JP3500001B2 - Avoidance maneuvering support device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an escape avoidance maneuvering support device applied to an integrated navigation system for ships.

[0002]

2. Description of the Related Art In recent years, as a comprehensive navigation system for ships, when a risk of collision with other ships and grounding occurs while navigating in the sea area,
Measure the ship position, ship speed, etc. of own ship and other ships, calculate and calculate the escape route of own ship based on these measurement data, display the escape route on the display device and provide it to the navigator. Research and development of marine vessel maneuvering support equipment.

[0003]

The above-mentioned avoidance vessel maneuvering support device is effective while navigating in a sea area where the course can be changed such as during ocean navigation or coastal navigation. There is a problem that it cannot be applied when navigating in an impossible sea area or when avoiding a danger by changing needles cannot avoid the danger.

The present invention has been made in order to solve the above-mentioned problems, and provides a safe deceleration speed to a navigator when it is impossible to change the needle or when the danger cannot be avoided by avoiding a flight due to the needle change. It is an object of the present invention to provide an escape avoidance maneuvering support device that can contribute to navigation.

[0005]

The avoidance vessel maneuvering assisting apparatus according to the present invention is an other vessel that is sailing so as to cross the course of its own vessel.
Course, speed, direction and distance from the own ship to the other ship, and
And the closest approach to another ship based on the ship's current speed
A collision prevention device that determines the time and the distance at the time of closest approach, a speedometer that measures the speed of the ship, a gyro that detects the direction of the ship, and a deceleration speed pattern of the ship are stored in advance.
Memory means and other ships required by the collision prevention device
The time to the closest approach and the distance at the closest approach are set in advance
Compare the standard approach time and the standard approach distance,
Time to the closest approach to the other ship and distance at the time of the closest approach
Is less than the preset reference approach time and reference approach distance.
The first contact that determines that there is a risk of collision when it goes down.
There is a danger of collision between the proximity determination means and the first approach determination means.
If it is judged to be rugged, it will be stored in the above storage device.
From the deceleration speed patterns that are
Deceleration speed that selects the speed that is less than and closest to the ship speed
Selecting means and the reduction speed selected by the deceleration speed selecting means.
Based on the speed and the ship's bearing from the gyro,
After deceleration, the closest approach time during deceleration to the above other vessels and during deceleration
The calculating means for calculating the closest distance and the calculating means
The calculated closest approach time during deceleration and closest approach time during deceleration and the above
Compare the standard approach time and the standard approach distance
Second proximity determination to determine whether there is a risk of collision in comparison
Means and the second approach degree determination means, there is a risk of collision
Processing of the deceleration speed selection means when it is determined that there is
Again to execute the next smaller reduction from the above deceleration speed pattern.
When high speed is selected and it is determined that there is no risk of collision
Display the deceleration speed obtained by the above deceleration speed selection means.
And means for displaying on the display .

(Operation) When navigating in a sea area where it is impossible to change course, or when avoiding a flight by changing course cannot avoid the danger,
Other ship data from collision prevention device, own ship speed from speedometer, own ship's heading from gyro, own ship's deceleration speed pattern from first input device, own ship's deceleration rate, second input The deceleration speed for avoidance is calculated based on the iso-depth line data from the device, displayed on the display device and presented to the officer.
By navigating while reducing the speed of the ship to the deceleration speed displayed on the display device, the navigator can avoid the risk of collision with another ship and sail safely.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of an escape avoidance maneuvering assistance device according to an embodiment of the present invention.

In FIG. 1, reference numeral 1 is a collision prevention device (ARPA: Automatic Radar Plotting Aids) mounted on a ship.
), The direction θ0 from the own ship to the other ship, the distance D0,
While measuring the course φ0 and the ship speed VT0 of the other ship, the TCPA (Time
to Closest Point of Approach: Time to the closest approach to a collision risk vessel, DCPA (Distance to Closest Poin)
t of Approach: Calculate the distance at the time of closest approach to a collision risk vessel. Reference numeral 2 is a speedometer that measures the speed v of the ship, 3 is a gyro that detects the direction φ of the ship, and 4 is a positioning device that measures the current position (X, Y) of the ship. Reference numeral 5 is an input device for inputting and changing a deceleration speed (v1 to vm: m is the number of deceleration speed values) pattern of the ship, a deceleration rate ni (i = 1 to m) of the ship, such as a keyboard. Is. The deceleration rate ni is expressed in knots / minute and varies depending on the ship speed. Reference numeral 6 is a device, for example, a disk device, for inputting nautical chart data such as a coastline and iso-water depth line of a navigation sea area which are stored in advance.

