CN106571065A - Planning method of ship conflict solution - Google Patents

Abstract

The present invention relates to a planning method of ship conflict solution. The planning method includes the following steps that: ship trajectories of each ship in a future period which are speculated by a maritime traffic control center at each sampling time point are obtained through the maritime traffic control center; the numerical values of a sea area wind field variable are obtained at each sampling time point based on the current operating states of the ships and a historical position observation sequence; the dynamic behaviors of ships which may violate safety rules are monitored at each sampling time point based on the operating states of the ships and a safety rule set which set ships should satisfy when the ships operate in a sea area, and timely warning information is provided for the maritime traffic control center; and when warning information occurs, an adaptive control theory method is adopted to plan ship collision avoidance trajectories in real time through setting an optimal index function and integrating the numerical values of the wind area field variable under a premise that ship physical performance and sea area traffic rules are satisfied.

Description

A kind of planing method of ship conflict Resolution

The application is Application No.：201410844662.7, invention and created name is《The planning side of ship conflict Resolution Method》, the applying date is：The divisional application of the application for a patent for invention on December 30th, 2014.

Technical field

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

Background technology

With the fast development of global shipping business, the traffic in the busy marine site in part is further crowded.It is close in vessel traffic flow Collection complexity marine site, still the regulation model allocated at artificial interval is combined not for the collision scenario between ship using sail plan Adapt to the fast development of shipping business.To ensure the personal distance between ship, implementing effectively conflict allotment just becomes marine site friendship The emphasis of siphunculus system work.Ship conflict Resolution is a key technology in navigational field, safely and efficiently frees scheme pair It is significant in increasing marine site ship flow and guaranteeing that sea-freight is safe.

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

The content of the invention

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

The technical scheme for realizing the object of the invention is to provide a kind of planing method of ship conflict Resolution, including following several Step：

1. each ship that it is speculated in each sampling instant is obtained in future time period by maritime traffic control centre Ship track；

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

3. in each sampling instant, the ship of the running status based on each ship and setting needs to meet when running in marine site Safety regulation collection, when being possible to occur violating the situation of safety regulation between ship, to its dynamic behaviour implementing monitoring and be Maritime traffic control centre provides timely warning information；

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

4.1) termination reference point locations P, collision avoidance policy control time domain Θ, the trajectory predictions of ship collision avoidance trajectory planning 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 ship gives different weight and incorporates real-time wind field variable filtering numerical value, obtains the collision avoidance track of each ship and keeps away Hit control strategy and program results is transferred to into each ship and perform, and each ship only implements its first in Rolling Planning is spaced Optimal Control Strategy；

4.3) in next sampling instant, repeat step 4.2 is until each ship reaches it and frees terminal.

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

2.1) stop position of ship is set as track reference coordinate origin and set up axis of abscissas in the horizontal plane and indulge Coordinate axess；

2.2) when ship is 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 is represented 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) represent respectively t vessel position in axis of abscissas and vertical coordinate Component on axle, v_x(t) and v_yT () represents respectively component of the t speed of the ship in metres per second on axis of abscissas and axis of ordinates, w_x(t) And w_yT () represents respectively component of the t wind field numerical value on axis of abscissas and axis of ordinates, F (t) and H (t) represents respectively shape State transfer matrix and output calculation matrix, w (t) and v (t) represents respectively system noise vector sum measurement noise vector：

When ship is in speed change turning running status, marine site wind field nonlinear filtering wave pattern x is built₁(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 respectively state-transition matrix and output calculation matrix, ω_a(t) and γ_aT () represents respectively turning rate and rate of acceleration：

Wherein：Δ t represents sampling time interval,

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

Further, the step 3. in carry to the dynamic behaviour implementing monitoring of each ship and for maritime traffic control centre It is as follows for the detailed process of timely warning information：

