CN111474916B - Ship navigation autonomous collision avoidance algorithm testing method and device - Google Patents
Ship navigation autonomous collision avoidance algorithm testing method and device Download PDFInfo
- Publication number
- CN111474916B CN111474916B CN202010237786.4A CN202010237786A CN111474916B CN 111474916 B CN111474916 B CN 111474916B CN 202010237786 A CN202010237786 A CN 202010237786A CN 111474916 B CN111474916 B CN 111474916B
- Authority
- CN
- China
- Prior art keywords
- ship
- information
- model
- test
- collision avoidance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T13/00—Animation
- G06T13/20—3D [Three Dimensional] animation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/30—Adapting or protecting infrastructure or their operation in transportation, e.g. on roads, waterways or railways
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Geometry (AREA)
- Software Systems (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- Computer Graphics (AREA)
- Traffic Control Systems (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The application belongs to the technical field of algorithm testing, in particular relates to a method and a device for testing an autonomous collision avoidance algorithm for ship navigation, and aims to solve the problems that an autonomous collision avoidance algorithm in the prior art lacks a testing link before being actually applied to autonomous collision avoidance, and the effectiveness and reliability of the algorithm cannot be detected in a simple and visual mode. The method is applied to a ship navigation digital sand table system, acquires ship navigation information, and triggers the ship navigation digital sand table system to construct and display a three-dimensional scene model based on the ship navigation information; acquiring interaction distance between a test ship model and a target model generated by each target information in the three-dimensional scene model, and comparing the interaction distance with a corresponding distance threshold value to obtain a ship safety passing rate; based on the ship safety passing rate, obtaining a ship navigation autonomous collision avoidance algorithm test result. The method can display the test result in an intuitive way and detect the effectiveness and reliability of the algorithm in a simple way.
Description
Technical Field
The application belongs to the technical field of algorithm testing, and particularly relates to a method and a device for testing an autonomous collision avoidance algorithm for ship navigation.
Background
Ocean transportation is transportation across the ocean using vessels, and the use of intelligent vessels is an important link in pushing ocean transportation. Modern ships develop towards intellectualization and high efficiency in the aspects of information sensing, communication navigation, energy efficiency control, state monitoring, fault diagnosis, distress early warning and rescue and the like, so the intellectualization becomes a trend of the development of modern ships.
The route planning of the intelligent ship is not completed by manual work any more, and along with the continuous development of a computer and an artificial intelligence technology, the autonomous collision prevention through different algorithms becomes a development trend. In the prior art, the autonomous collision avoidance algorithm lacks a test link before use, and cannot display the test effect in a simple and convenient and visual mode.
Disclosure of Invention
First, the technical problem to be solved
The application provides a method and a device for testing an autonomous collision avoidance algorithm for ship navigation, which are used for solving the problems that the autonomous collision avoidance algorithm in the prior art lacks a testing link before the use of a route and the effectiveness and reliability of the algorithm cannot be detected in a simple and visual mode.
(II) technical scheme
In order to achieve the above purpose, the application adopts the following technical scheme:
in a first aspect, the application provides a method for testing an autonomous collision avoidance algorithm for ship navigation, which is applied to an intelligent ship navigation digital sand table system, wherein the intelligent ship navigation digital sand table system comprises: the system comprises a digital sand table interaction unit, a three-dimensional model generation unit, a virtual scene display unit and a control unit, wherein the digital sand table interaction unit is used for receiving instruction information sent by a user, the three-dimensional model generation unit is used for generating three-dimensional model data according to ship navigation information and the instruction information, and the virtual scene display unit is used for generating and displaying a three-dimensional digital sand table model according to the three-dimensional model data; the method comprises the following steps:
s10, acquiring ship navigation information, wherein the ship navigation comprises ship information of a test ship, target information of a target in a test sea area, environment information and autonomous collision avoidance route information;
s20, triggering a three-dimensional model generating unit in the intelligent navigation digital sand table system to generate three-dimensional model data based on the navigation information of the ship, and generating and displaying a three-dimensional scene model based on the three-dimensional model data by a virtual scene display unit;
s30, acquiring interaction distance between a test ship model and a target model generated by each piece of target information in the three-dimensional scene model, and comparing the interaction distance with a corresponding distance threshold value to obtain a ship safety pass rate;
and S40, acquiring a ship navigation autonomous collision avoidance algorithm test result based on the ship safety pass rate.
As an improvement of the method of the present application, "obtaining the ship safe passing rate through comparison of the interaction distance with the corresponding distance threshold value" in step S30 includes:
s31, comparing the interaction distance with a corresponding distance threshold value, judging whether collision risks exist between the test ship model and each target model, and comprising the following steps:
if the test ship model collides with the target model, the ship has collision risk and cannot pass;
if the test ship model and the target model are not collided and the interaction distance is smaller than the distance threshold value, the ship has collision risk and can barely pass;
if the interaction distance between the test ship model and the target model is greater than or equal to a distance threshold, the ship is free from collision risk and can pass safely;
s32, determining the safe pass rate of the ship, which comprises the following steps:
if the test ship model collides with the target model, the ship safety passing rate is zero;
and if the test ship model does not collide with the target model, taking the ratio of the number of times that the ship can pass safely to the target number as the ship safety passing rate.
