CN110415561B - Non-conflict meeting situation analysis method for ship cluster situation - Google Patents
Non-conflict meeting situation analysis method for ship cluster situation Download PDFInfo
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- CN110415561B CN110415561B CN201910516641.5A CN201910516641A CN110415561B CN 110415561 B CN110415561 B CN 110415561B CN 201910516641 A CN201910516641 A CN 201910516641A CN 110415561 B CN110415561 B CN 110415561B
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Abstract
The embodiment of the disclosure relates to a method for analyzing a ship cluster situation under a non-conflict meeting situation, which comprises the following steps: dividing a sensing area of a target ship into a plurality of virtual dynamic grids from outside to inside under a non-conflict meeting situation; selecting a representative ship in the virtual dynamic grid, wherein the representative ship is used for representing the macroscopic traffic condition in the dynamic grid area; describing the acting force of the representative ship to the target ship in the virtual dynamic grid through the acting granularity; grading by combining fuzzy logic rules with action granularity to obtain the acting force of the target ship on the interfered ship; and merging and reducing the virtual dynamic grids according to the merging of the acting forces. The method of the present disclosure describes the acting force of a target vessel within a virtual dynamic grid using the acting granularity; and analyzing the action granularity of the representative ship on the target ship in the virtual dynamic grid area, merging and reducing, providing accurate sensing information for collision avoidance decision of the unmanned ship and selection of the next sailable area, and improving sailing safety.
Description
Technical Field
The disclosure relates to the technical field of ships, in particular to a ship cluster situation analysis method in a non-conflict meeting situation.
Background
The intelligent unmanned ship is an unmanned ship and has autonomous navigation, an intelligent engine room, energy efficiency management, cargo transportation and an intelligent integrated platform, the technology integrates the technologies of ship, communication, automation, robot control, remote monitoring, networking systems and the like, and the functions of autonomous navigation, intelligent obstacle avoidance and the like can be realized. Compared with a manned ship, the intelligent unmanned ship has the advantages of high safety coefficient, economy, environmental protection, energy conservation and the like. The path planning of the intelligent unmanned ship is the core content of the intelligent unmanned ship autonomous navigation system.
The ship cluster situation refers to the state and situation formed by deployment and behaviors of all traffic entities in the sensing area of the unmanned ship and comprises all information which can be sensed by the traffic entities. The situation analysis of the intelligent unmanned ship cluster is the premise and the basis of collision avoidance decision and is an important component of perception and cognition of the intelligent unmanned ship. The existing research on ship meet lacks the research on ship cluster situation under the conflict meet situation, lacks accuracy and comprehensiveness, and cannot meet the requirements of efficient and autonomous navigation of unmanned ships.
Based on the above, the existing analysis of the meeting situation of the ship still has the defects.
The above drawbacks are expected to be overcome by those skilled in the art.
Disclosure of Invention
Technical problem to be solved
In order to solve the above problems in the prior art, the present disclosure provides a method for analyzing a ship cluster situation under a non-conflict meeting situation, which enables an intelligent unmanned ship to comprehensively recognize a complex navigation environment under the non-conflict meeting situation, and improves navigation safety.
(II) technical scheme
In order to achieve the above purpose, the present disclosure adopts a main technical solution including:
an embodiment of the present disclosure provides a method for analyzing a situation of a ship cluster in a non-conflict meeting situation, including:
dividing a sensing area of a target ship into a plurality of virtual dynamic grids from outside to inside under a non-conflict meeting situation;
selecting a representative interfering vessel within the virtual dynamic grid, the representative interfering vessel to represent macroscopic traffic conditions within the dynamic grid area;
describing the acting force of the representative interference ship on the target ship through action granularity in the virtual dynamic grid;
grading by combining a fuzzy logic rule with the action granularity to obtain the acting force of the representative interfered ship of the target ship;
and combining and reducing the virtual dynamic grids according to the combination of the acting forces.
In an embodiment of the present disclosure, the non-conflict meeting situation includes: parallel encounters and departures from driving.
In an embodiment of the present disclosure, in a non-conflict meeting situation, before dividing a sensing area of a target ship from outside to inside into a plurality of virtual dynamic grids, the method further includes:
acquiring motion parameters of an interfering ship and a target ship, wherein the motion parameters at least comprise: position, speed, and heading;
and calculating the relative speed, the relative speed direction, the relative distance, the azimuth angle of the interference ship on the target ship, the relative azimuth of the interference ship relative to the target ship, the safe meeting distance and the minimum meeting distance of the interference ship and the target ship according to the motion parameters.
