CN111353233A - Intelligent ship autonomous navigation function test simulation experiment frame - Google Patents
Intelligent ship autonomous navigation function test simulation experiment frame Download PDFInfo
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Abstract
The invention relates to an intelligent ship autonomous navigation function test simulation experiment frame, which comprises: a simulation database and a simulation module; the simulation module comprises: the test system comprises a test option selection unit, a test environment simulation unit, an experiment simulation unit and a data storage analysis unit; the test option selection unit is used for selecting test options; the test environment simulation unit is used for loading and adjusting the test environment; the experiment simulation unit is used for carrying out simulation experiments; and the data storage and analysis unit is used for storing and analyzing the simulation data. The intelligent ship autonomous navigation function test simulation experiment frame is suitable for the test of the berthing-against function, the test of the anchoring function, the test of the route planning function, the test of the tracking navigation function, the test of the collision-preventing function and the test of the autonomous navigation in special scenes when an unmanned ship autonomously navigates; the simulation modeling, the simulation experiment and the simulation analysis are integrated, a more complex simulation test scene is created, and the flexibility of the simulation experiment is effectively improved.
Description
Technical Field
The invention relates to the technical field of intelligent ship testing, in particular to an intelligent ship autonomous navigation function testing simulation experiment frame.
Background
With the continuous development of the technology, the intellectualization of the ship is gradually realized, and it is necessary to test each autonomous navigation function of the intelligent ship by a simulation means.
However, at present, different testing means are mostly adopted for different autonomous navigation functions, and each navigation function test is carried out under different experimental frames; the simulation is divided into three steps of modeling, experiment and analysis, the current mainstream scheme is that the three contents of the simulation are separately carried out, however, the simulation form is not suitable for the autonomous navigation function test of the intelligent ship; most of the existing simulation experiments build a simulation scene before the experiment is carried out, and the simulation experiment cannot interact with the experiment scene during the experiment, so that the flexibility of simulation test is reduced.
Disclosure of Invention
Technical problem to be solved
In order to solve the problems, the invention provides a simulation experiment frame for testing the autonomous navigation function of an intelligent ship.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that:
an intelligent ship autonomous navigation function test simulation experiment frame, the frame includes: a simulation database and a simulation module;
the simulation module comprises: the test system comprises a test option selection unit, a test environment simulation unit, an experiment simulation unit and a data storage analysis unit;
the test option selection unit is used for selecting a test option during testing;
the test environment simulation unit is used for loading and adjusting a test environment based on the simulation database and the test unit selected by the test option selection unit;
the experiment simulation unit is used for carrying out simulation experiments based on the simulation database and the test environment obtained by the test environment simulation unit;
and the data storage and analysis unit is used for storing and analyzing the simulation data obtained by the experiment simulation unit based on the simulation database.
Optionally, the test options in the test option selection unit include: testing a berthing function, a mooring function, a route planning function, a tracking navigation function, a collision avoidance function and a special scene autonomous navigation function;
optionally, the simulation test environment in the test environment simulation unit is a three-dimensional environment, and is uniformly managed by a scene library in the simulation database;
the simulation test environment corresponds to a simulation test scenario, which has a unique identifier.
Optionally, the simulation test scenario includes: an entrance and exit port test scene, an anchoring test scene, a tracking test scene, a collision avoidance test scene, a semaphore test scene, a whistling test scene, a ship traffic service VTS test scene, a region rule test scene and a channel test scene;
the identifier of the port entry and exit test scene is a BERTH BERTH;
the identifier of the anchoring test scene is anchor;
the identifier of the tracking test scene is an airline ROUTE;
the identifier of the collision avoidance test scene is an OBSTACLE ship OBSTACLE;
the identifier of the SEMAPHORE test scene is a SEMAPHORE SEMAPHORE;
the identifier of the whistling test scene is whistling WHISTLE;
the identifier of the VTS test scene is a VTS;
the identifier of the area rule test scene is a rule RULES;
the identifier of the CHANNEL test scenario is CHANNEL.
Optionally, the simulation experiment performed in the experiment simulation unit includes simulation experiment management, simulation scene interaction, and simulation data recording.
Optionally, the simulation experiment management includes: starting and initializing, suspending simulation, ending simulation and adjusting a simulation clock;
the simulation starting and initializing are used for starting a new simulation experiment and restoring simulation parameters to an initial state;
the simulation pause is used for quickly adjusting the current simulation clock to 0, keeping the intelligent ship and other objects in the scene in the current state, and stopping recording simulation data;
ending the simulation, wherein the ending is used for ending the current simulation experiment;
the simulation clock adjustment is used for reducing the current simulation clock and/or improving the current simulation clock;
the simulation parameters comprise: simulation conditions, scenes, clocks, data.