As an improvement of the method of the present application, the step S40 of obtaining the test result of the autonomous collision avoidance algorithm for ship navigation based on the ship safety passing rate includes:
when the ship safe passing rate is greater than a preset passing rate threshold value, the ship navigation autonomous collision avoidance algorithm is successful, and the ship navigation autonomous collision avoidance algorithm is used as a ship navigation autonomous collision avoidance algorithm test result;
and when the safe pass rate of the ship is smaller than or equal to a preset pass rate threshold value, failing the ship navigation autonomous collision avoidance algorithm, and taking the failure of the ship navigation autonomous collision avoidance algorithm as a ship navigation autonomous collision avoidance algorithm test result.
As an improvement of the method of the present application, step S40 further comprises:
and S50, adjusting the autonomous collision avoidance route generated based on the autonomous collision avoidance route information through the digital sand table interaction unit according to the interaction distance between the test ship model and each target model, and outputting the adjusted route as an optimization result of the autonomous collision avoidance route.
As an improvement of the method of the application, the digital sand table interaction unit comprises a touch screen and a touch pen.
As an improvement of the method of the application, the ship information comprises length information, width information, navigational speed information, heading information and end position information of the test ship.
As an improvement of the method according to the application, the object comprises an obstacle and/or other vessel.
As an improvement of the method of the present application, the target information includes:
position information, size information, and/or size information of the obstacle
And the position information, the length information, the width information, the navigational speed information and the heading information of other ships.
As an improvement of the method of the application, the environmental information includes test time information, weather information, visibility information.
In a second aspect, the application provides a device for testing an autonomous collision avoidance algorithm for ship navigation, which is applied to an intelligent ship navigation digital sand table system, wherein the intelligent ship navigation digital sand table system comprises: the system comprises a digital sand table interaction unit, a three-dimensional model generation unit, a virtual scene display unit and a control unit, wherein the digital sand table interaction unit is used for receiving instruction information sent by a user, the three-dimensional model generation unit is used for generating three-dimensional model data according to ship navigation information and the instruction information, and the virtual scene display unit is used for generating and displaying a three-dimensional digital sand table model according to the three-dimensional model data; the device comprises:
the ship navigation information acquisition module is configured to acquire ship navigation information, wherein the ship navigation comprises ship information of a test ship, target information of a target in a test sea area, environment information and self-main collision avoidance line information;
the triggering module is configured to trigger a three-dimensional model generating unit in the ship intelligent navigation digital sand table system to generate three-dimensional model data based on the ship navigation information, and the virtual scene display unit generates and displays a three-dimensional scene model based on the three-dimensional model data;
the ship safety passing rate acquisition module is configured to acquire the interaction distance between the test ship model and the target model generated by each piece of target information in the three-dimensional scene model, and the ship safety passing rate is obtained through comparison of the interaction distance and the corresponding distance threshold;
the test result acquisition module is configured to acquire a test result of the autonomous collision avoidance algorithm of the ship navigation based on the ship safety traffic rate.
(III) beneficial effects
The application provides a test method for an autonomous collision avoidance algorithm for ship navigation, which can display the test process in an intuitive way and detect the effectiveness and reliability of the algorithm in a simple way; the ship navigation digital sand table system with the characteristics of digitization, visualization and intellectualization is used, so that the effect of the intelligent ship autonomous collision avoidance algorithm is displayed, the testing process of the ship testing field can be intuitively displayed, and the expert evaluation is facilitated. Further, the autonomous collision avoidance line is adjusted through the digital sand table interaction unit, and the adjusted line is used as an optimization result of the autonomous collision avoidance line, so that an expert can directly adjust the test line through the interaction interface after the test of the autonomous collision avoidance algorithm is finished, and the technical staff can more directly determine the algorithm perfecting direction. Compared with the field actual test, the method is simpler and more convenient, and can carry out algorithm and route test in different occasions and environments.
Drawings
The application is described with the aid of the following figures:
FIG. 1 is a schematic flow chart of a test method of an autonomous collision avoidance algorithm for ship navigation in an embodiment of the application;
fig. 2 is a schematic flow chart of an example of a test method for an autonomous collision avoidance algorithm for ship navigation in a specific embodiment of the present application.
Detailed Description
The application will be better explained by the following detailed description of embodiments with reference to the drawings.
Referring to fig. 1, fig. 1 is a schematic flow chart of a test method of an autonomous collision avoidance algorithm for ship navigation in an embodiment of the application.