In an embodiment of the present disclosure, dividing the sensing area of the target vessel into a plurality of virtual dynamic grids from outside to inside in the non-conflict meeting situation includes:
taking the central position of the target ship as the center of a circle, and respectively taking the critical relative distances of 6 nautical miles, 3 nautical miles and 1 nautical miles as the radius to form a circular area, wherein the circular area with the radius of 6 nautical miles is the sensing area of the target ship;
dividing a sensing area of the target ship into eight subareas, namely a left front side, a right rear side, a left rear side and a right left side, and dividing each subarea into three dynamic grid areas according to the critical relative distance;
and respectively representing a weak influence area, a strong influence area and a collision area from outside to inside according to the critical relative distance, and dividing the weak influence area and the strong influence area into 16 virtual dynamic grids by combining the eight subareas.
In an embodiment of the present disclosure, the method further includes:
dividing the ship cluster situation of the target ship into four layers, wherein the four layers are respectively as follows: the non-confliction ship layer, the angle cross confliction layer, the parallel non-confliction layer and the driving-off non-confliction layer.
In an embodiment of the present disclosure, the selecting a representative interfering vessel within the virtual dynamic grid, the representative interfering vessel being used to represent macro traffic conditions within the dynamic grid area includes:
when at least two interference boats exist in the area of the virtual dynamic grid, selecting an interference boat which has the largest influence on the target boat in the area of the virtual dynamic grid as a representative interference boat, wherein the representative interference boat is a navigation entity representative and is used for reflecting the macro traffic condition of the area of the virtual dynamic grid.
In an embodiment of the present disclosure, the selecting, as a representative interfering ship, an interfering ship having the largest influence on the target ship in the area of the virtual dynamic grid includes:
if the density of the ships in the area of the virtual dynamic grid is small and the area can provide a large space for a target ship to sail, taking an interference ship with the smallest relative distance from the target ship in the area of the virtual dynamic grid as the representative interference ship;
if the ship density in the area of the virtual dynamic grid is large, a plurality of interference ships exist, and when the area of the virtual dynamic grid has connectivity, the gravity center of a polygon formed by all the interference ships and a target ship in the area is taken as a representative interference ship, wherein the motion parameter of the representative interference ship is consistent with the interference ship with the minimum relative distance from the target ship;
if the ship density in the area of the virtual dynamic grid is large, a plurality of interference ships exist, and when the area of the virtual dynamic grid does not have connectivity, the area center point of the virtual dynamic grid is virtualized to represent the interference ships;
and if no interfering ship exists in the area of the virtual dynamic grid, supplementing a navigation entity representative according to a preset rule to obtain the representative interfering ship.
In an embodiment of the present disclosure, describing, in the virtual dynamic grid, the acting force passing granularity of the representative interfering vessel on the target vessel includes:
the representation of the forces of the interfering vessel on the target vessel comprises: strong repulsion, middle repulsion, weak repulsion, zero, weak attraction, middle attraction or strong attraction, and the corresponding action granularity is [ -1, -0.7), [ -0.7, -0.3), [ -0.3, -0), 0, (0,0.3], (0.3,0.7], (0.7, 1) respectively.
In an embodiment of the present disclosure, the scoring by using a fuzzy logic rule in combination with the action granularity to obtain the acting force of the representative interfered ship of the target ship includes:
in the virtual dynamic grid, fuzzy logic rules are adopted to carry out fuzzy reasoning on the ship cluster situation under the non-conflict meeting situation;
when the fuzzy variable is the relative distance, a fuzzy logic rule is utilized to obtain a fuzzy set of the relative distance as { near, medium and far }, wherein a threshold value from 'near' to 'near' in the fuzzy set of the relative distance is a first threshold value, a threshold value from 'medium' to 'far' in the fuzzy set of the relative distance is a fourth threshold value, and the fourth threshold value is 4 times of the first threshold value.