Optionally, the interactive objects of the simulation scene are ship driving, island positions, island number, meteorological conditions, ship positions, ship number, ship speed, ship course, semaphore, whistle, VTS instruction and regional rules;
the simulation scene interactive object corresponds to a test option and/or a test scene;
wherein, the simulation scene interaction object corresponding to the berthing function test is a meteorological condition;
the simulation scene interaction objects corresponding to the anchoring function test are ship positions and ship quantity;
the simulation scene interaction objects corresponding to the navigation planning function test are the island positions and the island number;
the simulation scene interaction objects corresponding to the tracking navigation function test are ship driving and meteorological conditions;
the simulation scene interaction objects corresponding to the collision avoidance function test are the number of ships, the ship speed, the meteorological conditions and the ship course;
the simulation scene interaction object corresponding to the semaphore test scene is a semaphore;
the simulation scene interaction object corresponding to the whistling test scene is a whistling;
a simulation scene interactive object corresponding to the VTS test scene is a VTS instruction;
the simulation scene interactive object corresponding to the region rule test scene is a region plan;
the simulation scene interaction objects corresponding to the channel test scene are the number of ships, the ship speed and the meteorological conditions.
Optionally, the simulation data record content corresponds to a test option and/or a test scenario;
the simulation data record content corresponding to the berthing function test is meteorological conditions, berthing longitude and latitude and the change of the longitude and latitude of the intelligent ship;
the simulation data record content corresponding to the anchoring function test is an anchoring area range, anchoring coordinates of the intelligent ship, anchoring modes of the intelligent ship, longitudes and latitudes of other ships, the number of other ships and the size of other ships;
the simulation data record content corresponding to the navigation path planning function test is meteorological conditions, the number of islands, the longitude and latitude of the islands, the size of the islands and a navigation path planning point set;
recording simulation data corresponding to the tracking navigation function test into a waypoint set, meteorological conditions, a remote driving time period, longitude and latitude of the intelligent ship, the navigation speed of the intelligent ship and the course of the intelligent ship;
the simulation data record content corresponding to the collision avoidance function test is a waypoint set, meteorological conditions, the number of the obstacle ships, the size of the obstacle ships, the longitude and latitude of the obstacle ships, the navigational speed of the obstacle ships, the course of the obstacle ships, a collision avoidance path of the intelligent ship, the navigational speed of the intelligent ship and the course of the intelligent ship;
the simulation data record content corresponding to the semaphore test scene is a semaphore, the steering angle of the intelligent ship and the navigation speed of the intelligent ship;
the simulation data record content corresponding to the whistle test scene is a whistle type, the steering angle of the intelligent ship and the navigation speed of the intelligent ship;
the simulation data record content corresponding to the VTS test scene is a VTS instruction, and the response of the intelligent ship is carried out;
the simulation data record content corresponding to the regional rule test scene is a regional rule, and the intelligent ship responds;
the simulation data record content corresponding to the channel test scene is a channel area, the number of other ships, the sizes of other ships, the longitude and latitude of other ships, the navigational speed of other ships, the longitude and latitude of the intelligent ship, the navigational speed of the intelligent ship and the course of the intelligent ship.
Optionally, the data storage analysis performed by the data storage analysis unit includes:
the score of the current test is determined by the following formula:
wherein the content of the first and second substances,
and 0 is less than or equal to si≤100；
n is the number of evaluation indexes corresponding to the test option, siTo evaluate the test score of index i, aiTo evaluate the specific gravity of index i.
Optionally, the simulation database is configured to provide support of a simulation scenario for the test environment simulation unit, provide support of a model library for the experiment simulation unit, provide support of an evaluation standard library for the data storage analysis unit, and simultaneously store the simulation scenario and the simulation data;
the simulation database includes one or more of: a scene library, a model library, an evaluation standard library and a test record library;
the scene library is used for storing three-dimensional scenes used for simulation tests, different identifiers are recorded according to different test options, and one three-dimensional scene corresponds to one or more three-dimensional identifiers;
the model base is used for storing a ship motion mathematical model, a meteorological mathematical model, a sea wave mathematical model and the incidence relation among the mathematical models;
the evaluation standard library is used for storing the evaluation standard of each test option;
and the test record library is used for storing the past test records.
