CN110398962B - Ship collision prevention method for open water area - Google Patents
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- 230000002265 prevention Effects 0.000 title abstract description 5
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- 241000722826 Ardisia Species 0.000 description 2
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Abstract
The invention relates to a collision prevention method for ships in open water, which comprises the following steps: establishing a collision circle according to the speed and the distance of the two ships, wherein the collision circle refers to a set of all possible collision points of the two ships; extending course lines of the two ships, wherein points where the two course lines intersect with the collision circle are used as possible collision points; respectively taking all the possible collision points as circle centers, setting distance parameters as radii to make circles, and forming a circular possible collision point distribution model; the course of one ship is moved away from the model of the possible collision points of the other ship. The invention can avoid complex function calculation.
Description
Technical Field
The invention relates to the technical field of ship collision avoidance, in particular to a ship collision avoidance method for an open water area.
Background
The ship collision avoidance follows four main steps of observation, judgment, action and verification, and through research and analysis of multiple ship collision accidents, more than 80% of collision accidents are caused by human negligence which often occurs in two steps of observation and judgment, particularly in open water, the collision accidents are more easily caused by negligence due to the influence of navigation environment. Therefore, the human negligence is reduced through modern equipment and technical means, and the method is an effective measure for reducing the collision accidents.
In order to more intuitively reveal the current collision risk situation of the ship and possible avoidance measures, the ARPA of the SPERRY system originally proposed a concept of predicting a dangerous area (PAD), which can safely pass through the bow or stern of the target ship as long as the bow line of the ship avoids the PAD area when the target ship keeps the speed and the ship keeps the speed. However, the PAD forming process involves complex function calculation, different avoidance effects generated by different schemes cannot be evaluated, and decision making in complex situations is inconvenient.
Disclosure of Invention
The invention aims to provide a ship collision avoidance method for an open water area, which can avoid complex function calculation.
The technical scheme adopted by the invention for solving the technical problems is as follows: the ship collision avoiding method for the open water area comprises the following steps:
(1) establishing a collision circle according to the speed and the distance of the two ships, wherein the collision circle refers to a set of all possible collision points of the two ships;
(2) extending course lines of the two ships, wherein points where the two course lines intersect with the collision circle are used as possible collision points;
(3) respectively taking all the possible collision points as circle centers, setting distance parameters as radii to make circles, and forming a circular possible collision point distribution model;
(4) The course of one ship is moved away from the model of the possible collision points of the other ship.
When the collision circle is established in the step (1), the position of one ship is taken as the origin of coordinates, the position coordinates of the other ship are (-a,0), and the center of the collision circle is taken as the center of a circle
Radius of
Where k is the velocity ratio of the ship whose position coordinate is (-a,0) to the ship whose position is the origin of coordinates.
When the speeds of the two ships are the same, the circle center of the collision circle is infinitely far away from the origin of coordinates, the radius is infinitely long, and at the moment, the set of all possible collision points of the two ships is a perpendicular bisector of a connecting line of the two ships.
In the step (2), the ship with the higher speed in the two ships is positioned outside the collision circle, the intersection points of the course lines and the collision circle are 0-2, the ship with the lower speed in the two ships is positioned in the collision circle, and one intersection point is arranged between the course line and the collision circle.
The method further comprises a step of evaluating possible collision points of the two ships between the step (2) and the step (3), and specifically comprises the following steps: when the respective possible collision points of the two ships overlap with each other, it indicates that the two ships will collide at the overlapped possible collision points; when the distance between the possible collision points of the two ships is smaller than a first threshold value, the two ships are indicated to have collision danger; when the distance between the possible collision points of the two ships is larger than a second threshold value, the two ships are not in collision danger; when the possible collision points of the two ships are positioned on two sides of the connecting line of the two ships, the situation is obvious; when the ship with the higher speed in the two ships does not have an intersection point with the collision circle, the ship with the lower speed does not have the capability of catching up the ship with the higher speed, and the collision cannot be generated.
Advantageous effects
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects: the collision avoidance model is constructed according to the principle of the circle of Ardisia, can dynamically analyze various situations of the ship, and avoids the calculation of complex functions.