In an embodiment of the present disclosure, the merging and reducing the virtual dynamic mesh according to the merging of the acting forces includes:
combining the acting force of the strong influence area and the weak influence area on the target ship in one of the eight subareas to obtain the acting force of the target ship in the subareas;
combining the acting force of the target ship in two subareas of the right left side and the left front side of the target ship to obtain the cooperative acting force of the left area of the target ship;
and combining the acting force of the target ship in two subareas of the right side and the right front side of the target ship to obtain the cooperative acting force of the right side area of the target ship.
(III) advantageous effects
The beneficial effects of this disclosure are: the ship cluster situation analysis method under the non-conflict meeting situation, provided by the embodiment of the disclosure, divides a sensing area of a target ship under the non-conflict meeting situation, and describes an acting force of the target ship in a virtual dynamic grid by using an acting granularity; under the situation of non-conflict meeting, the action granularity calculation of a representative interference ship on a target ship in a certain virtual dynamic grid area is taken as an example to analyze the sensing area, and each subarea is merged and reduced, so that more accurate sensing and cognitive information can be provided for collision avoidance decision of the intelligent unmanned ship and selection of the next navigable area, and the navigation safety is improved.
Drawings
Fig. 1 is a flowchart of a method for analyzing a situation of a ship cluster in a non-conflict meeting situation according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a model for calculating ship motion parameters according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a situation hierarchy of a ship cluster in which a target ship is located in one embodiment of the present disclosure;
FIG. 4 is a flowchart illustrating step S110 in FIG. 1 according to an embodiment of the disclosure;
FIG. 5 is a schematic diagram of a non-conflicting situation of a ship cluster after calibration according to an embodiment of the present disclosure;
FIG. 6 is a graph of membership functions for relative distances in an embodiment of the present disclosure;
fig. 7 is a schematic diagram illustrating a distribution of the forces of interfering vessels around a target vessel in a vessel cluster situation according to an embodiment of the present disclosure;
fig. 8 is a reduced ship cluster situation type diagram in an embodiment of the present disclosure.
Detailed Description
For the purpose of better explaining the present disclosure, and to facilitate understanding thereof, the present disclosure will be described in detail below by way of specific embodiments with reference to the accompanying drawings.
All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used herein in the description of the disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Fig. 1 is a flowchart of a method for analyzing a ship cluster situation in a non-conflict meeting situation according to an embodiment of the present disclosure, as shown in fig. 1, the method includes the following steps:
as shown in fig. 1, in step S110, under the non-conflict meeting situation, the sensing area of the target ship is divided into a plurality of virtual dynamic grids from outside to inside;
as shown in fig. 1, in step S120, a representative interfering ship is selected in the virtual dynamic grid, where the representative interfering ship is used to represent the macro traffic condition in the dynamic grid area;
as shown in fig. 1, in step S130, the acting force of the representative interfering ship on the target ship is described by the acting granularity in the virtual dynamic grid;
as shown in fig. 1, in step S140, a fuzzy logic rule is used to perform scoring in combination with the action granularity, so as to obtain an action force of the representative interfering ship on the target ship;
as shown in fig. 1, in step S150, the virtual dynamic mesh is merged and reduced according to the merging of the forces.
The specific implementation of the steps of the embodiment shown in fig. 1 is described in detail below:
in step S110, under the non-conflict meeting situation, the sensing area of the target vessel is divided into a plurality of virtual dynamic grids from outside to inside.
In an embodiment of the present disclosure, the non-conflict meeting situation includes: parallel meeting and driving off meeting specifically are: parallel encounter between marine vessels (encounter with parallel course of two vessels) and drive-off encounter (course of one vessel away from the other) are defined as non-collision encounters.
In an embodiment of the present disclosure, in a non-conflict meeting situation, before dividing a sensing area of a target ship from outside to inside into a plurality of virtual dynamic grids, the method further includes: and acquiring motion parameters of the ship, and calculating relevant parameters required by ship cluster situation analysis.
Firstly, acquiring motion parameters of an interfering ship and a target ship according to navigation aid equipment, wherein the motion parameters at least comprise: location, speed, and heading. For example, a coordinate system is established by taking the central position of the target ship as a coordinate origin, the east longitude direction as the positive direction of an x axis and the north latitude direction as the positive direction of a y axis, and the initial position of the target ship is assumed to be (x)0,y0) Velocity v0The course direction is alpha; the position of the interference ship is (x)b,yb) Velocity vbThe heading is β. Fig. 2 is a schematic diagram of a ship motion parameter calculation model in an embodiment of the present disclosure, and as shown in fig. 2, positions, speeds, headings, relative distances, and the like of a target ship and an interfering ship are labeled.
