CN114385056A - Virtual test evaluation method, system, device and medium for intelligent ship navigation system - Google Patents
Virtual test evaluation method, system, device and medium for intelligent ship navigation system Download PDFInfo
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- 238000012360 testing method Methods 0.000 claims abstract description 71
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B71/00—Designing vessels; Predicting their performance
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Abstract
The invention discloses a virtual test evaluation method, a virtual test evaluation system, a virtual test evaluation device and a virtual test evaluation medium for an intelligent navigation system of a ship, wherein the method comprises the following steps: selecting a virtual test water area for ship navigation, and acquiring water area virtual data; selecting a virtual test scene in the ship navigation to acquire scene virtual data; displaying a virtual picture according to the water area virtual data and the scene virtual data, wherein the virtual picture comprises a virtual ship; acquiring a response instruction based on the virtual picture, wherein the response instruction is an instruction input by a ship pilot or an intelligent navigation system for controlling a virtual ship; and generating a test result according to the response instruction, and evaluating whether the virtual ship is controlled by a ship driver or an intelligent navigation system according to the test result. According to the invention, by constructing a double-blind man-machine hybrid test and evaluating whether the virtual ship is controlled by a ship driver or an intelligent navigation system according to the test result, the test evaluation of the intelligent capability of the intelligent navigation system of the ship is realized, and the method can be widely applied to the field of intelligent navigation evaluation of the ship.
Description
Technical Field
The invention relates to the field of intelligent ship navigation evaluation, in particular to a virtual test evaluation method, a virtual test evaluation system, a virtual test evaluation device and a virtual test evaluation medium for an intelligent ship navigation system.
Background
The core of the development of the intelligent navigation technology of the ship lies in the construction of a complete software and hardware system which can sense and recognize the autonomous decision control autonomously. Due to the high added value attribute of the ship, the core of the research and development of the intelligent navigation technology is testing, the current testing verification and evaluation technology of the intelligent ship is a research hotspot, and all countries develop testing verification and evaluation work by constructing a testing field, designing and building a model ship or a real ship. One of the most difficult research contents is the test evaluation of the intelligent capability of the intelligent navigation system of the ship.
Disclosure of Invention
In order to solve at least one of the technical problems in the prior art to a certain extent, the invention aims to provide a method, a system, a device and a medium for evaluating a virtual test of an intelligent ship navigation system.
The technical scheme adopted by the invention is as follows:
a virtual test evaluation method for an intelligent navigation system of a ship comprises the following steps:
selecting a virtual test water area for ship navigation, and acquiring water area virtual data according to the selected virtual test water area;
selecting a virtual test scene in the ship navigation, and acquiring scene virtual data according to the selected virtual test scene;
displaying a virtual picture according to the water area virtual data and the scene virtual data, wherein the virtual picture comprises a virtual ship;
acquiring a response instruction based on the virtual picture, wherein the response instruction is an instruction input by a ship pilot for controlling the virtual ship or an instruction input by an intelligent navigation system for controlling the virtual ship;
and generating a test result according to the response instruction, and evaluating whether the virtual ship is controlled by a ship driver or an intelligent navigation system according to the test result.
Further, the virtual test water area comprises an open water area, a narrow water channel, an access port and a harbor area operation;
the virtual test scene comprises a ship encounter scene, a ship cross scene, a ship overtaking scene and a ship formation scene;
the test result comprises a test video and test data.
Further, the test data is stored in a comma separated value file format.
Further, if the evaluation result is that the intelligent navigation system controls the virtual ship, the method further comprises the following steps:
and grading the intelligent level of the intelligent navigation system according to the test result and a preset quantitative evaluation index.
