CN109166355A - A kind of speed change avoidance system when river channel navigates by water - Google Patents
A kind of speed change avoidance system when river channel navigates by water Download PDFInfo
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- CN109166355A CN109166355A CN201810805442.1A CN201810805442A CN109166355A CN 109166355 A CN109166355 A CN 109166355A CN 201810805442 A CN201810805442 A CN 201810805442A CN 109166355 A CN109166355 A CN 109166355A
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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
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
Abstract
The invention discloses speed change avoidance systems when a kind of navigation of river channel, the sail information of acquisition object ship in real time, according to the speed of a ship or plane and course of this ship and object ship, judge whether to collide, in case of collision, then it is assumed that the object ship speed of a ship or plane and it is steady under the premise of, position can be met according to this ship is desired, the speed of a ship or plane of this ship need to only be adjusted, without changing course, collision prevention can be realized, and result can be shown on electronic chart in the way of image and/or number, it is easy to operate, quick, intuitive display.
Description
Technical field
The present invention relates to marine navigation fields, and speed change when navigating by water more particularly, to a kind of river channel avoids system
System.
Background technique
The most short of two ships can meet the time (time to closest point of approach, TCPA) and most short can meet
Distance (distance to closest point of approach, DCPA) is that two of decision ship collision danger are important
Factor, DCPA reflects the risk of collision degree between two ships and TCPA reflects the pressing degree of risk of collision between two ships.But ship
For oceangoing ship along respective Fairway navigation in navigation channel, DCPA is not the important references factor measured ship and have risk of collision.In ship
Before the turning point of navigation channel, driver needs to prejudge whether this ship can meet with object ship in turning point, and takes acceleration or subtract
The measure of speed avoids the generation of such case.
Technical staff has carried out a large amount of research work in terms of Models of Decision-making in Ship Collision Avoidance, as document [1] and [2] use base
Because of algorithm, document [3] and [4] use evolution algorithm, and document [5] and [6] use heuritic approach, these researchs are suitable for ship
The Decision of Collision Avoidance that oceangoing ship is navigated by water in open waters.In addition, also there is Decision of Collision Avoidance of some scholars to ship in Fairway navigation to do
Research, document [7] and [8] are utilized respectively ant colony and ant colony algorithm automatically generates safety of ship course line, and the safety lanes of generation are fitted
It protects for this ship speed change to object ship protects the fast Fairway navigation protected in the case of.Document [9] considers on the basis of evolution algorithm
Influence of the limited visibility to ship collision prevention track.Document [10] use time judges ship DCPA value, uses linear expansion
Algorithm approaches safety speed.
The collision prevention foundation of these above-mentioned algorithms is to make have enough safety between ship and fixture mark or static object mark
Position is met in meeting distance, the meeting for not accounting for two ships.In addition, the radar in navigation at present has the function of examination behaviour's ship, it is assumed that mesh
Mark ship is protected speed and is protected to constantly changing this ship speed of a ship or plane or course, observation the most short of two ships can meet the time (time to closest
Point of approach, TCPA) and most short meeting distance (distance to closest point of approach,
DCPA) judge the validity of measures to keep clear.But examination behaviour needed before ship by navigation experience to the quasi- speed taken and course,
The parameters such as display pattern, vector line length are configured, and operating cumbersome and last evacuation effect, there is also very big
Uncertainty, concentration of vessel is larger in port, and the changeable waters practicability in course is poor, and application effect is bad.
Traditional electronic chart or radar examination behaviour's ship function manipulation are complicated, and concentration of vessel is larger in port, the changeable water in course
Domain practicability is poor, and application effect is bad.
[1]Cheng X.and Liu Z.:Trajectory Optimization for Ship Navigation
Safety Using Genetic Annealing Algorithm.Proceedings ofICNC 2007Third
International Conference on Natural Computation,4.,385–392,2007.
[2] MC Tsou, SL Kao, CM Su.Decision Support from Genetic Algorithms for
Ship Collision Avoidance Route Planning and Alerts.Journal of Navigation,
2010, 63(1):167-182.
[3]Smierzchalski R.,Michalewicz Z.:Modelling of a Ship Trajectory in
Collision Situations at Sea by Evolutionary Algorithm,IEEE Transactions on
Evolutionary Computation.No.3Vol.4,227-241,2000.