Secondly, calculating the relative speed, the relative speed direction, the relative distance, the azimuth angle of the interference ship on the target ship, the relative azimuth of the interference ship relative to the target ship, the safe meeting distance and the minimum meeting distance of the interference ship and the target ship according to the motion parameters, and specifically:
calculating the component v of the speed of the target ship on the x and y axes according to the following formula0x、v0y；
Calculating the component v of the speed of the interfering ship on the x and y axes according to the following formulabx、vby；
The component of the relative speed of the two ships on the x and y axes is calculated according to the following formulaQuantity vb0x、vb0y；
Calculating the relative speed of the two ships according to the following formula;
calculating the relative speed directions of the two ships according to the following formula;
calculating the relative distance between the two ships according to the following formula;
calculating the azimuth angle of the interference ship relative to the target ship according to the following formula;
calculating the relative orientation of the interfering vessel with respect to the target vessel according to the following formula;
calculating the safe meeting distance of the target ship relative to the interference ship according to the following formula;
calculating the minimum meeting distance of the two ships according to the following formula;
dividing the ship cluster situation of the target ship into four layers, wherein the four layers are respectively as follows: the non-confliction ship layer, the angle cross confliction layer, the parallel non-confliction layer and the driving-off non-confliction layer. Therefore, after the parameters are obtained, the ship is taken as a target ship, other ships are taken as interfering ships, the sensing area of the target ship is divided into sixteen dynamic grid areas, and ship encounter layers are represented, fig. 3 is a layered schematic diagram of a ship cluster situation where the target ship is located in one embodiment of the disclosure, and as shown in fig. 3, a ship layer without encounter and a cross encounter layer are respectively shown.
Referring to the schematic diagram shown in fig. 3, fig. 4 is a flowchart of step S110 in fig. 1 according to an embodiment of the disclosure, and as shown in fig. 4, the method includes the following steps:
in step S401, a circular area is formed by taking the central position of the target vessel as the center of a circle and taking the critical relative distances of 6 nautical miles, 3 nautical miles and 1 nautical miles as the radius, where the circular area with the radius of 6 nautical miles is the sensing area of the target vessel.
In step S402, the sensing area of the target ship is divided into eight sub-areas, i.e., a left front side, a right rear side, a left rear side, and a right left side, and each sub-area is divided into three dynamic mesh areas according to the critical relative distance.
In step S403, the sensing area of the target vessel represents a weak influence area, a strong influence area, and a collision area from outside to inside according to the critical relative distance, and the weak influence area and the strong influence area are divided into 16 virtual dynamic grids in combination with the eight sub-areas.
Taking FIG. 3 as an example, make circles O in 6 nautical miles, 3 nautical miles and 1 nautical miles respectively1、O2、O3The outermost circle O1The sensing area of the target ship in the ship cluster situation is divided into eight subareas, namely a left front side subarea, a right rear side subarea, a left rear side subarea and a right left side subarea, each subarea is divided into three dynamic grid areas, and the dynamic grid areas respectively represent a weak influence area, a strong influence area and a collision area from outside to inside.
In step S120, a representative interfering vessel is selected within the virtual dynamic grid, the representative interfering vessel being configured to represent macro traffic conditions within the dynamic grid area.
In an embodiment of the present disclosure, in this step, when at least two interfering ships exist in the area of the virtual dynamic grid, an interfering ship that has the largest influence on the target ship in the area of the virtual dynamic grid is selected as a representative interfering ship, where the representative interfering ship is a navigation entity representative and is used to represent a macro traffic condition in the area of the virtual dynamic grid.