Drawings
FIG. 1 is a schematic view of a collision circle constructed in accordance with the present invention;
FIG. 2 is a schematic diagram of the possible collision points for two vessels of the present invention, wherein (a) the fast vessel generates 0 possible collision points, (b) the fast vessel generates 1 possible collision point, (c) the fast vessel generates 2 possible collision points, and (d) the slow vessel generates 1 possible collision point;
fig. 3 is a schematic diagram of the evaluation of the possible collision points of two ships in the invention, wherein (a) collision, (b) collision risk exists, (c) collision risk does not exist, (d) situation is obvious, and (e) no intersection point exists between a fast ship and a collision circle.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
The embodiment of the invention relates to a collision avoidance method for ships in open water, which comprises the following steps: establishing a collision circle according to the speed and the distance of the two ships, wherein the collision circle refers to a set of all possible collision points of the two ships; extending course lines of the two ships, wherein points where the two course lines intersect with the collision circle are used as possible collision points; respectively taking all the possible collision points as circle centers, setting distance parameters as radii to make circles, and forming a circular possible collision point distribution model; the course of one ship is moved away from the model of the possible collision points of the other ship.
In the present embodiment, when a collision circle is established, as shown in fig. 1, let the position of the ship B be the origin of coordinates, the coordinate of the position of the ship a be (-a,0), the coordinate of the possible collision point P be (x, y), and the equation of the collision circle be: (k) 2 -1)(x 2 +y 2 )+2ax-a 2 When the radius of the collision circle is 0
The coordinate of the center of a circle is
Assuming that the distance from the ship a to the possible collision point P is S1 and the distance from the ship B to the possible collision point P is S2, S1/S2 is k. S1 is the voyage of the ship a in a certain time t, and S2 is the voyage of the ship B in the same time t. Substituting S into V t and substituting S1/S2 into k to obtain V A /V B ＝k。
When k is more than 1, the speed of the ship A is higher than that of the ship B; when k is 1, the set of possible collision points P is a perpendicular bisector of the AB connecting line; when k is less than 1, the speed of the ship A and the speed of the ship B are interchanged, and the principle is the same. The present embodiment can explain the correlation change rule by analyzing only the case where k > 1.
According to the formula of the center and the radius of the collision circle, the following can be known:
1) the circle center coordinate and the radius of the collision circle are related to the distance D between the two ships and the speed ratio k, and are unrelated to the course.
2) The closer k is to 1, the farther the center of the circle is, the larger the radius is. When the speed of the two ships is changed, the speed ratio is changed, and if the speed ratio is increased, the circle center distance and the radius are reduced; the speed ratio is reduced, and the circle center distance and the radius are increased. When k is in an infinite state, the radius of the collision circle gradually shrinks to 0, namely the position of the ship B; when k is 1, the set of possible collision points is the perpendicular bisector of the AB connecting line; when k is less than 1, the ship A and the ship B are switched between fast and slow ships, and the collision circle is positioned on one side of the ship A.
3) When the speed ratio k is unchanged, the circle center distance and the radius are in direct proportion to the distance between the two ships. The distance between the centers of the collision circles and the radius of the collision circles become smaller gradually when the two ships meet.
4) The circle center of the collision circle is positioned at one side of the slow ship connected with the two ships, when the fast ship changes relative to the slow ship in direction, namely when one ship passes through the bow line of the other ship, the collision circle rotates along with the fast ship, and the slow ship cuts the arc of the collision circle to change.
5) As shown in fig. 2, the ship a is a fast ship and is located outside the collision circle, and the intersection points of the course line of the ship a and the collision circle can be 0-2 (hereinafter, denoted by E and F); the ship B is a slow ship and is positioned in the collision circle, and the intersection point of the course line of the ship B and the collision circle is only 1 (denoted by M in the following). Wherein, the intersection point of the course lines of the two ships and the collision circle is the possible collision point.
The collision circle is a set of all possible collision points (a perpendicular bisector of a connecting line of two ships at a constant speed), and is characterized in that all possibilities are exhausted by a simple formula, and the effects of comprehensive and rapid evaluation and decision can be achieved by analyzing the collision circle and establishing a collision avoidance model.
According to the generation rule of the collision circle and the possible collision points, if the possible collision points of the two ships are overlapped, the two ships are shown to collide at the overlapped possible collision points; if the possible collision points of the two ships are close, the collision danger of the two ships is indicated. Whether the collision points are reasonably distributed or not plays an important role in whether the two ships collide or not. And establishing a model according to the above, judging whether the possible collision points are reasonably distributed, and evaluating whether a decision scheme is effective. In the embodiment, all the possible collision points are taken as the circle centers, the distance parameter is set as the radius to make a circle, so that a circular possible collision point distribution model is formed, and collision can be effectively avoided only by keeping the course line of one ship away from the possible collision point distribution model of the other ship during collision avoidance.