The measured values from the collision prevention device 1, the speedometer 2, the gyro 3, the positioning device 4 and the input values from the keyboard 5 and the disk device 6 are input to the evasion planning device 7. The avoidance planning device 7 includes an approach degree determiner 71, a reference value setter 72, a deceleration speed selector 73, a deceleration speed pattern and deceleration rate memory 74, a deceleration speed arrival time calculator 75,
It is composed of the closest approach value calculator 76 (after deceleration), the approach degree determiner 77 (after deceleration), and the nautical chart input device 78.

The reference value setting device 72 includes a keyboard 5
“Standard approach time (TCP
A) ”and“ reference approach distance (DCPA) ”are stored. In addition, the deceleration speed pattern and deceleration rate storage unit 74 stores deceleration speeds (v1 to
vm) pattern and deceleration rate ni are written.

The "reference approach time (T)" which is previously input / set from the keyboard 5 and stored in the reference value setting device 72 is used.
“CPA)” and “reference approach distance (DCPA)” are input to the approach degree determiner 71. In addition, the deceleration speed pattern and the deceleration speeds (v1 to vm) stored in the deceleration rate memory 74 are stored.
The pattern is input to the deceleration speed selector 73, and the deceleration rate ni is input to the deceleration speed arrival time calculator 75. Further, the data such as the coastline and the iso-depth line of the navigational sea area stored in the disk device 6 in advance are input to the nautical chart input device 78.

On the other hand, among the data measured and calculated by the collision prevention device 1, the "closest time (TCPA0)",
The "closest approach distance (DCPA0)" is input to the approach degree determiner 71, and the bearing θ0 from the own ship, the distance D0, the course φ of the other ship
0, the boat speed VT0, etc. are input to the closest approach value calculator 76 (after deceleration). Further, the speed V of the own ship measured by the speedometer 2 is input to the deceleration speed selector 73. Further, the bearing φ of the ship measured by the gyro 3 is input to the closest approach value calculator 76 (after deceleration). Then, the display device 8 and the alarm generation device 9 are connected to the proximity determination device 77 (after deceleration), and the display device 8 is connected to the nautical chart input device 78.

The avoidance planning device 7 displays the nautical chart on the display device 8 by the nautical chart input device 78, and displays the position (X, Y) of the own ship and the course based on the measurement data of the positioning device 8. To display. And the shelter planning device 7
Determines whether there is a risk of collision based on data from the collision prevention device 1 when another ship exists ahead of the course direction, and if there is a risk of collision, the collision prevention device Other ship data from 1, ie, "closest approach time (TCPA0
) ”,“ Closest approach distance (DCPA0) ”, heading θ0 from own ship, distance D0, course φ0 of another ship, ship speed VT0, own ship speed V from speedometer 2, own ship's bow from gyro 3. Direction φ, deceleration speed of own ship from keyboard 5 (v1 to vm
) When the evasion plan processing is performed based on the pattern, the deceleration rate ni, and the contour water depth data from the disk device 6, and when it is determined that the evasion due to the change of needle is possible, the course as the processing result is displayed on the display device 8. indicate. When it is not possible to avoid a voyage by changing the needle, if the evasion plan can be processed by deceleration, the deceleration speed v1 as the processing result is displayed on the display device 8, and if it is not possible, an alarm is issued by the alarm generation device 9.

Next, the operation of the above embodiment will be described with reference to the flowcharts shown in FIGS. FIG. 2 is a flow chart showing details of the overall processing operation and FIG.

Now, as shown in FIG. 4, when the ship 11 is navigating from the current position (X, Y) in the direction φ at the speed V, the other ship 12 is navigating across the course. In addition, there is a shallow 13 on the right front of the ship, and it is assumed that the ship is unable to navigate with a needle change to the right.

In the escaping / maneuvering assistance device equipped on the own ship 11, as shown in step A1 in FIG. 2, the deceleration speed (v1 to vm) of the own ship from the keyboard 5 in advance, that is, when the present device is installed on the ship. Input the pattern, deceleration rate ni, etc.,
The deceleration speed pattern and the deceleration rate memory 74 are stored. In this case, the deceleration speed (v1 to vm) pattern is usually set by the ship speed relative to the scale of the main engine control lever calculated from the main engine output characteristic of the own ship 11. Also, step A
As shown in 2, from the disk device 6 to the coastline of the navigation area,
The water depth data etc. are read into the nautical chart input device 78. The nautical chart input device 78 displays a nautical chart on the display device 8 based on the data read from the disk device 6 to indicate to the navigator that the sea area cannot be changed and only evasion can be performed by deceleration.
Normally, if you can navigate while avoiding the risk of collision by changing the needle, you will not decelerate.