3.1) the safety regulation collection D that need to be met when ship runs in marine site is constructed_mr(t)≥D_min, wherein D_mrT () represents Any two ship m and ship r t distance, D_minRepresent the minimum safe distance between ship；

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

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

Further, step 4. in, step 4.2) detailed process be：Order

WhereinRepresent distance between t ship R present positions and next navigation channel point square, P_R(t)= (x_Rt,y_Rt),The priority index of so t ship R may be set to：

Wherein z_tRepresent there is the ship number for conflicting in t marine site, from the implication of priority index, ship away from From its next navigation channel point more close to, its priority is higher；

Setting optimizing index

, wherein R ∈ I (t) represents ship code and I (t)={ 1,2 ..., Z_t, P_R(t+h Δs t) represents ship at the moment (position vector of t+h Δ t),Represent that ship R's frees terminating point, u_RThe optimal control sequence of ship R to be optimized is represented, Q_RtFor positive definite diagonal matrix, its diagonal element is priority index L of the ship R in t_Rt, and

Further, the step is 4. middle terminates the next navigation channel point that reference point locations P are set as 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 is employed in each sampling during ship conflict Resolution Carve to roll in real time and free trajectory planning, ageing, adaptability and the effectiveness freed are very good.

(2) present invention has incorporated the impact of wind field in marine site during ship conflict Resolution, and the rolling for being adopted is freed Trajectory planning scheme can in time track be freed in adjustment according to the change of wind field in marine site, improves the robust of ship conflict Resolution Property.

(3) present invention is based on different performance index, can provide for multiple ships of presence conflict and free trajectory planning side Case, improves the economy of vessel motion and the utilization rate of sea area resources.

Description of the drawings

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 ship collision avoidance track optimizing method schematic flow sheet in the present invention.

Specific embodiment

(embodiment 1)

The planing method of the ship conflict Resolution of the present embodiment includes following several steps：

1. each ship that it is speculated in each sampling instant is obtained in future time period by maritime traffic control centre Ship track；Maritime traffic control centre monitors the real-time and historical position information for obtaining ship by sea radar, and sea is handed over Logical control centre speculates the track of ship in future time period according to the real-time and historical position information of ship.

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

2.1) stop position of ship is set as track reference coordinate origin and set up axis of abscissas in the horizontal plane and indulge Coordinate axess；

2.2) when ship is 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 is represented 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) represent respectively t vessel position in axis of abscissas and vertical coordinate Component on axle, v_x(t) and v_yT () represents respectively component of the t speed of the ship in metres per second on axis of abscissas and axis of ordinates, w_x(t) And w_yT () represents respectively component of the t wind field numerical value on axis of abscissas and axis of ordinates, F (t) and H (t) represents respectively shape State transfer matrix and output calculation matrix, w (t) and v (t) represents respectively system noise vector sum measurement noise vector：

When ship is in speed change turning running status, marine site wind field nonlinear filtering wave pattern x is built₁(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 respectively state-transition matrix and output calculation matrix, ω_a(t) and γ_aT () represents respectively turning rate and rate of acceleration：

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 ship of the running status based on each ship and setting needs to meet when running in marine site Safety regulation collection, when being possible to occur violating the situation of safety regulation between ship, to its dynamic behaviour implementing monitoring and be Maritime traffic control centre provides timely warning information, sees Fig. 2, and its detailed process is as follows：

3.1) the safety regulation collection D that need to be met when ship runs in marine site is constructed_mr(t)≥D_min, wherein D_mrT () represents Any two ship m and ship r t distance, D_minRepresent the minimum safe distance between ship；

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

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

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

4.1) termination reference point locations P, collision avoidance policy control time domain Θ, the trajectory predictions of ship collision avoidance trajectory planning 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 ship gives different weight and incorporates real-time wind field variable filtering numerical value, obtains the collision avoidance track of each ship and keeps away Hit control strategy and program results is transferred to into each ship and perform, and each ship only implements its first in Rolling Planning is spaced Optimal Control Strategy：Order