In order to improve efficiency, the method also evaluates the possible collision points of the two ships before establishing the possible collision point distribution model. And meanwhile, possible collision points generated by the two ships are analyzed, so that the current situation of the two ships can be more comprehensively evaluated, the collision prevention effect corresponding to each course can be estimated, and the collision prevention problem is converted into the distribution problem of the possible collision points of the two ships. When the distribution problem of the possible collision points of two ships is used for evaluating the local area, as shown in fig. 3, the following situations can be distinguished:
1) When the possible collision points of the two ships are overlapped (when the collision points are overlapped, the collision points are represented by N), the two ships collide at the overlapped PPC points;
2) when the distance between the possible collision points of the two ships is close, the collision danger is shown;
3) when the distance between the possible collision points of the two ships is long, the radian is large, and the distance is far away from the course line of the opposite ship, the collision danger does not exist;
4) the possible collision points of the two ships are positioned at two sides of the connecting line of the two ships, and the situation is obvious;
5) when the a ship (fast ship) of the two ships does not intersect with the collision circle, it indicates that the B ship does not have the ability to catch up with the a ship and no collision occurs.
After the possible collision points of the two ships are evaluated, a possible collision point distribution model can be established for the three cases 1) to 3), and collision avoidance operation is not needed for the other two cases because the possibility of collision does not exist.
The collision avoidance model is constructed according to the principle of circle of Ardisia, can dynamically analyze various situations of the ship, and avoids the calculation of complex functions.
Claims (4)
1. A collision avoidance method for ships in open water is characterized by comprising the following steps:
(1) establishing a collision circle according to the speed and the distance of the two ships, wherein the collision circle refers to a set of all possible collision points of the two ships;
(2) The course lines of the two ships are prolonged, and the point where the two course lines intersect with the collision circle is used as a possible collision point;
(3) respectively taking all possible collision points as circle centers, setting distance parameters as radii to make circles, and forming a circular possible collision point distribution model;
(4) moving the course of one vessel away from the model of likely collision point distribution for the other vessel;
wherein, the step (2) and the step (3) further comprise a step of evaluating possible collision points of the two ships, and the steps specifically comprise: when the respective possible collision points of the two ships overlap with each other, it indicates that the two ships will collide at the overlapped possible collision points; when the distance between the possible collision points of the two ships is smaller than a first threshold value, the two ships are indicated to have collision danger; when the distance between the possible collision points of the two ships is larger than a second threshold value, the two ships are not in collision danger; when the possible collision points of the two ships are positioned on two sides of the connecting line of the two ships, the situation is obvious; when the ship with the higher speed in the two ships does not have an intersection point with the collision circle, the ship with the lower speed does not have the capability of catching up the ship with the higher speed, and the collision cannot be generated.
2. The open water ship collision avoidance method according to claim 1, wherein the collision circle is established in step (1), the position of one ship is taken as the origin of coordinates, the position of the other ship is taken as (-a,0), and the center of the collision circle is taken as the center of the circle 
Radius of
Where k is the velocity ratio of the ship whose position coordinate is (-a,0) to the ship whose position is the origin of coordinates.
3. The method of claim 2, wherein when the two ships have the same speed, the center of the collision circle is infinitely far from the origin of coordinates and the radius is infinitely long, and the set of all possible collision points of the two ships is the perpendicular bisector of the connecting line of the two ships.
4. The open water ship collision avoidance method according to claim 1, wherein in the step (2), the faster of the two ships is located outside the collision circle, the intersection points of the course line and the collision circle are 0-2, and the slower of the two ships is located inside the collision circle, and there is one intersection point of the course line and the collision circle.
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| CN110377037A (en) * | 2019-07-12 | 2019-10-25 | 中海电信有限公司 | A kind of open waters ship emergency collision avoidance system |
| CN113176777B (en) * | 2021-03-16 | 2023-11-03 | 深圳市人工智能与机器人研究院 | Automatic sailing ship running monitoring method, device, equipment and readable storage medium |
| CN113511306B (en) * | 2021-09-15 | 2021-11-23 | 启东中远海运海洋工程有限公司 | Crude oil transfer barge based power positioning method for crude oil conveying system |
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| CN105185162A (en) * | 2015-10-26 | 2015-12-23 | 中国电子科技集团公司第二十八研究所 | AIS information-based multi-target anti-collision warning method |
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| CN105185162A (en) * | 2015-10-26 | 2015-12-23 | 中国电子科技集团公司第二十八研究所 | AIS information-based multi-target anti-collision warning method |
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| 三峡库区高速船避碰中雷达使用技术探讨;谭志荣;《航海工程》;20041231;全文 * |
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