CN110188474A - Decision of Collision Avoidance method based on unmanned surface vehicle - Google Patents
Decision of Collision Avoidance method based on unmanned surface vehicle Download PDFInfo
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Abstract
The Decision of Collision Avoidance method based on unmanned surface vehicle that the present invention relates to a kind of, comprising the following steps: using unmanned surface vehicle sensory perceptual system real-time detection and acquire each target；Analysis can meet situation, judge whether there is risk of collision；Feasible collision prevention measure is calculated separately for each target there are risk of collision；Similar collision prevention measure is merged, the optimal solution of all kinds of collision prevention measures is sought；Decision of Collision Avoidance risk evaluation model is established, the value-at-risk of all kinds of collision prevention measure optimal solutions is calculated；Optimal avoidingcollis ionscheme is selected to export to execution system and real-time update according to calculated value-at-risk, until completing collision prevention process.The present invention has rational design, risk factor can be carried out to various feasible collision prevention action schemes in real time to resolve and compare, and then it obtains the smallest Decision of Collision Avoidance scheme of risk factor and is supplied to unmanned surface vehicle, to realize unmanned boat fast and safely barrier avoiding function, ensure the navigation safety of unmanned boat, and method is simple, easy to accomplish.
Description
Technical field
The invention belongs to marine navigation technical field, especially a kind of Decision of Collision Avoidance method based on unmanned surface vehicle.
Background technique
Since unmanned surface vehicle has many advantages, such as that small in size, speed is fast, independence is high, no one was injured, zone of action is wide,
Therefore, it in danger zone or can be not suitable for sending the independent execution task in region on someone naval vessel, expand sea
Application range has good cost performance, thus the attention by many countries more and more.
In marine environment complicated and changeable, unmanned surface vehicle safe navigation, smoothly complete one of each task it is important
Premise be exactly that unmanned surface vehicle can be realized autonomous collision prevention function.As one of the core technology of unmanned surface vehicle research, water
The autonomous collision prevention of face unmanned boat not only reflect to a certain extent unmanned surface vehicle intelligent level height and the water surface nobody
Ship realizes one of the key technology that discretionary security reliably navigates by water.
Currently, there are a variety of solutions for the autonomous collision prevention technology of unmanned boat, such as Radar Plotting method, Artificial Potential Field Method, obscure
Control etc., but how quantitative assessments to be carried out to obtained a variety of feasible collision prevention measures in real time, thus it is preferred that one export into
Row aid decision but always exists puzzlement.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, propose that a kind of navigation safety, method are simply and readily real
The existing Decision of Collision Avoidance method based on unmanned surface vehicle.
The present invention solves its technical problem and adopts the following technical solutions to achieve:
A kind of Decision of Collision Avoidance method based on unmanned surface vehicle, comprising the following steps:
Step 1: using unmanned surface vehicle sensory perceptual system real-time detection and acquire each target；
Step 2: analysis can meet situation, judge whether there is risk of collision；
Step 3: feasible collision prevention measure is calculated separately for each target there are risk of collision；
Step 4: similar collision prevention measure being merged, the optimal solution of all kinds of collision prevention measures is sought；
Step 5: establishing Decision of Collision Avoidance risk evaluation model, calculate the value-at-risk of all kinds of collision prevention measure optimal solutions；
Step 6: select optimal avoidingcollis ionscheme to export to execution system and real-time update according to calculated value-at-risk, until
Complete collision prevention process.
Each target includes that static-obstacle thing and dynamic can meet ship.
The sensory perceptual system includes pathfinder, AIS, laser radar, electro-optical system and video system.
The implementation method of the step 1 are as follows: the sensory perceptual system of unmanned surface vehicle carries out real-time detection, target identification, target
Orientation, distance, the speed of a ship or plane and the course information of each target are obtained after tracking and subject fusion.
The implementation method of the step 2 are as follows: according to the cycle characteristic of unmanned boat, manipulation precision and environmental parameter, calculate
Safe meeting distance SDA；According to unmanned boat operational configuration, target information, when calculating distance to closest point of approach DCPA and can meet recently
Between TCPA；The size for comparing distance to closest point of approach DCPA and safe meeting distance SDA, there are collision prevention danger if DCPA < SDA
Danger, enters step 3；Otherwise without collision prevention danger then return step 1.