WhereinRepresent distance between t ship R present positions and next navigation channel point square, P_R(t)= (x_Rt,y_Rt),The priority index of so t ship R may be set to：

Wherein z_tRepresent there is the ship number for conflicting in t marine site, from the implication of priority index, ship away from From its next navigation channel point more close to, its priority is higher；

Setting optimizing index

, wherein R ∈ I (t) represents ship code and I (t)={ 1,2 ..., Z_t, P_R(t+h Δs t) represents ship at the moment (position vector of t+h Δ t),Represent that ship R's frees terminating point, u_RThe optimal control sequence of ship R to be optimized is represented, Q_RtFor positive definite diagonal matrix, its diagonal element is priority index L of the ship R in t_Rt, and

4.3) in next sampling instant, repeat step 4.2 is until each ship reaches it and frees terminal.

Above-mentioned termination reference point locations P are 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 intended to clearly illustrate example of the present invention, and is not to the present invention The restriction of embodiment.For those of ordinary skill in the field, it can also be made on the basis of the above description The change or variation of its multi-form.There is no need to be exhaustive to all of embodiment.And these belong to this Obvious change that bright spirit is extended out or among changing still in protection scope of the present invention.

Claims (1)

1. a kind of planing method of ship conflict Resolution, it is characterised in that including following several steps：

1. the ship of each ship that it is speculated in each sampling instant in future time period is obtained by maritime traffic control centre Track；

2. in each sampling instant, based on the current running status of ship 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 ship of the running status based on each ship and setting need to meet when running in marine site Full rule set, when being possible to occur violating the situation of safety regulation between ship, to its dynamic behaviour implementing monitoring and for marine Traffic control center provides timely warning information；

4. when warning information occurs, on the premise of ship physical property and marine site traffic rules is met, by setting optimization Target function and wind field variable value is incorporated, rolling rule are carried out to ship collision avoidance track using Model Predictive Control Theory method Draw, and program results is transferred to into each ship and perform, its detailed process is as follows：

4.1) termination reference point locations P, collision avoidance policy control time domain Θ, the trajectory predictions time domain of ship collision avoidance trajectory planning are set W；

4.2) on the premise of being set in given optimizing index function, based on cooperative collision avoidance trajectory planning thought, by each Ship gives different weight and incorporates real-time wind field variable filtering numerical value, obtains collision avoidance track and the collision avoidance control of each ship Program results is simultaneously transferred to each ship execution, and each ship only implements its first optimization in Rolling Planning is spaced by system strategy Control strategy；

4.3) in next sampling instant, repeat step 4.2 is until each ship reaches it and frees terminal；

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

2.1) stop position of ship is set as track reference coordinate origin and set up axis of abscissas and vertical coordinate in the horizontal plane Axle；

2.2) when ship is in straight running condition and at the uniform velocity turning running status, marine site wind field linear filtering model x is built₁ (t+ △ t)=F (t) x₁(t)+w (t) and z (t)=H (t) x₁T ()+v (t) obtains wind field variable value, wherein △ t represent 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) represent respectively t vessel position in axis of abscissas and vertical coordinate Component on axle, v_x(t) and v_yT () represents respectively component of the t speed of the ship in metres per second on axis of abscissas and axis of ordinates, w_x(t) And w_yT () represents respectively component of the t wind field numerical value on axis of abscissas and axis of ordinates, F (t) and H (t) represents respectively shape State transfer matrix and output calculation matrix, w (t) and v (t) represents respectively system noise vector sum measurement noise vector：

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

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

When ship is in speed change turning running status, marine site wind field nonlinear filtering wave pattern x is built₁(t+ △ 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 respectively state-transition matrix and output calculation matrix, ω_a(t) and γ_aT () represents respectively turning rate and rate of acceleration：

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

Wherein：△ t represent sampling time interval,

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

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

2.3) according to the numerical value of constructed Filtering Model acquisition wind field variable.