Selecting an interference ship with the largest influence on the target ship in the area of the virtual dynamic grid as a representative interference ship, wherein the step of selecting the interference ship comprises the following steps:
if the density of the ships in the area of the virtual dynamic grid is small and the area can provide a large space for a target ship to sail, taking an interference ship with the smallest relative distance from the target ship in the area of the virtual dynamic grid as the representative interference ship;
if the ship density in the area of the virtual dynamic grid is large, a plurality of interference ships exist, and when the area of the virtual dynamic grid has connectivity, the gravity center of a polygon formed by all the interference ships and a target ship in the area is taken as a representative interference ship, wherein the motion parameter of the representative interference ship is consistent with the interference ship with the minimum relative distance from the target ship;
if the ship density in the area of the virtual dynamic grid is large, a plurality of interference ships exist, and when the area of the virtual dynamic grid does not have connectivity, the area center point of the virtual dynamic grid is virtualized to represent the interference ships;
and if no interfering ship exists in the area of the virtual dynamic grid, supplementing a navigation entity representative according to a preset rule to obtain the representative interfering ship.
Based on the above steps, the selected representative interfering ships are further calibrated in the virtual dynamic grid, fig. 5 is a schematic diagram of a cluster situation of the ships in the non-conflict meeting situation in an embodiment of the disclosure, as shown in fig. 5, and fig. 5 respectively illustrates whether there are interfering ships parallel to (in the same direction or in the opposite direction) the course of the target ship in the interfering ships.
In step S130, the acting force of the representative interfering vessel on the target vessel is described by the acting granularity in the virtual dynamic grid.
In an embodiment of the present disclosure, in this step, a ship cluster situation where the target ship is located is mathematically expressed, the ship cluster situation is mathematically expressed by means of a "force" concept in physics, and an effect of the representative interfering ship on the target ship in each dynamic grid area is abstractly expressed.
The mathematical expression of the ship cluster situation of the target ship specifically comprises the following steps:
the ship cluster situation is expressed mathematically by means of the concept of 'force' in physics, the effect of representing an interfering ship on a target ship in each dynamic grid area is expressed in an abstract mode, if a certain dynamic grid area has positive influence on the target ship to select the area to sail or the area has larger space for the target ship to insert, and the target ship can obtain higher sailing speed in the area, the force applied by the area to the target ship is gravity; on the contrary, the attractive force applied to the target vessel is relatively small or even repulsive, so that the acting force representing the disturbing vessel to the target vessel includes: strong repulsion, middle repulsion, weak repulsion, zero, weak attraction, middle attraction or strong attraction, the corresponding action particle size is [ -1, -0.7), [ -0.7, -0.3), [ -0.3, -0), 0, (0,0.3], (0.3,0.7], (0.7, 1) respectively, as shown in table 1:
TABLE 1
In order to reflect the ship density condition of a certain dynamic grid area at a certain moment, the invention provides the concept of area ship coverage rate, and when the ship coverage rate of the area is high, the ship density of the grid area is high, so that the space for a target ship to sail is small; when the ship coverage rate of the area is small, the ship density of the grid area is small, the space for the target ship to sail is large, and the ship coverage rate is calculated according to the following formula.
Wherein n represents the number of vessels in the region; delta represents the regional ship coverage;
indicates the area of water area (sea lining) occupied by the regional ship2) (ii) a S represents the total area of the region (Haili)2)。
In one embodiment of the present disclosure, if the ship coverage rate of a certain grid area is small, and the target ship can obtain a larger speed and a larger navigation space in the grid area, the gravity applied by the grid area to the target ship is larger, and the probability of selecting the area by the target ship is also larger; if the ship coverage rate of a certain area is relatively large, and the available speed and the available navigation space of the target ship in the grid area are relatively small, the attraction force or even the repulsion force is exerted on the target ship by the grid area, and the probability that the target ship selects the grid area is relatively small. The limit of the average navigational speed of the grid area can be obtained by questionnaire survey of the captain. Therefore, the average ship sailing speed corresponding to the ship coverage in each dynamic grid area is shown in table 2.
TABLE 2
| Regional ship coverage | Average speed of regional vessel (haili/hour) |
| Delta is less than or equal to 0.3 (small) | v is more than or equal to 12 (Large) |
| Delta is more than 0.3 and less than or equal to 0.6 (middle) | V is more than or equal to 6 and less than 12 (middle) |
| Delta > 0.6 (Large) | v < 6 (Small) |
In step S140, a fuzzy logic rule is used to perform scoring in combination with the action granularity, so as to obtain the acting force of the representative interfered ship of the target ship.