[4]Zeng X.:Evolution of the Safe Path for Ship Navigation.Applied
Artificial Intelligence.17.,87-104,2003.
[5]Xue Y.,Lee B.S.and Han D.:Automatic Collision Avoidance of Ships.
Proceedings of the Institution of Mechanical Engineers,Part M:Journal of
Engineering for the Maritime Environment,33-46,2009.
[6]Tsou M.C.and Hsueh C.K.:The Study of Ship Collision Avoidance
Route Planning by Ant Colony Algorithm.Journal of Marine Science and
Technology. 18(5),746-756,2010a.
[7]ALazarowska.Ship’s Trajectory Planning for Collision Avoidance at
Sea Based on Ant Colony Optimisation.Journal of Navigation,2015,68(2):291-
307.
[8]A Lazarowska.Swarm Intelligence Approach to Safe Ship
Control.Polish Maritime Research,2015,22(4):34-40.
[9]R Szlapczynski.Evolutionary Planning of Safe Ship Tracks in
Restricted Visibility.Journal of Navigation,2015,68(1):39-51.
[10]Jinfen Zhang,DiZhang,XinpingYan,SteinHaugen,C.GuedesSoares.A
distributed anti-collision decision support formulation in multi-ship
encounter situations under COLREGs.Ocean Engineering,2015,105:336-348.
Summary of the invention
It is an object of the invention to overcome drawbacks described above of the existing technology, a kind of new speed change evacuation module is provided,
First according to the speed of a ship or plane and course of this ship and object ship, judge whether to collide.In case of collision, then this ship is adjusted
The speed of a ship or plane can be realized collision prevention without changing course, and result can be shown in the way of image and number in electronics
On sea chart.
To achieve the above object, technical scheme is as follows:
Speed change avoidance system when a kind of river channel navigates by water, which is characterized in that including input module, speed change evacuation meter
Calculate module and output module；
The sail information of input module this ship of real-time collecting and object ship, with collection time for 0 moment, the starting of this ship
Longitude and latitude isThe speed of a ship or plane is Vo, course Co, the starting longitude and latitude of object ship isCourse is CT, the speed of a ship or plane is
VT, the relative bearing of two ships is TB, is established using this ship as coordinate origin, and course is y-axis, and starboard direction is the coordinate of x-axis
Axis；；
It includes following calculating step that speed change, which avoids computing module:
Step S01: according to this ship of collection and the sail information of object ship, this ship and object ship are calculated in t0Moment
Distance D0,
And it will distance D0X-axis and y-axis are decomposed to, x-axis distance is X=D0SinTB, y-axis distance are Y=D0cosTB；
Step S02: this ship and object ship are calculated in t0The relative velocity V at momentr, calculation formula is
Wherein, VrxAnd VryRespectively VrIn the component of x-axis and y-axis,
Vrx=VTx-VOsinCo
Vry=VTy-VOcosCo
Wherein, VTxAnd VTyRespectively VTIn the component of x-axis and y-axis,
If Vr=0, S03 is entered step, S04 is otherwise entered step；
Step S03: V at this timer=0, i.e. this ship and object ship is opposing stationary, then two ships it is most short can meet time TCPA and
Most short meeting distance DCPA is respectively
TCPA=0, DCPA=Do
And enter step S05；
Step S04: V at this timer≠ 0, then the most short of two ships can meet time TCPA and most short meeting distance DCPA is respectively
And enter step S05；
Step S05: most short according to step S03 or step S04 two ships being calculated can meet time TCPA and most short meeting
Distance DCPA is met, judges whether to be avoided, is such as not required to be avoided, return step S01 is then set if you need to be avoided
It sets this ship and can meet accommodation point and beThe distance of point O to point O " is
It needs to adjust this ship speed of a ship or plane to following values
Wherein
A=D'o-XsinCo-YcosCo
B=XVTx+YVTy-2D'oVTx sinCo-2D'oVTy cosCo
VTx=VT sinCT
VTy=VT cosCT
According to this ship operational capacity, V' is determinedO1Or V'O2For the new speed of a ship or plane of this ship；
Output module most short can meet time TCPA, most short meeting distance for what speed change evacuation computing module was calculated
The new speed of a ship or plane V' of DCPA and this shipO1Or V'O2Output.