The other technical scheme adopted by the invention is as follows:
a virtual test evaluation system of a ship intelligent navigation system comprises:
the water area selection module is used for selecting a virtual test water area for ship navigation and acquiring water area virtual data according to the selected virtual test water area;
the system comprises a scene selection module, a data processing module and a data processing module, wherein the scene selection module is used for selecting a virtual test scene during ship navigation and acquiring scene virtual data according to the selected virtual test scene;
the picture display module is used for displaying a virtual picture according to the water area virtual data and the scene virtual data, and the virtual picture comprises a virtual ship;
the instruction acquisition module is used for acquiring a response instruction based on the virtual image, wherein the response instruction is an instruction input by a ship pilot for controlling the virtual ship or an instruction input by an intelligent navigation system for controlling the virtual ship;
and the control evaluation module is used for generating a test result according to the response instruction and evaluating whether the virtual ship is controlled by a ship driver or an intelligent navigation system according to the test result.
Further, the virtual test water area comprises an open water area, a narrow water channel, an access port and a harbor area operation;
the virtual test scene comprises a ship encounter scene, a ship cross scene, a ship overtaking scene and a ship formation scene;
the test result comprises a test video and test data.
Further, the test data is stored in a comma separated value file format.
Furthermore, the intelligent scoring system also comprises an intelligent scoring module;
and the intelligent scoring module is used for scoring the intelligent level of the intelligent navigation system according to the test result and a preset quantitative evaluation index after the virtual ship is evaluated to be controlled by the intelligent navigation system.
The other technical scheme adopted by the invention is as follows:
the utility model provides a virtual test evaluation device of boats and ships intelligence navigation system, includes:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement the method described above.
The other technical scheme adopted by the invention is as follows:
a computer readable storage medium in which a processor executable program is stored, which when executed by a processor is for performing the method as described above.
The invention has the beneficial effects that: according to the invention, by constructing a double-blind man-machine hybrid test, whether the virtual ship is controlled by a ship driver or an intelligent navigation system is evaluated according to the test result, and the test evaluation of the intelligent capability of the intelligent navigation system of the ship is realized.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description is made on the drawings of the embodiments of the present invention or the related technical solutions in the prior art, and it should be understood that the drawings in the following description are only for convenience and clarity of describing some embodiments in the technical solutions of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flowchart illustrating steps of a virtual test evaluation method for an intelligent navigation system of a ship according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a virtual test evaluation method for a ship intelligent navigation system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a virtual vessel being steered by a vessel pilot in an embodiment of the invention;
FIG. 4 is a schematic diagram of a virtual vessel being operated by the intelligent vessel system in an embodiment of the invention;
FIG. 5 is a schematic diagram of test data opening by excel in an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a virtual test evaluation system of a ship intelligent navigation system in an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention. The step numbers in the following embodiments are provided only for convenience of illustration, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
As shown in fig. 1 and fig. 2, the present embodiment provides a virtual test evaluation method for a ship intelligent navigation system, including the following steps:
and S1, selecting a virtual test water area for ship navigation, and acquiring water area virtual data according to the selected virtual test water area.
The virtual test water area comprises typical water areas such as an open water area, a narrow water channel, an access port, a harbor area operation and the like, and can be randomly selected by a machine or manually selected. In this embodiment, the virtual test water area is manually selected, for example, by testing the intelligent capability of the intelligent navigation system of a container ship, it can be determined whether the typical navigation water area of the container ship is an inland river or an ocean, a narrow waterway or an open water area, whether harbor operation exists, or not, according to the size and the voyage number. The test water area can be judged according to the tested ship type.
Specifically, the virtual test water areas are constructed in advance and stored in a test platform, and only calling and loading are needed when the virtual test water areas are used.
S2, selecting a virtual test scene in the ship navigation, and acquiring scene virtual data according to the selected virtual test scene.
The virtual test scene refers to an interference ship interacting with a tested ship by setting, and can set a plurality of other ships around the tested ship, such as two-ship encounter, multi-ship intersection, overtaking, formation and the like. The virtual test scene comprises a ship encounter scene, a ship cross scene, a ship overtaking scene, a ship formation scene and the like.
Specifically, the virtual test scenes are constructed in advance and stored in a test platform, and only calling and loading are needed.
And S3, displaying a virtual picture according to the water area virtual data and the scene virtual data, wherein the virtual picture comprises a virtual ship.