In an embodiment of the present disclosure, 5 factors of the ship type (classified into three types, large, medium and small), the relative distance, the regional ship coverage (classified into three types, small, medium and large) and the regional ship average speed (classified into three types, large, medium and small) of the interfering ship in each dynamic grid region of the target ship and the sensing region are considered in this step, and the fuzzy logic method is used to reasonably score the action granularity in the non-conflict meeting situation.
For example, taking the calculation of the action granularity of a certain area representing an interference ship on a target ship as an example, fuzzy reasoning is carried out on the ship cluster situation under the situation of non-conflict meeting, and the action granularity is reasonably screened by considering 5 factors of the target ship type, the interference ship type, the relative distance, the area ship coverage rate and the area ship average speed.
In the step, by taking the calculation of action granularity of a certain grid area representing an interference ship on a target ship as an example, fuzzy reasoning is performed on ship cluster situations under a non-conflict meeting situation, 144 rule numbers which do not meet actual conditions (the conditions that the coverage rate of the regional ship is large, the average speed of the regional ship is large, the coverage rate of the regional ship is small and the average speed of the regional ship is small) are removed, the remaining total rule numbers are 504, and a reasoning rule table 3 of action granularity can be obtained, wherein a typical language fuzzy rule is as follows:
if the ship types of the target ship and the representative interference ship are large ships, the target ship and the representative interference ship form a parallel non-conflict meeting situation, the relative distance between the target ship and the representative interference ship is short, the ship coverage rate of the grid area is large, and the average ship speed in the grid area is small, the action granularity of the representative interference ship on the target ship in the grid area is-1.
If the shapes of the target ship and the representative interference ship are small ships, the target ship and the representative interference ship form a driving-off non-conflict meeting situation, the relative distance between the target ship and the representative interference ship is far, the ship coverage rate of the grid area is small, and the average ship speed in the virtual dynamic grid area is large, the action granularity of the representative interference ship on the target ship in the grid area is 1.
Wherein the fuzzy inference rule of action granularity under non-conflict meeting situation is shown in table 3:
TABLE 3
In one embodiment of the present disclosure, in the virtual dynamic grid, fuzzy logic rules are adopted to perform fuzzy reasoning on ship cluster situations in a non-conflict meeting situation; when the fuzzy variable is the relative distance, a fuzzy logic rule is utilized to obtain a fuzzy set of the relative distance as { near, medium and far }, wherein a threshold value from 'near' to 'near' in the fuzzy set of the relative distance is a first threshold value, a threshold value from 'medium' to 'far' in the fuzzy set of the relative distance is a fourth threshold value, and the fourth threshold value is 4 times of the first threshold value.
For example, the relative distance d between the target vessel and the representative interfering vessel, d { -d in the domain of discourse0≤d≤d0In which-d0Lower limit of the universe, d0Upper limit of the universe of arguments), d possible fuzzy sets are: { near, middle, and far }, the threshold value d from the relative distance "near" to the relative distance "near" is calculated according to the following equation1。
Wherein L is0、LbThe ship lengths of the target ship and the interference ship are respectively; b is0、BbThe widths of the target ship and the interference ship are respectively; v. of0、vbRespectively the navigational speeds of the target ship and the interference ship; v. ofb0Relative speed of two ships; theta is the included angle between the two ship courses.
Based on the above, the threshold value d from the "middle" to the "far" of the relative distance is calculated according to the following formula4。
d4＝4d1
Wherein d is2、d3Is d1And d4To the median value of (c).
FIG. 6 is a graph of membership function versus distance in an embodiment of the present disclosure, as shown in FIG. 6, which shows the relationship between time distance and membership.
In the step, the effect of each virtual dynamic grid area on the target ship is represented by attraction or repulsion by using a fuzzy logic method, wherein the attraction is represented by "+" and the repulsion is represented by "-".
Fig. 7 is a schematic diagram of a distribution of the acting force of the interfering vessel around the target vessel in the vessel cluster situation in an embodiment of the present disclosure, and as shown in fig. 7, the acting force in an area within a range of 270 to 90 ° is labeled.
In step S150, the virtual dynamic mesh is merged and reduced according to the merging of the forces.
In an embodiment of the present disclosure, the complex ship cluster situation is merged and reduced according to the acting force of each dynamic grid representing the interfering ship to the target ship in the step.
Firstly, combining the acting force of the strong influence area and the weak influence area on the target ship in one of the eight subareas to obtain the acting force of the target ship in the subareas.
