kind of robustness preferable boats and ships conflict Resolution, should Method can effectively prevent vessel motion conflict.

The technical scheme realizing the object of the invention is to provide the planing method of a kind of boats and ships conflict Resolution, including the most several Step:

1. its each boats and ships speculated in each sampling instant are obtained in future time period by maritime traffic control centre Boats and ships track；

2. in each sampling instant, the running status current based on boats and ships and historical position observation sequence, obtain marine site wind The numerical value of field variable；

3. in each sampling instant, the boats and ships of running statuses based on each boats and ships and setting need to meet when running in marine site Safety regulation collection, when likely the situation violating safety regulation occurring when between boats and ships, to its dynamic behaviour implementing monitoring and be Maritime traffic control centre provides warning information timely；

4. when warning information occurs, on the premise of meeting boats and ships physical property and marine site traffic rules, by setting Optimizing index function and incorporate wind field variable value, uses Model Predictive Control Theory method to roll boats and ships collision avoidance track Dynamic planning, and program results is transferred to the execution of each boats and ships, its detailed process is as follows:

4.1) termination reference point locations P of boats and ships collision avoidance trajectory planning, collision avoidance policy control time domain Θ, trajectory predictions are set Time domain W；

4.2) on the premise of being set in given optimizing index function, based on cooperative collision avoidance trajectory planning thought, by giving Each boats and ships give different weights and incorporate real-time wind field variable filtering numerical value, obtain the collision avoidance track of each boats and ships and keep away Hit control strategy and program results is transferred to the execution of each boats and ships, and each boats and ships only implement its first in Rolling Planning is spaced Optimal Control Strategy；

4.3) in next sampling instant, repeat step 4.2 and free terminal until each boats and ships all arrive it.

Further, the detailed process of the numerical value that 2. described step obtains marine site wind field variable is as follows:

2.1) stop position setting boats and ships as track reference coordinate initial point and is set up axis of abscissas in the horizontal plane and indulges Coordinate axes；

2.2) when boats and ships are in straight running condition and at the uniform velocity turning running status, marine site wind field linear filtering mould is built Type x₁(t+ Δ t)=F (t) x₁(t)+w (t) and z (t)=H (t) x₁T ()+v (t) obtains wind field variable value, wherein Δ t represents Sampling interval, x₁T () represents the state vector of t, z (t) represents the observation vector of t, and x₁(t)=[x (t), y (t), v_x(t), v_y(t), w_x(t), w_y(t)]^T, wherein x (t) and y (t) represents that t vessel position is at axis of abscissas and vertical coordinate respectively Component on axle, v_x(t) and v_yT () represents t speed of the ship in metres per second component on axis of abscissas and axis of ordinates, w respectively_x(t) And w_yT () represents that t wind field numerical value component on axis of abscissas and axis of ordinates, F (t) and H (t) represent shape respectively respectively State transfer matrix and output calculation matrix, w (t) and v (t) represent system noise vector sum measurement noise vector respectively:

$F\left(t\right)=\left[\begin{array}{cccccc}1& 0& \frac{\sin \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)}{{\mathrm{\ω}}_a\left(t\right)}& \frac{1-\cos \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)}{{\mathrm{\ω}}_a\left(t\right)}& \mathrm{\Δt}& 0\\ 0& 1& \frac{\cos \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)-1}{{\mathrm{\ω}}_a\left(t\right)}& \frac{\sin \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)}{{\mathrm{\ω}}_a\left(t\right)}& 0& \mathrm{\Δt}\\ 0& 0& \cos \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)& \sin \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)& 0& 0\\ 0& 0& -\sin \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)& \cos \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)& 0& 0\\ 0& 0& 0& 0& 1& 0\\ 0& 0& 0& 0& 0& 1\end{array}\right]$

$H\left(k\right)=\left[\begin{array}{cccccc}1& 0& 0& 0& 0& 0\\ 0& 1& 0& 0& 0& 0\\ 0& 0& 1& 0& 0& 0\\ 0& 0& 0& 1& 0& 0\end{array}\right];$