After acquiring the water area virtual data and the scene virtual data, displaying a virtual picture by executing data content, wherein the displaying comprises displaying through a display screen and also comprises displaying data. Through the display screen display, the ship pilot can know the condition of virtual ship through watching the display screen to input operation instruction through the operating device, in order to control the navigation condition of virtual ship. Through data display, the intelligent navigation system obtains the position information and the water area details of the ship by reading data, and then performs data interaction with the virtual equipment background through inputting a data instruction so as to control the navigation condition of the virtual ship. Wherein the display screen in the virtual device still displays the virtual picture and the picture of the controlled ship, and the pictures can be recorded as the playback video.
And S4, acquiring a response instruction based on the virtual picture, wherein the response instruction is an instruction input by a ship pilot for controlling the virtual ship, or an instruction input by an intelligent navigation system for controlling the virtual ship.
Aiming at each water area and scene, the intelligent navigation system can be controlled by ship drivers and can also be controlled by the intelligent navigation system. Referring to fig. 3, when the ship is controlled by the ship pilot, the ship pilot inputs an operation instruction through the control device according to information in the screen of the display screen, and the virtual device performs an operation according to the operation instruction and modifies the display screen. Referring to fig. 4, when controlled by the intelligent navigation system, the intelligent navigation system determines obstacles (including ships and buildings) in the open circuit according to a planned navigation route, inputs a command for controlling the ships, and the virtual device performs operation according to the operation command, modifies a parameter of the response, and displays a corresponding screen.
And S5, generating a test result according to the response instruction, and evaluating whether the virtual ship is controlled by a ship driver or an intelligent navigation system according to the test result.
The test result comprises a test video and test data, wherein the test video is formed by recording a picture displayed by the virtual equipment; the test data comprises records of parameters including speed, course angle, propeller rotation speed, rudder angle and the like, and the test data is stored in a database; specifically, referring to fig. 5, the test data is stored in a comma separated value (csv) file format and can be subsequently opened by excel, so that an evaluator can conveniently evaluate the test data. In addition, the corresponding definitions and formats of these test data are shown in table 1 below.
TABLE 1
The evaluation according to the test result may be performed by a computer or may be performed by a technician, and in the present embodiment, the evaluation is performed by an evaluator. And respectively evaluating the navigation test result of each virtual ship by configuring a preset number of evaluators, wherein all the evaluators are not clear whether each virtual ship is driven by a driver or controlled by an intelligent navigation system. Evaluators evaluate the test result by watching the recording frequency of the test process and the core data information of the database; if the evaluators evaluate that a certain virtual ship is controlled by the intelligent navigation system, a ticket is issued to the intelligent navigation system to control the virtual ship, and the evaluation results of the evaluators are combined to obtain whether the evaluation results are that the driver controls the virtual ship or that the intelligent navigation system controls the virtual ship, so that qualitative evaluation of the ship driver and the intelligent navigation system is realized. If the assessment is carried out by the evaluator, whether the ship pilot controls the virtual ship or the intelligent navigation system controls the virtual ship cannot be effectively judged, and the intelligent navigation system can be reflected to have a better intelligent level.
In some optional embodiments, when the evaluation result is that the intelligent navigation system controls the virtual ship, the intelligent levels of the intelligent navigation system are scored according to the test result and a preset quantitative evaluation index, and the intelligent levels of the intelligent navigation systems are ranked. Among them, quantitative evaluation indexes for evaluation of scores are shown in table 2 below.
TABLE 2
In summary, compared with the prior art, the method of the embodiment has the following beneficial effects:
(1) under a pure virtual test environment, the safety in the test evaluation test process is effectively guaranteed, and the potential uncontrollable risk of the tested ship is avoided.
(2) Ship drivers and intelligent navigation systems are randomly distributed to control the virtual ships, and assessment is carried out by assessment personnel, so that longitudinal comparison of intelligent capability levels of people and the systems is effectively realized.