Combining the acting force of a weak influence grid area of a certain subarea on the target ship with the acting force of a strong influence grid area on the target ship to obtain the acting force of the corresponding subarea on the target ship, wherein when the acting force of the interference ship on the target ship represented in the dynamic grid area is greater than or equal to zero, the acting force of the target ship on the area is represented as the gravitation; if the acting force is smaller than zero, the regional acting force borne by the target ship is a repulsive force, and the fuzzy inference rule of the regional acting force is shown in the table 4:
TABLE 4
Secondly, combining the acting force of the target ship in two subareas of the right left side and the left front side of the target ship to obtain the cooperative acting force of the left area of the target ship; and combining the acting force of the target ship in two subareas of the right side and the right front side of the target ship to obtain the cooperative acting force of the right side area of the target ship.
In the step, according to the division of COLREGS on avoidance responsibility, the target ship has the same collision prevention responsibility for the ship which is in the right-left sub-area and the left-front sub-area, in order to further reduce the cluster situation of the ship, the acting force of the left-side area of the target ship on the target ship is calculated according to the acting force of the right-left sub-area and the left-front sub-area on the target ship and by using a fuzzy logic method, the acting force of the right-side area on the target ship can be obtained by using the same method, and the fuzzy inference rule of the acting force of the left-side area on the target ship is shown in a:
TABLE 5
Based on the above, fig. 8 is a diagram of the situation type of the ship cluster after reduction in an embodiment of the present disclosure, and as shown in fig. 8, a total of 8 types of reduction results are obtained for the left side, the front side, and the right side.
In summary, by using the method for analyzing the ship cluster situation under the non-conflict meeting situation provided by the embodiment of the disclosure, based on the fuzzy inference rule, the language variable form is adopted, the cluster situation of the ships under the parallel meeting situation and the sailing meeting situation is analyzed, the target ship sensing area is divided into sixteen dynamic grid areas, the effect of each area of the grid on the target ship can be dynamically described by means of the idea of 'force', more accurate sensing and cognitive information can be provided for the collision avoidance decision of the intelligent unmanned ship and the selection of the next sailing area, and the sailing safety is improved.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (7)
1. A method for analyzing the situation of a ship cluster in a non-conflict meeting situation is characterized by comprising the following steps:
dividing a sensing area of a target ship into a plurality of virtual dynamic grids from outside to inside under a non-conflict meeting situation;
when at least two interference boats exist in the area of the virtual dynamic grid, selecting an interference boat which has the largest influence on the target boat in the area of the virtual dynamic grid as a representative interference boat, wherein the representative interference boat is a navigation entity representative and is used for representing the macro traffic condition in the area of the dynamic grid;
describing the acting force of the representative interference ship on the target ship through action granularity in the virtual dynamic grid;
and (3) scoring by combining a fuzzy logic rule with the action granularity to obtain the acting force of the representative interfered ship of the target ship, wherein the scoring comprises the following steps: in the virtual dynamic grid, based on factors of a target ship type, a ship type of an interference ship, a relative distance, a regional ship coverage rate and a regional ship average speed, fuzzy reasoning is respectively carried out on ship cluster situations under a non-conflict meeting situation by using a fuzzy logic method, and an acting force represented by an acting granularity is obtained according to a reasoning rule;
merging and reducing the virtual dynamic grids according to the merging of the acting forces;
selecting an interference ship with the largest influence on the target ship in the area of the virtual dynamic grid as a representative interference ship, wherein the step of selecting the interference ship comprises the following steps:
if the density of the ships in the area of the virtual dynamic grid is small and the area can provide a large space for a target ship to sail, taking an interference ship with the smallest relative distance from the target ship in the area of the virtual dynamic grid as the representative interference ship;
if the ship density in the area of the virtual dynamic grid is large, a plurality of interference ships exist, and when the area of the virtual dynamic grid has connectivity, the gravity center of a polygon formed by all the interference ships and a target ship in the area is taken as a representative interference ship, wherein the motion parameter of the representative interference ship is consistent with the interference ship with the minimum relative distance from the target ship;
if the ship density in the area of the virtual dynamic grid is large, a plurality of interference ships exist, and when the area of the virtual dynamic grid does not have connectivity, the area center point of the virtual dynamic grid is virtualized to be a representative interference ship, wherein the motion parameter of the representative interference ship is consistent with the interference ship with the minimum relative distance from the target ship.
