CN114620199A - Automatic concurrent ship collision avoidance testing method and system - Google Patents
Automatic concurrent ship collision avoidance testing method and system Download PDFInfo
- Publication number
- CN114620199A CN114620199A CN202210254604.3A CN202210254604A CN114620199A CN 114620199 A CN114620199 A CN 114620199A CN 202210254604 A CN202210254604 A CN 202210254604A CN 114620199 A CN114620199 A CN 114620199A
- Authority
- CN
- China
- Prior art keywords
- information
- ship
- obtaining
- collision avoidance
- port
- 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.)
- Pending
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 115
- 238000004088 simulation Methods 0.000 claims abstract description 105
- 238000011156 evaluation Methods 0.000 claims abstract description 88
- 238000000034 method Methods 0.000 claims abstract description 39
- 230000000694 effects Effects 0.000 claims abstract description 20
- 238000012549 training Methods 0.000 claims description 64
- 238000004590 computer program Methods 0.000 claims description 10
- 230000010485 coping Effects 0.000 claims description 9
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 10
- 238000013528 artificial neural network Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 9
- 238000012545 processing Methods 0.000 description 7
- 230000004048 modification Effects 0.000 description 6
- 238000012986 modification Methods 0.000 description 6
- 230000004044 response Effects 0.000 description 6
- 239000003345 natural gas Substances 0.000 description 5
- 238000003062 neural network model Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 230000002265 prevention Effects 0.000 description 4
- 238000003860 storage Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000013178 mathematical model Methods 0.000 description 2
- 210000002569 neuron Anatomy 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000003925 brain function Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
Images
Classifications
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/15—Vehicle, aircraft or watercraft design
Abstract
The invention discloses an automatic concurrent ship collision avoidance testing method and system, wherein the method comprises the following steps: obtaining first scene information; further acquiring first course information of the first ship; obtaining second course information of a second ship; acquiring first port environment information of a first time period; generating a first influence degree according to the first course information and the first port environment information and using the first influence degree as first input information; generating a second influence degree according to the second course information and the first port environment information and using the second influence degree as second input information; inputting the first input information and the second input information into a collision avoidance simulation server for simulation test; obtaining a simulation test result of the collision avoidance simulation server; obtaining first relative distance information of a first ship and a second ship; and carrying out collision avoidance effect evaluation on the simulation test result to obtain a first evaluation result. The technical problem of serious accidents caused by the danger of ship collision caused by emergency when ships enter and exit ports is solved.
Description
Technical Field
The invention relates to the technical field of ship collision avoidance, in particular to an automatic concurrent ship collision avoidance testing method and system.
Background
In recent years, intelligent ships become research hotspots in the field of water traffic, timely and effective automatic collision avoidance is an important guarantee for navigation safety in the navigation process of the intelligent ships, and the test and evaluation of the collision avoidance performance of the ships are key processes before the pilot run of the intelligent ships.
However, in the process of implementing the technical solution of the invention in the embodiments of the present application, the inventors of the present application find that the above-mentioned technology has at least the following technical problems:
the existing ship faces a series of sudden factors when entering or exiting a port, so that the ship is in danger of collision, and further serious accidents are caused.
Disclosure of Invention
The embodiment of the application provides an automatic concurrent ship collision avoidance testing method and system, solves the technical problem that ship collision is caused by emergency when ships come in and go out of ports, and further major accidents are caused, and achieves the technical effect that collision avoidance simulation testing is performed on the ships coming in and going out of the ports based on the collision avoidance simulation server, so that collision of the ships is effectively avoided, and further safety of the ships coming in and going out of the ports is ensured.
The embodiment of the application provides an automatic concurrent ship collision avoidance testing method, wherein the method is applied to an automatic concurrent ship collision avoidance testing system, and the method further comprises the following steps: acquiring first scene information, wherein the first scene information is information of ships entering and exiting a port; acquiring first course information of a first ship according to the first scene information, wherein the first course information is information of the first ship driving to the port; acquiring second course information of a second ship, wherein the second course information is information of the second ship driving away from the port; obtaining first port environment information of a first time period, wherein the first time period is time information of the first ship driving to the port and the second ship driving away from the port; generating a first influence degree according to the first course information and the first port environment information, and taking the first influence degree as first input information; generating a second influence degree according to the second course information and the first port environment information, and taking the second influence degree as second input information; inputting the first input information and the second input information into a collision avoidance simulation server for simulation test, wherein the collision avoidance simulation server is included in the automatic concurrent ship collision avoidance test system; obtaining a simulation test result of the collision avoidance simulation server, wherein the simulation test result comprises a result of whether the first ship and the second ship collide with each other; obtaining first relative distance information of the first ship and the second ship; and according to the first relative distance information, carrying out collision avoidance effect evaluation on the simulation test result to obtain a first evaluation result.
On the other hand, this application still provides an automatic concurrent boats and ships collision avoidance test system, wherein, the system includes: a first obtaining unit: the first obtaining unit is used for obtaining first scene information, and the first scene information is information of ship entering and exiting a port; a second obtaining unit: the second obtaining unit is used for obtaining first course information of a first ship according to the first scene information, and the first course information is information of the first ship driving to the port; a third obtaining unit: the third obtaining unit is used for obtaining second course information of a second ship, and the second course information is information of the second ship driving away from the port; a fourth obtaining unit: the fourth obtaining unit is configured to obtain first port environment information of a first time period, where the first time period is time information when the first ship drives to the port and when the second ship drives away from the port; a first generation unit: the first generating unit is used for generating a first influence degree according to the first course information and the first port environment information, and taking the first influence degree as first input information; a second generation unit: the second generating unit is used for generating a second influence degree according to the second course information and the first port environment information, and taking the second influence degree as second input information; a first input unit: the first input unit is used for inputting the first input information and the second input information into a collision avoidance simulation server for simulation test, and the collision avoidance simulation server is included in the automatic concurrent ship collision avoidance test system; a fifth obtaining unit: the fifth obtaining unit is configured to obtain a simulation test result of the collision avoidance simulation server, where the simulation test result includes a result of whether the first ship and the second ship collide with each other; a sixth obtaining unit: the sixth obtaining unit is configured to obtain first relative distance information of the first ship and the second ship; a first evaluation unit: the first evaluation unit is used for evaluating the collision avoidance effect of the simulation test result according to the first relative distance information to obtain a first evaluation result.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
the method comprises the steps of setting specific scene information to be used as a scene for a ship to go in and out of a port to carry out collision avoidance simulation test on the ship going in and out of the port, further influencing the ship course going in and out of the port according to port environment information, respectively generating first and second influence degrees, inputting the first and second influence degrees into a collision avoidance simulation server to carry out simulation test, and obtaining a simulation test result, namely whether the ship going in and out of the port collides, further evaluating the simulation test result according to relative distance information between the two ships, and obtaining a final evaluation result, namely whether the ship going in and out of the port collides, so that the technical effects of effectively avoiding collision of the ship and ensuring safety of the ship going in and out of the port are achieved by carrying out collision avoidance simulation test on the ship going in and out of the port based on the collision avoidance simulation server.