As shown in fig. 6, this embodiment further provides a virtual test evaluation system for a ship intelligent navigation system, which includes:
the water area selection module is used for selecting a virtual test water area for ship navigation and acquiring water area virtual data according to the selected virtual test water area;
the scene selection module is used for selecting a virtual test scene in the ship navigation and acquiring scene virtual data according to the selected virtual test scene;
the picture display module is used for displaying a virtual picture according to the water area virtual data and the scene virtual data, and the virtual picture comprises a virtual ship;
the instruction acquisition module is used for acquiring a response instruction based on the virtual picture, wherein the response instruction is an instruction input by a ship pilot for controlling a virtual ship or an instruction input by an intelligent navigation system for controlling the virtual ship;
and the control evaluation module is used for generating a test result according to the response instruction and evaluating whether the virtual ship is controlled by a ship driver or an intelligent navigation system according to the test result.
Further as an optional implementation, the virtual test water area comprises an open water area, a narrow water channel, an access port and a harbor area operation;
the virtual test scene comprises a ship encounter scene, a ship cross scene, a ship overtaking scene and a ship formation scene;
the test results include test video and test data.
Further as an alternative embodiment, the test data is stored in a comma separated value file format.
Further as an optional implementation mode, the intelligent scoring system further comprises an intelligent scoring module;
and the intelligent scoring module is used for scoring the intelligent level of the intelligent navigation system according to the test result and a preset quantitative evaluation index after the evaluation virtual ship is controlled by the intelligent navigation system.
The virtual test evaluation system for the intelligent ship navigation system can execute the virtual test evaluation method for the intelligent ship navigation system provided by the embodiment of the method, can execute any combination of implementation steps of the embodiment of the method, and has corresponding functions and beneficial effects of the method.
This embodiment still provides a virtual test evaluation device of boats and ships intelligence navigation system, includes:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement the method shown in fig. 1.
The virtual test evaluation device for the intelligent ship navigation system can execute the virtual test evaluation method for the intelligent ship navigation system provided by the embodiment of the method, can execute any combination implementation steps of the embodiment of the method, and has corresponding functions and beneficial effects of the method.
The embodiment of the application also discloses a computer program product or a computer program, which comprises computer instructions, and the computer instructions are stored in a computer readable storage medium. The computer instructions may be read by a processor of a computer device from a computer-readable storage medium, and executed by the processor to cause the computer device to perform the method illustrated in fig. 1.
The embodiment also provides a storage medium, which stores an instruction or a program capable of executing the virtual test evaluation method for the intelligent navigation system of the ship provided by the embodiment of the method of the invention, and when the instruction or the program is run, the steps can be implemented by any combination of the embodiments of the method, so that the method has corresponding functions and beneficial effects.
In alternative embodiments, the functions/acts noted in the block diagrams may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Furthermore, the embodiments presented and described in the flow charts of the present invention are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and in which sub-operations described as part of larger operations are performed independently.
Furthermore, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise stated to the contrary, one or more of the described functions and/or features may be integrated in a single physical device and/or software module, or one or more functions and/or features may be implemented in a separate physical device or software module. It will also be appreciated that a detailed discussion of the actual implementation of each module is not necessary for an understanding of the present invention. Rather, the actual implementation of the various functional modules in the apparatus disclosed herein will be understood within the ordinary skill of an engineer, given the nature, function, and internal relationship of the modules. Accordingly, those skilled in the art can, using ordinary skill, practice the invention as set forth in the claims without undue experimentation. It is also to be understood that the specific concepts disclosed are merely illustrative of and not intended to limit the scope of the invention, which is defined by the appended claims and their full scope of equivalents.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the foregoing description of the specification, reference to the description of "one embodiment/example," "another embodiment/example," or "certain embodiments/examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A virtual test evaluation method for an intelligent navigation system of a ship is characterized by comprising the following steps:
selecting a virtual test water area for ship navigation, and acquiring water area virtual data according to the selected virtual test water area;
selecting a virtual test scene in the ship navigation, and acquiring scene virtual data according to the selected virtual test scene;
displaying a virtual picture according to the water area virtual data and the scene virtual data, wherein the virtual picture comprises a virtual ship;
acquiring a response instruction based on the virtual picture, wherein the response instruction is an instruction input by a ship pilot for controlling the virtual ship or an instruction input by an intelligent navigation system for controlling the virtual ship;
and generating a test result according to the response instruction, and evaluating whether the virtual ship is controlled by a ship driver or an intelligent navigation system according to the test result.
