CN104485023B - Planning method for ship conflict resolution - Google Patents
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- CN104485023B CN104485023B CN201410844662.7A CN201410844662A CN104485023B CN 104485023 B CN104485023 B CN 104485023B CN 201410844662 A CN201410844662 A CN 201410844662A CN 104485023 B CN104485023 B CN 104485023B
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000005070 sampling Methods 0.000 claims abstract description 26
- 238000005096 rolling process Methods 0.000 claims abstract description 8
- 238000012544 monitoring process Methods 0.000 claims abstract description 7
- 238000005457 optimization Methods 0.000 claims abstract 2
- 238000001914 filtration Methods 0.000 claims description 9
- 238000011217 control strategy Methods 0.000 claims description 5
- 230000000704 physical effect Effects 0.000 claims description 3
- 230000006399 behavior Effects 0.000 abstract 1
- 230000036314 physical performance Effects 0.000 abstract 1
- 239000011159 matrix material Substances 0.000 description 10
- 238000004364 calculation method Methods 0.000 description 4
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- 230000018109 developmental process Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
- G08G3/02—Anti-collision systems
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
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- Traffic Control Systems (AREA)
Abstract
The invention relates to a planning method for vessel conflict resolution, which comprises the following steps: firstly, acquiring a ship track of each ship estimated at each sampling moment in a future time period through a marine traffic control center; then, at each sampling moment, acquiring a numerical value of a sea area wind field variable based on the current running state and historical position observation sequence of the ship; then, at each sampling moment, based on the running state of each ship and a set safety rule set which needs to be met when the ships run in the sea area, when the conditions of violating the safety rules possibly occur among the ships, monitoring the dynamic behaviors of the ships and providing timely warning information for a marine traffic control center; and finally, when the alarm information appears, rolling planning is carried out on the collision avoidance track of the ship by adopting a self-adaptive control theory method by setting an optimization index function and integrating the variable value of the wind field on the premise of meeting the physical performance of the ship and the sea area traffic rules, and the planning result is transmitted to each ship for execution.
Description
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),
vx(t), vy(t), wx(t), wy(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, vx(t) and vyT () represents t speed of the ship in metres per second component on axis of abscissas and axis of ordinates, w respectivelyx(t)
And wyT () 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:
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)=[ωa(t), γa(t)]T, wherein Ψ () and
Ω () represents state-transition matrix and output calculation matrix, ω respectivelya(t) and γaT () represents turning rate and rate of acceleration respectively:
Wherein: Δ t represents sampling time interval,
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 sitemr(t)≥Dmin, wherein DmrT () represents
Any two boats and ships m and boats and ships r is at the distance of t, DminRepresent 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 rmAnd ΛrDiscrete observation numerical value ΞmAnd ΞrThis vector is shown not in t
When safety regulation is concentrated, i.e. relational expression Dmr(t)≥DminWhen being false, send alarm letter to maritime traffic control centre at once
Breath.
Further, step 4. in, step 4.2) detailed process be: order
WhereinRepresent distance between t boats and ships R present position and next navigation channel point square, PR(t)=
(xRt, yRt),So priority index of t boats and ships R may be set to:
Wherein ztRepresent 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
, wherein R ∈ I (t) represent boats and ships code and I (t)=1,2 ..., Zt, PR(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, uRRepresent the optimal control sequence of boats and ships R to be optimized,
QRtFor positive definite diagonal matrix, its diagonal element is boats and ships R priority index L in tRt, and
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),
vx(t), vy(t), wx(t), wy(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, vx(t) and vyT () represents t speed of the ship in metres per second component on axis of abscissas and axis of ordinates, w respectivelyx(t)
And wyT () 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:
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)=[ωa(t), γa(t)]T, wherein Ψ () and
Ω () represents state-transition matrix and output calculation matrix, ω respectivelya(t) and γaT () represents turning rate and rate of acceleration respectively:
Wherein: Δ t represents sampling time interval,
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 sitemr(t)≥Dmin, wherein DmrT () represents
Any two boats and ships m and boats and ships r is at the distance of t, DminRepresent 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 rmAnd ΛrDiscrete observation numerical value ΞmAnd ΞrThis vector is shown not in t
When safety regulation is concentrated, i.e. relational expression Dmr(t)≥DminWhen 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
WhereinRepresent distance between t boats and ships R present position and next navigation channel point square, PR(t)=
(xRt, yRt),So priority index of t boats and ships R may be set to:
Wherein ztRepresent 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
, wherein R ∈ I (t) represent boats and ships code and I (t)=1,2 ..., Zt, PR(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, uRRepresent the optimal control sequence of boats and ships R to be optimized, QRt
For positive definite diagonal matrix, its diagonal element is boats and ships R priority index L in tRt, and
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.
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CN201610979340.2A CN106571067A (en) | 2014-12-30 | 2014-12-30 | Planning method for ship conflict resolution based on rolling planning strategy |
CN201610991076.4A CN106571065A (en) | 2014-12-30 | 2014-12-30 | Planning method for ship conflict resolution |
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CN110956853B (en) * | 2019-11-12 | 2022-02-22 | 武汉理工大学 | Multi-ship collision prediction method, system and storage medium |
CN111797529B (en) * | 2020-07-07 | 2021-10-15 | 中国人民解放军军事科学院评估论证研究中心 | Method for delaying marine action through computer simulation |
CN112966332B (en) * | 2021-03-02 | 2022-06-21 | 武汉理工大学 | Conflict detection method based on multi-ship motion uncertainty, memory and processor |
CN116610125B (en) * | 2023-05-26 | 2024-01-30 | 北鲲睿航科技(上海)有限公司 | Collision prevention method and system for intelligent ship active collision avoidance system |
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JPH10288663A (en) * | 1997-04-16 | 1998-10-27 | Hitachi Ltd | Collision prevention method and device |
AUPR910301A0 (en) * | 2001-11-26 | 2001-12-20 | Marine-Watch Limited | Satellite system for vessel identification |
KR101314308B1 (en) * | 2010-02-26 | 2013-10-02 | 한국전자통신연구원 | Apparatus for managing traffic using previous navigational preference patterns based navigational situation and method thereof |
CN202003511U (en) * | 2011-01-28 | 2011-10-05 | 浙江谷派思电子科技有限公司 | Monitoring device based on marine navigation radar |
CN102194332B (en) * | 2011-03-24 | 2014-06-11 | 中国船舶重工集团公司第七0九研究所 | Self-adaptation flight path data correlation method |
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CN103106812A (en) * | 2013-01-17 | 2013-05-15 | 中华人民共和国深圳海事局 | Method obtaining sea ship system average collision risks |
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