CN116312063A - Ship avoidance decision method, device, equipment and medium - Google Patents
Ship avoidance decision method, device, equipment and medium Download PDFInfo
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Abstract
The invention discloses a ship avoidance decision method, a device, equipment and a medium. The method comprises the following steps: according to the channel parameter information, carrying out navigation planning of the local ship in the channel, and determining a planning route; determining a safety area corresponding to each target object according to the category information of the target object; based on the speed obstacle principle, combining the planning route and the navigation information of the targets to calculate the relative movement line of the ship relative to each target; and carrying out avoidance decision under the condition of determining that the collision risk exists between the ship and the target object according to the relation between the relative motion line and the safety area corresponding to each target object. According to the technical scheme, a new avoidance decision scheme is provided for the ship during navigation in the navigation channel, so that the high-efficiency decision of the ship in the full-range environment is realized, and the safety of the ship during navigation is improved.
Description
Technical Field
The invention relates to the field of water transportation and intelligent ships, in particular to a ship avoidance decision method, a device, equipment and a medium.
Background
With the development of intelligent ships, in the process of automatic navigation of the ships, avoidance decisions are widely applied according to surrounding environments.
However, when two ships run on the channel and meet, overtake or avoid, the situation is more easy to form a urgent situation, and if the risk estimation is insufficient, no correct measures can be taken, and collision accidents are very easy to occur.
Therefore, how to analyze the surrounding environment of the ship more comprehensively, make a ship avoidance decision, and improve the safety of the ship when sailing in and out of the harbor channel is a problem to be solved in the prior art.
Disclosure of Invention
The invention provides a ship avoidance decision method, a device, equipment and a medium, provides a novel avoidance decision method for a ship during navigation in a navigation channel, is beneficial to realizing efficient decision of the ship in a full-range environment and improves the safety of the ship during navigation.
According to an aspect of the present invention, there is provided a ship avoidance decision method, comprising:
according to the channel parameter information, carrying out navigation planning of the local ship in the channel, and determining a planning route; the channel parameter information includes at least one of: channel type, channel boundary position, navigation safety speed, channel width and navigation mark information;
determining a safety area corresponding to each target object according to the category information of the target object; the target is a ship or a navigation mark; the category information includes: an off-channel vessel, an in-channel vessel, and a navigation mark;
based on the speed obstacle principle, combining the planning route and the navigation information of the targets to calculate the relative movement line of the ship relative to each target; the voyage information includes at least one of: the position, the sailing speed and the sailing direction of the target object;
and carrying out avoidance decision under the condition of determining that the collision risk exists between the ship and the target object according to the relation between the relative motion line and the safety area corresponding to each target object.
According to another aspect of the present invention, there is provided a ship avoidance decision device comprising:
the navigation determining module is used for carrying out navigation planning of the local ship in the channel according to the channel parameter information and determining a planning route; the channel parameter information includes at least one of: channel type, channel boundary position, navigation safety speed, channel width and navigation mark information;
the safety area determining module is used for determining the safety area corresponding to each target object according to the category information of the target object; the target is a ship or a navigation mark; the category information includes: an off-channel vessel, an in-channel vessel, and a navigation mark;
the calculation module is used for calculating the relative movement line of the ship relative to each target object based on the speed obstacle principle by combining the planning route and the navigation information of the target objects; the voyage information includes at least one of: the position, the sailing speed and the sailing direction of the target object;
and the decision module is used for carrying out avoidance decision under the condition of determining that the collision risk exists between the ship and the target object according to the relation between the relative motion line and the safety area corresponding to each target object.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the ship avoidance decision method according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute the ship avoidance decision method according to any one of the embodiments of the present invention.