The application relates to a ship navigation autonomous collision avoidance algorithm test method which is applied to a ship intelligent navigation digital sand table system, wherein the ship intelligent navigation digital sand table system comprises a digital sand table interaction unit for receiving instruction information sent by a user, a three-dimensional model generation unit for generating three-dimensional model data according to ship navigation information and the instruction information, and a virtual scene display unit for generating and displaying a three-dimensional digital sand table model according to the three-dimensional model data; the method comprises the following steps:
s10, acquiring ship navigation information, wherein the ship navigation comprises ship information of a test ship, target information of a target in a test sea area, environment information and autonomous collision avoidance route information;
s20, triggering a three-dimensional model generating unit in the ship intelligent navigation digital sand table system to generate three-dimensional model data based on ship navigation information, and generating and displaying a three-dimensional scene model by a virtual scene display unit based on the three-dimensional model data;
s30, acquiring interaction distances between the test ship model and the target model generated by each piece of target information in the three-dimensional scene model, and comparing the interaction distances with corresponding distance thresholds to obtain the ship safety passing rate;
and S40, acquiring a test result of the autonomous collision avoidance algorithm for ship navigation based on the ship safety traffic rate.
In order to facilitate the understanding of the method of the present application, a specific description of the shipping navigation digital sand table system will be provided, followed by a detailed description of the various steps of the present application.
The digital sand table is realized by utilizing digital projection through sound, light, electricity, image, three-dimensional animation and computer program control technology, and the digital sand table can fully embody the regional characteristics, thereby achieving a dynamic visual effect of wonderful figures and various poses. The sand table model is brand new experience for visitors, can generate strong resonance, and is more visual than the traditional sand table model.
The utility model provides a digital sand table system of boats and ships intelligence navigation, includes: the system comprises a target ship data receiving unit, a digital sand disc interaction unit, a three-dimensional model generating unit and a virtual scene display unit.
The target ship data receiving unit is used for receiving target ship information data of a preset sea area acquired and transmitted by the radar system and the ship automatic identification system, and transmitting the target ship information data to the digital sand table interaction unit and the three-dimensional model generation unit.
The digital sand table interaction unit is used for receiving target ship information data, generating a digital sand table interaction interface according to the ship information, the electronic chart data of the preset sea area and the target ship information data, receiving instruction information sent by a user based on the digital sand table interaction interface, analyzing the instruction information into instruction information data and sending the instruction information data to the three-dimensional model generation unit.
The three-dimensional model generating unit is used for receiving instruction information data and target ship information data; generating three-dimensional model data according to the ship information, the electronic sea chart data of the preset sea area and the target ship information data, and dynamically adjusting the current three-dimensional model data according to the instruction information data; and sending the current three-dimensional model data or the three-dimensional model data after dynamic adjustment to a virtual scene display unit as the three-dimensional model data.
And the virtual scene display unit is used for receiving the three-dimensional model data and generating and displaying a corresponding three-dimensional digital sand table model.
Specifically, in the embodiment of the method for testing the autonomous collision avoidance algorithm for ship navigation of the present application, the step S30 of obtaining the ship safety traffic rate by comparing the interaction distance with the corresponding distance threshold value includes:
s31, comparing the interaction distance with a corresponding distance threshold value, judging whether collision risks exist between the test ship model and each target model, and comprising the following steps:
if the test ship model collides with the target model, the ship has collision risk and cannot pass;
if the test ship model and the target model are not collided and the interaction distance is smaller than the distance threshold, the ship has collision risk and can barely pass;
if the interaction distance between the test ship model and the target model is greater than or equal to the distance threshold, the ship is free from collision risk and can pass safely;
s32, determining the safe pass rate of the ship, which comprises the following steps:
if the test ship model collides with the target model, the ship safety passing rate is zero;
if the ship model is not collided with the target model, the ratio of the number of times that the ship can pass safely to the target number is used as the ship safety pass rate.
Specifically, in the embodiment of the method for testing the autonomous collision avoidance algorithm for ship navigation according to the present application, the step S40 of obtaining the test result of the autonomous collision avoidance algorithm for ship navigation based on the safe traffic rate of the ship includes:
when the ship safe passing rate is greater than a preset passing rate threshold value, the ship navigation autonomous collision avoidance algorithm is successful, and the ship navigation autonomous collision avoidance algorithm is used as a ship navigation autonomous collision avoidance algorithm test result;
and when the safe pass rate of the ship is smaller than or equal to a preset pass rate threshold value, failing the ship navigation autonomous collision avoidance algorithm, and taking the failure of the ship navigation autonomous collision avoidance algorithm as a ship navigation autonomous collision avoidance algorithm test result.
Specifically, in an embodiment of the method for testing a ship navigation autonomous collision avoidance algorithm of the present application, after step S40, the method further includes:
and S50, adjusting the autonomous collision avoidance route generated based on the autonomous collision avoidance route information through a digital sand disk interaction unit according to the interaction distance between the test ship model and each target model, and outputting the adjusted route as an optimization result of the autonomous collision avoidance route.