2. The virtual test evaluation method for the intelligent navigation system of the ship according to claim 1, wherein the virtual test water area comprises open water areas, narrow water channels, ports for entering and exiting, and port area manipulation;
the virtual test scene comprises a ship encounter scene, a ship cross scene, a ship overtaking scene and a ship formation scene;
the test result comprises a test video and test data.
3. The virtual test evaluation method for the intelligent navigation system of the ship according to claim 2, wherein the test data is stored in a comma-separated file format.
4. The virtual test evaluation method for the intelligent navigation system of the ship according to claim 1, wherein if the evaluation result is that the intelligent navigation system controls the virtual ship, the method further comprises the following steps:
and grading the intelligent level of the intelligent navigation system according to the test result and a preset quantitative evaluation index.
5. The utility model provides a virtual test evaluation system of boats and ships intelligence navigation system which characterized in that includes:
the water area selection module is used for selecting a virtual test water area for ship navigation and acquiring water area virtual data according to the selected virtual test water area;
the system comprises a scene selection module, a data processing module and a data processing module, wherein the scene selection module is used for selecting a virtual test scene during ship navigation and acquiring scene virtual data according to the selected virtual test scene;
the picture display module is used for displaying a virtual picture according to the water area virtual data and the scene virtual data, and the virtual picture comprises a virtual ship;
the instruction acquisition module is used for acquiring a response instruction based on the virtual image, wherein the response instruction is an instruction input by a ship pilot for controlling the virtual ship or an instruction input by an intelligent navigation system for controlling the virtual ship;
and the control evaluation module is used for generating a test result according to the response instruction and evaluating whether the virtual ship is controlled by a ship driver or an intelligent navigation system according to the test result.
6. The system of claim 5, wherein the virtual test water area comprises open water, narrow water channels, ports for entry and exit, and port operations;
the virtual test scene comprises a ship encounter scene, a ship cross scene, a ship overtaking scene and a ship formation scene;
the test result comprises a test video and test data.
7. The virtual test evaluation system for the intelligent navigation system of ships according to claim 6, wherein the test data is stored in comma-separated file format.
8. The virtual test evaluation system of the intelligent navigation system of the ship according to claim 5, further comprising an intelligent scoring module;
and the intelligent scoring module is used for scoring the intelligent level of the intelligent navigation system according to the test result and a preset quantitative evaluation index after the virtual ship is evaluated to be controlled by the intelligent navigation system.
9. The utility model provides a virtual test evaluation device of boats and ships intelligence navigation system which characterized in that includes:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement the method of any one of claims 1-4.
10. A computer-readable storage medium, in which a program executable by a processor is stored, wherein the program executable by the processor is adapted to perform the method according to any one of claims 1 to 4 when executed by the processor.
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| CN115104114A (en) * | 2022-05-16 | 2022-09-23 | 广东逸动科技有限公司 | Evaluation method, evaluation device, electronic apparatus, and computer-readable storage medium |
| CN115268395A (en) * | 2022-07-15 | 2022-11-01 | 大连海事大学 | Method and system for testing autonomous navigation capability of unmanned ship formation |
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| CN111290298A (en) * | 2020-03-18 | 2020-06-16 | 智慧航海（青岛）科技有限公司 | Simulation test system and method for automatic intelligent ship berthing function |
| CN112947113A (en) * | 2021-01-28 | 2021-06-11 | 武汉理工大学 | Cross-domain coordinated intelligent ship test verification operation control system and method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115104114A (en) * | 2022-05-16 | 2022-09-23 | 广东逸动科技有限公司 | Evaluation method, evaluation device, electronic apparatus, and computer-readable storage medium |
| CN115268395A (en) * | 2022-07-15 | 2022-11-01 | 大连海事大学 | Method and system for testing autonomous navigation capability of unmanned ship formation |
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