The collision prevention measure includes following four seed type: deflecting is crossed on the left of target, deflecting is crossed on the right side of target, become
Speed crosses on the left of target to be crossed on the right side of target with speed change.
The implementation method of the step 4 are as follows: the operation that seeks common ground is carried out to same type of collision prevention measure, seeks all kinds of collision preventions
The optimal solution of measure.
The implementation method of the step 5 are as follows:
For static-obstacle thing, only consider that deflecting mode is avoided, then Decision of Collision Avoidance risk R are as follows:
R=| Δ C |/90 °
Ship can be met for dynamic, in conjunction with collision regulation, Meeting Situation is analyzed, if Meeting Situation is end-on or starboard
Low-angle intersects situation, then Decision of Collision Avoidance risk R are as follows:
R=w1*ΔV/Vs-w2*ΔC/90°
If Meeting Situation is that starboard wide-angle intersects situation, Decision of Collision Avoidance risk R are as follows:
R=w1*ΔV/Vs+w2*ΔC/90°
If Meeting Situation is remaining situation, unmanned boat is stand-on vessel, need not evacuation according to collision regulation；
In above-mentioned formula, Δ C is deflecting angle, and Δ V is speed change speed, and Vs is the current speed of a ship or plane of unmanned boat, and w1 and w2 are to become
The weight of speed and deflecting risk.
The advantages and positive effects of the present invention are:
The present invention has rational design, can in real time to various feasible collision prevention action schemes carry out risk factors resolve with it is right
Than, and then the smallest Decision of Collision Avoidance scheme of risk factor is obtained, and be supplied to unmanned surface vehicle, to realize that unmanned boat is quickly pacified
Full barrier avoiding function ensures the navigation safety of unmanned boat, and method is simple, easy to accomplish.The present invention passes through simulation result table
It is bright, it can accurately and reliably realize the autonomous Decision of Collision Avoidance function to dynamic static object.
Detailed description of the invention
Fig. 1 is Decision of Collision Avoidance flow chart of the invention；
Fig. 2 is that dynamic of the invention can meet Study on Trend figure；
Fig. 3 is static object Decision of Collision Avoidance simulated effect figure of the invention；
Fig. 4 is dynamic object Decision of Collision Avoidance simulated effect figure of the invention.
Specific embodiment
The embodiment of the present invention is further described below in conjunction with attached drawing.
A kind of Decision of Collision Avoidance method based on unmanned surface vehicle, as shown in Figure 1, comprising the following steps:
Step 1: using the real-time detection of unmanned boat sensory perceptual system and acquiring barrier or ship information can be met.
Unmanned boat sensory perceptual system includes pathfinder, laser radar, electro-optical system, video system, carries out real-time detection, mesh
Mark does not obtain the side of target (target refers to that static-obstacle thing or dynamic can meet ship), after target following and subject fusion
The information such as position, distance, the speed of a ship or plane, course.
In embodiment 1 as shown in Figure 3, static object is away from this ship 102m, 11.3 ° of orientation；In implementation as shown in Figure 4
In example 2, dynamic object is away from this ship 201m, 5.7 °, speed of a ship or plane 6kn of orientation, 190 ° of course.This ship is initially navigated with the 10kn speed of a ship or plane to 0 °
Row；Target waypoint is at the 300m of front.
Step 2: analysis can meet situation, judge whether there is risk of collision.
In this step, according to the cycle characteristic of unmanned boat, manipulation precision and environmental parameter, safe meeting distance is calculated
SDA；According to unmanned operational configuration, target information, distance to closest point of approach DCPA and time to closest point of approach TCPA is calculated；Compare DCPA
3 are entered step there are collision prevention danger if DCPA < SDA with the size of SDA；Otherwise without collision prevention danger then return step 1.?
In the present invention, safe meeting distance SDA takes 50 meters, and DCPA=20, the TCPA=20 of static object in embodiment 1 have collision
It is dangerous；DCPA=6.9, the TCPA=25 of dynamic object in embodiment 2, there are risks of collision.
Step 3: for there are each targets of risk of collision (barrier or dynamic can meet ship) to calculate separately feasible keep away
Touch measure.