Specifically, in the embodiment of the method for testing the autonomous collision avoidance algorithm for ship navigation, the digital sand table interaction unit comprises a touch screen and a touch pen.
Specifically, in the embodiment of the method for testing the autonomous collision avoidance algorithm for ship navigation, ship information comprises length information, width information, navigational speed information, heading information and end position information of a tested ship.
Specifically, in an embodiment of the method for testing the autonomous collision avoidance algorithm for ship navigation, the target comprises an obstacle and/or other ships.
Specifically, in an embodiment of the method for testing the autonomous collision avoidance algorithm for ship navigation, the target information includes:
position information, size information, and/or size information of an obstacle
Position information, length information, width information, navigational speed information and heading information of other ships.
Specifically, in the embodiment of the method for testing the autonomous collision avoidance algorithm for ship navigation, the environmental information comprises testing time information, weather information and visibility information.
Referring to fig. 2, fig. 2 is a flow chart schematically illustrating an example of a test method for an autonomous collision avoidance algorithm for ship navigation according to an embodiment of the present application. The steps in one embodiment of the method of the present application are described in detail below in conjunction with FIG. 2.
S1, selecting an autonomous collision avoidance algorithm test mode in an interactive interface of a digital sand table operation table by using a touch pen, and selecting a new test scheme or a test case. After the autonomous collision avoidance algorithm test mode is selected, automatically presenting an electronic chart of the sea area where the ship test field is located in a three-dimensional picture in the digital sand table operation table. The test case is a preset test scheme which comprises the starting position of the ship, the ship information, the target information and the environment information, and the scheme can be that data of a ship test field in a test stage are obtained through an unmanned ship mapping module.
S2, if a new test scheme is selected, turning to S3; otherwise, select "test case", go to S5.
S3, inputting a testing scheme in the interactive interface, wherein the testing scheme comprises ship information, target information, environment information and the like. The ship information comprises: captain, ship width, speed, heading, end position and the like; the target is an obstacle or other vessel, and if an obstacle is present, the target information includes: position, size, etc.; in the case of other vessels, the target information includes: position, captain, width, speed, course, etc.; the environment information includes: test time, weather information, visibility, etc.
S4, selecting an effective starting position of the ship in the interactive interface by using a touch pen; the effective starting position cannot be a position where the ship cannot avoid the target anyway.
S5, after the touch pen is kept at the starting position of the ship for five seconds, the three-dimensional simulation display of the sand table displays three-dimensional simulation animation constructed according to the test scheme and chart data, and an autonomous collision avoidance route represented by solid arrows is displayed on an electronic chart in an interactive interface; the autonomous collision avoidance route is calculated by analyzing and calculating an intelligent ship autonomous collision avoidance algorithm accessed by a ship navigation digital sand table system according to a test scheme and chart information.
S6, dragging the touch pen along the autonomous collision avoidance route.
S7, if the touch pen leaves the autonomous collision avoidance line after moving, locking the three-dimensional simulation animation, and turning to S8; otherwise, the three-dimensional simulation animation of the autonomous collision prevention process of the intelligent ship is synchronously displayed in the three-dimensional simulation display of the sand table, and the process goes to S6; the lock state is that in this case, the three-dimensional animation is in a pause state regardless of the movement of the stylus.
S8, if the end position is not moved yet, turning to S9; otherwise, the stylus leaves the console and goes to S10.
And S9, after the touch pen is kept at the position away from the autonomous collision avoidance line for five seconds in S7, unlocking the three-dimensional simulation animation, and turning to S6.
S10, if the user needs to check again, turning to S4; otherwise, go to S11.
S11, acquiring interaction distance between a test ship model and a target model generated by each target information in the three-dimensional scene model, and comparing the interaction distance with a corresponding distance threshold value to obtain the ship safety pass rate, wherein the method specifically comprises the following steps:
s111, comparing the interaction distance with a corresponding distance threshold value, judging whether collision risk exists between the test ship model and each target model, and comprising the following steps:
if the test ship model collides with the target model, the ship has collision risk and cannot pass;
if the test ship model and the target model are not collided and the interaction distance is smaller than the distance threshold, the ship has collision risk and can barely pass;
if the interaction distance between the test ship model and the target model is greater than or equal to the distance threshold, the ship is free from collision risk and can pass safely;
s112, determining the safe pass rate of the ship, comprising:
if the test ship model collides with the target model, the ship safety passing rate is zero;
if the ship model is not collided with the target model, the ratio of the number of times that the ship can pass safely to the target number is used as the ship safety pass rate.