The evasion planning device 7 constantly calculates the "closest approach time (TC)" to the collision risk ship measured and calculated by the collision prevention device 1.
"PA0)" and "closest approach distance (DCPA0)" are read into the approach degree determiner 71 (step A3), and the "closest approach time (TCPA0)" and "closest approach distance (DCPA0)" are preset to the reference value setting device 72. Stored in the “reference approach time (T
CPA) ”,“ reference approach distance (DCPA) ”and other ships are judged (step A)
4). That is, the "closest approach distance (DCPA0)" between the ship 11 and the other ship 12 is less than or equal to the "reference approach distance (DCPA)", and the "closest approach time (TCPA0)" with respect to the other ship 12 is
Is less than or equal to the “standard approach time (TCPA)”, the ship 11
Judges that there is a risk of colliding with another ship 12. When there are multiple other ships, it is determined whether or not there is a risk of collision with each other ship.

The above "closest approach distance (DCPA0)" and "closest approach time (TCPA0)" are equal to or less than "reference approach distance (DCPA)" and "reference approach time (TCPA)" stored in the reference value setting unit 72. If there is no other ship, there is no danger of collision, so the process returns to step A3, and the "closest approach time (TCPA
0) ”and“ closest distance (DCPA0) ”are read, and it is determined again whether there is a risk of collision. This step A3, A
The process of 4 is repeatedly executed, and it is always judged whether there is a risk of collision.

When the evasion planning device 7 determines in step A4 that there is a possibility of collision,
The other ship data from the collision prevention device 1, the own ship speed V from the speedometer 2, and the heading φ of the own ship 11 from the gyro 3 are read into the closest approach value calculator 76 (after deceleration) (step A
5) The evasion planning process is executed (step A6), and the deceleration speed for evasion is calculated. In this case, it is determined whether processing is possible (step A7), and if processing is possible, the deceleration speed of the processing result is displayed on the display device 8 (step A9).

The officer operates the ship based on the course or deceleration speed displayed on the display device 8 (step A1).
0), after that, a certain time is delayed (step A11) and the process returns to step A3. If it is determined in step A7 that the avoidance planning process due to deceleration is impossible, an alarm signal is sent to the alarm generation device 9 to generate an alarm (step A8). This state is an abnormal state that rarely occurs, and the deceleration speed cannot be displayed by this device. Therefore, in this case, the only countermeasure is to promptly determine the captain, but for example, measures such as forcibly changing the route and requesting the other ship 12 to speed up can be considered.

Next, details of the avoidance planning process (step A6) by the above deceleration will be described with reference to FIG. The avoidance planning device 7 measures the “closest approach time (TCPA0)” and the “closest approach distance (DCPA0)” measured and calculated by the collision prevention device 1.
) ”Is less than or equal to the“ reference approach time (TCPA) ”and the“ reference approach distance (DCPA) ”stored in the reference value setting unit 72, and the approach determination unit 71 determines whether or not the“ closest approach time (TCPA0) ) "," Closest distance (DCPA0) "
Is "reference approach time (TCPA)", "reference approach distance (D
CPA) ”or less, the evasion planning process shown in step A6 is executed.

First, the deceleration speed selector 73 uses the "reference approach time" in which the "closest approach time (TCPA0)" and "closest approach distance (DCPA0)" are stored in the reference value setting unit 72 from the approach degree determiner 71. (TCPA) ”,“ reference approach distance (D
CPA) ”or less, the judgment result is input,
Deceleration speed pattern and deceleration rate (v1 to vm) pattern stored in the deceleration rate memory 74 (where v1>v2>
...> vm), a ship speed vi which is smaller than and closest to the ship speed V of the own ship obtained from the speedometer 2 is selected (step B1). In FIG. 4, the current ship speed V is v1>V> v2, so the deceleration speed is v2. In this case, if the width of deceleration is large, it takes time to start up, so it is desirable to reduce the width of deceleration as much as possible to prevent loss.