4 seed types of collision prevention measure point: deflecting is crossed on the left of target；Deflecting is crossed on the right side of target；Speed change is left from target
It crosses side；Speed change crosses on the right side of target.Deflecting measure is only considered static object in the present embodiment 1, it should turn left 19 ° from mesh
Mark left side, which is crossed and turns right 42 °, crosses two feasible measures on the right side of a target；To dynamic object in embodiment 2, it should turn left
42 ° are crossed on the left of the target, turn right 55 ° and cross on the right side of a target, be decelerated to 4.6kn and cross three from target right side and feasible arrange
It applies and (can not be crossed on the left of target by speed change).
Step 4: similar collision prevention measure being merged, the optimal solution of all kinds of collision prevention measures is sought.
The operation that seeks common ground is carried out to same type of collision prevention measure, seeks the optimal solution of all kinds of collision prevention measures.In the present invention
In only relate to single goal, the solution of step 3 is that the optimal solution of all kinds of collision prevention measures (is handed over if multiple target collision prevention scene
Optimal solution is sought in collection processing).
Step 5: establishing Decision of Collision Avoidance risk evaluation model, calculate the value-at-risk of all kinds of collision prevention measure optimal solutions.
In this step, for static-obstacle thing, only considering that deflecting mode is avoided, Decision of Collision Avoidance risk R are as follows:
R=| Δ C |/90 °
Ship can be met for dynamic, in conjunction with collision regulation, analyze Meeting Situation (including overtaking, end-on or intersection), for example
End-on or starboard low-angle intersect situation, then Decision of Collision Avoidance risk R are as follows:
R=w1*ΔV/Vs-w2*ΔC/90°
Ship can be met for dynamic, for example starboard wide-angle intersects situation, then Decision of Collision Avoidance risk R is
R=w1*ΔV/Vs+w2*ΔC/90°
Remaining situation unmanned boat is stand-on vessel, according to collision regulation without evacuation responsibility.
Wherein, Δ C is deflecting angle；Δ V is speed change speed；Vs is the current speed of a ship or plane of unmanned boat；W1 and w2 is speed change and change
To the weight of risk, characteristic can be manipulated according to unmanned boat and determined.
It calculates according to the above method, the value-at-risk R of collision prevention measure in the present embodiment 1 is respectively as follows: to turn left 19 ° of value-at-risk R1=
0.21；Turn right 42 ° of value-at-risk R2=0.47；It is head on situation that scene is met in the meeting of the present embodiment 2, a-quadrant as shown in Figure 2, this
In be that simplification illustrates to take w1=w2=1 respectively, and after the value-at-risk R of collision prevention measure is normalized: turn left 42 ° of R1
=0.73, turn right 55 ° of R2=0.19, is decelerated to 4.6kn R3=0.23.
Step 6: being exported according to the preferably optimal avoidingcollis ionscheme of the value-at-risk of calculating, real-time update, until smoothly completing collision prevention
Process.
The collision prevention value-at-risk that this step is calculated according to step 5, the minimum avoidingcollis ionscheme output of risk of selection value.It is kept away in starting
When touching action, optimal avoidingcollis ionscheme is exported in the present embodiment 1 to turn left 19 °；Optimal avoidingcollis ionscheme is exported in embodiment 2 to turn right
55°.The present invention carries out real-time resolving according to the target information obtained in real time, to guarantee to export optimal avoidingcollis ionscheme in real time.
It is emphasized that embodiment of the present invention be it is illustrative, without being restrictive, therefore packet of the present invention
Include and be not limited to embodiment described in specific embodiment, it is all by those skilled in the art according to the technique and scheme of the present invention
The other embodiments obtained, also belong to the scope of protection of the invention.
Claims (8)
1. a kind of Decision of Collision Avoidance method based on unmanned surface vehicle, it is characterised in that the following steps are included:
Step 1: using unmanned surface vehicle sensory perceptual system real-time detection and acquire each target；
Step 2: analysis can meet situation, judge whether there is risk of collision；
Step 3: feasible collision prevention measure is calculated separately for each target there are risk of collision；
Step 4: similar collision prevention measure being merged, the optimal solution of all kinds of collision prevention measures is sought；
Step 5: establishing Decision of Collision Avoidance risk evaluation model, calculate the value-at-risk of all kinds of collision prevention measure optimal solutions；
Step 6: selecting optimal avoidingcollis ionscheme to export to execution system and real-time update according to calculated value-at-risk, until completing
Collision prevention process.