When boats and ships are in speed change turning running status, build marine site wind field nonlinear filtering wave pattern x₁(t+ Δ t)=Ψ (t, x₁(t), u (t))+w (t), z (t)=Ω (t, x₁(t))+v (t) and u (t)=[ω_a(t), γ_a(t)]^T, wherein Ψ () and Ω () represents state-transition matrix and output calculation matrix, ω respectively_a(t) and γ_aT () represents turning rate and rate of acceleration respectively:

$\mathrm{\Ψ}=\left[\begin{array}{c}x\left(t\right)+v_x\left(t\right)(\frac{\sin \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)}{{\mathrm{\ω}}_a\left(t\right)}+\frac{{\mathrm{\γ}}_a\left(t\right)\mathrm{\Δt}}{\sqrt{v_x^2\left(t\right)+v_y^2\left(t\right)}}{C}_5)+v_y\left(t\right)(\frac{1-\cos \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)}{{\mathrm{\ω}}_a\left(t\right)}+\frac{{\mathrm{\γ}}_a\left(t\right)\mathrm{\Δt}}{\sqrt{v_x^2\left(t\right)+v_y^2\left(t\right)}}{C}_6)+w_x\left(t\right)\\ y\left(t\right)-v_x\left(t\right)(\frac{1-\cos \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)}{{\mathrm{\ω}}_a\left(t\right)}+\frac{{\mathrm{\γ}}_a\left(t\right)\mathrm{\Δt}}{\sqrt{v_x^2\left(t\right)+v_y^2\left(t\right)}}{C}_6)+v_y\left(t\right)(\frac{\sin \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)}{{\mathrm{\ω}}_a\left(t\right)}+\frac{{\mathrm{\γ}}_a\left(t\right)\mathrm{\Δt}}{\sqrt{v_x^2\left(t\right)+v_y^2\left(t\right)}}{C}_5)+w_y\left(t\right)\\ \left((1+\frac{{\mathrm{\γ}}_a\left(t\right)\mathrm{\Δt}}{\sqrt{v_x^2\left(t\right)+v_y^2\left(t\right)}})(v_x\left(t\right)\cos \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)+v_y\left(t\right)\sin \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right))\right)\\ \left((1+\frac{{\mathrm{\γ}}_a\left(t\right)\mathrm{\Δt}}{\sqrt{v_x^2\left(t\right)+v_y^2\left(t\right)}})(v_y\left(t\right)\cos \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)-v_x\left(t\right)\sin \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right))\right)\\ w_x\left(t\right)\\ w_y\left(t\right)\end{array}\right],$

Wherein: Δ t represents sampling time interval,

$C_5=(\frac{\sin \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)}{{\mathrm{\ω}}_a\left(t\right)}-\frac{1-\cos \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)}{{\mathrm{\ω}}_a^2\left(t\right)\mathrm{\Δt}}),$

$C_6=(\frac{\sin \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)}{{\mathrm{\ω}}_a^2\left(t\right)\mathrm{\Δt}}-\frac{\cos \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)}{{\mathrm{\ω}}_a\left(t\right)});$

2.3) numerical value of wind field variable is obtained according to constructed Filtering Model.

Further, described step 3. in the dynamic behaviour implementing monitoring of each boats and ships and carry for maritime traffic control centre Detailed process for warning information timely is as follows:

3.1) the safety regulation collection D that structure boats and ships need to meet when running in marine site_mr(t)≥D_min, wherein D_mrT () represents Any two boats and ships m and boats and ships r is at the distance of t, D_minRepresent the minimum safe distance between boats and ships；

3.2) according to the sampling time, set up by observer Λ: Γ of the continuous running status of boats and ships to discrete sampling state → Ξ, wherein Γ represents the continuous running status of boats and ships, and Ξ represents the discrete sampling state of boats and ships；

3.3) as the observer Λ of boats and ships m and r_mAnd Λ_rDiscrete observation numerical value Ξ_mAnd Ξ_rThis vector is shown not in t When safety regulation is concentrated, i.e. relational expression D_mr(t)≥D_minWhen being false, send alarm letter to maritime traffic control centre at once Breath.

Further, step 4. in, step 4.2) detailed process be: order $d_{\mathrm{Rt}}^2={\left|\right|P_R\left(t\right)-P_R^f\left|\right|}_2^2={(x_{\mathrm{Rt}}-x_R^f)}^2+{(y_{\mathrm{Rt}}-y_R^f)}^2,$

WhereinRepresent distance between t boats and ships R present position and next navigation channel point square, P_R(t)= (x_Rt, y_Rt),So priority index of t boats and ships R may be set to:

$L_{\mathrm{Rt}}=100\frac{d_{\mathrm{Rt}}^{-2}}{\underset{R=1}{\overset{Z_t}{\mathrm{\Σ}}}{d}_{\mathrm{Rt}}^{-2}},$

Wherein z_tRepresent and there is the boats and ships number conflicted in t marine site, from the implication of priority index, boats and ships away from From its next navigation channel point more close to, its priority is the highest；

Set optimizing index

$\begin{array}{c}{\mathrm{\Φ}}^{*}(u_1^{\left(t\right)},u_1^{(t+\mathrm{\Δt})},...,u_1^{(t+\mathrm{p\Δt})},...,u_{Z_t}^{\left(t\right)},u_{Z_t}^{(t+\mathrm{\Δt})},...,u_{Z_t}^{(t+\mathrm{p\Δt})})=\underset{h=1}{\overset{p}{\mathrm{\Σ}}}\underset{R=1}{\overset{Z_t}{\mathrm{\Σ}}}{L}_{\mathrm{Rt}}{\left|\right|P_R(t+\mathrm{h\Δt})-P_R^f\left|\right|}_2^2\\ =\underset{h=1}{\overset{p}{\mathrm{\Σ}}}\underset{R=1}{\overset{Z_t}{\mathrm{\Σ}}}{(P_R(t+\mathrm{h\Δt})-P_R^f)}^T{Q}_{\mathrm{Rt}}(P_R(t+\mathrm{h\Δt})-P_R^f)\end{array}$

, wherein R ∈ I (t) represent boats and ships code and I (t)=1,2 ..., Z_t, P_R(t+h Δ t) represents that boats and ships are at moment (t The position vector of+h Δ t),Represent that boats and ships R's frees terminating point, u_RRepresent the optimal control sequence of boats and ships R to be optimized, Q_RtFor positive definite diagonal matrix, its diagonal element is boats and ships R priority index L in t_Rt, and $Q_{\mathrm{Rt}}=\left[\begin{array}{cc}{L}_{\mathrm{Rt}}& 0\\ 0& L_{\mathrm{Rt}}\end{array}\right].$

Further, described step 4. middle reference point locations P that terminates is set as the next navigation channel point of vessel motion, collision avoidance Policy control time domain Θ is 300 seconds；Trajectory predictions time domain W is 300 seconds.

The present invention has positive effect: (1) present invention, during boats and ships conflict Resolution, have employed when each sampling It is the best that trajectory planning, ageing, adaptability and the effectiveness freed are freed in rolling in real time at quarter.

(2) present invention is during boats and ships conflict Resolution, has incorporated the impact of wind field in marine site, and the rolling used is freed Trajectory planning scheme can adjust in time according to the change of wind field in marine site frees track, improves the robust of boats and ships conflict Resolution Property.

(3) present invention is based on different performance index, can be that trajectory planning side is freed in the multiple boats and ships offer that there is conflict Case, improves economy and the utilization rate of sea area resources of vessel motion.

Accompanying drawing explanation

Fig. 1 is the Wind filter method flow schematic diagram in the present invention；

Fig. 2 is the vessel motion situation monitoring schematic flow sheet in the present invention；

Fig. 3 is the boats and ships collision avoidance track optimizing method schematic flow sheet in the present invention.

Detailed description of the invention

(embodiment 1)

The planing method of the boats and ships conflict Resolution of the present embodiment includes following several step:

1. its each boats and ships speculated in each sampling instant are obtained in future time period by maritime traffic control centre Boats and ships track；Maritime traffic control centre obtains the real-time of boats and ships and historical position information, marine friendship by sea radar monitoring Logical control centre is according to the track of boats and ships in the real-time of boats and ships and historical position information supposition future time period.

2. in each sampling instant, the running status current based on boats and ships and historical position observation sequence, obtain marine site wind The numerical value of field variable, is shown in Fig. 1, and its detailed process is as follows:

2.1) stop position setting boats and ships as track reference coordinate initial point and is set up axis of abscissas in the horizontal plane and indulges Coordinate axes:

2.2) when boats and ships are in straight running condition and at the uniform velocity turning running status, marine site wind field linear filtering mould is built Type x₁(t+ Δ t)=F (t) x₁(t)+w (t) and z (t)=H (t) x₁T ()+v (t) obtains wind field variable value, wherein Δ t represents Sampling interval, x₁T () represents the state vector of t, z (t) represents the observation vector of t, and x₁(t)=[x (t), y (t), v_x(t), v_y(t), w_x(t), w_y(t)]^T, wherein x (t) and y (t) represents that t vessel position is at axis of abscissas and vertical coordinate respectively Component on axle, v_x(t) and v_yT () represents t speed of the ship in metres per second component on axis of abscissas and axis of ordinates, w respectively_x(t) And w_yT () represents that t wind field numerical value component on axis of abscissas and axis of ordinates, F (t) and H (t) represent shape respectively respectively State transfer matrix and output calculation matrix, w (t) and v (t) represent system noise vector sum measurement noise vector respectively:

$F\left(t\right)=\left[\begin{array}{cccccc}1& 0& \frac{\sin \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)}{{\mathrm{\ω}}_a\left(t\right)}& \frac{1-\cos \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)}{{\mathrm{\ω}}_a\left(t\right)}& \mathrm{\Δt}& 0\\ 0& 1& \frac{\cos \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)-1}{{\mathrm{\ω}}_a\left(t\right)}& \frac{\sin \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)}{{\mathrm{\ω}}_a\left(t\right)}& 0& \mathrm{\Δt}\\ 0& 0& \cos \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)& \sin \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)& 0& 0\\ 0& 0& -\sin \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)& \cos \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)& 0& 0\\ 0& 0& 0& 0& 1& 0\\ 0& 0& 0& 0& 0& 1\end{array}\right]$

$H\left(k\right)=\left[\begin{array}{cccccc}1& 0& 0& 0& 0& 0\\ 0& 1& 0& 0& 0& 0\\ 0& 0& 1& 0& 0& 0\\ 0& 0& 0& 1& 0& 0\end{array}\right];$

When boats and ships are in speed change turning running status, build marine site wind field nonlinear filtering wave pattern x₁(t+ Δ t)=Ψ (t, x₁(t), u (t))+w (t), z (t)=Ω (t, x₁(t))+v (t) and u (t)=[ω_a(t), γ_a(t)]^T, wherein Ψ () and Ω () represents state-transition matrix and output calculation matrix, ω respectively_a(t) and γ_aT () represents turning rate and rate of acceleration respectively:

$\mathrm{\Ψ}=\left[\begin{array}{c}x\left(t\right)+v_x\left(t\right)(\frac{\sin \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)}{{\mathrm{\ω}}_a\left(t\right)}+\frac{{\mathrm{\γ}}_a\left(t\right)\mathrm{\Δt}}{\sqrt{v_x^2\left(t\right)+v_y^2\left(t\right)}}{C}_5)+v_y\left(t\right)(\frac{1-\cos \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)}{{\mathrm{\ω}}_a\left(t\right)}+\frac{{\mathrm{\γ}}_a\left(t\right)\mathrm{\Δt}}{\sqrt{v_x^2\left(t\right)+v_y^2\left(t\right)}}{C}_6)+w_x\left(t\right)\\ y\left(t\right)-v_x\left(t\right)(\frac{1-\cos \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)}{{\mathrm{\ω}}_a\left(t\right)}+\frac{{\mathrm{\γ}}_a\left(t\right)\mathrm{\Δt}}{\sqrt{v_x^2\left(t\right)+v_y^2\left(t\right)}}{C}_6)+v_y\left(t\right)(\frac{\sin \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)}{{\mathrm{\ω}}_a\left(t\right)}+\frac{{\mathrm{\γ}}_a\left(t\right)\mathrm{\Δt}}{\sqrt{v_x^2\left(t\right)+v_y^2\left(t\right)}}{C}_5)+w_y\left(t\right)\\ \left((1+\frac{{\mathrm{\γ}}_a\left(t\right)\mathrm{\Δt}}{\sqrt{v_x^2\left(t\right)+v_y^2\left(t\right)}})(v_x\left(t\right)\cos \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)+v_y\left(t\right)\sin \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right))\right)\\ \left((1+\frac{{\mathrm{\γ}}_a\left(t\right)\mathrm{\Δt}}{\sqrt{v_x^2\left(t\right)+v_y^2\left(t\right)}})(v_y\left(t\right)\cos \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)-v_x\left(t\right)\sin \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right))\right)\\ w_x\left(t\right)\\ w_y\left(t\right)\end{array}\right],$

Wherein: Δ t represents sampling time interval,

$C_5=(\frac{\sin \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)}{{\mathrm{\ω}}_a\left(t\right)}-\frac{1-\cos \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)}{{\mathrm{\ω}}_a^2\left(t\right)\mathrm{\Δt}}),$

$C_6=(\frac{\sin \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)}{{\mathrm{\ω}}_a^2\left(t\right)\mathrm{\Δt}}-\frac{\cos \left({\mathrm{\ω}}_a\left(t\right)\mathrm{\Δt}\right)}{{\mathrm{\ω}}_a\left(t\right)});$

2.3) numerical value of wind field variable is obtained according to constructed Filtering Model.

3. in each sampling instant, the boats and ships of running statuses based on each boats and ships and setting need to meet when running in marine site Safety regulation collection, when likely the situation violating safety regulation occurring when between boats and ships, to its dynamic behaviour implementing monitoring and be Maritime traffic control centre provides warning information timely, sees Fig. 2, and its detailed process is as follows:

3.1) the safety regulation collection D that structure boats and ships need to meet when running in marine site_mr(t)≥D_min, wherein D_mrT () represents Any two boats and ships m and boats and ships r is at the distance of t, D_minRepresent the minimum safe distance between boats and ships；

3.2) according to the sampling time, set up by observer Λ: Γ of the continuous running status of boats and ships to discrete sampling state → Ξ, wherein Γ represents the continuous running status of boats and ships, and Ξ represents the discrete sampling state of boats and ships；

3.3) as the observer Λ of boats and ships m and r_mAnd Λ_rDiscrete observation numerical value Ξ_mAnd Ξ_rThis vector is shown not in t When safety regulation is concentrated, i.e. relational expression D_mr(t)≥D_minWhen being false, send alarm letter to maritime traffic control centre at once Breath.

4. when warning information occurs, on the premise of meeting boats and ships physical property and marine site traffic rules, by setting Optimizing index function and incorporate wind field variable value, uses Adaptive Control Theory method to roll boats and ships collision avoidance track Planning, and program results is transferred to the execution of each boats and ships, see Fig. 3, its detailed process is as follows:

4.1) termination reference point locations P of boats and ships collision avoidance trajectory planning, collision avoidance policy control time domain Θ, trajectory predictions are set Time domain W；

4.2) on the premise of being set in given optimizing index function, based on cooperative collision avoidance trajectory planning thought, by giving Each boats and ships give different weights and incorporate real-time wind field variable filtering numerical value, obtain the collision avoidance track of each boats and ships and keep away Hit control strategy and program results is transferred to the execution of each boats and ships, and each boats and ships only implement its first in Rolling Planning is spaced Optimal Control Strategy: order $d_{\mathrm{Rt}}^2={\left|\right|P_R\left(t\right)-P_R^f\left|\right|}_2^2={(x_{\mathrm{Rt}}-x_R^f)}^2+{(y_{\mathrm{Rt}}-y_R^f)}^2,$

WhereinRepresent distance between t boats and ships R present position and next navigation channel point square, P_R(t)= (x_Rt, y_Rt),So priority index of t boats and ships R may be set to:

$L_{\mathrm{Rt}}=100\frac{d_{\mathrm{Rt}}^{-2}}{\underset{R=1}{\overset{Z_t}{\mathrm{\Σ}}}{d}_{\mathrm{Rt}}^{-2}},$

Wherein z_tRepresent and there is the boats and ships number conflicted in t marine site, from the implication of priority index, boats and ships away from From its next navigation channel point more close to, its priority is the highest；

Set optimizing index

$\begin{array}{c}{\mathrm{\Φ}}^{*}(u_1^{\left(t\right)},u_1^{(t+\mathrm{\Δt})},...,u_1^{(t+\mathrm{p\Δt})},...,u_{Z_t}^{\left(t\right)},u_{Z_t}^{(t+\mathrm{\Δt})},...,u_{Z_t}^{(t+\mathrm{p\Δt})})=\underset{h=1}{\overset{p}{\mathrm{\Σ}}}\underset{R=1}{\overset{Z_t}{\mathrm{\Σ}}}{L}_{\mathrm{Rt}}{\left|\right|P_R(t+\mathrm{h\Δt})-P_R^f\left|\right|}_2^2\\ =\underset{h=1}{\overset{p}{\mathrm{\Σ}}}\underset{R=1}{\overset{Z_t}{\mathrm{\Σ}}}{(P_R(t+\mathrm{h\Δt})-P_R^f)}^T{Q}_{\mathrm{Rt}}(P_R(t+\mathrm{h\Δt})-P_R^f)\end{array}$

, wherein R ∈ I (t) represent boats and ships code and I (t)=1,2 ..., Z_t, P_R(t+h Δ t) represents that boats and ships are at moment (t The position vector of+h Δ t),Represent that boats and ships R's frees terminating point, u_RRepresent the optimal control sequence of boats and ships R to be optimized, Q_Rt For positive definite diagonal matrix, its diagonal element is boats and ships R priority index L in t_Rt, and $Q_{\mathrm{Rt}}=\left[\begin{array}{cc}{L}_{\mathrm{Rt}}& 0\\ 0& L_{\mathrm{Rt}}\end{array}\right].$

4.3) in next sampling instant, repeat step 4.2 and free terminal until each boats and ships all arrive it.

Above-mentioned termination reference point locations P is set as the next navigation channel point of vessel motion, and collision avoidance policy control time domain Θ is 300 seconds；Trajectory predictions time domain W is 300 seconds.

Obviously, above-described embodiment is only for clearly demonstrating example of the present invention, and not to the present invention The restriction of embodiment.For those of ordinary skill in the field, can also be made it on the basis of the above description The change of its multi-form or variation.Here without also cannot all of embodiment be given exhaustive.And these belong to this What bright spirit was extended out obviously changes or changes among still in protection scope of the present invention.

Claims (1)

1. the planing method of a boats and ships conflict Resolution, it is characterised in that include following several step:

1. its each boats and ships speculated in each sampling instant boats and ships in future time period are obtained by maritime traffic control centre Track；

2. in each sampling instant, the running status current based on boats and ships and historical position observation sequence, obtain marine site wind field and become The numerical value of amount；

3. in each sampling instant, the peace that the boats and ships of running statuses based on each boats and ships and setting need to meet when running in marine site Full rule set, when likely there is the situation violating safety regulation when between boats and ships, to its dynamic behaviour implementing monitoring and be sea Traffic control center provides warning information timely；

4., when warning information occurs, on the premise of meeting boats and ships physical property and marine site traffic rules, optimized by setting Target function and incorporate wind field variable value, uses Model Predictive Control Theory method to carry out boats and ships collision avoidance track rolling rule Drawing, and program results is transferred to the execution of each boats and ships, its detailed process is as follows:

4.1) the termination reference point locations of boats and ships collision avoidance trajectory planning is set, collision avoidance policy control time domain, trajectory predictions time Territory W；

4.2) on the premise of being set in given optimizing index function, based on cooperative collision avoidance trajectory planning thought, by each Boats and ships give different weights and incorporate real-time wind field variable filtering numerical value, obtain collision avoidance track and the collision avoidance control of each boats and ships Program results is also transferred to the execution of each boats and ships, and each boats and ships only implement its first optimization in Rolling Planning is spaced by system strategy Control strategy；

4.3) in next sampling instant, step 4.2 is repeated) until each boats and ships all arrive it frees terminal.