2. The method of analyzing ship cluster situation under non-conflicting meeting situation of claim 1, wherein the non-conflicting meeting situation comprises: parallel encounters and departures from driving.
3. The method for analyzing the ship cluster situation under the non-conflict meeting situation as claimed in claim 1, wherein in the non-conflict meeting situation, before dividing the sensing area of the target ship from outside to inside into a plurality of virtual dynamic grids, the method further comprises:
acquiring motion parameters of an interfering ship and a target ship, wherein the motion parameters at least comprise: position, speed and course, the initial position of the target ship is (x)0,y0) Velocity v0Heading α, interfering with the position of the vessel (x)b,yb) Velocity vbThe course is beta;
calculating the relative speed, the relative speed direction, the relative distance, the azimuth angle of the interference ship on the target ship, the relative azimuth of the interference ship relative to the target ship, the safe meeting distance and the minimum meeting distance of the interference ship and the target ship according to the motion parameters, wherein the method comprises the following steps:
calculating the components v of the speed of the target ship on the x and y axes0x、v0y；
Calculating the components v of the speed of the interfering ship on the x and y axesbx、vby；
Calculating the components v of the relative speeds of the interference ship and the target ship on the x and y axesb0x、vb0y；
The calculation formula of the relative speed of the interference ship and the target ship is as follows:
the calculation formula of the relative speed direction of the interference ship and the target ship is as follows:
the calculation formula of the relative distance between the interference ship and the target ship is as follows:
the calculation formula of the azimuth angle of the interference ship relative to the target ship is as follows:
the formula for calculating the relative orientation of the interfering vessel with respect to the target vessel is:
the calculation formula of the safe meeting distance of the target ship relative to the interference ship is as follows:
the calculation formula of the minimum meeting distance between the interference ship and the target ship is as follows:
4. the method for analyzing the ship cluster situation under the non-conflict meeting situation of claim 3, wherein the dividing the sensing area of the target ship into a plurality of virtual dynamic grids from outside to inside under the non-conflict meeting situation comprises:
taking the central position of the target ship as the center of a circle, and respectively taking the critical relative distances of 6 nautical miles, 3 nautical miles and 1 nautical miles as the radius to form a circular area, wherein the circular area with the radius of 6 nautical miles is the sensing area of the target ship;
dividing a sensing area of the target ship into eight subareas, namely a left front side, a right rear side, a left rear side and a right left side, and dividing each subarea into three dynamic grid areas according to the critical relative distance;
and respectively representing a weak influence area, a strong influence area and a collision area from outside to inside according to the critical relative distance, and dividing the weak influence area and the strong influence area into 16 virtual dynamic grids by combining the eight subareas.
5. The method for analyzing the situation of the ship cluster under the non-conflict meeting situation as claimed in claim 4, further comprising:
dividing the ship cluster situation of the target ship into four layers, wherein the four layers are respectively as follows: the non-confliction ship layer, the angle cross confliction layer, the parallel non-confliction layer and the driving-off non-confliction layer.
6. The method for analyzing ship cluster situation under non-conflict meeting situation as claimed in claim 1, wherein the describing the acting force of the representative interfering ship to the target ship in the virtual dynamic grid through the action granularity comprises:
the representation of the forces of the interfering vessel on the target vessel comprises: strong repulsion, middle repulsion, weak repulsion, zero, weak attraction, middle attraction or strong attraction, and the corresponding action granularity is [ -1, -0.7), [ -0.7, -0.3), [ -0.3, -0), 0, (0,0.3], (0.3,0.7], (0.7, 1) respectively.
7. The method for analyzing ship cluster situation under the non-conflict meeting situation of claim 4, wherein the merging and reducing the virtual dynamic grid according to the merging of the acting forces comprises:
combining the acting force of the strong influence area and the weak influence area on the target ship in one of the eight subareas to obtain the acting force of the target ship in the subareas;
combining the acting force of the target ship in two subareas of the right left side and the left front side of the target ship to obtain the cooperative acting force of the left area of the target ship;
and combining the acting force of the target ship in two subareas of the right side and the right front side of the target ship to obtain the cooperative acting force of the right side area of the target ship.
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