The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.
Drawings
Fig. 1 is a schematic flow chart of an automatic concurrent ship collision avoidance testing method according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of an automatic concurrent ship collision avoidance testing system according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an exemplary electronic device according to an embodiment of the present application.
Description of the reference numerals: a first obtaining unit 11, a second obtaining unit 12, a third obtaining unit 13, a fourth obtaining unit 14, a first generating unit 15, a second generating unit 16, a first input unit 17, a fifth obtaining unit 18, a sixth obtaining unit 19, a first evaluating unit 20, a bus 300, a receiver 301, a processor 302, a transmitter 303, a memory 304, and a bus interface 305.
Detailed Description
The embodiment of the application provides an automatic concurrent ship collision avoidance testing method and system, solves the technical problem that the danger of ship collision is caused by emergency when ships enter and exit ports, and further major accidents are caused, and achieves the technical effect that collision avoidance simulation testing is performed on the ships entering and exiting the ports based on the collision avoidance simulation server, so that the collision of the ships is effectively avoided, and further the safety of the ships entering and exiting the ports is ensured.
Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are merely some embodiments of the present application and not all embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein.
Summary of the application
In recent years, intelligent ships become research hotspots in the field of water traffic, timely and effective automatic collision avoidance is an important guarantee for navigation safety in the navigation process of the intelligent ships, and the test and evaluation of the collision avoidance performance of the ships are key processes before the pilot run of the intelligent ships. The existing ship faces a series of sudden factors when entering or exiting a port, so that the ship is in danger of collision, and further serious accidents are caused.
In view of the above technical problems, the technical solution provided by the present application has the following general idea:
the embodiment of the application provides an automatic concurrent ship collision avoidance testing method, wherein the method is applied to an automatic concurrent ship collision avoidance testing system, and the method further comprises the following steps: acquiring first scene information, wherein the first scene information is information of ships entering and exiting a port; acquiring first course information of a first ship according to the first scene information, wherein the first course information is information of the first ship driving to the port; acquiring second course information of a second ship, wherein the second course information is information of the second ship driving away from the port; obtaining first port environment information of a first time period, wherein the first time period is time information of the first ship driving to the port and the second ship driving away from the port; generating a first influence degree according to the first course information and the first port environment information, and taking the first influence degree as first input information; generating a second influence degree according to the second course information and the first port environment information, and taking the second influence degree as second input information; inputting the first input information and the second input information into a collision avoidance simulation server for simulation test, wherein the collision avoidance simulation server is included in the automatic concurrent ship collision avoidance test system; obtaining a simulation test result of the collision avoidance simulation server, wherein the simulation test result comprises a result of whether the first ship and the second ship collide with each other; obtaining first relative distance information of the first ship and the second ship; and according to the first relative distance information, carrying out collision avoidance effect evaluation on the simulation test result to obtain a first evaluation result.
For better understanding of the above technical solutions, the following detailed descriptions will be provided in conjunction with the drawings and the detailed description of the embodiments.
Example one
As shown in fig. 1, an embodiment of the present application provides an automatic concurrent ship collision avoidance testing method, where the method is applied to an automatic concurrent ship collision avoidance testing system, and the method includes:
step S100: acquiring first scene information, wherein the first scene information is information of ships entering and exiting a port;
specifically, the collision avoidance test of the ship can be performed by firstly setting a specific scene, analyzing the specific scene, and performing a specific simulation test on the specific scene, so as to realize the collision avoidance result of the ship. The first scene information is information of ships entering and exiting a port, the port is located along the coast of a sea, a river, a lake and a reservoir, and the port is provided with an amphibious transport facility and a transport hub with conditions for safe entering, exiting and berthing of the ships. The port is an assembly point and a hub of land and water traffic, is a distribution place for industrial and agricultural products and foreign trade import and export materials, and is also a place for berthing ships, loading and unloading goods, getting on and off passengers and supplementing nutrition. Although marine transportation has a corresponding route plan as land transportation, dangerous accidents such as ship collision and the like inevitably occur, and the ship finally arrives at a port, and the ship flow is dense when the ship leaves the port and enters the port, so the possibility of collision is high. Therefore, by carrying out the collision prevention test on the ships entering and exiting the port, the occurrence of accidents can be effectively avoided.
Step S200: obtaining first course information of a first ship according to the first scene information, wherein the first course information is information of the first ship driving to the port;
step S300: acquiring second course information of a second ship, wherein the second course information is information of the second ship driving away from the port;
specifically, given the first scene information, first course information of a first ship can be obtained according to the first scene information, and since the first scene information is information of going in and going out of a port of the ship, the first ship can be set as a ship entering the port, and correspondingly, the first course information is information of the first ship going to the port; similarly, the second ship is a ship coming out of a port, the corresponding second course information is information of the second ship driving away from the port, and when the first ship and the second ship encounter and possibly collide, a collision avoidance test is performed on the first ship and the second ship to avoid collision.
Step S400: obtaining first port environment information of a first time period, wherein the first time period is time information of the first ship driving to the port and the second ship driving away from the port;
particularly, the marine weather is changeable, and when extremely bad weather such as sea fog, heavy rainfall takes place, the low condition of visibility takes place very easily, and the window of following the driver's cabin is seen outward this moment, and the condition on the sea is unclear at all, when two or more ships navigation near just, often can not be in time to avoid, the collision takes place. Therefore, first port environment information of a first period of time, which is time information when the first ship drives to the port and the second ship drives away from the port, that is, a period of time when the first ship and the second ship meet, may be obtained, and the first port environment information may be varied weather at sea. The influence of fog on the sea on navigation is the largest, a large-area fog area can be formed often, the thickness of the fog can reach more than dozens of or even hundreds of meters, and the fog can last for days or even more than one week. Even if modern navigation instruments such as radars, GPS and the like are arranged on the ship, the ship still often touches reefs, collides and the like; in addition, when a sailing ship is attacked by typhoon, the typhoon can cause very large sea waves, so that the ship body can have violent swaying motion, speed reduction and unstable course, and other difficulties and even unexpected dangers in various aspects of operation are caused.