Next, the deceleration rate v of the own ship 11 when the deceleration is immediately started from the deceleration rate ni, the current ship speed V, and the deceleration speed vi
The time T1 at which the ship decelerates to i is calculated by the following formula in the deceleration speed arrival time calculator 75 (step B
2).

T1 = (V-vi) / ni (1) Based on the time T1 obtained by the above equation, the ship speed is decelerated from V to vi until time T1, and the ship speed is changed from time T1 to v.
i, Calculate the "closest approach time during deceleration (TCPAx)" and "closest approach distance during deceleration (DCPAx)", which are calculated values when the course is left as it is, with the closest approach value calculator 76 (after deceleration) (Step B3), approach degree determiner 77 (after deceleration)
Output to. The approach degree determiner 77 (after deceleration) calculates the “approach time during deceleration (TCPAx)”, the “approach distance during deceleration (DCPAx)” and the “reference approach” stored in the reference value setter 72. Time (TCPA) "and" reference approach distance (DCPA) "are compared (step B4).

In FIG. 5, the "closest approach time during deceleration (TCPAx)" and the "closest approach distance during deceleration (DCPA)" are calculated in FIG.
x) ”is not less than or equal to the“ reference approach time (TCPA) ”and the“ reference approach distance (DCPA) ”. In FIG. 6, the calculated“ closest approach time during deceleration (TCPAx) ”and“ closest approach during deceleration ”are shown. "Distance (DCPAx)" is "reference approach time (TC
PA) ”and“ reference approach distance (DCPA) ”or less. Proximity determiner 77 (after deceleration)
Is the calculated “closest time during deceleration (TCPAx)”,
When it is determined that the “closest distance during deceleration (DCPAx)” is less than or equal to the “reference approach time (TCPA)” and the “reference approach distance (DCPA)”, the deceleration speed vi is displayed on the display device 8 (step B5). Then, the officer can be provided with a safe deceleration speed.

On the other hand, in step B4, when it is determined by the approach degree determiner 77 (after deceleration) that there is a risk of collision, the deceleration speed vi is stored in the deceleration speed pattern and deceleration rate memory 74. It is determined whether or not the minimum ship speed vm is present (step B6). vi = vm
In that case, since it is not possible to decelerate any further, it is determined that processing is impossible and the alarm generation device 9 issues an alarm. vi ≠ v
If m, the ship speed vi is the next lower ship speed v from the currently selected ship speed vi from the deceleration speed (v1 to vm) patterns stored in the deceleration speed pattern and deceleration rate memory 74.
Select i (i = i + 1) (step B7) and return to step B2. FIG. 5 shows a case where the deceleration speed v2 is selected, and in the case of FIG. 6, it is determined that there is a risk of collision at the deceleration speed v2, and the next smaller deceleration speed v3 is selected.

The recommended deceleration situation is provided to the officer as described above, and the officer operates the vessel according to the deceleration pattern displayed on the display device 8 (step A10), which may cause a risk of collision with another vessel 12. It is possible to avoid it and to safely navigate the ship.

In the above embodiment, the case in which the timing of lowering the ship speed is delayed as much as possible so that the schedule can be observed even when there is a risk of collision with another ship 12, has been described. For example, various deceleration patterns are conceivable, such as reducing the boat speed early when a danger is detected.

[0029]

According to the present invention, when sailing in a sea area where it is impossible to change course or when a evasion plan due to change of course is impossible and there is a risk of collision with another ship, the other ship and the own ship This is to calculate and display an appropriate deceleration speed for avoidance based on various data such as the above and data of iso-depth line of the navigation area, etc. It contributes.

[Brief description of drawings]

FIG. 1 is a configuration diagram of an escaping / maneuvering assistance device according to an embodiment of the present invention.

FIG. 2 is a flowchart showing a basic overall processing operation in the same embodiment.

FIG. 3 is a flowchart showing details of evasion planning processing in the same embodiment.

FIG. 4 is a diagram showing an example of a deceleration plan in the same embodiment.

FIG. 5 is a diagram showing an example of a deceleration plan in the same embodiment.

FIG. 6 is a diagram showing an example of a deceleration plan in the same embodiment.

[Explanation of symbols]

1 Collision prevention device 2 speedometer 3 gyro 4 Positioning device 6 disk device 5 keyboard 7 Evacuation planning device 8 display devices 9 Alarm generator 11 Own ship 12 Other ship 13 shallow water data (sea area) 71 Proximity determiner 72 Reference value setting device 73 Deceleration speed selector 74 Deceleration speed pattern and deceleration rate memory 75 Deceleration speed arrival time calculator 76 Closest value calculator (after deceleration) 77 Proximity determiner (after deceleration) 78 Chart Input Device

Continuation of front page (56) Reference JP-A-7-165178 (JP, A) JP-A-3-161899 (JP, A) JP-A-7-47992 (JP, A) JP-A-6-48392 (JP , A) JP-A-7-248827 (JP, A) JP-A-5-262164 (JP, A) JP-A-7-304495 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB) Name) G08G 3/02 B63B 43/18

Claims (2)

(57) [Claims] [Claim 1] Navigating across the course of the ship
Path and speed of another ship, direction and distance from own ship to the other ship
Closest approach to another ship based on the separation and current speed of own ship
Collision prevention device that determines the time to reach and the distance at the closest approach
, A speedometer that measures the speed of the ship, a gyro that detects the bearing of the ship, and a storage unit that stores the deceleration speed pattern of the ship in advance.
And the closest approach to another ship as determined by the above collision prevention device
Time and distance at the time of closest approach and the preset base
Compare the quasi approach time and the standard approach distance, and
The time to the closest approach and the distance at the closest approach are set in advance.
When it is less than the standard approach time and standard approach distance
First approach degree determining means for determining that there is a risk of collision with the vehicle
And it is judged that there is a danger of collision by the first approach degree judging means.
If the deceleration speed parameter stored in the storage device is
From the turn, less than the ship's speed from the above speedometer
And the deceleration speed selecting means for selecting the closest speed, and the deceleration speed and the upper speed selected by the deceleration speed selecting means.
Based on the ship's bearing from the gyro, the above after deceleration
Set the closest approach time during deceleration and the closest approach distance during deceleration to other ships.
Computation means to calculate, and the closest approach time during deceleration and deceleration obtained by the above computation means
The closest approach distance and the preset reference approach time and
Determine whether there is a risk of collision by comparing with the reference approach distance
There is a risk of collision due to the second approach degree determining means and the second approach degree determining means.
If judged, execute the processing of the deceleration speed selection means again.
The next smaller deceleration speed from the above deceleration speed pattern.
If you select it and it is judged that there is no risk of collision, the above reduction
Display the deceleration speed obtained by the high-speed selection means on the display device
And a means for doing so. 2. The ship is sailing across the course of the ship.
Path and speed of another ship, direction and distance from own ship to the other ship
Closest approach to another ship based on the separation and current speed of own ship
Collision prevention device that determines the time to approach and the distance at the time of closest approach , a speedometer that measures the speed of your own ship, a gyro that detects the direction of your own ship, a positioning device that measures your own ship position, and deceleration of your own ship Storage means for storing speed patterns in advance
And a display device for displaying charts and headings , and chart data recording coastlines and iso-depth lines in the navigation area.
Input device to display on the display device by force and the closest approach to other ships required by the collision prevention device
Time and distance at the time of closest approach and preset reference connection
Compare with the near time and the standard approach distance,
The time to the closest approach and the distance at the closest approach are preset
If the standard approach time and the standard approach distance are less than
Determining a first approach determination means for determining that there is a risk of collision, and there is a risk of collision in the first proximity determining means
If the ship is decelerated, it will be stored in the above storage device.
From the speed pattern, from the ship speed from the above speedometer
Deceleration speed selection means for selecting the smallest and closest speed
And the deceleration speed selected by the deceleration speed selection means
Based on the ship's bearing from the gyro, the above after deceleration
Set the closest approach time during deceleration and the closest approach distance during deceleration to other ships.
Computation means to calculate, and the closest approach time during deceleration and deceleration obtained by the above computation means
The closest approach distance and the preset reference approach time and
Compare with the reference approach distance to determine whether there is a risk of collision
There is a risk of collision due to the second approach degree determining means and the second approach degree determining means.
If judged, execute the processing of the deceleration speed selection means again.
The next smaller deceleration speed from the above deceleration speed pattern.
If you select it and it is judged that there is no risk of collision, the above reduction
Display the deceleration speed obtained by the high-speed selection means on the display device
Means and the processing of the deceleration speed selection means again when the current selection is performed.
If the selected deceleration speed cannot be reduced below that,
Generate an alarm when judged from the deceleration speed pattern
An alert avoidance vessel maneuvering support device comprising: an alarm generating means .