(III) advantageous effects
The invention has the beneficial effects that: the framework comprises a simulation database and a simulation module; the simulation module comprises: the test system comprises a test option selection unit, a test environment simulation unit, an experiment simulation unit and a data storage analysis unit; the test option selection unit is used for selecting a test option during testing; the test environment simulation unit is used for loading and adjusting the test environment based on the simulation database and the selected test unit; the experiment simulation unit is used for carrying out simulation experiments based on the simulation database and the obtained test environment; and the data storage and analysis unit is used for storing and analyzing the simulation data based on the simulation database. The frame is suitable for testing the berthing-against function, the anchoring function, the route planning function, the tracking navigation function, the collision avoidance function and the special scene autonomous navigation of the unmanned ship autonomous navigation; the experimental framework integrates simulation modeling, simulation experiment and simulation analysis, and forms an unmanned ship autonomous navigation integrated function test simulation experimental environment; the simulation clock is allowed to be adjusted and interacted with a test scene based on test requirements in the process of the experiment, a more complex simulation test scene is created, and the flexibility of the simulation experiment can be effectively improved.
Drawings
Fig. 1 is a schematic structural diagram of a simulation experiment frame for an autonomous navigation function test of an intelligent ship according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a test option provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of a simulation test environment according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of another simulation test environment according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a simulation experiment according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a simulation experiment management according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a simulation scene interaction according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a simulation data record according to an embodiment of the present application.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
With the continuous development of the technology, the intellectualization of the ship is gradually realized, and it is necessary to test each autonomous navigation function of the intelligent ship by a simulation means.
However, at present, different testing means are mostly adopted for different autonomous navigation functions, and each navigation function test is carried out under different experimental frames; the simulation is divided into three steps of modeling, experiment and analysis, the current mainstream scheme is that the three contents of the simulation are separately carried out, however, the simulation form is not suitable for the autonomous navigation function test of the intelligent ship; most of the existing simulation experiments build a simulation scene before the experiment is carried out, and the simulation experiment cannot interact with the experiment scene during the experiment, so that the flexibility of simulation test is reduced.
In order to solve the problems in the intelligent ship autonomous navigation function test simulation experiment, the invention provides an intelligent ship autonomous navigation function test simulation experiment frame. The experimental framework is suitable for testing the berthing-against function, the anchoring function, the route planning function, the tracking navigation function, the collision avoidance function and the special scene autonomous navigation of the unmanned ship autonomous navigation; the experimental framework integrates simulation modeling, simulation experiment and simulation analysis, and forms an unmanned ship autonomous navigation integrated function test simulation experimental environment; the experiment framework allows the simulation clock to be adjusted and interacted with a test scene based on test requirements in the experiment process, a more complex simulation test scene is created, and the flexibility of the simulation experiment can be effectively improved.
The intelligent ship autonomous navigation simulation experiment frame is designed as follows:
the utility model provides an intelligent ship is navigation functional test simulation experiment frame independently, includes: a simulation database and a simulation module.
The simulation module comprises: the device comprises a test option selection unit, a test environment simulation unit, an experiment simulation unit and a data storage analysis unit.
And the test option selection unit is used for selecting the test options during testing.
And the test environment simulation unit is used for loading and adjusting the test environment based on the test unit selected by the simulation database and the test option selection unit.
And the experiment simulation unit is used for carrying out simulation experiments on the basis of the simulation database and the test environment obtained by the test environment simulation unit.
And the data storage and analysis unit is used for storing and analyzing the simulation data obtained by the experiment simulation unit based on the simulation database.
The simulation database is used for providing support of a simulation scene for the test environment simulation unit, providing support of a model library for the experiment simulation unit, providing support of an evaluation standard library for the data storage analysis unit, and simultaneously storing the simulation scene and the simulation data.
During specific implementation, the simulation database provides support of a simulation scene for a simulation test environment, provides support of a model library for a simulation experiment, provides support of an evaluation standard library for data analysis, and is used for storing the simulation scene and simulation data.
During testing, firstly, selection of testing options is carried out, then loading and adjustment of a simulation testing environment are carried out, then a simulation experiment is carried out, and finally storage and analysis of simulation data are carried out.
In particular, the method comprises the following steps of,
1. test option selection unit
The test options in the test option selection unit include: the method comprises the following steps of testing a berthing function, testing an anchoring function, testing a route planning function, testing a tracking navigation function, testing a collision prevention function and testing an autonomous navigation function in a special scene.
2. Test environment simulation unit
The simulation test environment in the test environment simulation unit is a three-dimensional environment and is uniformly managed by a scene library in a simulation database.
The simulation test environment corresponds to a simulation test scenario, which has a unique identifier.
The simulation test scene comprises the following steps: the system comprises an entrance and exit port test scene, an anchoring test scene, a tracking test scene, a collision avoidance test scene, a semaphore test scene, a whistling test scene, a ship Traffic Service (VTS) test scene, a region rule test scene and a channel test scene.
The identifier of the inbound and outbound test scenario is the BERTH.
The identifier of the anchor test scenario is anchor.
The identifier of the tracking test scenario is the ROUTE.
And the identifier of the collision avoidance test scene is an OBSTACLE ship OBSTACLE.
The identifier of the SEMAPHORE test scenario is the SEMAPHORE.
The identifier of the whistling test scenario is whistling whitle.
The identifier of the VTS test scenario is the VTS.
The identifier of the area rule test scenario is the rule RULES.
The identifier of the CHANNEL test scenario is CHANNEL.
3. Experiment simulation unit
And the simulation experiment in the experiment simulation unit comprises simulation experiment management, simulation scene interaction and simulation data recording.
1) Simulation experiment management, comprising: starting and initializing, suspending simulation, ending simulation and adjusting a simulation clock.
And starting and initializing the simulation, and starting a new simulation experiment and restoring the simulation parameters to the initial state.
And (4) simulation suspension, which is used for rapidly adjusting the current simulation clock to 0, keeping the intelligent ship and other objects in the scene in the current state, and stopping recording the simulation data.
And ending the simulation for ending the current simulation experiment.
And adjusting the simulation clock, wherein the simulation clock is used for reducing the current simulation clock and/or improving the current simulation clock.
The simulation parameters comprise: simulation conditions, scenes, clocks, data.
The interactive objects of the simulation scene are ship driving, island positions, island number, meteorological conditions, ship positions, ship number, ship speed, ship course, semaphore, whistle, VTS instruction and regional rules.
2) The simulation scenario interaction objects correspond to the test options and/or test scenarios.
And the simulation scene interactive object corresponding to the pull-off function test is a meteorological condition.
And the simulation scene interaction objects corresponding to the anchoring function test are ship positions and ship quantity.
And the simulation scene interaction objects corresponding to the navigation planning function test are the island positions and the island number.
And the simulation scene interaction objects corresponding to the tracking navigation function test are ship driving and meteorological conditions.
The simulation scene interaction objects corresponding to the collision avoidance function test are the number of ships, the ship speed, the meteorological conditions and the ship course.
And the simulation scene interactive object corresponding to the semaphore test scene is a semaphore.
And the simulation scene interactive object corresponding to the whistle test scene is whistle.
And the simulation scene interactive object corresponding to the VTS test scene is a VTS instruction.
And the simulation scene interactive object corresponding to the region rule test scene is a region plan.
The simulation scene interaction objects corresponding to the channel test scene are the number of ships, the ship speed and the meteorological conditions.
3) The simulation data record content corresponds to the test options and/or test scenarios.
The simulation data record content corresponding to the berthing function test is meteorological conditions, berth longitude and latitude and intelligent ship longitude and latitude changes.
The simulation data record content corresponding to the anchoring function test is the anchoring area, the anchoring coordinates of the intelligent ship, the anchoring mode of the intelligent ship, the longitude and latitude of other ships, the number of other ships and the size of other ships.
The simulation data record content corresponding to the navigation path planning function test is meteorological conditions, the number of islands, the longitude and latitude of the islands, the size of the islands and a navigation path planning point set.
The simulation data record content corresponding to the tracking navigation function test is a waypoint set, meteorological conditions, a remote driving time period, longitude and latitude of the intelligent ship, the navigation speed of the intelligent ship and the course of the intelligent ship.
The simulation data record content corresponding to the collision avoidance function test is a waypoint set, meteorological conditions, the number of the obstacle ships, the size of the obstacle ships, the longitude and latitude of the obstacle ships, the navigational speed of the obstacle ships, the course of the obstacle ships, a collision avoidance path of the intelligent ship, the navigational speed of the intelligent ship and the course of the intelligent ship.
The simulation data record content corresponding to the semaphore test scene is the semaphore, the steering angle of the intelligent ship and the navigation speed of the intelligent ship.
The simulation data record content corresponding to the whistle test scene is the whistle type, the steering angle of the intelligent ship and the navigation speed of the intelligent ship.
And the simulation data record content corresponding to the VTS test scene is a VTS instruction and the response of the intelligent ship.
Simulation data record content corresponding to the regional rule test scene is a regional rule and the response of the intelligent ship.
The simulation data record content corresponding to the channel test scene is a channel area, the number of other ships, the sizes of other ships, the longitude and latitude of other ships, the navigational speed of other ships, the longitude and latitude of the intelligent ship, the navigational speed of the intelligent ship and the course of the intelligent ship.
4. Data storage analysis unit
Data storage analysis in a data storage analysis unit, comprising:
the score of the current test is determined by the following formula:
wherein the content of the first and second substances,
and 0 is less than or equal to si≤100。
n is the number of evaluation indexes corresponding to the test option, siTo evaluate the test score of index i, aiTo evaluate the specific gravity of index i.
5. The simulation database includes one or more of: a scene library, a model library, an evaluation standard library and a test record library.
And the scene library is used for storing three-dimensional scenes used for simulation tests, different identifiers are recorded according to different test options, and one three-dimensional scene corresponds to one or more three-dimensional identifiers.
And the model library is used for storing a ship motion mathematical model, a meteorological mathematical model, a sea wave mathematical model and the association relation among the mathematical models.
And the evaluation standard library is used for storing the evaluation standard of each test option.
And the test record library is used for storing the past test records.
The invention provides a framework local simulation database and a simulation module, wherein the simulation module comprises: the device comprises a test option selection unit, a test environment simulation unit, an experiment simulation unit and a data storage analysis unit.
The test options are selected from the test option selection unit, the test environment is simulated through the test environment simulation unit, the experiment simulation is carried out through the experiment simulation unit, and the simulation data is stored and analyzed through the data storage and analysis unit.
During specific testing, as shown in fig. 1, firstly, selection of a test option is performed, secondly, loading and adjustment of a test environment are performed, then, a simulation experiment is performed, and finally, storage and analysis of simulation data are performed; the simulation database provides support of simulation scenes for a simulation test environment, provides support of a model library for a simulation experiment, provides support of an evaluation standard library for data analysis, and simultaneously stores edited simulation scenes and simulation data.
1) Intelligent ship autonomous navigation simulation test option
Referring to fig. 2, the autonomous navigation function of the intelligent ship needs to be tested in 6 aspects, which are respectively based on a separation function test, an anchoring function test, a route planning function test, a tracking navigation function test, a collision avoidance function test and a special scene autonomous navigation function test, a test option is selected at first, test contents, test forms and test indexes of different test options are different, a test record library in the simulation database stores the test option at first, and then the scene library is notified to push a corresponding simulation test scene and the evaluation standard library is notified to push a corresponding evaluation standard.
2) Intelligent ship autonomous navigation simulation test environment
The simulation test environment is a real description of a real marine environment, is constructed by tools such as 3ds max, and the simulation test environment under the framework is uniformly managed by a scene library in a simulation database, and the scenes for different test functions have specific identifiers, and the scenes are distinguished by the identifiers, for example, the identifier of an inbound and outbound test scene is Bert (BERTH), the identifier of an anchor test scene is anchoage (anchor), the identifier of a tracking test scene is ROUTE, the identifier of a collision avoidance test scene is OBSTACLE (OBSTACLE ship), a SEMAPHORE test scene is SEMAPHORE (SEMAPHORE), a whistling test scene is whistling, a VTS test scene is VTS, a region rule test scene is RULES (rule), a CHANNEL test scene is NNCHAEL, and the like.
After selecting a specific test option, the scene library screens the stored scene according to the identifier of the test option, and performs foreground pushing of the corresponding test scene, as shown in fig. 3.
The framework allows editing and saving of foreground scenes, and when saving, objects (such as berths, anchors, airlines and the like) corresponding to identifiers in the scenes are firstly identified, then corresponding identifiers are given, and the scenes and the identifiers are simultaneously stored in a scene library, as shown in fig. 4.
3) Intelligent ship autonomous navigation simulation experiment
After the simulation option and the simulation experiment scene are selected, the simulation experiment is started, referring to fig. 5, and operations such as simulation experiment management, simulation scene interaction, simulation data recording and the like can be performed in the simulation experiment process.
(1) Intelligent ship autonomous navigation simulation experiment management
Referring to fig. 6, the framework can perform simulation experiment management including simulation start and initialization, simulation pause, simulation end, and simulation clock adjustment. Wherein, the simulation is started and initialized to start a new simulation experiment and restore the conditions of simulation conditions, scenes, clocks, data and the like to the initial state; the simulation pause is to quickly adjust the current simulation clock to 0, the test ship and other objects in the scene keep the current state, and the simulation data stops recording; ending the simulation, namely ending the current simulation experiment, storing the simulation data before ending into a background database, recovering the states of simulation conditions, scenes, clocks and the like to the initial state, and waiting for the next new simulation experiment; the simulation clock is adjusted to be capable of adjusting the simulation clock according to experiment requirements besides simulation pause in the simulation experiment process, the simulation experiment speed is reduced by reducing the simulation clock, the simulation experiment speed is increased by increasing the simulation clock, if the simulation experiment speed is adjusted to be 0.5 times, 2 times, 4 times and 8 times of the normal experiment speed, the simulation data recording speed can automatically change correspondingly when the simulation clock is adjusted, if the simulation data recording speed under the simulation clock of 0.5 time is 0.5 times of the normal recording speed, and the simulation data recording speed under the simulation clock of 2 times is 2 times of the normal recording speed.
(2) Intelligent ship autonomous navigation simulation scene interaction
Referring to fig. 7, in order to improve the flexibility of the test of the autonomous navigation function of the intelligent ship, interaction with a simulation scene can be performed in the simulation experiment process. In order to improve the simulation truth and the test credibility, the ship motion, the wave change under different sea conditions and the coupling relation between the ship and the sea surface in the scene are supported by a model library in a simulation database.
Different scenario interactions may be made for different test options. The port entry and exit test can change meteorological conditions in the experimental process and test the positioning and side-thrust performance of the intelligent ship in different external environments; the anchoring test can change the number, size, position and meteorological conditions of anchoring ships in an anchoring ground in the experimental process, and test the anchoring selection capability and the anchoring mode selection capability of the intelligent ship; the position, the number and the meteorological conditions of islands can be set in the experimental process of the route planning test, and the route planning capability of the intelligent ship under the condition of different geographic environments and meteorological environment random combination is tested; the tracking navigation test can change meteorological conditions in the experimental process, test the tracking capability of the intelligent ship under different meteorological conditions, and also can manually control the intelligent ship in the test process, simulate the remote driving of the ship and test the re-navigation capability of the intelligent ship after the remote driving; the collision avoidance test can control the number and size, the navigation speed, the course and the meteorological conditions of the obstacle ships in the experimental process, and test the collision avoidance performance of the intelligent ships under different meeting situations and meteorological conditions; the semaphore test can change the semaphore in the experimental process and test the reaction capability of the intelligent ship under different semaphores; the whistle test can change whistle in the experimental process and test the reaction capability of the intelligent ship under different whistles; the VTS test can simulate VTS instructions in the experimental process and test whether the intelligent ship sails according to the instructions; the regional rule test can simulate the marine navigation rules of different regions in the experimental process and test whether the intelligent ship navigates according to the given rules; the channel test can change the number and size of ships, the speed and the meteorological environment in the channel in the experimental process, and test whether the intelligent ship safely navigates in the channel.
(3) Intelligent ship autonomous navigation simulation data record
In order to evaluate each function of autonomous navigation of the intelligent ship in the next step, key simulation data need to be recorded in the experimental process, and the data recorded by different test options are different. Referring to fig. 8, meteorological conditions, berth latitude and longitude, and changes of intelligent ship latitude and longitude need to be recorded by the berthing test; the anchoring test needs to record the anchoring range, meteorological conditions, the longitude and latitude of other ships, the number and the size of other ships, the anchoring coordinates of the intelligent ship and the anchoring mode; the navigation path planning test needs to record meteorological conditions, the number of islands, longitude and latitude, the size and a navigation path planning point set; the tracking navigation test needs to record a waypoint set, meteorological conditions, a remote driving time period, and the longitude and latitude, the navigation speed and the course of the intelligent ship; the collision avoidance test needs to record a waypoint set, meteorological conditions, the number and the size of the obstacle ships, the longitude and latitude of the obstacle ships, the navigational speed of the obstacle ships, the course of the obstacle ships, a collision avoidance path of the intelligent ship, the navigational speed and the course; the semaphore test needs to record the semaphore, the steering angle of the intelligent ship and the navigation speed; the whistle test needs to record the whistle type, the steering angle of the intelligent ship and the navigation speed; VTS tests need to record VTS instructions and intelligent ship responses; the region rule test requires recording of region rules and intelligent ship response; the channel test needs to record the channel area, the number and the size of other ships, the longitude and the latitude of the ships, the longitude and the latitude of intelligent ships, the navigational speed and the course.
4) Intelligent ship autonomous navigation simulation data storage and analysis
After the experiment is finished, the test records are required to be stored in a test record library in the simulation database. And aiming at different test options, different evaluation indexes and standards are stored in the evaluation standard library, and test data recorded in the experimental process is evaluated through the evaluation standards to obtain the final evaluation score of the test option.
The evaluation score is calculated by the formula
Wherein
And 0 is less than or equal to si≤100。
In the formula, score is the final fraction of the test option, n is the number of the evaluation indexes of the test option, si is one of the evaluation index fractions, and ai is the proportion of the index in the test fraction.
5) Intelligent ship autonomous navigation simulation database
The intelligent ship autonomous navigation simulation database comprises a scene library, a model library, an evaluation standard library, a test record library and other various databases and is used for providing necessary data support for simulation tests.
The scene library is used for storing three-dimensional scenes used for simulation tests, different identifiers are recorded according to different test options, and one three-dimensional scene can have a plurality of three-dimensional identifiers; the model base is used for storing ship motion mathematical models, meteorological mathematical models, ocean wave mathematical models and the incidence relations among the mathematical models; the evaluation standard library is used for storing evaluation standards of all test options; the test record library is used for storing the past test records.
The simulation experiment framework for the autonomous navigation test of the unmanned ship unifies the simulation experiment framework for the autonomous navigation test of the unmanned ship, the mooring function test, the route planning function test, the tracking navigation function test, the collision avoidance function test and the autonomous navigation test of the special scene, can be applied to various autonomous navigation function test simulation experiments of the unmanned ship, solves the problem that various autonomous navigation simulation experiment frameworks of the unmanned ship are different, and has a wider application range.
The invention constructs the simulation experiment environment of the unmanned ship autonomous navigation integrated function test, integrates simulation modeling, simulation experiment and simulation analysis, has more close relationship among simulation processes, solves the problem that the previous simulation only focuses on the simulation experiment but neglects the simulation modeling and the simulation analysis, and is more suitable for the unmanned ship autonomous navigation function test.
The frame allows the simulation clock to be adjusted and interacted with a test scene based on test requirements in the process of an experiment, a more complex simulation test scene is created, and the flexibility of the simulation experiment can be effectively improved. By adjusting the simulation clock based on the test requirement, the time spent by the simulation experiment can be effectively reduced, and the simulation efficiency is improved; through interaction with the simulation scene during the simulation experiment, the simulation scene is continuously modified according to the experiment process, a more complex simulation test scene can be built, and the flexibility of the simulation experiment can be effectively improved.
Has the advantages that: the framework comprises a simulation database and a simulation module; the simulation module comprises: the test system comprises a test option selection unit, a test environment simulation unit, an experiment simulation unit and a data storage analysis unit; the test option selection unit is used for selecting the test unit during testing; the test environment simulation unit is used for loading and adjusting the test environment based on the simulation database and the selected test unit; the experiment simulation unit is used for carrying out simulation experiments based on the simulation database and the obtained test environment; and the data storage and analysis unit is used for storing and analyzing the simulation data based on the simulation database. The frame is suitable for testing the berthing-against function, the anchoring function, the route planning function, the tracking navigation function, the collision avoidance function and the special scene autonomous navigation of the unmanned ship autonomous navigation; the experimental framework integrates simulation modeling, simulation experiment and simulation analysis, and forms an unmanned ship autonomous navigation integrated function test simulation experimental environment; the simulation clock is allowed to be adjusted and interacted with a test scene based on test requirements in the process of the experiment, a more complex simulation test scene is created, and the flexibility of the simulation experiment can be effectively improved.
Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides an intelligent boats and ships autonomous navigation functional test simulation experiment frame which characterized in that, the frame includes: a simulation database and a simulation module;
the simulation module comprises: the test system comprises a test option selection unit, a test environment simulation unit, an experiment simulation unit and a data storage analysis unit;
the test option selection unit is used for selecting a test option during testing;
the test environment simulation unit is used for loading and adjusting a test environment based on the simulation database and the test unit selected by the test option selection unit;
the experiment simulation unit is used for carrying out simulation experiments based on the simulation database and the test environment obtained by the test environment simulation unit;
and the data storage and analysis unit is used for storing and analyzing the simulation data obtained by the experiment simulation unit based on the simulation database.
2. The framework of claim 1, wherein the test options in the test option selection unit comprise: the method comprises the following steps of testing a berthing function, testing an anchoring function, testing a route planning function, testing a tracking navigation function, testing a collision prevention function and testing an autonomous navigation function in a special scene.
3. The framework of claim 1, wherein the simulation test environment in the test environment simulation unit is a three-dimensional environment, and is uniformly managed by a scene library in the simulation database;
the simulation test environment corresponds to a simulation test scenario, which has a unique identifier.
4. The framework of claim 3, wherein the simulation test scenario comprises: an entrance and exit port test scene, an anchoring test scene, a tracking test scene, a collision avoidance test scene, a semaphore test scene, a whistling test scene, a ship traffic service VTS test scene, a region rule test scene and a channel test scene;
the identifier of the port entry and exit test scene is a BERTH BERTH;
the identifier of the anchoring test scene is anchor;
the identifier of the tracking test scene is an airline ROUTE;
the identifier of the collision avoidance test scene is an OBSTACLE ship OBSTACLE;
the identifier of the SEMAPHORE test scene is a SEMAPHORE SEMAPHORE;
the identifier of the whistling test scene is whistling WHISTLE;
the identifier of the VTS test scene is a VTS;
the identifier of the area rule test scene is a rule RULES;
the identifier of the CHANNEL test scenario is CHANNEL.
5. The framework of claim 4, wherein the simulation experiments performed in the experiment simulation unit include simulation experiment management, simulation scenario interaction, and simulation data recording.
6. The framework of claim 5, wherein the simulation experiment management comprises: starting and initializing, suspending simulation, ending simulation and adjusting a simulation clock;
the simulation starting and initializing are used for starting a new simulation experiment and restoring simulation parameters to an initial state;
the simulation pause is used for quickly adjusting the current simulation clock to 0, keeping the intelligent ship and other objects in the scene in the current state, and stopping recording simulation data;
ending the simulation, wherein the ending is used for ending the current simulation experiment;
the simulation clock adjustment is used for reducing the current simulation clock and/or improving the current simulation clock;
the simulation parameters comprise: simulation conditions, scenes, clocks, data.
7. The framework of claim 5, wherein the objects of the simulated scene interaction are vessel driving, island position, number of islands, weather conditions, vessel position, number of vessels, vessel speed, vessel heading, semaphores, whistling, VTS commands, regional rules;
the simulation scene interactive object corresponds to a test option and/or a test scene;
wherein, the simulation scene interaction object corresponding to the berthing function test is a meteorological condition;
the simulation scene interaction objects corresponding to the anchoring function test are ship positions and ship quantity;
the simulation scene interaction objects corresponding to the navigation planning function test are the island positions and the island number;
the simulation scene interaction objects corresponding to the tracking navigation function test are ship driving and meteorological conditions;
the simulation scene interaction objects corresponding to the collision avoidance function test are the number of ships, the ship speed, the meteorological conditions and the ship course;
the simulation scene interaction object corresponding to the semaphore test scene is a semaphore;
the simulation scene interaction object corresponding to the whistling test scene is a whistling;
a simulation scene interactive object corresponding to the VTS test scene is a VTS instruction;
the simulation scene interactive object corresponding to the region rule test scene is a region plan;
the simulation scene interaction objects corresponding to the channel test scene are the number of ships, the ship speed and the meteorological conditions.
8. The framework of claim 5, wherein the simulation data record content corresponds to test options and/or test scenarios;
the simulation data record content corresponding to the berthing function test is meteorological conditions, berthing longitude and latitude and the change of the longitude and latitude of the intelligent ship;
the simulation data record content corresponding to the anchoring function test is an anchoring area range, anchoring coordinates of the intelligent ship, anchoring modes of the intelligent ship, longitudes and latitudes of other ships, the number of other ships and the size of other ships;
the simulation data record content corresponding to the navigation path planning function test is meteorological conditions, the number of islands, the longitude and latitude of the islands, the size of the islands and a navigation path planning point set;
recording simulation data corresponding to the tracking navigation function test into a waypoint set, meteorological conditions, a remote driving time period, longitude and latitude of the intelligent ship, the navigation speed of the intelligent ship and the course of the intelligent ship;
the simulation data record content corresponding to the collision avoidance function test is a waypoint set, meteorological conditions, the number of the obstacle ships, the size of the obstacle ships, the longitude and latitude of the obstacle ships, the navigational speed of the obstacle ships, the course of the obstacle ships, a collision avoidance path of the intelligent ship, the navigational speed of the intelligent ship and the course of the intelligent ship;
the simulation data record content corresponding to the semaphore test scene is a semaphore, the steering angle of the intelligent ship and the navigation speed of the intelligent ship;
the simulation data record content corresponding to the whistle test scene is a whistle type, the steering angle of the intelligent ship and the navigation speed of the intelligent ship;
the simulation data record content corresponding to the VTS test scene is a VTS instruction, and the response of the intelligent ship is carried out;
the simulation data record content corresponding to the regional rule test scene is a regional rule, and the intelligent ship responds;
the simulation data record content corresponding to the channel test scene is a channel area, the number of other ships, the sizes of other ships, the longitude and latitude of other ships, the navigational speed of other ships, the longitude and latitude of the intelligent ship, the navigational speed of the intelligent ship and the course of the intelligent ship.
9. The framework of claim 1, wherein the data storage analysis performed by the data storage analysis unit comprises:
the score of the current test is determined by the following formula:
wherein the content of the first and second substances,
and 0 is less than or equal to si≤100；
n is the number of evaluation indexes corresponding to the test option, siTo evaluate the test score of index i, aiTo evaluate the specific gravity of index i.
10. The framework of claim 1, wherein the simulation database is configured to provide support for simulation scenarios for the test environment simulation unit, provide support for model libraries for the experimental simulation unit, and provide support for evaluation criteria libraries for the data storage analysis unit, and is configured to store simulation scenarios and simulation data;
the simulation database includes one or more of: a scene library, a model library, an evaluation standard library and a test record library;
the scene library is used for storing three-dimensional scenes used for simulation tests, different identifiers are recorded according to different test options, and one three-dimensional scene corresponds to one or more three-dimensional identifiers;
the model base is used for storing a ship motion mathematical model, a meteorological mathematical model, a sea wave mathematical model and the incidence relation among the mathematical models;
the evaluation standard library is used for storing the evaluation standard of each test option;
and the test record library is used for storing the past test records.
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