2. the Decision of Collision Avoidance method according to claim 1 based on unmanned surface vehicle, it is characterised in that: each target packet
Ship can be met by including static-obstacle thing and dynamic.
3. the Decision of Collision Avoidance method according to claim 1 based on unmanned surface vehicle, it is characterised in that: the sensory perceptual system
Including pathfinder, AIS, laser radar, electro-optical system and video system.
4. the Decision of Collision Avoidance method according to claim 1 or 2 or 3 based on unmanned surface vehicle, it is characterised in that: the step
Rapid 1 implementation method are as follows: the sensory perceptual system of unmanned surface vehicle carries out real-time detection, target identification, target following and target and melts
Orientation, distance, the speed of a ship or plane and the course information of each target are obtained after conjunction.
5. the Decision of Collision Avoidance method according to claim 1 or 2 or 3 based on unmanned surface vehicle, it is characterised in that: the step
Rapid 2 implementation method are as follows: according to the cycle characteristic of unmanned boat, manipulation precision and environmental parameter, calculate safe meeting distance
SDA；According to unmanned boat operational configuration, target information, distance to closest point of approach DCPA and time to closest point of approach TCPA is calculated；Compare most
The size of nearly meeting distance DCPA and safe meeting distance SDA enter step 3 there are collision prevention danger if DCPA < SDA；
Otherwise without collision prevention danger then return step 1.
6. the Decision of Collision Avoidance method according to claim 1 or 2 or 3 based on unmanned surface vehicle, it is characterised in that: described to keep away
The measure of touching includes following four seed type: deflecting is crossed on the left of target, deflecting is crossed on the right side of target, speed change is sailed on the left of target
It crosses and speed change crosses on the right side of target.
7. the Decision of Collision Avoidance method according to claim 1 or 2 or 3 based on unmanned surface vehicle, it is characterised in that: the step
Rapid 4 implementation method are as follows: the operation that seeks common ground is carried out to same type of collision prevention measure, seeks the optimal solution of all kinds of collision prevention measures.
8. the Decision of Collision Avoidance method according to claim 1 or 2 or 3 based on unmanned surface vehicle, it is characterised in that: the step
Rapid 5 implementation method are as follows:
For static-obstacle thing, only consider that deflecting mode is avoided, then Decision of Collision Avoidance risk R are as follows:
R=| Δ C |/90 °
Ship can be met for dynamic, in conjunction with collision regulation, Meeting Situation is analyzed, if Meeting Situation is end-on or the small angle of starboard
Degree intersects situation, then Decision of Collision Avoidance risk R are as follows:
R=w1*ΔV/Vs-w2*ΔC/90°
If Meeting Situation is that starboard wide-angle intersects situation, Decision of Collision Avoidance risk R are as follows:
R=w1*ΔV/Vs+w2*ΔC/90°
If Meeting Situation is remaining situation, unmanned boat is stand-on vessel, need not evacuation according to collision regulation；
In above-mentioned formula, Δ C is deflecting angle, and Δ V is speed change speed, and Vs is the current speed of a ship or plane of unmanned boat, w1 and w2 be speed change and
The weight of deflecting risk.
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| CN112099501A (en) * | 2020-09-15 | 2020-12-18 | 哈尔滨工程大学 | Unmanned ship path planning method based on potential field parameter optimization |
| CN112542064A (en) * | 2019-09-23 | 2021-03-23 | 廖秉军 | Dynamic collision avoidance method for fast moving object and slow moving object |
| CN113436467A (en) * | 2021-06-23 | 2021-09-24 | 中国船舶重工集团公司第七0七研究所 | Collision avoidance decision method for unmanned surface vehicle in river course navigation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112542064A (en) * | 2019-09-23 | 2021-03-23 | 廖秉军 | Dynamic collision avoidance method for fast moving object and slow moving object |
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| CN113436467A (en) * | 2021-06-23 | 2021-09-24 | 中国船舶重工集团公司第七0七研究所 | Collision avoidance decision method for unmanned surface vehicle in river course navigation |
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Application publication date: 20190830 |