When the ship safe passing rate is greater than a preset passing rate threshold value, the ship navigation autonomous collision avoidance algorithm is successful, and the ship navigation autonomous collision avoidance algorithm is used as a ship navigation autonomous collision avoidance algorithm test result;
and when the safe pass rate of the ship is smaller than or equal to a preset pass rate threshold value, failing the ship navigation autonomous collision avoidance algorithm, and taking the failure of the ship navigation autonomous collision avoidance algorithm as a ship navigation autonomous collision avoidance algorithm test result.
The expert is asked to evaluate whether the autonomous collision avoidance line needs to be modified, and if so, the process goes to S12; otherwise, go to S17.
S12, clicking a 'modification' button in the interactive interface by a finger.
And S13, pressing the touch pen at a position needing to be modified on the autonomous collision avoidance line for five seconds, and then displaying the three-dimensional simulation animation of the position by the sand table three-dimensional simulation display.
S14, the expert drags the touch pen according to the three-dimensional simulation animation to avoid the target obstacle or the target ship.
And S15, after the touch pen leaves the operation desk, displaying a display expert collision avoidance route formed by dotted arrows on a chart in the interactive interface.
S16, if the modification is completed, turning to S17; otherwise, go to S13.
S17, the intelligent ship autonomous collision avoidance algorithm test is finished.
According to the embodiment, gestures and a touch pen are used as input devices, so that the number of the devices is reduced, and the operation is simple; the collision prevention process of the ship test field in the test stage can be repeatedly displayed, so that the test effect can be comprehensively and clearly watched by personnel who cannot be in the field; the autonomous collision avoidance route obtained by the autonomous collision avoidance algorithm of the intelligent ship is displayed for the expert, so that the autonomous collision avoidance route is simpler, quicker, more visual and three-dimensional; the simple operation process of the application can be operated and evaluated by an expert, so that the technical personnel can understand the operation more easily, and the working efficiency of the algorithm modification after the test is higher.
The second aspect of the application provides a device for testing an autonomous collision avoidance algorithm for ship navigation, which is applied to an intelligent ship navigation digital sand table system, wherein the intelligent ship navigation digital sand table system comprises: the system comprises a digital sand table interaction unit, a three-dimensional model generation unit, a virtual scene display unit and a control unit, wherein the digital sand table interaction unit is used for receiving instruction information sent by a user, the three-dimensional model generation unit is used for generating three-dimensional model data according to ship navigation information and the instruction information, and the virtual scene display unit is used for generating and displaying a three-dimensional digital sand table model according to the three-dimensional model data; the device comprises:
the ship navigation information acquisition module is configured to acquire ship navigation information, wherein the ship navigation comprises ship information of a test ship, target information of a target in a test sea area, environment information and autonomous collision avoidance route information;
the system comprises a triggering module, a virtual scene display unit and a control module, wherein the triggering module is configured to trigger a three-dimensional model generating unit in the intelligent navigation digital sand table system to generate three-dimensional model data based on ship navigation information, and the virtual scene display unit generates and displays a three-dimensional scene model based on the three-dimensional model data;
the ship safety pass rate acquisition module is configured to acquire the interaction distance between the test ship model and the target model generated by each piece of target information in the three-dimensional scene model, and the ship safety pass rate is obtained through comparison between the interaction distance and the corresponding distance threshold;
the test result acquisition module is configured to acquire a test result of a ship navigation self-main collision avoidance algorithm based on the ship safety traffic rate.
It should be noted that, the autonomous collision avoidance algorithm testing device for ship navigation provided in the foregoing embodiment is only exemplified by the division of the foregoing functional modules, in practical application, the foregoing functional allocation may be performed by different functional modules according to needs, that is, the modules or steps in the embodiment of the present application are further decomposed or combined, for example, the modules in the foregoing embodiment may be combined into one module, or may be further decomposed into a plurality of sub-modules, so as to complete all or part of the functions described above. The names of the modules and steps related to the embodiments of the present application are merely for distinguishing the respective modules or steps, and are not to be construed as unduly limiting the present application.
It will be clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus described above and the related description may refer to the corresponding process in the foregoing method embodiment, which is not repeated here.
It should be understood that the above description of the specific embodiments of the present application is only for illustrating the technical route and features of the present application, and is for enabling those skilled in the art to understand the content of the present application and implement it accordingly, but the present application is not limited to the above-described specific embodiments. All changes and modifications that come within the scope of the appended claims are intended to be embraced therein.