Further, the most short of output module output can meet time TCPA, most short meeting distance DCPA and this ship
New speed of a ship or plane V'O1Or V'O2It is exported in a manner of image and/or number to electronic chart.
It can be seen from the above technical proposal that the present invention is only by adjusting this ship speed of a ship or plane, without adjusting own ships bus,
The speed change evacuation to object ship can be completed, and provide acceleration or deceleration two schemes, operator can be according to the practical property of this ship
Energy and other factors, select one of scheme, and can realize that image is shown on electronic chart.Therefore, the present invention has
Simple and easy, significant effect, the distinguishing feature of intuitive display.
Detailed description of the invention
Fig. 1 is that situation schematic diagram is met in the meeting of a specific embodiment of the invention；
Fig. 2 is the deceleration evacuation effect diagram of a specific embodiment of the invention；
Fig. 3 is the acceleration evacuation effect diagram of a specific embodiment of the invention.
Specific embodiment
With reference to the accompanying drawing, specific embodiments of the present invention will be described in further detail.
It should be noted that in following specific embodiments, when describing embodiments of the invention in detail, in order to clear
Indicate structure of the invention Chu in order to illustrate, spy does not draw to the structure in attached drawing according to general proportion, and has carried out office
Portion's amplification, deformation and simplified processing, therefore, should be avoided in this, as limitation of the invention to understand.
In specific embodiment of the invention below, including input module, speed change evacuation computing module and output mould
Block；
The sail information of input module this ship of real-time collecting and object ship, with collection time for 0 moment, the starting of this ship
Longitude and latitude isThe speed of a ship or plane is Vo, course Co, the starting longitude and latitude of object ship isCourse is CT, the speed of a ship or plane is
VT, the relative bearing of two ships is TB, is established using this ship as coordinate origin, and course is y-axis, and starboard direction is the coordinate of x-axis
Axis；
It includes following calculating step that speed change, which avoids computing module:
Step S01: this ship and object ship are calculated in t0The distance D at moment0,
And it will distance D0X-axis and y-axis are decomposed to, x-axis distance is X=D0SinTB, y-axis distance are Y=D0cosTB
Step S02: this ship and object ship are calculated in t0The relative velocity V at momentr, calculation formula is
Wherein
Vrx=VTx-VO sinCo
Vry=VTy-VO cosCo
If Vr=0, S04 is entered step, S05 is otherwise entered step；
Step S03: V at this timer=0, i.e. this ship and object ship is opposing stationary, then two ships it is most short can meet time TCPA and
Most short meeting distance DCPA is respectively
TCPA=0, DCPA=Do
And enter step S05；
Step S04: V at this timer≠ 0, then the most short of two ships can meet time TCPA and most short meeting distance DCPA is respectively
And enter step S05；
Step S05: most short according to step S03 or step S04 two ships being calculated can meet time TCPA and most short meeting
Distance DCPA is met, judges whether to be avoided, is such as not required to be avoided, return step S01 is then set if you need to be avoided
It sets this ship and can meet accommodation point and beThe distance of point O to point O " is
This ship needs to adjust the speed of a ship or plane to lower value
Wherein
A=D'o-XsinCo-YcosCo
B=XVTx+YVTy-2D'oVTx sinCo-2D'oVTy cosCo
VTx=VT sinCT
VTy=VT cosCT
According to this ship operational capacity, V' is determinedO1Or V'O2For the new speed of a ship or plane of this ship, it is such as adjusted to V'O1, it is to accelerate evacuation,
Such as it is adjusted to V'O2, it is evacuation of slowing down.Meanwhile own ships bus CoIt remains unchanged.
Output module most short can meet time TCPA, most short meeting distance for what speed change evacuation computing module was calculated
The new speed of a ship or plane V' of DCPA and this shipO1Or V'O2Output.
The most short new speed of a ship or plane V' that can meet time TCPA, most short meeting distance DCPA and this ship of output module outputO1
Or V'O2It is exported in a manner of image and/or number to electronic chart.
For the validity of verification algorithm, write software for calculation using C Plus Plus in the present embodiment, and have chosen compared with
It is verified for typical navigation channel, the results are shown on electronic chart.Object ship keeping course and speed in experiment, this ship pass through increasing
Add or reduce speed evacuation object ship.
Fig. 3 is the area entrance of Changjiang River B routing scheme intersection, and East and West direction and north-south navigating ship are more.This ship navigates from east to west
It advances southern groove channel, 283 °, speed of a ship or plane 10kn of course, 312.9 ° of starboard orientation, distance 8n mile has one by north orientation South Airways row mesh
Ship is marked, my the most short meeting distance of ship and its ship is 0.493n mile, can meet position and be located at navigation channel intersection.To avoid and mesh
Mark ship can be met in navigation channel intersection, this ship needs to take speed change measures to keep clear, and the most short meeting of 1.0n mile is kept with its ship
Meet distance.Accommodation can be met by moving backward along own ships bus, indicated that this ship will take deceleration measure evacuation to carry out ship, moved forward
This ship can meet accommodation, indicate that this ship takes acceleration scheme evacuation to carry out ship.Experimental result is as shown in table 1, when originally lose way to
8.5kn (Fig. 2) is accelerated to 16.9kn (Fig. 3), and two ships will not can be met in navigation channel intersection, and DCPA is equal to 1n mile.
Table 1: experimental result calculates
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited to
This, anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention
And its inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (2)
- Speed change avoidance system when 1. a kind of river channel navigates by water, which is characterized in that calculate mould including input module, speed change evacuation Block and output module；The sail information of input module this ship of real-time collecting and object ship, with collection time for 0 moment, the starting longitude and latitude of this ship ForThe speed of a ship or plane is Vo, course Co, the starting longitude and latitude of object ship isCourse is CT, speed of a ship or plane VT, two ships Relative bearing be TB, establish using this ship as coordinate origin, course is y-axis, and starboard direction is the reference axis of x-axis；It includes following calculating step that speed change, which avoids computing module:Step S01: according to this ship of collection and the sail information of object ship, this ship and object ship are calculated in t0The distance D at moment0,And it will distance D0X-axis and y-axis are decomposed to, x-axis distance is X=D0SinTB, y-axis distance are Y=D0cosTB；Step S02: this ship and object ship are calculated in t0The relative velocity V at momentr, calculation formula isWherein, VrxAnd VryRespectively VrIn the component of x-axis and y-axis,Vrx=VTx-VOsinCoVry=VTy-VOcosCoWherein, VTxAnd VTyRespectively VTIn the component of x-axis and y-axis,If Vr=0, S03 is entered step, S04 is otherwise entered step；Step S03: V at this timer=0, i.e. this ship and object ship is opposing stationary, then the most short of two ships can meet time TCPA and most short meeting Meeting distance DCPA is respectivelyTCPA=0, DCPA=DoAnd enter step S05；Step S04: V at this timer≠ 0, then the most short of two ships can meet time TCPA and most short meeting distance DCPA is respectivelyAnd enter step S05；Step S05: according to step S03 or step S04 two ships being calculated it is most short can meet time TCPA and most it is short can meet away from From DCPA, judge whether to be avoided, be such as not required to be avoided, this is then arranged if you need to be avoided in return step S01 Ship can meet accommodation pointThe distance of point O to point O " isIt needs to adjust this ship speed of a ship or plane to following valuesOrWhereinA=D'o-XsinCo-YcosCoB=XVTx+YVTy-2D'oVTxsinCo-2D'oVTycosCoVTx=VTsinCTVTy=VTcosCTAccording to this ship operational capacity, V' is determinedO1Or V'O2For the new speed of a ship or plane of this ship；Output module by speed change evacuation computing module be calculated it is most short can meet time TCPA, most short meeting distance DCPA, with And the new speed of a ship or plane V' of this shipO1Or V'O2Output.
- Speed change avoidance system when 2. river channel according to claim 1 navigates by water, which is characterized in that output module output The most short new speed of a ship or plane V' that can meet time TCPA, most short meeting distance DCPA and this shipO1Or V'O2With image and/or number Mode export to electronic chart.
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