According to the technical scheme, navigation planning of the local ship in the channel is carried out according to channel parameter information, a planning route is determined, a safety area corresponding to each target object is determined according to class information of the target object, based on a speed obstacle principle, the relative motion line of the local ship relative to each target object is calculated by combining the planning route and the navigation information of the target object, and avoidance decision is carried out under the condition that collision risk of the local ship and the target object is determined according to the relation between the relative motion line and the safety area corresponding to each target object. According to the technical scheme, a novel avoidance decision method is provided for the ship during navigation in the navigation channel, so that the high-efficiency decision of the ship in the full-range environment is realized, and the safety of the ship during navigation is improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1A is a flow chart of a ship avoidance decision method provided in an embodiment of the invention;
FIG. 1B is a schematic diagram of a local vessel and a target according to an embodiment of the present invention;
fig. 2A is a flowchart of a ship avoidance decision method according to a second embodiment of the present invention;
fig. 2B is a schematic flow chart of determining an avoidance decision according to a second embodiment of the present invention;
fig. 3 is a block diagram of a ship avoidance decision device according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," "target," "candidate," and the like in the description and claims of the present invention and in the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the related art, the determination of the ship obstacle avoidance decision does not consider the area where the ship is located, but when the ship is sailing in open water and in a channel area, the ship is influenced by the water area environment, and the ship sails in the channel may be more easily influenced by the inter-ship effect, the shore wall effect, the shallow water effect and the like, because the channel width is usually about several hundred meters, some are even narrower, and may also be influenced by wind current. In order to solve the problems, the invention fully considers the related information of the objects around the ship, provides a new avoidance decision scheme for the ship when the ship sails in the navigation channel, can effectively improve the safety of the ship sailing process, and the specific ship avoidance decision scheme is described in detail in the following embodiment.
Example 1
Fig. 1A is a flowchart of a ship avoidance decision method according to the first embodiment of the present invention, and fig. 1B is a schematic diagram of a local ship and a target object according to the first embodiment of the present invention. The method is suitable for the situation that the ship is carried out to avoid decision in the navigation process of the navigation channel, the method can be executed by a ship avoidance decision device, and the device can be realized in a software and/or hardware mode and can be integrated in electronic equipment with a ship avoidance decision function. As shown in fig. 1A, the method includes:
s101, carrying out navigation planning of the local ship in the channel according to channel parameter information, and determining a planned route.
The channel parameter information refers to related attribute information of a channel where the local ship is located. The channel parameter information may include at least one of: channel type, channel boundary position, navigation safe speed, channel width, and navigation mark information. The channel parameter information may also include channel water depth information. Channel types may include: a unidirectional navigation channel and a bidirectional navigation channel. The channel boundary position refers to position information of a preset channel boundary line. The navigation safety speed refers to a safety speed which is preset by port management standards. The navigation mark information refers to the position and quantity information of navigation marks contained in the navigation channel;
optionally, information extraction can be performed on the pre-stored electronic chart according to the position information of the local ship, so as to determine channel parameter information of a channel where the local ship is located.
Optionally, according to the channel parameter information, performing navigation planning of the local ship in the channel, and determining a planned route, including: according to the channel type in the channel parameter information, if the channel where the local ship is located is a unidirectional navigation channel, determining that the central line of the channel is a planning channel of the local ship; if the channel where the local ship is located is a bidirectional navigation channel, the central line of the right half channel in the navigation direction of the ship is used as a planning route of the local ship.
S102, determining a safety area corresponding to each target object according to the category information of the target object.
The category information refers to information representing the categories of objects around the local ship. The category information includes: an off-channel vessel, an in-channel vessel, and a navigation mark. The safe area refers to an area within a certain range around the target object.
Optionally, the information perceived by the perceiving device and channel parameter information may be analyzed, the perceived objects around the ship may be classified, and the class information of the objects may be determined, which specifically includes: determining navigation information of objects positioned around the local ship based on the sensing equipment; determining the area where the target object is located according to the channel parameter information and the navigation information of the target object; classifying the target objects according to the areas where the target objects are located, and determining the category information of the target objects.
The sensing equipment can be radar, AIS (Automatic Identification System, automatic ship identification system), photoelectric sensing equipment and the like configured on the ship. The navigation information may include information such as a position of the target object, a navigation speed, and a navigation direction. The region where the target is located may be: an inner channel region, an outer channel region, or a boundary channel region.
For example, referring to FIG. 1B, it may be determined that the left and right sides of the native vessel include two beacons, labeled as beacons 1-4, respectively. The voyage information of the target ship 1 may include: the navigational speed is 10kn, the heading is 180 degrees, the initial azimuth is-3.5 degrees, and the initial distance between the navigational speed and the local ship is 500m; the voyage information of the target ship 2 may include: the speed of the ship is 7kn, the heading is 270 degrees, the initial azimuth is 22 degrees, and the initial distance is 300m.
Optionally, if the target object is a dynamic ship, information such as a position, a sailing speed, a sailing direction and the like of the target ship can be determined based on the sensing device, that is, sailing information of the target object located around the local ship is determined; if the target object is a static navigation mark positioned on the boundary of the navigation channel, the navigation information of the target object positioned around the local ship can be determined based on the sensing equipment and the navigation mark information in the navigation channel parameter information.
Optionally, the information such as the channel boundary position, the channel width and the like in the channel parameter information can be compared with the navigation information of the target object to determine the area where the target object is located, and further, if the target object is a dynamic ship and is located in the area in the channel, the type information of the target object can be determined to be the ship in the channel; if the target object is a dynamic ship and is positioned in the area outside the channel, determining that the class information of the target object is the ship outside the channel; if the target object is a static navigation mark and is positioned in the boundary area of the navigation channel, the category information of the target object can be determined to be the navigation mark.
Optionally, after determining the category information of the target objects, a safety area corresponding to each target object may be determined based on a preset safety distance model according to the category information of the target objects. Wherein the safe distance model may include: a circular safe distance model and a hexagonal safe distance model.
Optionally, if the class information of the target object is the ship outside the channel, that is, the target object is the ship outside the channel, the safety area corresponding to the ship outside the channel can be determined based on the preset circular safety distance model and the first radius; if the class information of the target object is a static navigation mark on the navigation channel boundary, namely the target object is a navigation mark, the safety area of the navigation mark can be determined based on a preset circular safety distance model and a second radius; wherein the first radius may be greater than the second radius; if the class information of the target object is the ship in the channel, namely the target object is the ship in the channel, the safety area of the ship in the channel can be determined based on a preset hexagonal safety distance model, the length of the front half section of the long shaft, the length of the rear half section of the long shaft and the length of the short half shaft, namely the safety area corresponding to each target object is determined.
Illustratively, referring to FIG. 1B, the objects surrounding the host vessel (i.e., the host vessel) include: an off-channel ship (target ship 2), an on-channel ship (target ship 1), and a navigation mark (navigation mark 1, navigation mark 2, navigation mark 3, and navigation mark 4). The method comprises the steps of respectively determining a circular safety area with the radius of SDA1 for each navigation mark based on a preset safety distance model, determining a circular safety area with the radius of SDA3 for a ship outside a navigation channel (target ship 2), and determining a hexagonal safety area for the target ship 1, wherein the length of the front half section of the long shaft of the hexagon is SDA2a, the length of the rear half section of the long shaft is SDA2c, the short shaft is bilaterally symmetrical, the length of the short shaft is SDA2b, the length of the front half section of the long shaft is the distance between the central position of the target ship 1 and the vertex of the long shaft of the hexagon in the navigation direction, and the length of the rear half section of the long shaft is the distance between the central position of the target ship 1 and the vertex of the long shaft of the hexagon in the reverse navigation direction.
Alternatively, for the safety area of the static navigation mark, the preset rule may be combined with the information such as the hull length, the current ship speed, and the maneuvering performance of the local ship, for example, if the hull length of the local ship is 50 meters, the radius of the circular safety area of the surrounding navigation mark may be set to be 30-80 meters.
S103, based on the speed obstacle principle, combining the planning route and the navigation information of the targets, and solving the relative movement line of the ship relative to each target.
The speed obstacle theory refers to a speed obstacle theory based on an obstacle avoidance algorithm, and the obstacle avoidance algorithm can be a speed obstacle (Velocity Obstacle, VO) algorithm and the like. The relative motion line refers to a relative motion trajectory line or a speed vector line between the ship and the target object according to the current relative motion situation.
Optionally, for each target object, based on the speed obstacle principle, the navigation information of the planning route and the target object, such as the motion parameters of the local ship and the target object, the nearest meeting point (closestpoint of approach, CPA) of the local ship and the target object can be calculated, and the connection line between the nearest meeting point and the local ship is determined, that is, the ray sent by the local ship and pointing to the nearest meeting point is determined as the relative motion line of the local ship and the target object, that is, the relative motion line of the local ship relative to each target object is calculated.
S104, according to the relation between the relative motion line and the safety area corresponding to each target object, carrying out avoidance decision under the condition that the collision risk of the ship and the target object is determined.
The avoidance decision is a decision for controlling the relevant actuator on the hull to perform an avoidance action so as not to collide with each target object, and the avoidance decision may be, for example, a decision for turning 20 ° while the ship is at a reduced speed.
Optionally, according to the relation between the relative motion line and the safety area corresponding to each object, if the relative motion line does not intersect with the safety area corresponding to each object, it can be determined that the local ship and the object have no collision risk.
Optionally, determining that the collision risk exists between the local ship and the target object according to the relation between the relative motion line and the safety area corresponding to each target object includes: determining whether the relative movement line intersects the safety area corresponding to each object according to the relation between the relative movement line and the safety area corresponding to each object; if yes, determining that collision risk exists between the ship and the corresponding target object.
Optionally, under the condition that the collision risk of the ship and the target object is determined, based on the speed obstacle principle, channel parameter information of the ship and navigation information of each target object can be analyzed, steering angle and navigation speed information required to be executed by the ship are determined, and an avoidance decision is made.
Optionally, after making the avoidance decision, the method further includes: and sending the steering and/or decelerating avoidance decision to an executing mechanism to control the ship to carry out avoidance action.
Optionally, in the process of executing the avoidance action, or in the whole course of the ship navigation, the position information of the local ship and each target object can be monitored in real time to determine whether the situation is urgent, if so, the avoidance decision of the emergency ship stopping is preferentially executed. Specifically, according to the position of the target object and the position of the local ship, if the distance between the target object and the local ship is detected to be smaller than the preset urgent distance, the current urgent situation of the local ship is determined, and the current avoidance decision is determined to be the emergency ship stopping.
According to the technical scheme, navigation planning of the local ship in the channel is carried out according to channel parameter information, a planning route is determined, a safety area corresponding to each target object is determined according to class information of the target object, based on a speed obstacle principle, the relative motion line of the local ship relative to each target object is calculated by combining the planning route and the navigation information of the target object, and avoidance decision is carried out under the condition that collision risk of the local ship and the target object is determined according to the relation between the relative motion line and the safety area corresponding to each target object. According to the technical scheme, a novel avoidance decision method is provided for the ship during navigation in the navigation channel, so that the high-efficiency decision of the ship in the full-range environment is realized, and the safety of the ship during navigation is improved.
Example two
Fig. 2A is a flowchart of a ship avoidance decision method provided by the second embodiment of the present invention, and fig. 2B is a schematic flowchart of a determination of an avoidance decision provided by the second embodiment of the present invention, where on the basis of the foregoing embodiment, the detailed explanation of "performing an avoidance decision under the condition that a collision risk exists between a local ship and a target object" is further performed, as shown in fig. 2A, where the method includes:
s201, carrying out navigation planning of the local ship in the channel according to the channel parameter information, and determining a planned route.
S202, determining a safety area corresponding to each target object according to the category information of the target object.
S203, based on the speed obstacle principle, combining the planning route and the navigation information of the targets, and solving the relative movement line of the ship relative to each target.
S204, according to the relation between the relative motion line and the safety area corresponding to each target object, under the condition that the collision risk of the ship and the target object is determined, the target navigational speed of the ship is determined according to the channel parameter information.
The target navigational speed refers to navigational speed executed by a local ship target.
Optionally, the navigation safety speed in the channel parameter information can be used as the target speed of the local ship according to the channel parameter information, namely, the target speed of the local ship is determined.
S205, based on the speed obstacle principle, a first target steering angle of the ship relative to the target object under the target navigational speed is calculated.
The steering angle is a safe avoidance steering angle of the local ship relative to a target object (dangerous target). The first target steering angle refers to a target angle at which the local ship needs to steer to avoid each target object at the target navigational speed. The first candidate steering angle refers to a candidate angle at which the own ship is required to steer relative to each target at the target speed. The second target steering angle refers to a target angle at which the local ship needs to steer to avoid each target object under the updated target navigational speed. The second candidate steering angle refers to a candidate angle at which the local vessel is required to steer relative to each target object at the updated target voyage speed.
Optionally, the first candidate steering angle of the local ship relative to each target object under the target navigational speed can be calculated based on the speed obstacle principle, the speed obstacle spaces of all the target objects are combined, and the minimum steering angle in the first candidate steering angles is comprehensively calculated, namely the first target steering angle is determined.
S206, carrying out avoidance decision according to the relation between the first target steering angle and a preset angle threshold value.
Optionally, it may be determined whether the first target steering angle is smaller than a preset angle threshold, if so, performing an avoidance decision according to the target navigational speed and the first target steering angle, that is, determining that the avoidance decision is: and controlling the related executing mechanism to avoid based on the target navigational speed and the first target steering angle. Wherein the preset angle threshold may be 20 °.
Optionally, if the first target steering angle is greater than or equal to a preset angle threshold, updating the target navigational speed; based on a speed obstacle principle, solving a second candidate steering angle of the local ship relative to the target object under the updated target navigational speed, and determining a second target steering angle according to the second candidate steering angle; and determining whether the second target steering angle is smaller than a preset angle threshold, if so, carrying out avoidance decision according to the updated target navigational speed and the second target steering angle. Wherein the preset angle threshold may be 20 °.
Optionally, if the first target steering angle is greater than or equal to the preset angle threshold, the target speed may be updated to be half of the original target speed, i.e. the target speed is updated.
Optionally, if the second target steering angle is greater than or equal to the preset angle threshold, the target navigational speed may be updated for a second time, and the avoidance decision may be performed according to the target navigational speed after the second update and the preset angle threshold. The target navigational speed after the secondary updating can be one fourth of the target navigational speed or one half of the target navigational speed.
For example, referring to fig. 2B, after determining the first target steering angle, i.e. resolving the minimum steering angle Δc1, it may be determined whether the first target steering angle is smaller than a preset angle threshold, i.e. whether Δc1<20 ° is satisfied, if yes, it may be determined whether the avoidance decision is based on Δc1 and the target speed, if no, the target speed is updated to a half speed of the target speed, and based on the half speed target speed, the minimum steering angle Δc2 is resolved, i.e. the second target steering angle is determined, it may be determined whether the second target steering angle is smaller than a preset angle threshold, i.e. whether Δc2<20 ° is satisfied, if yes, it may be determined whether the avoidance decision is based on Δc2 and the half speed of the target speed, if no, it may be determined whether the local ship is currently in a tight situation, if no, it may be determined that the avoidance decision is an emergency ship, and if no, it may be determined that the avoidance decision is based on the angle threshold (20 °) and the half speed of the target speed.
Optionally, after determining the steering angle and the target navigational speed of the local ship, the method further comprises: determining whether the steering direction related to the steering angle turns left relative to the ship navigation direction or turns right relative to the ship navigation direction, if the ship and the target object are in a meeting scene, and the steering direction related to the steering angle turns left relative to the ship navigation direction, updating the steering angle to 180 degrees in consideration of the influence of the marine collision avoidance rule on meeting decisions, and carrying out avoidance decisions according to the updated steering angle. If the ship and the target object are in a meeting scene and the steering direction related to the steering angle is right-turned relative to the ship navigation direction, the avoidance decision can be directly made based on the determined steering angle and the target navigation speed.
According to the technical scheme, under the condition that collision risk between the ship and the target object is determined, the target navigational speed of the ship is determined according to the navigational path parameter information, a first target steering angle of the ship relative to the target object under the target navigational speed is calculated based on the speed obstacle principle, and finally, avoidance decision is carried out according to the relation between the first target steering angle and a preset angle threshold value. The method and the device provide an implementation mode for carrying out the avoidance decision under the condition that the collision risk of the ship and the target object is determined, so that the related information of the ship and the surrounding target object can be considered more comprehensively, the efficient avoidance decision is realized, and the safety of the ship during navigation is improved.
Example III
Fig. 3 is a block diagram of a ship avoidance decision device according to a third embodiment of the present invention, where the ship avoidance decision device according to the third embodiment of the present invention may execute the ship avoidance decision method according to any one of the embodiments of the present invention, and has functional modules and beneficial effects corresponding to the execution method.
As shown in fig. 3, the apparatus includes:
the navigation determining module 301 is configured to perform navigation planning of the local ship in the channel according to the channel parameter information, and determine a planned route; the channel parameter information includes at least one of: channel type, channel boundary position, navigation safety speed, channel width and navigation mark information;
the safety area determining module 302 is configured to determine, according to category information of the objects, a safety area corresponding to each object; the target is a ship or a navigation mark; the category information includes: an off-channel vessel, an in-channel vessel, and a navigation mark;
a resolving module 303, configured to resolve a relative movement line of the local ship with respect to each target object based on a speed obstacle principle and combining navigation information of the planned route and the target object; the voyage information includes at least one of: the position, the sailing speed and the sailing direction of the target object;
the decision module 304 is configured to perform an avoidance decision when determining that the local ship and the target object have collision risk according to the relationship between the relative motion line and the safety area corresponding to each target object.
According to the technical scheme, navigation planning of the local ship in the channel is carried out according to channel parameter information, a planning route is determined, a safety area corresponding to each target object is determined according to class information of the target object, based on a speed obstacle principle, the relative motion line of the local ship relative to each target object is calculated by combining the planning route and the navigation information of the target object, and avoidance decision is carried out under the condition that collision risk of the local ship and the target object is determined according to the relation between the relative motion line and the safety area corresponding to each target object. According to the technical scheme, a novel avoidance decision method is provided for the ship during navigation in the navigation channel, so that the high-efficiency decision of the ship in the full-range environment is realized, and the safety of the ship during navigation is improved.
Further, the decision module 304 includes:
the navigation speed determining unit is used for determining the target navigation speed of the local ship according to the navigation channel parameter information;
a first angle calculating unit for calculating a first target steering angle of the local vessel relative to the target object at the target navigational speed based on a speed obstacle principle;
and the decision unit is used for making an avoidance decision according to the relation between the first target steering angle and a preset angle threshold value.
Further, the decision unit is specifically configured to:
if the first target steering angle is larger than or equal to a preset angle threshold value, updating the target navigational speed;
based on a speed obstacle principle, solving a second candidate steering angle of the local ship relative to the target object under the updated target navigational speed, and determining a second target steering angle according to the second candidate steering angle;
and determining whether the second target steering angle is smaller than a preset angle threshold, if so, carrying out avoidance decision according to the updated target navigational speed and the second target steering angle.
Further, the voyage determination module 301 is specifically configured to:
according to the channel type in the channel parameter information, if the channel where the local ship is located is a unidirectional navigation channel, determining that the central line of the channel is a planning channel of the local ship;
if the channel where the local ship is located is a bidirectional navigation channel, the central line of the right half channel in the navigation direction of the ship is used as a planning route of the local ship.
Further, the decision module 304 is further configured to:
determining whether the relative movement line intersects the safety area corresponding to each object according to the relation between the relative movement line and the safety area corresponding to each object;
if yes, determining that collision risk exists between the ship and the corresponding target object.
Further, the device is also used for:
determining navigation information of objects positioned around the local ship based on the sensing equipment;
determining the area where the target object is located according to the channel parameter information and the navigation information of the target object; the region includes: an inner channel region, an outer channel region, and a boundary channel region;
classifying the target objects according to the areas where the target objects are located, and determining the category information of the target objects.
Further, the device is also used for:
and if the distance between the target object and the local ship is detected to be smaller than the preset urgent distance according to the position of the target object and the position of the local ship, determining that the local ship is currently in an urgent situation, and determining that the current avoidance decision is an emergency ship stopping decision.
Example IV
Fig. 4 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention. Fig. 4 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the ship avoidance decision method.