Claims (5)
1. The utility model provides a ship navigation autonomous collision avoidance algorithm test method, is applied to the intelligent navigation digital sand table system of boats and ships, the intelligent navigation digital sand table system of boats and ships includes: the system comprises a digital sand table interaction unit, a three-dimensional model generation unit, a virtual scene display unit and a control unit, wherein the digital sand table interaction unit is used for receiving instruction information sent by a user, the three-dimensional model generation unit is used for generating three-dimensional model data according to ship navigation information and the instruction information, and the virtual scene display unit is used for generating and displaying a three-dimensional digital sand table model according to the three-dimensional model data; characterized in that the method comprises the following steps:
s10, acquiring ship navigation information, wherein the ship navigation information comprises ship information of a test ship, target information of a target in a test sea area, environment information and autonomous collision avoidance route information; the ship information comprises length information, width information, navigational speed information, heading information and end position information of the tested ship; the target information includes: position information, size information, and/or position information, length information, width information, speed information, heading information of other vessels; the environment information comprises test time information, weather information and visibility information;
s20, triggering a three-dimensional model generating unit in the intelligent navigation digital sand table system of the ship to generate three-dimensional model data based on navigation information of the ship and electronic chart data of a preset sea area, and generating and displaying a three-dimensional scene model based on the three-dimensional model data by a virtual scene display unit;
s30, acquiring interaction distance between a test ship model and a target model generated by each piece of target information in the three-dimensional scene model, and comparing the interaction distance with a corresponding distance threshold value to obtain a ship safety pass rate;
s40, acquiring a test result of an autonomous collision avoidance algorithm for ship navigation based on the ship safety traffic rate;
the step S30 of "obtaining the ship safe passing rate through comparison of the interaction distance and the corresponding distance threshold value" includes:
s31, comparing the interaction distance with a corresponding distance threshold value, judging whether collision risks exist between the test ship model and each target model, and comprising the following steps:
if the test ship model collides with the target model, the ship has collision risk and cannot pass;
if the test ship model and the target model are not collided and the interaction distance is smaller than the distance threshold, the ship has collision risk and can barely pass;
if the interaction distance between the test ship model and the target model is greater than or equal to a distance threshold, the ship is free from collision risk and can pass safely;
s32, determining the safe pass rate of the ship, which comprises the following steps:
if the test ship model collides with the target model, the ship safety passing rate is zero;
and if the test ship model does not collide with the target model, taking the ratio of the number of times that the ship can pass safely to the target number as the ship safety pass rate.
2. The method according to claim 1, wherein the step S40 of obtaining the test result of the autonomous collision avoidance algorithm for ship navigation based on the safe pass rate of the ship comprises:
when the ship safe passing rate is greater than a preset passing rate threshold value, the ship navigation autonomous collision avoidance algorithm is successful, and the ship navigation autonomous collision avoidance algorithm is used as a test result of the ship navigation autonomous collision avoidance algorithm;
and when the ship safe passing rate is smaller than or equal to a preset passing rate threshold value, failing the ship navigation autonomous collision avoidance algorithm, and taking the failure of the ship navigation autonomous collision avoidance algorithm as a test result of the ship navigation autonomous collision avoidance algorithm.
3. The method for testing a ship navigation autonomous collision avoidance algorithm according to any of claims 1-2, further comprising, after step S40:
and S50, adjusting the autonomous collision avoidance route generated based on the autonomous collision avoidance route information through the digital sand table interaction unit according to the interaction distance between the test ship model and each target model, and outputting the adjusted route as an optimization result of the autonomous collision avoidance route.
4. The method for testing the autonomous collision avoidance algorithm for ship navigation according to claim 3, wherein the digital sand table interaction unit comprises a touch screen and a touch pen.
5. The utility model provides a ship navigation independently prevents bumping algorithm testing arrangement, is applied to the intelligent navigation digital sand table system of boats and ships, the intelligent navigation digital sand table system of boats and ships includes: the system comprises a digital sand table interaction unit, a three-dimensional model generation unit, a virtual scene display unit and a control unit, wherein the digital sand table interaction unit is used for receiving instruction information sent by a user, the three-dimensional model generation unit is used for generating three-dimensional model data according to ship navigation information and the instruction information, and the virtual scene display unit is used for generating and displaying a three-dimensional digital sand table model according to the three-dimensional model data; characterized in that the device comprises:
the ship navigation information acquisition module is configured to acquire ship navigation information, wherein the ship navigation information comprises ship information of a test ship, target information of a target in a test sea area, environment information and autonomous collision avoidance route information; the ship information comprises length information, width information, navigational speed information, heading information and end position information of the tested ship; the target information includes: position information, size information, and/or position information, length information, width information, speed information, heading information of other vessels; the environment information comprises test time information, weather information and visibility information;
the trigger module is configured to trigger a three-dimensional model generation unit in the ship intelligent navigation digital sand table system to generate three-dimensional model data based on ship navigation information and electronic chart data of a preset sea area, and a virtual scene display unit generates and displays a three-dimensional scene model based on the three-dimensional model data;
the ship safety passing rate acquisition module is configured to acquire the interaction distance between the test ship model and the target model generated by each piece of target information in the three-dimensional scene model, and the ship safety passing rate is obtained through comparison of the interaction distance and the corresponding distance threshold;
the test result acquisition module is configured to acquire a test result of a ship navigation autonomous collision avoidance algorithm based on the ship safety pass rate;
the comparison of the interaction distance and the corresponding distance threshold value is used for obtaining the safe passing of the ship, and the method comprises the following steps:
comparing the interaction distance with a corresponding distance threshold, and judging whether collision risks exist between the tested ship model and each target model or not, wherein the method comprises the following steps:
if the test ship model collides with the target model, the ship has collision risk and cannot pass;
if the test ship model and the target model are not collided and the interaction distance is smaller than the distance threshold, the ship has collision risk and can barely pass;
if the interaction distance between the test ship model and the target model is greater than or equal to a distance threshold, the ship is free from collision risk and can pass safely;
determining a safe pass rate of the ship, comprising:
if the test ship model collides with the target model, the ship safety passing rate is zero;
and if the test ship model does not collide with the target model, taking the ratio of the number of times that the ship can pass safely to the target number as the ship safety pass rate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010237786.4A CN111474916B (en) | 2020-03-30 | 2020-03-30 | Ship navigation autonomous collision avoidance algorithm testing method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010237786.4A CN111474916B (en) | 2020-03-30 | 2020-03-30 | Ship navigation autonomous collision avoidance algorithm testing method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111474916A CN111474916A (en) | 2020-07-31 |
| CN111474916B true CN111474916B (en) | 2023-08-29 |
Family
ID=71749282
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010237786.4A Active CN111474916B (en) | 2020-03-30 | 2020-03-30 | Ship navigation autonomous collision avoidance algorithm testing method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111474916B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112141287B (en) * | 2020-09-17 | 2021-09-03 | 智慧航海（青岛）科技有限公司 | Intelligent ship cooperative collision avoidance system and method based on ship-side fusion data |
| CN116911081B (en) * | 2023-09-14 | 2024-02-02 | 中国船级社 | Intelligent ship collision avoidance simulation test method, system and equipment |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3717873A (en) * | 1970-11-05 | 1973-02-20 | Sperry Rand Corp | Ship's maneuver assessment system |
| CN101694751A (en) * | 2009-09-28 | 2010-04-14 | 大连海事大学 | Monitoring system and monitoring method for ships in typical sections of Three Gorges Reservoir |
| US20130138334A1 (en) * | 2011-11-30 | 2013-05-30 | At&T Mobility Ii Llc | Comparison of Multi-Dimensional Datasets |
| CN103390077A (en) * | 2013-06-24 | 2013-11-13 | 武汉理工大学 | Ship collision detection method in three-dimensional inland waterway navigation simulation based on OGRE (Object-Oriented Graphics Rendering Engine) |
| CN104794526A (en) * | 2015-05-13 | 2015-07-22 | 哈尔滨工程大学 | Automatic ship anti-collision method optimized by wolf colony search algorithm |
| CN105096660A (en) * | 2015-09-09 | 2015-11-25 | 河海大学常州校区 | Ship safety forewarning method based on classification detection of collision |
| CN105159954A (en) * | 2015-08-17 | 2015-12-16 | 武汉理工大学 | Three-dimensional electronic nautical chart generating method based on GIS and virtual reality technology |
| CN105241457A (en) * | 2015-08-10 | 2016-01-13 | 武汉理工大学 | Establishing method of three-dimensional aided navigation system for ship handling |
| CN107065596A (en) * | 2017-05-17 | 2017-08-18 | 武汉理工大学 | The method of tire of the emergent collision prevention action effect of ship under a kind of immediate danger |
| CN107507488A (en) * | 2017-09-30 | 2017-12-22 | 中铁第四勘察设计院集团有限公司 | A kind of track traffic virtual electronic sand table simulation training system and method |
| CN109084747A (en) * | 2018-06-26 | 2018-12-25 | 武汉理工大学 | Water transportation panorama three-dimension navigation system and method based on general three-dimensional engine |