Step S500: generating a first influence degree according to the first course information and the first port environment information, and taking the first influence degree as first input information;
step S600: generating a second influence degree according to the second course information and the first port environment information, and taking the second influence degree as second input information;
specifically, the sea climate has a great influence on the navigation of the ship, and a first influence degree can be generated according to the first course information and the first port environment information, wherein the first influence degree is the influence of the first port environment information on the first course information, and is used as first input information; and simultaneously generating a second influence degree according to the second course information and the first port environment information, wherein the second influence degree is the influence of the first port environment information on the second course information, and the second influence degree is used as second input information. For example, if the first ship and the second ship are sailing in a north-south direction, the first ship sails from south to north, and the second ship suddenly encounters a huge south-south typhoon in a north-south direction, so that the first ship continuously forces the second ship.
Step S700: inputting the first input information and the second input information into a collision avoidance simulation server for simulation test, wherein the collision avoidance simulation server is included in the automatic concurrent ship collision avoidance test system;
step S800: obtaining a simulation test result of the collision avoidance simulation server, wherein the simulation test result comprises a result of whether the first ship and the second ship collide with each other;
specifically, if it is known that the first influence degree and the second influence degree are obtained and can be subjected to collision avoidance simulation test, the first input information and the second input information are input into a collision avoidance simulation server for simulation test, the collision avoidance simulation server is included in the automatic concurrent ship collision avoidance test system, the collision avoidance simulation server receives the input information and then can perform simulation test on the input first influence degree and the input second influence degree, namely, the collision probability of two ships is subjected to simulation test by testing the influence of the port environment information on the ship course, so as to obtain a simulation test result of the collision avoidance simulation server, the simulation test result includes the result of whether the first ship and the second ship collide with each other, and a collision avoidance critical simulation result can be obtained by continuous simulation test, effectively avoiding the collision result of the ships in practice.
Step S900: obtaining first relative distance information of the first ship and the second ship;
step S1000: and according to the first relative distance information, carrying out collision avoidance effect evaluation on the simulation test result to obtain a first evaluation result.
Specifically, it is known that a collision avoidance simulation test is performed on the first influence degree and the second influence degree to obtain a simulation test result, where the simulation test result includes a result of whether the first ship and the second ship collide with each other. First relative distance information of the first ship and the second ship can be obtained, the first relative distance information is the relative distance information of the first ship and the second ship when the first time period begins, collision avoidance effect evaluation can be carried out on the simulation test result according to the first relative distance information, and then a first evaluation result is obtained, and the first evaluation result is whether the first ship and the second ship collide or not in the first relative distance information. For example, if the first ship and the second ship are relatively far away, the two ships have enough time and space to avoid collision within a limited distance; otherwise, the collision probability is greatly increased, and the simulation test result is evaluated through the first relative distance information, so that the evaluation result is more comprehensive, accurate and reasonable.
Further, the embodiment of the application further comprises:
step S1110: obtaining a first rudder operator according to the first ship;
step S1120: obtaining first sea experience information of the first helmman;
step S1130: obtaining first sea mileage information of the first rudder operator;
step S1140: obtaining first coping risk level information of the first rudder operator according to the first sea-going experience information and the first sea-going mileage information;
step S1150: obtaining second corresponding risk grade information of a second helmholter, wherein the second helmholter is the helmholter of the second ship;
step S1160: generating a third influence degree and a fourth influence degree according to the first coping risk level information and the second coping risk level information respectively;
step S1170: and modifying the first evaluation result according to the third influence degree and the fourth influence degree to obtain a second evaluation result.
Specifically, when the collision avoidance test result of the ship is evaluated, a first steering handle can be obtained according to the first ship, further, a steering handle is used for navigation in the sea, a driver issues a steering command to the steering handle according to the requirement of navigation when the ship is in navigation, the steering handle steers according to the steering command to control the course of the ship, and when a driver on duty issues the steering command, the steering performance of the ship and the steering level of the steering handle under various different conditions are considered. Therefore, first sea-going experience information and first sea-going mileage information of the first tiller can be obtained, the first sea-going experience information can be obtained according to the working age of the first tiller, the capability of solving dangerous accidents and the like, the first sea-going mileage information can be obtained according to total sea-going mileage information of the first tiller since the working, first corresponding risk level information of the first tiller can be obtained through the first sea-going experience information and the first sea-going mileage information, when the first corresponding risk level information is a sudden sea dangerous accident, the reaction agility and the emergency handling capability of the first tiller can be obviously obtained, and if the working experience of the first tiller is rich and the sea-going mileage is large, the first corresponding risk level information of the first tiller is higher, and similarly, the second corresponding risk level information of the second tiller can also be obtained, the second helmholter is the helmholter of the second ship, a third influence degree and a fourth influence degree can be respectively generated by obtaining first response risk level information of the first helmholter and second response risk level information of the second helmholter, the third influence degree is the influence of the first response risk level information on the first evaluation result, the fourth influence degree is the influence of the second response risk level information on the first evaluation result, the first evaluation result is corrected according to the third influence degree and the fourth influence degree, a second evaluation result is obtained, and the collision avoidance simulation test result of the ship is corrected according to the response risk level information of the helmholter, so that the technical effect that the test result is more real, comprehensive and reasonable is achieved.
Further, the embodiment of the application further comprises:
step 1210: if the second evaluation result is that the first ship and the second ship collide with each other, first initial relative angle information is obtained, and the first initial relative angle information is initial relative angle information of the first ship and the second ship;
step S1220: respectively obtaining first navigation speed information of the first ship and second navigation speed information of the second ship;
step S1230: obtaining first navigation state information of the first ship according to the first relative distance information and the first navigation speed information, and similarly, obtaining second navigation state information of the second ship according to the first relative distance information and the second navigation speed information;
step S1240: inputting the first initial relative angle information, the first navigation state information and the second navigation state information into a first training model for training to obtain a first training result, wherein the first training result is a first collision avoidance critical angle value, and the first collision avoidance critical angle value is a critical angle value for avoiding collision when the first ship meets the second ship;
step S1250: and adjusting the second evaluation result according to the first training result to obtain a third evaluation result.
Specifically, when the simulation test result is evaluated for collision avoidance, if the second evaluation result is that the first ship collides with the second ship, first initial relative angle information may be obtained, where the first initial relative angle information is initial relative angle information of the first ship and the second ship at the beginning of the first time period, that is, relative deviation angles of the first ship and the second ship, and simultaneously first navigation speed information of the first ship and second navigation speed information of the second ship are respectively obtained, where the first navigation speed information and the second navigation speed information are respectively real-time navigation speeds of the first ship and the second ship, and then first navigation state information of the first ship is obtained according to the first relative distance information and the first navigation speed information, it is further understood that when the first steering person finds the second vessel coming oncoming, the first vessel is operated to avoid collision with the second vessel under the known first relative distance information, the first initial relative angle information, the first cruise speed information, and the second cruise speed information, and then the first cruise state information is a track state of the first vessel in order to avoid collision with the second vessel; similarly, the second sailing state information is a track state of the second ship under the existing conditions in order to avoid collision with the second ship when the second steering hand finds the second ship coming on. The first initial relative angle information, the first navigation state information and the second navigation state information are input into a first training model for training, the first training model is a data training model and can continuously train input data, so that the training result is more accurate, a first training result can be obtained by training the input data, the first training result is a first collision avoidance critical angle value, the first collision avoidance critical angle value is a critical angle value avoiding collision when the first ship and the second ship meet, the first collision avoidance critical angle value is more accurate by continuously training the input data based on the first training model, and the second evaluation result is adjusted through the first collision avoidance critical angle value, the first ship and the second ship can perfectly avoid collision, so that the technical effects of avoiding collision of the ships entering and leaving the port and further ensuring safety of entering and leaving the port are achieved.
Further, the step S1240 may further include the step of inputting the first initial relative angle information, the first navigation state information, and the second navigation state information into a first training model for training, and obtaining a first training result, where the step S1240 further includes:
step S1241: inputting the first initial relative angle information, the first navigation state information and the second navigation state information into a first training model for training, wherein the first training model is obtained by training a plurality of groups of training data, and each group of data in the plurality of groups of training data comprises: the first initial relative angle information, the first navigation state information, the second navigation state information and identification information for identifying a first collision avoidance critical angle value;
step S1242: obtaining output information of the first training model, wherein the output information comprises a first collision avoidance critical angle value, and the first collision avoidance critical angle value is a critical angle value avoiding collision when the first ship meets the second ship.
Specifically, in order to obtain a more accurate first training result, the first initial relative angle information, the first navigation state information, and the second navigation state information may be input into a first training model for training, so that the output training result may be more accurate. The first training model is a Neural network model, i.e., a data training model in machine learning, and a Neural Network (NN) is a complex Neural network system formed by widely interconnecting a large number of simple processing units (called neurons), reflects many basic features of human brain functions, and is a highly complex nonlinear dynamical learning system. Neural network models are described based on mathematical models of neurons. Artificial Neural Networks (Artificial Neural Networks) are a description of the first-order properties of the human brain system. Briefly, it is a mathematical model. In this embodiment of the application, the first initial relative angle information, the first navigation state information, and the second navigation state information are input into a first training model for training, and the first collision avoidance critical angle value information of the identifier is used to train the neural network model.
Further, the process of the neural network model is essentially a process of supervised learning. The plurality of groups of training data are specifically: the first initial relative angle information, the first navigation state information, the second navigation state information, and identification information for identifying a first collision avoidance critical angle value. The neural network model outputs a first training result through inputting the first initial relative angle information, the first navigation state information and the second navigation state information, the first training result is a first collision avoidance critical angle value, the first collision avoidance critical angle value is a critical angle value avoiding collision when the first ship meets the second ship, the output information is verified with the first collision avoidance critical angle value information playing a role in identification, and if the output information is consistent with the first collision avoidance critical angle value information playing a role in identification, the data learning supervision is finished, and then the next group of data supervision learning is carried out; and if the output information is inconsistent with the information requirement of the first collision avoidance critical angle value playing the role of identification, the neural network learning model adjusts itself until the output result of the neural network learning model is consistent with the information requirement of the first collision avoidance critical angle value playing the role of identification, and then the supervised learning of the next group of data is carried out. The neural network learning model is continuously corrected and optimized through training data, the accuracy of the neural network learning model in processing the information is improved through the process of supervised learning, and the technical effect that the information of the first collision avoidance critical angle value is more accurate is achieved.
Further, if the second evaluation result is that the first ship collides with the second ship, step S1210 further includes:
step S1211: obtaining first driving characteristic information of the first ship;
step S1212: judging whether the first driving characteristic information reaches a preset driving characteristic standard or not;
step S1213: if the first driving characteristic information does not reach the preset driving characteristic standard, obtaining a first calibration instruction;
step S1214: obtaining second driving characteristic information after the driving characteristic of the first ship is calibrated according to the first calibration instruction;
step S1215: and adjusting the third evaluation result according to the second driving characteristic information to obtain a fourth evaluation result.
Specifically, after the first ship collides with the second ship, the first driving characteristic information of the first ship is obtained, the first driving characteristic information directly determines the response performance of the first ship, if the first driving characteristic information is not good, even if the first rudder is more experienced and is useless in case of danger, it is determined whether the first driving characteristic information meets a preset driving characteristic standard, if the preset driving characteristic standard is the driving characteristic information of the ship of the preset standard, the ship can be driven faster without delay and blockage, if the first driving characteristic information does not meet the preset driving characteristic standard, the first driving characteristic information cannot meet the standard requirement for sailing, rapid driving cannot be performed in case of emergency, and the best escape time is delayed, the method comprises the steps of obtaining a first calibration instruction, wherein the first calibration instruction is used for calibrating the first driving characteristic information to enable the first driving characteristic information to be recovered to be the driving characteristic information of a standard ship, further obtaining second driving characteristic information, and meanwhile, adjusting the third evaluation result according to the second driving characteristic information to obtain a fourth evaluation result, wherein the fourth evaluation result is used for evaluating the collision avoidance simulation test result of the ship after the driving characteristic information of the first ship is calibrated, and the third evaluation result is adjusted through the driving characteristic information based on the ship, so that the technical effect that the collision avoidance test result of the ship is more detailed, accurate and comprehensive is achieved.
Further, the embodiment of the application further comprises:
step 1310: acquiring first embedded part information, wherein the first embedded part information is object information embedded at the port;
step S1320: acquiring first safety distance information according to the first embedded part information;
step S1330: and adjusting the first evaluation result according to the first safety distance information to obtain a fifth evaluation result.
Specifically, because dangerous objects such as natural gas pipelines are pre-buried in ports where ships enter and exit due to production transportation and other needs, care should be taken to keep a safe distance from the pre-buried natural gas pipelines when ships enter and exit so as to avoid the occurrence of interlinked accidents such as explosion and the like due to collision with the natural gas pipelines. The method comprises the steps of obtaining first embedded part information, wherein the first embedded part information is object information embedded at a port and can be understood as object information such as a natural gas pipeline, obtaining first safety distance information according to the first embedded part information, the first safety distance information is the safety distance between an incoming and outgoing ship and the first embedded part, and the first evaluation result is adjusted according to the first safety distance information on the basis of not touching the first embedded part to obtain a fifth evaluation result.
Further, the embodiment of the application further comprises:
step S1340: if the fifth evaluation result is that the first ship and the second ship collide with each other and danger information of the first embedded part is caused, first escape route information is obtained;
step S1350: and perfecting the fifth evaluation result according to the first escape route information.
Specifically, when the fifth evaluation result is that the first ship collides with the second ship, danger information of the first embedded part is caused, that is, the first embedded part is touched by the first ship when the first ship collides with the second ship, so that the embedded natural gas pipeline explodes to cause a link accident, and first escape route information can be obtained, wherein the first escape route information is the optimal escape route information of an escape accident site, and the fifth evaluation result is perfected according to the first escape route information. In conclusion, a simulation test result of whether the first ship and the second ship collide is obtained based on the first influence degree and the second influence degree, and the simulation test result is evaluated according to the first relative distance information to obtain a first evaluation result; modifying the first evaluation result based on the third influence degree and the fourth influence degree to obtain a second evaluation result; adjusting the second evaluation result based on the first collision avoidance critical angle value to obtain a third evaluation result; adjusting the third evaluation result based on the driving characteristic information of the ship to obtain a fourth evaluation result; and obtaining a final fifth evaluation result based on the port embedded part information and the first escape route information, so that the most comprehensive, careful, actual and accurate collision avoidance simulation test is carried out on the ships entering and exiting the port, the simulation result is more scientific and reasonable, the ships entering and exiting the port are effectively prevented from colliding, and the safety of the ships entering and exiting the port is ensured.
To sum up, the automatic concurrent ship collision avoidance testing method and system provided by the embodiment of the application have the following technical effects:
1. the method comprises the steps of setting specific scene information to be used as a scene for a ship to go in and go out of a port to carry out collision prevention simulation test on the ship to go in and go out of the port, further influencing the ship course of the ship to go in and go out of the port according to port environment information, respectively generating first and second influence degrees, inputting the first and second influence degrees into a collision prevention simulation server to carry out simulation test, and obtaining a simulation test result, namely whether the ship to go in and go out of the port collides, further evaluating the simulation test result according to relative distance information between the two ships, and obtaining a final evaluation result, namely whether the ship to go in and go out of the port collides, so that the technical effect of effectively avoiding collision of the ship to go in and out of the port and further ensuring the safety of the ship to go in and go out of the port is achieved through the collision prevention simulation server.
2. Through the relative distance information between the ships based on the ports of coming in and going out, the corresponding risk level information of the steering handle, the collision avoidance critical angle value of the ships coming in and going out of the ports, the driving characteristics of the ships, dangerous embedded parts of the ports and escape route information when an accident happens, the first evaluation result is continuously adjusted, the most comprehensive, careful, practical and accurate collision avoidance simulation test on the ships coming in and going out of the ports is achieved, the simulation result is more scientific and reasonable, the ships coming in and going out of the ports are effectively avoided colliding, and the safety of the ships coming in and going out of the ports and the safety of personnel are ensured.
Example two
Based on the same inventive concept as the automatic concurrent ship collision avoidance testing method in the foregoing embodiment, the present invention further provides an automatic concurrent ship collision avoidance testing system, as shown in fig. 2, the system includes:
the first obtaining unit 11: the first obtaining unit 11 is configured to obtain first scene information, where the first scene information is information of a ship entering and exiting a port;
the second obtaining unit 12: the second obtaining unit 12 is configured to obtain first course information of a first ship according to the first scene information, where the first course information is information that the first ship drives to the port;
the third obtaining unit 13: the third obtaining unit 13 is configured to obtain second course information of a second ship, where the second course information is information that the second ship drives away from the port;
the fourth obtaining unit 14: the fourth obtaining unit 14 is configured to obtain first port environment information of a first time period, where the first time period is time information when the first ship drives to the port and the second ship drives away from the port;
the first generation unit 15: the first generating unit 15 is configured to generate a first influence degree according to the first heading information and the first port environment information, and use the first influence degree as first input information;
the second generation unit 16: the second generating unit 16 is configured to generate a second influence degree according to the second heading information and the first port environment information, and use the second influence degree as second input information;
the first input unit 17: the first input unit 17 is configured to input the first input information and the second input information into a collision avoidance simulation server for simulation testing, where the collision avoidance simulation server is included in the automatic concurrent ship collision avoidance testing system;
the fifth obtaining unit 18: the fifth obtaining unit 18 is configured to obtain a simulation test result of the collision avoidance simulation server, where the simulation test result includes a result of whether the first ship and the second ship collide with each other;
sixth obtaining unit 19: the sixth obtaining unit 19 is configured to obtain first relative distance information of the first ship and the second ship;
the first evaluation unit 20: the first evaluation unit 20 is configured to perform collision avoidance effect evaluation on the simulation test result according to the first relative distance information, so as to obtain a first evaluation result.
Further, the system further comprises:
a seventh obtaining unit: the seventh obtaining unit is used for obtaining a first rudder operator according to the first ship;
an eighth obtaining unit: the eighth obtaining unit is configured to obtain first sea experience information of the first rudder operator;
a ninth obtaining unit: the ninth obtaining unit is used for obtaining first sea mileage information of the first rudder operator;
a tenth obtaining unit: the tenth obtaining unit is configured to obtain first coping risk level information of the first tiller according to the first sea experience information and the first sea mileage information;
an eleventh obtaining unit: the eleventh obtaining unit is configured to obtain second corresponding risk level information of a second rudder operator, where the second rudder operator is a rudder operator of the second ship;
a third generation unit: the third generating unit is used for generating a third influence degree and a fourth influence degree according to the first coping risk level information and the second coping risk level information respectively;
a first correction unit: the first modification unit is configured to modify the first evaluation result according to the third influence degree and the fourth influence degree to obtain a second evaluation result.
Further, the system further comprises:
a twelfth obtaining unit: the twelfth obtaining unit is configured to obtain first initial relative angle information if the second evaluation result is that the first ship and the second ship collide with each other, where the first initial relative angle information is initial relative angle information of the first ship and the second ship;
a thirteenth obtaining unit: the thirteenth obtaining unit is configured to obtain first voyage speed information of the first ship and second voyage speed information of the second ship respectively;
a fourteenth obtaining unit: the fourteenth obtaining unit is configured to obtain first navigation state information of the first ship according to the first relative distance information and the first navigation speed information, and similarly, obtain second navigation state information of the second ship according to the first relative distance information and the second navigation speed information;
a second input unit: the second input unit is configured to input the first initial relative angle information, the first navigation state information, and the second navigation state information into a first training model for training to obtain a first training result, where the first training result is a first collision avoidance critical angle value, and the first collision avoidance critical angle value is a critical angle value for avoiding collision when the first ship and the second ship meet each other;
a first adjustment unit: the first adjusting unit is used for adjusting the second evaluation result according to the first training result to obtain a third evaluation result.
Further, the system further comprises:
a third input unit: the third input unit is configured to input the first initial relative angle information, the first navigation state information, and the second navigation state information into a first training model for training, where the first training model is obtained by training multiple sets of training data, and each set of data in the multiple sets of training data includes: the first initial relative angle information, the first navigation state information, the second navigation state information, and identification information for identifying a first collision avoidance critical angle value;
a fifteenth obtaining unit: the fifteenth obtaining unit is configured to obtain output information of the first training model, where the output information includes a first collision avoidance critical angle value, and the first collision avoidance critical angle value is a critical angle value for avoiding collision when the first ship and the second ship meet each other.
Further, the system further comprises:
a sixteenth obtaining unit: the sixteenth obtaining unit is configured to obtain first driving characteristic information of the first ship;
a first judgment unit: the first judging unit is used for judging whether the first driving characteristic information reaches a preset driving characteristic standard or not;
a seventeenth obtaining unit: the seventeenth obtaining unit is configured to obtain a first calibration instruction if the first driving characteristic information does not meet the preset driving characteristic standard;
a first calibration unit: the first calibration unit is used for obtaining second driving characteristic information after calibrating the driving characteristic of the first ship according to the first calibration instruction;
a second adjusting unit: the second adjusting unit is configured to adjust the third evaluation result according to the second driving characteristic information to obtain a fourth evaluation result.
Further, the system further comprises:
an eighteenth obtaining unit: the eighteenth acquisition unit is used for acquiring first embedded part information, wherein the first embedded part information is object information embedded at the port;
a nineteenth obtaining unit: the nineteenth obtaining unit is used for obtaining first safety distance information according to the first embedded part information;
a third adjusting unit: the third adjusting unit is configured to adjust the first evaluation result according to the first safety distance information to obtain a fifth evaluation result.
Further, the system further comprises:
a twentieth obtaining unit: the twentieth obtaining unit is used for obtaining first escape route information if the fifth evaluation result shows that the first ship collides with the second ship and danger information of the first embedded part is caused;
a first perfecting unit: the first perfecting unit is used for perfecting the fifth evaluation result according to the first escape route information.
Various changes and specific examples of the automatic concurrent ship collision avoidance testing method in the first embodiment of fig. 1 are also applicable to the automatic concurrent ship collision avoidance testing system of the present embodiment, and through the foregoing detailed description of the automatic concurrent ship collision avoidance testing method, those skilled in the art can clearly know the implementation method of the automatic concurrent ship collision avoidance testing system in the present embodiment, so for the brevity of the description, detailed description is not repeated again.
EXAMPLE III
The electronic device of the embodiment of the present application is described below with reference to fig. 3.
Fig. 3 illustrates a schematic structural diagram of an electronic device according to an embodiment of the present application.
Based on the inventive concept of the automatic concurrent ship collision avoidance testing method in the embodiment, the invention further provides an automatic concurrent ship collision avoidance testing system, on which a computer program is stored, and the computer program realizes the steps of any one of the automatic concurrent ship collision avoidance testing methods described above when being executed by a processor.
Where in fig. 3 a bus architecture (represented by bus 300), bus 300 may include any number of interconnected buses and bridges, bus 300 linking together various circuits including one or more processors, represented by processor 302, and memory, represented by memory 304. The bus 300 may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface 305 provides an interface between the bus 300 and the receiver 301 and transmitter 303. The receiver 301 and the transmitter 303 may be the same element, i.e., a transceiver, providing a means for communicating with various other apparatus over a transmission medium. The processor 302 is responsible for managing the bus 300 and general processing, and the memory 304 may be used for storing data used by the processor 302 in performing operations.
The embodiment of the application provides an automatic concurrent ship collision avoidance testing method, wherein the method is applied to an automatic concurrent ship collision avoidance testing system, and the method further comprises the following steps: acquiring first scene information, wherein the first scene information is information of ships entering and exiting a port; acquiring first course information of a first ship according to the first scene information, wherein the first course information is information of the first ship driving to the port; acquiring second course information of a second ship, wherein the second course information is information of the second ship driving away from the port; obtaining first port environment information of a first time period, wherein the first time period is time information of the first ship driving to the port and the second ship driving away from the port; generating a first influence degree according to the first course information and the first port environment information, and taking the first influence degree as first input information; generating a second influence degree according to the second course information and the first port environment information, and taking the second influence degree as second input information; inputting the first input information and the second input information into a collision avoidance simulation server for simulation test, wherein the collision avoidance simulation server is included in the automatic concurrent ship collision avoidance test system; obtaining a simulation test result of the collision avoidance simulation server, wherein the simulation test result comprises a result of whether the first ship and the second ship collide with each other; obtaining first relative distance information of the first ship and the second ship; and according to the first relative distance information, carrying out collision avoidance effect evaluation on the simulation test result to obtain a first evaluation result.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. An automatic concurrent ship collision avoidance testing method, wherein the method is applied to an automatic concurrent ship collision avoidance testing system, and the method further comprises the following steps:
acquiring first scene information, wherein the first scene information is information of ships entering and exiting a port;
acquiring first course information of a first ship according to the first scene information, wherein the first course information is information of the first ship driving to the port;
acquiring second course information of a second ship, wherein the second course information is information of the second ship driving away from the port;
obtaining first port environment information of a first time period, wherein the first time period is time information of the first ship driving to the port and the second ship driving away from the port;
generating a first influence degree according to the first course information and the first port environment information, and taking the first influence degree as first input information;
generating a second influence degree according to the second course information and the first port environment information, and taking the second influence degree as second input information;
inputting the first input information and the second input information into a collision avoidance simulation server for simulation test, wherein the collision avoidance simulation server is included in the automatic concurrent ship collision avoidance test system;
obtaining a simulation test result of the collision avoidance simulation server, wherein the simulation test result comprises a result of whether the first ship and the second ship collide with each other;
obtaining first relative distance information of the first ship and the second ship;
and according to the first relative distance information, carrying out collision avoidance effect evaluation on the simulation test result to obtain a first evaluation result.
2. The method of claim 1, wherein the method further comprises:
obtaining a first rudder operator according to the first ship;
obtaining first sea experience information of the first helmman;
obtaining first sea mileage information of the first rudder operator;
obtaining first coping risk level information of the first rudder operator according to the first sea-going experience information and the first sea-going mileage information;
obtaining second corresponding risk grade information of a second helmholter, wherein the second helmholter is the helmholter of the second ship;
generating a third influence degree and a fourth influence degree according to the first coping risk level information and the second coping risk level information respectively;
and modifying the first evaluation result according to the third influence degree and the fourth influence degree to obtain a second evaluation result.
3. The method of claim 2, wherein the method further comprises:
if the second evaluation result is that the first ship and the second ship collide with each other, obtaining first initial relative angle information, wherein the first initial relative angle information is initial relative angle information of the first ship and the second ship;
respectively obtaining first navigation speed information of the first ship and second navigation speed information of the second ship;
obtaining first navigation state information of the first ship according to the first relative distance information and the first navigation speed information, and similarly, obtaining second navigation state information of the second ship according to the first relative distance information and the second navigation speed information;
inputting the first initial relative angle information, the first navigation state information and the second navigation state information into a first training model for training to obtain a first training result, wherein the first training result is a first collision avoidance critical angle value, and the first collision avoidance critical angle value is a critical angle value for avoiding collision when the first ship meets the second ship;
and adjusting the second evaluation result according to the first training result to obtain a third evaluation result.
4. The method of claim 3, wherein said inputting said first initial relative angle information, said first navigational state information, said second navigational state information into a first training model for training to obtain a first training result further comprises:
inputting the first initial relative angle information, the first navigation state information and the second navigation state information into a first training model for training, wherein the first training model is obtained by training a plurality of groups of training data, and each group of data in the plurality of groups of training data comprises: the first initial relative angle information, the first navigation state information, the second navigation state information, and identification information for identifying a first collision avoidance critical angle value;
obtaining output information of the first training model, wherein the output information comprises a first collision avoidance critical angle value, and the first collision avoidance critical angle value is a critical angle value avoiding collision when the first ship meets the second ship.
5. The method of claim 3, wherein if the second evaluation result is after the first ship and the second ship collide, the method further comprises:
obtaining first driving characteristic information of the first ship;
judging whether the first driving characteristic information reaches a preset driving characteristic standard or not;
if the first driving characteristic information does not reach the preset driving characteristic standard, obtaining a first calibration instruction;
obtaining second driving characteristic information after the driving characteristic of the first ship is calibrated according to the first calibration instruction;
and adjusting the third evaluation result according to the second driving characteristic information to obtain a fourth evaluation result.
6. The method of claim 1, wherein the method further comprises:
acquiring first embedded part information, wherein the first embedded part information is object information embedded at the port;
acquiring first safety distance information according to the first embedded part information;
and adjusting the first evaluation result according to the first safety distance information to obtain a fifth evaluation result.
7. The method of claim 6, wherein the method further comprises:
if the fifth evaluation result is that the first ship and the second ship collide with each other and danger information of the first embedded part is caused, first escape route information is obtained;
and perfecting the fifth evaluation result according to the first escape route information.
8. An automated concurrent vessel collision avoidance testing system, wherein the system comprises:
a first obtaining unit: the first obtaining unit is used for obtaining first scene information, and the first scene information is information of ship entering and exiting a port;
a second obtaining unit: the second obtaining unit is used for obtaining first course information of a first ship according to the first scene information, and the first course information is information of the first ship driving to the port;
a third obtaining unit: the third obtaining unit is used for obtaining second course information of a second ship, and the second course information is information of the second ship driving away from the port;
a fourth obtaining unit: the fourth obtaining unit is configured to obtain first port environment information of a first time period, where the first time period is time information when the first ship drives to the port and when the second ship drives away from the port;
a first generation unit: the first generating unit is used for generating a first influence degree according to the first course information and the first port environment information, and taking the first influence degree as first input information;
a second generation unit: the second generating unit is used for generating a second influence degree according to the second course information and the first port environment information, and taking the second influence degree as second input information;
a first input unit: the first input unit is used for inputting the first input information and the second input information into a collision avoidance simulation server for simulation test, and the collision avoidance simulation server is included in the automatic concurrent ship collision avoidance test system;
a fifth obtaining unit: the fifth obtaining unit is configured to obtain a simulation test result of the collision avoidance simulation server, where the simulation test result includes a result of whether the first ship and the second ship collide with each other;
a sixth obtaining unit: the sixth obtaining unit is configured to obtain first relative distance information of the first ship and the second ship;
a first evaluation unit: the first evaluation unit is used for evaluating the collision avoidance effect of the simulation test result according to the first relative distance information to obtain a first evaluation result.
9. An automated concurrent vessel collision avoidance testing system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method of any of claims 1-7 when executing the program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210254604.3A CN114620199A (en) | 2022-03-15 | 2022-03-15 | Automatic concurrent ship collision avoidance testing method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210254604.3A CN114620199A (en) | 2022-03-15 | 2022-03-15 | Automatic concurrent ship collision avoidance testing method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114620199A true CN114620199A (en) | 2022-06-14 |
Family
ID=81902839
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210254604.3A Pending CN114620199A (en) | 2022-03-15 | 2022-03-15 | Automatic concurrent ship collision avoidance testing method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114620199A (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| US20180190129A1 (en) * | 2015-07-07 | 2018-07-05 | Korean Institute of Ocean Science & Technology | Ship-collision avoidance guiding system using time series graphic display |
| CN108281015A (en) * | 2018-01-30 | 2018-07-13 | 青岛中兴智能交通有限公司 | A kind of traffic simulation control method and device |
| CN108630017A (en) * | 2018-05-04 | 2018-10-09 | 上海海洋大学 | A kind of ship's navigation collision prevention method and system |
| KR20190115637A (en) * | 2018-04-03 | 2019-10-14 | 대우조선해양 주식회사 | Vessel collision avoidance system and vessel collision avoidance method using the same |
| CN111613094A (en) * | 2020-05-26 | 2020-09-01 | 江苏海事职业技术学院 | Port water area ship traffic risk early warning method |
| CN111951606A (en) * | 2020-07-29 | 2020-11-17 | 武汉理工大学 | Ship collision risk assessment and early warning method and system |
| CN112100917A (en) * | 2020-09-14 | 2020-12-18 | 中国船级社 | Intelligent ship collision avoidance simulation test system and method based on expert confrontation system |
| CN112289423A (en) * | 2020-12-28 | 2021-01-29 | 曜立科技(北京)有限公司 | Method and system for double-diagnosis and rehabilitation based on intelligent community patients |
| CN113076338A (en) * | 2021-02-04 | 2021-07-06 | 中国船级社 | Rule-based intelligent ship collision avoidance automatic test scene generation method and system |
| CN113093721A (en) * | 2021-02-04 | 2021-07-09 | 中国船级社 | Automatic concurrent ship collision avoidance testing method and system |
| CN113436466A (en) * | 2021-06-21 | 2021-09-24 | 中国舰船研究设计中心 | Verification and evaluation method for intelligent navigation collision avoidance efficiency of ship |
| CN113657788A (en) * | 2021-08-24 | 2021-11-16 | 中国安全生产科学研究院 | Enterprise safety production standardization intelligent supervision system and method |
-
2022
- 2022-03-15 CN CN202210254604.3A patent/CN114620199A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180190129A1 (en) * | 2015-07-07 | 2018-07-05 | Korean Institute of Ocean Science & Technology | Ship-collision avoidance guiding system using time series graphic display |
| 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 |
| CN108281015A (en) * | 2018-01-30 | 2018-07-13 | 青岛中兴智能交通有限公司 | A kind of traffic simulation control method and device |
| KR20190115637A (en) * | 2018-04-03 | 2019-10-14 | 대우조선해양 주식회사 | Vessel collision avoidance system and vessel collision avoidance method using the same |
| CN108630017A (en) * | 2018-05-04 | 2018-10-09 | 上海海洋大学 | A kind of ship's navigation collision prevention method and system |
| CN111613094A (en) * | 2020-05-26 | 2020-09-01 | 江苏海事职业技术学院 | Port water area ship traffic risk early warning method |
| CN111951606A (en) * | 2020-07-29 | 2020-11-17 | 武汉理工大学 | Ship collision risk assessment and early warning method and system |
| CN112100917A (en) * | 2020-09-14 | 2020-12-18 | 中国船级社 | Intelligent ship collision avoidance simulation test system and method based on expert confrontation system |
| CN112289423A (en) * | 2020-12-28 | 2021-01-29 | 曜立科技(北京)有限公司 | Method and system for double-diagnosis and rehabilitation based on intelligent community patients |
| CN113076338A (en) * | 2021-02-04 | 2021-07-06 | 中国船级社 | Rule-based intelligent ship collision avoidance automatic test scene generation method and system |
| CN113093721A (en) * | 2021-02-04 | 2021-07-09 | 中国船级社 | Automatic concurrent ship collision avoidance testing method and system |
| CN113436466A (en) * | 2021-06-21 | 2021-09-24 | 中国舰船研究设计中心 | Verification and evaluation method for intelligent navigation collision avoidance efficiency of ship |
| CN113657788A (en) * | 2021-08-24 | 2021-11-16 | 中国安全生产科学研究院 | Enterprise safety production standardization intelligent supervision system and method |
Non-Patent Citations (1)
| Title |
|---|
| 周丹，等: "基于AIS数据的船舶领域影响因素分析" * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110673598B (en) | Intelligent path tracking control method for unmanned surface vehicle | |
| Im | A study on ship automatic berthing with assistance of auxiliary devices | |
| Xue et al. | Automatic collision avoidance of ships | |
| CN105070101B (en) | Cartridge type platform traction Risk-warning and visualization system | |
| CN113156947B (en) | Method for planning path of ship in dynamic environment | |
| CN113759939B (en) | Intelligent navigation method and device for limited water area | |
| CN111861155B (en) | Ship collision risk detection method, system, computer device and storage medium | |
| Ito et al. | Collision avoidance control of ship with genetic algorithm | |
| Ahmed et al. | Automatic ship berthing using artificial neural network based on virtual window concept in wind condition | |
| Lisowski | Game control methods in avoidance of ships collisions | |
| Xiong et al. | Research on data driven adaptive berthing method and technology | |
| CN114326702B (en) | Model predictive control-based inland unmanned ship collision prevention method | |
| He et al. | Dynamic adaptive intelligent navigation decision making method for multi-object situation in open water | |
| CN111240229B (en) | Fault information processing system based on intelligent ship berthing-off simulation test | |
| Lisowski et al. | The radar data transmission to computer support system of ship safety | |
| Zhao et al. | Decision-making for the autonomous navigation of USVs based on deep reinforcement learning under IALA maritime buoyage system | |
| Wang et al. | A distributed model predictive control using virtual field force for multi-ship collision avoidance under COLREGs | |
| CN114995409A (en) | Unmanned ship autonomous cruise control system and cruise method | |
| CN114464014A (en) | Fuzzy logic based regional ship collision risk processing method, system and medium | |
| CN114620199A (en) | Automatic concurrent ship collision avoidance testing method and system | |
| Wu et al. | An overview of developments and challenges for unmanned surface vehicle autonomous berthing | |
| Liu et al. | Decision support based on optimal collision avoidance path and collision risk | |
| Ghaffari et al. | Manfis-based overtaking maneuver modeling and prediction of a driver-vehicle-unit in real traffic flow | |
| Zhang et al. | Collision prevention of ship towing operation under environmental disturbance | |
| Ruiz et al. | Cooperative maneuver study between autonomous cars: Overtaking |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220614 |