In some embodiments, the vessel avoidance decision method may be implemented as a computer program, which is tangibly embodied on a computer readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the ship avoidance decision method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the vessel avoidance decision method by any other suitable means (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. The ship avoidance decision method is characterized by comprising the following steps of:
according to the channel parameter information, carrying out navigation planning of the local ship in the channel, and determining a planning route; the channel parameter information includes at least one of: channel type, channel boundary position, navigation safety speed, channel width and navigation mark information;
determining a safety area corresponding to each target object according to the category information of the target object; the target is a ship or a navigation mark; the category information includes: an off-channel vessel, an in-channel vessel, and a navigation mark;
based on the speed obstacle principle, combining the planning route and the navigation information of the targets to calculate the relative movement line of the ship relative to each target; the voyage information includes at least one of: the position, the sailing speed and the sailing direction of the target object;
and carrying out avoidance decision under the condition of determining that the collision risk exists between the ship and the target object according to the relation between the relative motion line and the safety area corresponding to each target object.
2. The method of claim 1, wherein making an avoidance decision in the event that a collision risk of the native vessel with the target is determined, comprises:
determining the target navigational speed of the local ship according to the channel parameter information;
based on a speed obstacle principle, calculating a first target steering angle of the local ship relative to a target object at a target navigational speed;
and carrying out avoidance decision according to the relation between the first target steering angle and a preset angle threshold value.
3. The method of claim 2, wherein making an avoidance decision based on the relationship of the first target steering angle and a preset angle threshold comprises:
if the first target steering angle is larger than or equal to a preset angle threshold value, updating the target navigational speed;
based on a speed obstacle principle, solving a second candidate steering angle of the local ship relative to the target object under the updated target navigational speed, and determining a second target steering angle according to the second candidate steering angle;
and determining whether the second target steering angle is smaller than a preset angle threshold, if so, carrying out avoidance decision according to the updated target navigational speed and the second target steering angle.
4. The method of claim 1, wherein performing voyage planning of the local vessel in the channel based on the channel parameter information, determining the planned route comprises:
according to the channel type in the channel parameter information, if the channel where the local ship is located is a unidirectional navigation channel, determining that the central line of the channel is a planning channel of the local ship;
if the channel where the local ship is located is a bidirectional navigation channel, the central line of the right half channel in the navigation direction of the ship is used as a planning route of the local ship.
5. The method of claim 1, wherein determining that the native vessel is at risk of collision with the target comprises:
determining whether the relative movement line intersects the safety area corresponding to each object according to the relation between the relative movement line and the safety area corresponding to each object;
if yes, determining that collision risk exists between the ship and the corresponding target object.
6. The method as recited in claim 1, further comprising:
determining navigation information of objects positioned around the local ship based on the sensing equipment;
determining the area where the target object is located according to the channel parameter information and the navigation information of the target object; the region includes: an inner channel region, an outer channel region, and a boundary channel region;
classifying the target objects according to the areas where the target objects are located, and determining the category information of the target objects.
7. The method as recited in claim 1, further comprising:
and if the distance between the target object and the local ship is detected to be smaller than the preset urgent distance according to the position of the target object and the position of the local ship, determining that the local ship is currently in an urgent situation, and determining that the current avoidance decision is an emergency ship stopping decision.
8. A watercraft avoidance decision device, comprising:
the navigation determining module is used for carrying out navigation planning of the local ship in the channel according to the channel parameter information and determining a planning route; the channel parameter information includes at least one of: channel type, channel boundary position, navigation safety speed, channel width and navigation mark information;
the safety area determining module is used for determining the safety area corresponding to each target object according to the category information of the target object; the target is a ship or a navigation mark; the category information includes: an off-channel vessel, an in-channel vessel, and a navigation mark;
the calculation module is used for calculating the relative movement line of the ship relative to each target object based on the speed obstacle principle by combining the planning route and the navigation information of the target objects; the voyage information includes at least one of: the position, the sailing speed and the sailing direction of the target object;
and the decision module is used for carrying out avoidance decision under the condition of determining that the collision risk exists between the ship and the target object according to the relation between the relative motion line and the safety area corresponding to each target object.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vessel avoidance decision method of any of claims 1-7.
10. A computer readable storage medium, characterized in that the computer readable storage medium stores computer instructions for causing a processor to implement the ship avoidance decision method according to any of claims 1-7 when executed.
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