| CN110133659A (en) * | 2019-05-15 | 2019-08-16 | 中国舰船研究设计中心 | A kind of Novel surface naval vessel is assisted from berthing pilotage device and method |
| CN110174896A (en) * | 2019-05-31 | 2019-08-27 | 中国船舶重工集团公司第七0七研究所 | A kind of autonomous collision prevention method of unmanned boat multiple target |
| CN110203325A (en) * | 2019-06-14 | 2019-09-06 | 上海外高桥造船有限公司 | The test method and system of the collision prevention function of ship autonomous navigation system |
| CN110341877A (en) * | 2019-06-04 | 2019-10-18 | 智慧航海（青岛）科技有限公司 | A kind of the distributed emulation test macro and method of the autonomous collision prevention of intelligent ship |
-
2020
- 2020-03-30 CN CN202010237786.4A patent/CN111474916B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3717873A (en) * | 1970-11-05 | 1973-02-20 | Sperry Rand Corp | Ship's maneuver assessment system |
| CN101694751A (en) * | 2009-09-28 | 2010-04-14 | 大连海事大学 | Monitoring system and monitoring method for ships in typical sections of Three Gorges Reservoir |
| US20130138334A1 (en) * | 2011-11-30 | 2013-05-30 | At&T Mobility Ii Llc | Comparison of Multi-Dimensional Datasets |
| CN103390077A (en) * | 2013-06-24 | 2013-11-13 | 武汉理工大学 | Ship collision detection method in three-dimensional inland waterway navigation simulation based on OGRE (Object-Oriented Graphics Rendering Engine) |
| CN104794526A (en) * | 2015-05-13 | 2015-07-22 | 哈尔滨工程大学 | Automatic ship anti-collision method optimized by wolf colony search algorithm |
| CN105241457A (en) * | 2015-08-10 | 2016-01-13 | 武汉理工大学 | Establishing method of three-dimensional aided navigation system for ship handling |
| CN105159954A (en) * | 2015-08-17 | 2015-12-16 | 武汉理工大学 | Three-dimensional electronic nautical chart generating method based on GIS and virtual reality technology |
| CN105096660A (en) * | 2015-09-09 | 2015-11-25 | 河海大学常州校区 | Ship safety forewarning method based on classification detection of collision |
| CN107065596A (en) * | 2017-05-17 | 2017-08-18 | 武汉理工大学 | The method of tire of the emergent collision prevention action effect of ship under a kind of immediate danger |
| CN107507488A (en) * | 2017-09-30 | 2017-12-22 | 中铁第四勘察设计院集团有限公司 | A kind of track traffic virtual electronic sand table simulation training system and method |
| CN109084747A (en) * | 2018-06-26 | 2018-12-25 | 武汉理工大学 | Water transportation panorama three-dimension navigation system and method based on general three-dimensional engine |
| CN110133659A (en) * | 2019-05-15 | 2019-08-16 | 中国舰船研究设计中心 | A kind of Novel surface naval vessel is assisted from berthing pilotage device and method |
| CN110174896A (en) * | 2019-05-31 | 2019-08-27 | 中国船舶重工集团公司第七0七研究所 | A kind of autonomous collision prevention method of unmanned boat multiple target |
| CN110341877A (en) * | 2019-06-04 | 2019-10-18 | 智慧航海（青岛）科技有限公司 | A kind of the distributed emulation test macro and method of the autonomous collision prevention of intelligent ship |
| CN110203325A (en) * | 2019-06-14 | 2019-09-06 | 上海外高桥造船有限公司 | The test method and system of the collision prevention function of ship autonomous navigation system |
Non-Patent Citations (1)
| Title |
|---|
| 船舶自动避碰仿真平台的构建与测试方法研究;李丽娜等;《中国航海》(第3期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111474916A (en) | 2020-07-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7339516B2 (en) | Method to provide graphical representation of Sense Through The Wall (STTW) targets | |
| EP3283938B1 (en) | Gesture interface | |
| CN103092432B (en) | The trigger control method of man-machine interactive operation instruction and system and laser beam emitting device | |
| CN111474916B (en) | Ship navigation autonomous collision avoidance algorithm testing method and device | |
| CN103383731B (en) | A kind of projection interactive method based on finger tip location, system and the equipment of calculating | |
| CN109636921A (en) | Intelligent vision ship sensory perceptual system and data processing method based on cloud platform | |
| George et al. | DAARIA: Driver assistance by augmented reality for intelligent automobile | |
| EP2876624B1 (en) | Maintenance assistant system | |
| WO2020107022A4 (en) | Signal processing workflow engine incorporating graphical user interface for space situational awareness | |
| CN113704116A (en) | Data processing method, device, electronic equipment and medium for automatic driving vehicle | |
| EP3566949B1 (en) | Aiding maneuvering of obscured objects | |
| CN116050136B (en) | Method, device and equipment for generating intelligent ship test scene library | |
| CN109489988A (en) | A kind of simulation real vehicle key starting vision durability Meter Test system | |
| CN116452749A (en) | Equipment three-dimensional thermal imaging method, device and equipment based on digital twin | |
| CN106611165B (en) | A kind of automotive window detection method and device based on correlation filtering and color-match | |
| CN115723919A (en) | Auxiliary navigation method and device for ship yaw | |
| CN114565908A (en) | Lane line detection method and device, electronic device and storage medium | |
| KR102376927B1 (en) | Intelligent cctv control method for marine | |
| CN106291192A (en) | The method of testing of a kind of interactive infrared touch one-piece machine response delay and device | |
| US11423195B2 (en) | User interface to simulate target detection and recognition | |
| CN106951077A (en) | A kind of reminding method and the first electronic equipment | |
| CN208752799U (en) | Driving school's training car-mounted terminal based on cloud platform | |
| Fujiwara et al. | Interactions with a line-follower: An interactive tabletop system with a markerless gesture interface for robot control | |
| CN115657494A (en) | Virtual object simulation method, device, equipment and storage medium | |
| KR102340184B1 (en) | Apparatus and method for tracking a manual target using AI learning technique in the console terminal |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |