JP4505558B2 - Ship navigation support equipment - Google Patents

Description

  The present invention relates to an apparatus for supporting a ship operator's determination regarding navigation in order to prevent a ship collision accident.

In order to prevent a ship collision accident, the ship is equipped with a radar / ARPA (automatic collision prevention assist device) and an AIS (automatic vessel identification device). According to ARPA, as shown in FIG. 17, a first vector a ₂ representing the position and speed (including speed and direction) of the own ship and a _second vector representing the position and speed of the other ship measured by the radar. Vector Z is displayed on the monitor. In addition to these icons, a technique has been proposed in which an area Zd (shaded portion) where the ship and other ships may collide is displayed on a monitor as shown in FIG. 17 (see, for example, Patent Document 1). ). This technique helps a ship operator to find a ship with a possibility of a collision and determine whether the collision possibility is high or low.
JP-A-6-318300

  However, according to the related art, when there is a high possibility of collision with a plurality of ships in a congested sea area, as shown in FIG. 17, the dangerous area BD is superimposed and displayed on the monitor, which is difficult to see. There is a possibility. Therefore, there is a possibility that it is difficult for the operator to determine how the ship should be navigated (evacuated) in order to avoid a collision with another ship.

  Therefore, an object of the present invention is to provide an apparatus that allows a ship operator to recognize information necessary for avoiding a collision with another ship in an appropriate form.

In order to solve the above problems, the marine vessel navigation support apparatus according to the present invention recognizes navigation information recognition for recognizing first and second navigation information including the respective positions, speeds and lengths of the first and second vessels in the navigation area. And a dangerous area recognizing means for recognizing, as a dangerous area, an area that expands with reference to the position of the second ship at the time of closest approach to the first ship based on the first and second navigation information recognized by the navigation information recognizing means. And the respective positions and velocities of the first and second ships included in the first and second navigation information recognized by the navigation information recognition means are the first and second vectors in the plane representing the navigation area. position of each of the starting point, and, along with being represented by the direction and length, the position and extent how recognized danger area by hazardous area recognition means represents a navigation area Characterized in that it comprises an image control means for displaying the image represented by the position and extends how linear icons on the surface on the image display apparatus mounted on the first vessel.

  According to the marine navigation support apparatus of the present invention, the navigation information recognition means recognizes “first navigation information” including the position, speed, and length of the first ship, and the position, speed, and length of the second ship. It recognizes “second navigation information”. When the component X of the present invention recognizes the information Y, X reads Y from the storage device, X receives Y from an external terminal, and X determines Y (measurement, estimation, determination, etc.). ), And X determines Y based on read information or received information.

  Further, based on the first and second navigation information recognized by the navigation information recognition means, the danger area recognition means defines an area that expands with reference to the position of the second ship at the time of closest approach to the first ship as a “danger area”. recognize. Here, “the position of the second ship at the time of the closest approach to the first ship” means that the second ship at the time when the first ship and the second ship are predicted to approach again when navigating while maintaining their respective speeds. It means the predicted position.

Then, the “position” and “speed” of each of the first and second ships included in the first and second navigation information recognized by the navigation information recognition means by the image control means represent the navigation area. An image represented by the “start position”, “direction”, and “length” of each of the first and second vectors in the plane is displayed on an image display device mounted on the first ship. The position of the first vector is specified by the position of a reference point such as the starting point of the first vector.

  Further, in the image control means, the “position” and “how to spread” of the dangerous area recognized by the dangerous area recognition means are expressed by “position” and “how to extend” of the linear icons on the plane representing the navigation area. The image is displayed on the image display device.

The position and speed of each of the first ship (own ship) and the second ship (other ship) are controlled by the start position, direction and length of the first and second vectors displayed on the image display device. Can be recognized through their vision. Further, the position and range of the dangerous area can be recognized by the operator through the visual sense based on the position and length of the icon displayed on the image display device.

  For this reason, if there is an icon representing a dangerous area in the direction of the first vector when viewed from the position of the first vector, the ship operator is likely to reach the dangerous area and there is a high possibility that both ships will collide. Can be recognized. Further, if the icon is slightly deviated from the direction of the first vector when viewed from the position of the first vector, there is a possibility that the first ship may reach the dangerous area due to a slight change in the course of the second ship. The operator can be made aware that it is necessary. On the other hand, if the icon is greatly deviated from the direction of the first vector when viewed from the position of the first vector, it is less likely that the first ship will reach the dangerous area, and consequently the possibility of collision between the two ships is low. Can be recognized.

  In addition, the position of the icon displayed on the image display device is specified by a reference point that represents the position of the second ship at the time of closest approach of the first and second ships. Therefore, depending on the position of the icon, it is possible for the operator to recognize the time margin until the two ships are closest to each other. That is, if the icon is far from the first vector, the closest point of time for the first and second vessels is still ahead, and the operator has sufficient time to change the route of the first vessel as necessary. Can be recognized. On the other hand, if the icon is close to the first vector, it is predicted that the first and second vessels will soon be closest, and if necessary, let the operator know that the route of the first vessel should be changed quickly. Can do.

  Furthermore, since the icons are linear, even if there are multiple danger areas where there is a high possibility of collision with a plurality of second vessels (other ships) such as a congested area, the icons indicate the position of each danger area to the operator. It can be easily recognized.

  Therefore, according to the navigation support apparatus for a ship of the present invention, the operator of the first ship (own ship) is made to recognize the information necessary for avoiding a collision with the second ship (other ship) in an appropriate form, The operator can easily determine how the first ship (own ship) should be navigated (evacuated).

  Further, the marine vessel navigation support apparatus according to the present invention is based on the first and second navigation information recognized by the navigation information recognition means and uses the position of the first vessel as a reference to determine the possibility of collision between the first and second vessels. Providing a proximity area recognition means for recognizing an area that is deflected and expanded according to the height as a proximity area, the dangerous area recognition means is based on a method of spreading the neighborhood area based on the position of the first ship. It is characterized by recognizing how the dangerous area spreads based on the position of the second ship at the time of the closest approach to.

  Further, in the marine vessel navigation support device of the present invention, the dangerous area recognition means recognizes how the dangerous area spreads according to the distance from the position of the first ship to the boundary of the neighboring area recognized by the neighboring area recognition means. It is characterized by.

  The marine vessel navigation support apparatus of the present invention further includes a collision determination unit that determines whether or not the first and second vessels have a collision possibility based on the first and second navigation information recognized by the navigation information recognition unit. The image control means causes the image display device to display only the line icon corresponding to the second ship determined to have a possibility of collision by the collision determination means.

  According to the ship navigation support apparatus of the present invention, only the icon corresponding to the second ship recognized as having a high possibility of collision with the first ship by the collision determination means is displayed on the image display device. That is, the display on the image display apparatus of the icon corresponding to the 2nd ship with no possibility of collision with the 1st ship is prohibited. For this reason, the operator can be made to recognize clearly the dangerous area which should be careful for collision avoidance of the 1st ship (own ship) and the 2nd ship (other ship).

  Further, the marine vessel navigation support device of the present invention is based on the first and second navigation information recognized by the navigation information recognition means, and the level of the collision between the first and second vessels is determined based on the position of the first vessel. And a proximity area recognition means for recognizing an area that is deflected and spread as a neighborhood area, and the collision determination means is configured to spread based on the position of the first ship in the area recognized by the proximity area recognition means. Based on whether or not a reference area that extends from the position of the first ship as a reference and a line segment extending from the position of the second ship in the direction of the relative velocity vector of the second ship to the first ship intersects the reference area. Accordingly, the presence or absence of a collision possibility between the first and second vessels is determined.

  In the marine vessel navigation support device according to the present invention, the collision determination means is based on the position of the first ship based on the distance from the position of the first ship to the boundary of the neighboring area recognized by the neighboring area recognition means. It is characterized by recognizing how the reference area spreads.

Furthermore, the marine vessel navigation support apparatus according to the present invention is based on the first and second navigation information recognized by the navigation information recognition means, and represents a collision that indicates the possibility of collision of the first and second vessels at the present time or the closest approach time. A collision coefficient recognizing means for recognizing the coefficient, and the image control means displays an image whose design of one or both of the second vector and the line icon is changed according to the level of the collision coefficient recognized by the collision coefficient recognizing means. The image is displayed on the image display device.

According to the marine navigation support apparatus of the present invention, the collision coefficient recognition means recognizes the “collision coefficient” of the first and second ships based on the first and second navigation information recognized by the navigation information recognition means. . Further, the image control means displays on the image display device an image in which “design” of one or both of the second vector and the line icon is changed based on the level of the collision coefficient recognized by the collision coefficient recognition means. . In addition to static design (meaning the shape, pattern, or color of the line icon, or a combination thereof), the design of the line icon etc. is dynamic such as blinking the line icon etc. Mean design.

Due to a difference in design of one or both of the second vector and the line icon displayed on the image display device, the first ship (own ship) and the second ship (other ship) corresponding to the second vector or line icon. ), The operator can recognize the level of the possibility of a collision with the visual sense. Thereby, the operator can be made aware of the necessity of changing the route of the first ship. And it can make a ship operator judge easily how the 1st ship should be navigated in order to avoid the collision with the 2nd ship.

  Further, the marine vessel navigation support apparatus according to the present invention is based on the first and second navigation information recognized by the navigation information recognition means and uses the position of the first vessel as a reference to determine the possibility of collision between the first and second vessels. While recognizing the first neighboring area that is deflected and expanded according to the height, the first neighboring area is included with reference to the position of the first ship, and according to the collision possibility of the first and second ships. A proximity area recognition means for recognizing a second proximity area that is deflected and spread, and the collision coefficient recognition means recognizes the first and second navigation information recognized by the navigation information recognition means and the proximity area recognition means. Based on the spread method based on the position of the first ship in the first neighboring area and the spread method based on the position of the first ship in the second neighboring area recognized by the neighboring area recognition means. And recognize the collision coefficient of the second ship I am characterized in.

  Furthermore, the marine vessel navigation support apparatus according to the present invention is characterized in that the collision coefficient recognition means recognizes the collision coefficient based on the distances from the position of the first ship to the respective boundaries of the first and second neighboring areas. .

  Further, the marine vessel navigation support device according to the present invention sets the closest approach distance between the first and second vessels based on the first and second navigation information recognized by the navigation information recognition means as the first course angle of the first vessel. First function recognition means for recognizing as a function is provided, and the image control means displays the first function recognized by the first function recognition means on the image display device.

  According to the navigation support apparatus for a ship of the present invention, how the closest approach distance between the first and second ships changes according to the course angle of the first ship through the “first function” displayed on the image display device. Can be recognized by the operator. This makes it possible for the operator to easily determine the course angle and the like that should be taken from the viewpoint of ensuring navigation safety by making the closest approach distance between the first ship (own ship) and the second ship (other ship) sufficiently large. be able to.

  Further, the marine vessel navigation support device of the present invention is based on the first and second navigation information recognized by the navigation information recognition means, and the level of the collision between the first and second vessels is determined based on the position of the first vessel. And a neighboring area recognition means for recognizing an area that is deflected and spread as a neighboring area, and a line segment extending in the direction of the relative velocity vector of the second ship relative to the first ship from the position of the second ship. And a course angle range recognizing means for recognizing the course angle range of the first ship as included in the vicinity area recognized by the image control means, the first function recognized by the first function recognizing means as the course function. The image display device displays the range of the course angle recognized by the angle range recognition means.

  According to the ship navigation support apparatus of the present invention, the course angle of the first ship such that a line segment extending from the position of the second ship in the direction of the relative vector of the second ship to the first ship is included in the vicinity region. The range, that is, the range of the course angle of the first ship that is predicted to have a high possibility of collision between the two ships, can be recognized by the operator as the display angle range of the first function. Thereby, it is possible to make the marine vessel operator recognize the course angle to be taken for preventing the collision between the first ship and the second ship.

  Further, the marine vessel navigation support apparatus according to the present invention is based on the first and second navigation information recognized by the navigation information recognition means and uses the position of the first vessel as a reference to determine the possibility of collision between the first and second vessels. The neighborhood area recognition means for recognizing the area that is deflected and expanded according to the height as the neighborhood area, and the size of the neighborhood area recognized by the neighborhood area recognition means with reference to the position of the first ship A second function recognizing unit that recognizes the second function of the course angle, and the image control unit displays the second function recognized by the second function recognizing unit on the image display device.

  According to the marine vessel navigation support device of the present invention, how the size of the neighborhood area based on the position of the first vessel is determined by the course angle of the first vessel through the “second function” displayed on the image display device. The ship operator can recognize whether it changes.

  Further, in the marine vessel navigation support device according to the present invention, a line segment extending from the position of the second vessel in the direction of the relative velocity vector of the second vessel with respect to the first vessel is included in the neighborhood region recognized by the neighborhood region recognition means. A course angle range recognizing unit for recognizing a range of a course angle of the first ship, the second function recognized by the second function recognizing unit by the image control unit, and the range of the course angle recognized by the course angle range recognizing unit. The image is displayed on the image display device.

  According to the ship navigation support apparatus of the present invention, the course angle of the first ship such that a line segment extending from the position of the second ship in the direction of the relative vector of the second ship to the first ship is included in the vicinity region. The range, that is, the range of the course angle of the first ship that is predicted to have a high possibility of collision between the two ships, can be recognized by the operator as the display angle range of the second function. Thereby, it is possible to make the marine vessel operator recognize the course angle to be taken for preventing the collision between the first ship and the second ship.

  Further, the marine vessel navigation support device according to the present invention sets the closest approach distance between the first and second vessels based on the first and second navigation information recognized by the navigation information recognition means as the first course angle of the first vessel. Based on the first function recognizing means recognized as a function and the first and second navigation information recognized by the navigation information recognizing means, the position of the first ship is used as a reference, and the possibility of collision between the first and second ships is high or low. A proximity area recognition means for recognizing an area that is deflected and expanded in accordance with the proximity area, and a size based on the position of the first ship in the proximity area recognized by the proximity area recognition means is a course angle of the first ship The second function recognition means recognized as the second function of the first ship, and the first function recognized by the first function recognition means is equal to or less than the second function recognized by the second function recognition means. Course angle range to recognize range And the image control means recognizes one or both of the first function recognized by the first function recognition means and the second function recognized by the second function recognition means by the course angle range recognition means. Further, the image display device displays the image over a range of course angles.

  Further, the marine vessel navigation support apparatus according to the present invention determines the closest approach distance between the first and second vessels based on the first and second navigation information recognized by the navigation information recognition means as a first function of the course angle of the first vessel. Based on the first function recognition means and the first and second navigation information recognized by the navigation information recognition means, the position of the first ship is used as a reference, and the possibility of collision between the first and second ships is reduced. And a neighborhood area recognition means for recognizing an area that is deflected and expanded as a neighborhood area, and a size based on the position of the first ship in the neighborhood area recognized by the neighborhood area recognition means The range of the course angle of the first ship in which the second function recognizing means recognized as the second function and the first function recognized by the first function recognizing means are less than or equal to the second function recognized by the second function recognizing means. Course angle range to recognize And a sub-hazardous area recognizing means for recognizing, as a sub-hazardous area, an area that expands according to the course angle range recognized by the course angle range recognizing means with reference to the position of the second ship at the time of closest approach to the first ship And the image of the position and spread of the sub-hazardous area recognized by the sub-hazardous area recognizing means represented by the position and extension of the line icon on the plane representing the navigation area as the line icon. It is displayed on a display device.

  Further, the marine vessel navigation support apparatus according to the present invention is based on the first and second navigation information recognized by the navigation information recognition means and uses the position of the first vessel as a reference to determine the possibility of collision between the first and second vessels. Neighboring area recognition means for recognizing an area that is deflected and expanded according to height as a neighboring area, and a line segment extending from the position of the second ship in the direction of the relative velocity vector of the second ship with respect to the first ship A course angle range recognizing means for recognizing the range of the course angle of the first ship as included in the vicinity area recognized by the means, and a course angle range based on the position of the second ship at the time of closest approach to the first ship. Sub-risk area recognizing means for recognizing an area widened according to the course angle range recognized by the recognizing means as a sub-hazardous area, and It is characterized in that the display on the image display device an image which is expressed as a linear icons depending on the position and extends how linear icons in a plane representing the navigation area.

  According to the marine vessel navigation support device of the present invention, the course change of the first vessel for ensuring safety by avoiding navigation in the sub-hazardous region is displayed through the line icon representing the “sub-hazardous region” displayed on the image display device. The ship operator of the first ship can be made aware of the necessity and, if necessary, the course change amount.

  DESCRIPTION OF EMBODIMENTS An embodiment of a marine navigation support apparatus according to the present invention will be described with reference to the drawings.

  FIG. 1 is a configuration explanatory diagram of a marine navigation support apparatus according to an embodiment of the present invention, FIGS. 2 to 16 are functional explanatory diagrams of the marine navigation support apparatus of the present invention, and FIG. FIG.

  The configuration of the marine vessel navigation support apparatus of the present invention will be described with reference to FIG.

  A ship navigation support apparatus 100 shown in FIG. 1 is mounted on a first ship in order to avoid a collision between a first ship (own ship) and a second ship (other ship). The marine navigation support apparatus 100 includes a navigation information recognition unit 110, a neighborhood area recognition unit 120, a danger area recognition unit 130, a collision determination unit 140, a collision coefficient recognition unit 150, an image control unit 160, a monitor ( Image display device) 170. Each unit includes a CPU, ROM, RAM, and other circuits as hardware. The function of each unit is given by software (program).

The navigation information recognition unit 110 has a length (hereinafter referred to as “first length”) L ₁ , a position (hereinafter referred to as “first position”) p ₁ and a speed (hereinafter referred to as “first speed”) of the first ship. .) Recognize “first navigation information” including v ₁ ^* (= (v _1x , v _1y )) (“ ^* ” represents a vector). The navigation information recognition unit 110 also includes a length (hereinafter referred to as “second length”) L ₂ , a position (hereinafter referred to as “second position”) p ₂ ^* and a speed (hereinafter referred to as “second speed”) of the second ship. The second navigation information including v ₂ ^* (= (v _2x , v _2y )) is recognized.

Neighborhood area recognition unit 120, based on the first and second navigation information recognized by navigation information recognition unit 110, a region extending deflected as described below the first position p ₁ as a reference, "the first neighboring region A ₁ ”and“ second neighborhood region A ₂ ”.

Dangerous area recognition unit 130 recognizes on the basis of the first and second navigation information recognized by navigation information recognition unit 110, a region extending a second position p ₂ as a reference in the closest point of the two vessels as the "danger region" To do.

  The collision determination unit 140 recognizes “presence / absence of collision possibility” of the first and second ships based on the first and second navigation information recognized by the navigation information recognition unit 110.

The collision coefficient recognition unit 150 determines whether the first and second ships are likely to collide with each other at the present time and the closest point of time of both ships based on the first and second navigation information recognized by the navigation information recognition unit 110. recognizing a first collision factor _{g 1} and the second collision factor _{g 2} represents.

  The image control unit 160 determines the first and second navigation information recognized by the navigation information recognition unit 110, the image corresponding to the dangerous area recognized by the dangerous area recognition unit 130, etc. Various images are displayed on the monitor 170 to help.

  Functions of the marine navigation support apparatus 100 having the above-described configuration will be described with reference to FIGS.

The navigation information recognition unit 110 executes “navigation information recognition” (S110). Specifically, the navigation information recognition unit 110 reads the first length L ₁ from a storage device (not shown) and measures the first position p ₁ and the first speed v ₁ ^* by using GPS or the like. , “First navigation information” including the first length L ₁ , the first position p ₁ and the first speed v ₁ ^* is recognized. Furthermore, navigation information recognition unit 110, by measuring with a first length _{L 2} read from the storage device (not shown), radar, a second position _{p 2} and the second velocity _v ^{2 *} by like AIS, the The “second navigation information” including the two lengths L ₂ , the second position p ₂ and the second speed v ₂ ^* is recognized.

Further, the “neighboring area” in which the neighboring area recognition unit 120 recognizes the “first neighboring area A ₁ ” and the “second neighboring area A ₂ ” based on the first and second navigation information recognized by the navigation information recognition unit 110. "Recognition processing" is executed (S120).

The “first neighboring area A ₁ ” is an area that is deflected and widened according to the level of collision possibility of the first and second ships with the first position p ₁ as a reference. With "second neighboring region A _2" is to encompass the first neighboring region A _1, the first position p ₁ as a reference in the same manner as the first neighboring region A _1, the collision possibility of height of the first and second vessels It is a region that deflects and spreads according to

First, it will be described with reference to FIGS procedures for performing recognition processing of the first neighboring region A ₁ by the near area recognition unit 120. As shown in FIG. 3A, a straight line including the first position p ₁ and the second position p ₂ is taken as the X axis, and a straight line perpendicular to the X axis at the first position p ₁ is Y Axis. That is, the first position _{p 1} is the origin of the X-Y plane. X coordinate of the second position p ₂ is a positive value.

Further, as shown in FIG. 3B, positive and negative boundary points p _{X1 +} = (X ₁₊ (> 0), 0) and p _X1 on the X axis that specify the boundary of the first neighboring region A _{1 −} = (− X ₁₋ (<0)), positive and negative boundary points on the Y axis p _{Y1 +} = (0, Y ₁₊ (> 0)) and p _Y1− = (0, −Y ₁₋ (<0) )) Is recognized.

When recognizing the boundary point of the first neighborhood region A ₁ , a circle c ₁ whose diameter is a line segment of length v ₁ = | v ₁ ^* | extending from the first position x _{1 in} the direction of the first speed v ₁ ^* And arrangement with a circle c ₂ having a diameter of a line segment of length v ₂ = | v ₂ ^* | extending from the second position x _{2 in} the direction of the second speed v ₂ ^* .

Specifically, when the positive boundary point p _{X1 +} on the X axis is set, as shown in FIG. 4A, the first position p ₁ is located at the origin (0, 0), and circles _{c 1} and the circle _{c 2} is arranged such that the second position _{p 2} is located on the + X-axis. When negative boundary points on the X-axis _{p X1-} is set, as shown in FIG. 4 (b), the first position _{p 1} is positioned at the origin (0,0), and, second position _{p 2} circles _{c 1} and the circle _{c 2} are arranged so as to be positioned on the -X-axis. When positive boundary points on the Y-axis _{p Y1 +} is set, as shown in FIG. 4 (c), the first position _{p 1} is positioned at the origin (0,0), and, second position circle _{c 1} and the circle _{c 2} are arranged so p ₂ is located on the + Y axis. When negative boundary points on the Y-axis _{p Y1-} is set, as shown in FIG. 4 (d), the first position _{p 1} is positioned at the origin (0,0), and, second position _{p 2} circles _{c 1} and the circle _{c 2} are arranged so as to be positioned on the -Y-axis.

Further, in setting these Kuten, circles c ₁ of the diameter from the first position p ₁ as the reference elevation angle phi ₁ when watching second position p _2, the second position p based on the diameter of the circle c _{2 2} And the elevation angle φ ₂ when the first position p ₁ is viewed.

Further, the first position _{p 1} and the second position _{p 2} of the connecting line (see FIG. 4 (a) ~ FIG 4 (d) broken line), whether present in each of the inner circle _{c 1} and the circle _{c 2} Is judged.

Then, distances X ₁₊ and X from the first position p ₁ (the origin of the XY plane) to the positive boundary point p _{X1 +} and the negative boundary point p _X1− on the X axis of the first neighboring area A ₁ , respectively. _1- is recognized according to the following equation (1).

X ₁₊ , X ₁₋ = C _X1 · D (L, v) (1)
Here, C _X1 is a coefficient. The function D and its variables L and v are defined as in the following equations (2) to (4), respectively.

D (L, v) ≡L ^α · v ^β · e ^γ
≡exp (αLnL + βLnv + γ) (2)
In Expression (2), the coefficients α, β, and γ are set to, for example, 1.25, 0.35, and 0.008, respectively.

L≡ {(L ₁ ² + L ₂ ² ) / 2} ^1/2 ... (3)
v≡δ ₁ · v ₁ · cosφ ₁ + δ ₂ · v ₂ · cosφ ₂
(When one or both of δ ₁ and δ ₂ are 1)
≡ε · max (v ₁ , v ₂ , v _r (= | v ₂ ^* −v ₁ ^* |))
(When both δ ₁ and δ ₂ are 0) (4)
In the equation (4), the coefficient ε is set to “0.08”, for example.

Also, δ ₁ and δ ₂ depend on whether the connecting line (broken line) of the first position p ₁ and the second position p ₂ is inside or outside the circle c ₁ and the circle c ₂ , respectively. The following equations (5) and (6) are defined.

δ ₁ ≡1 (when the connecting line is inside the circle c ₁ )
≡0 (when the connecting line is not inside the circle c ₁ ) (5)
δ ₂ ≡1 (when the connecting line is inside the circle c ₂ )
≡0 (when the connecting line is not inside the circle c ₂ ) (6)
In the example shown in FIG. 4A, the connecting line (broken line) of the first position p ₁ and the second position p ₂ exists inside the circle c ₁ and also exists inside the circle c ₂ . Therefore, the functions δ ₁ and δ ₂ are both 1 according to the above equations (5) and (6). Therefore, the distance X ₁₊ from the first position p ₁ to the positive boundary point p _{X1 +} on the X axis of the first neighboring area A ₁ is recognized according to the following equation (7).

X ₁₊ = C _X1 · L ^α · (v ₁ · cos φ ₁ + v ₂ · cos φ ₂ ) ^β · e ^γ ··· (7)
In the example shown in FIG. 4B, the connecting line (broken line) exists outside the circle c ₁ and outside the circle c ₂ , so that the above equation (5) And according to (6), the functions δ ₁ and δ ₂ are both 0. Accordingly, the distance from the first position _{p 1} to the negative boundary points on the first X-axis of the neighboring region _{A 1 p X1- X 1-} is recognized in accordance with the following equation (8).

^{_{X 1- = C X1 · L α}} · {ε · max (v 1, v 2, v r)} β · e γ ·· (8)
Further, the distances Y ₁₊ and Y from the first position p ₁ (the origin of the XY plane) to the positive boundary point p _{Y1 +} and the negative boundary point p _Y1− on the Y axis of the first neighboring area A ₁ , respectively. _1- is recognized according to the following equation (9).

Y ₁₊ , Y ₁₋ = C _Y1 · D (L, v) (9)
Here, 0.6 times, etc. of the coefficient _{C Y1} coefficient _{C X1,} is smaller than the coefficient _{C X1.} The function D and its variables L and v are defined according to the equations (2) to (6), respectively.

In the example shown in FIG. 4C, the connecting line (broken line) of the first position p ₁ and the second position p ₂ is inside the circle c ₁ while existing outside the circle c ₂ . Therefore, the function δ ₁ is 1 and the function δ ₂ is 0 according to the above equations (5) and (6). Accordingly, the distance Y ₁₊ from the first position p ₁ to the positive boundary point p _{Y1 +} on the Y axis of the first neighboring area A ₁ is recognized according to the following equation (10).

Y ₁₊ = C _Y1 · L ^α · (v ₁ · cos φ ₁ ) ^β · e ^γ ·· (10)
In the example shown in FIG. 4D, since the connecting line (broken line) is outside the circle c ₁ and inside the circle c ₂ , the above equations (5) and (6 ), The function δ ₁ is 0 and the function δ ₂ is 1. Accordingly, the distance from the first position _{p 1} negative boundary point to the _{p Y1-} on the first Y-axis of the neighboring region _{A 1 Y 1-are} recognized in accordance with the following equation (11).

Y ₁ − = C _Y1 · L ^α · (v ₂ · cos φ ₂ ) ^β · e ^γ ·· (11)
Thus, after each boundary point is set (see FIG. 3B), a region surrounded by a curve that smoothly connects each boundary point as shown in FIG. 3C is a first neighborhood region A _1. Set as The first neighboring area A ₁ is widened by being deflected in the + X direction with the first position p ₁ as a reference. This is in view of the first velocity vector v ₁ ^* and the second velocity vector v ₂ ^* at the present time. , there is a high possibility of collision both vessels when there is the + X direction in the second position p _2. As described above, the first neighboring area A ₁ is deflected and widened based on the first position p ₁ in accordance with the level of collision possibility between the two ships.

Will now be described with reference to FIG. 5 the procedures for performing recognition processing for neighboring area recognition unit 120 according to the second neighboring region A _2. The second neighboring area A ₂ is the first neighboring area _except that the coefficient C _X1 is replaced with a larger coefficient C _X2 in the expression ( ₁ ) and the coefficient C _Y1 is replaced with a larger coefficient C _Y2 in the expression (9). It is recognized in accordance with the same procedure as a _1.

That is, as shown in FIG. 5A, the positive boundary point p _{X2 +} (= (X ₂₊ (> X ₁₊ > 0), 0) and negative) on the X axis of the second neighboring region A ₂ The boundary point p _X2− (= (− X ₂₋ (<−X _{1 −} <0), 0) and the positive boundary point p _{X2 +} on the Y axis (= (0, Y ₂₊ (> Y ₁₊ > 0)) ) And negative boundary point p _Y2− (= (0, −Y ₂₋ (<−Y ₁₋ <0)), and as shown in FIG. , the region surrounded by the curve smoothly connecting the boundary point is recognized as the second neighboring region a _2. the second neighboring region a ₂ also, the first position p ₁ in the same manner as the first neighboring region a ₁ As a reference, it is deflected and widened in the + X direction. This is the second position p ₂ in the + X direction in view of the first velocity vector v ₁ ^* and the second velocity vector v ₂ ^* at the present time. This is because the possibility of collision between the two ships is high in the case where there is a ship, and thus the second neighboring area A ₂ is deflected and spread with reference to the first position p ₁ according to the level of possibility of collision between both ships. ing.

Also, hazardous area recognition unit 130, based on the first and second navigation information, "danger area recognition recognizes" danger region "spreading the second position p ₂ in the closest point of the first and second vessels based Process "is executed (S130).

An execution procedure of the dangerous area recognition process by the dangerous area recognition unit 130 will be described with reference to FIG. As shown in FIG. 6 (a), the first position _{p 1} as the origin, in the x-y plane including a first velocity vector _v ^{1 *} on the + y-axis, from the second position _{p 2,} the first the second vessel relative velocity vector _v ^r against ships ^{_{* (= v 2 * -v 1}} *) to the line segment extending in the direction of the position _{q 1} foot perpendicular line taken down from the first position _{p 1} is the first It is recognized as the “relative closest approach position” of the second ship relative to the ship.

Further, as shown in FIG. 6B, on the line segment extending from the second position p _{2 in} the direction of the second velocity vector v ₂ ^* , x of the closest approach position q ₁ where the x coordinate is relative. The position q ₂ that coincides with the coordinates is recognized as “the second position p ₂ at the time when the first and second vessels are closest to _{each other} ” (or the “absolute closest position of the second vessel relative to the first vessel”).

Furthermore, as shown in FIG. 6C, the width w ₊ and the second and third widths of the portions in the first and fourth quadrants of the first neighboring area A ₁ recognized by the neighboring area recognition unit 120. The width w ₋ of the part in the quadrant is recognized. Then, with reference to the absolute closest approach position q ₂ recognized earlier, a line segment (area) extending by w _{+ in} the −x direction and extending by w _{− in the} + x direction is recognized as the dangerous area Z. .

  Furthermore, the collision determination unit 140 executes a “collision determination process” for recognizing the possibility of collision between the first and second ships based on the first and second navigation information (S140).

An execution procedure of the collision determination process by the collision determination unit 140 will be described with reference to FIG. As shown in FIG. 7A, the first region p ₁ is the origin and the first velocity vector v ₁ ^* is the + y direction. The length h in the y direction of the portion in the first and second quadrants of the one neighboring area A ₁ is recognized. Further, the line segment of length h extending first from the position p ₁ + y direction is recognized as the reference area Z _0. Then, whether or not a line segment extending from the first position p _{1 in} the direction of the relative velocity vector v _r ^* (= v ₂ ^* −v ₁ ^* ) of the second ship with respect to the first ship intersects the reference region Z _0. Accordingly, it is determined whether or not there is a possibility of collision between the first and second ships.

As shown in FIG. 7B, when the extension line of the relative velocity vector v _r ^* intersects the reference region Z ₀ , it is determined that there is a possibility of collision between the first and second ships. On the other hand, the extension of the relative velocity vector v _r ^* As shown in FIG. 7 (c) if not intersect the reference area Z _0, it is determined that there is no collision possibility of the first and second vessels.

Further, the collision coefficient recognition unit 150 recognizes the first collision coefficient g ₁ representing the collision possibility of the first and second ships at the present time based on the first and second navigation information, and the first and second ships. executing a "collision factor recognition process" recognizing a second collision factor g ₂ in the closest point in (S150).

An execution procedure of the collision coefficient recognition process by the collision coefficient recognition unit 150 will be described with reference to FIG. Upon recognition of the first collision coefficient g _1, as shown in FIG. 8 (a), first from the position p ₁ second position 2p ₂ line and the first neighboring region A ₁ and extending towards the at the present time intersection of the second neighboring region a ₂ boundary is recognized. Further, the distance d between the first position _{p 1} and the second position _{p 2,} the distance _{d 1} between the first position _{p 1} and the first neighboring region _{A 1} of the boundary intersection point, the first position _{p 1} and the second neighboring region and the distance d ₂ between the boundary intersection a ₂ is recognized. The first collision factor _{g 1} is recognized in accordance with the following equation (12).

g ₁ = 100 (d ≦ d ₁ )
= (D ₂ −d) / (d ₂ −d ₁ ) (d ₁ ≦ d ≦ d ₂ )
= 0 (d ₂ ≦ d) (12)
When recognizing the second collision coefficient g ₂ , as shown in FIG. 8B, the first position p ₁ at the time of closest approach is changed from the first position p ₁ to the second position p ₂ (position q _{1 in} FIG. 6A). intersection of the headed extending line and the first neighboring region a ₁ and the second neighboring region a ₂ boundary is recognized. Further, a distance _{d min} of the first position _{p 1} and the second position _{p 2,} the distance _{d 1} between the first position _{p 1} and the first neighboring region _{A 1} of the boundary intersection point, the first position _{p 1} and the second neighboring and the distance d ₂ between the boundary intersection area a ₂ is recognized. The second collision coefficient _{g 2} is recognized in accordance with the following equation (13).

g ₂ = 100 (d _min ≦ d ₁ )
= (D ₂ -d _min ) / (d ₂ -d ₁ ) (d ₁ ≤d _min ≤d ₂ )
= 0 (d ₂ ≦ d _min ) (13)
Then, the image control unit 160 executes “image control processing” (S160). As a result, as shown in FIG. 9, an image in which the first position p ₁ and the first velocity v ₁ ^* are expressed by the start position, orientation, and length of the first vector a ₁ is displayed on the monitor 170. Is displayed. Further, as shown in FIG. 9, an image in which the second position p ₂ and the second velocity v ₂ ^* are expressed by the start position, orientation, and length of the second vector a ₂ is displayed on the monitor 170. Is done. In the example shown in Figure 9, the first starting position of the vector a ₁ is located in the center of the monitor 170, the first vector a ₁ is upward. As shown in FIG. 9, equidistant lines with the first position p ₁ as a reference are displayed on the monitor 170 at predetermined intervals.

  Also, as shown in FIG. 9, a linear icon b representing the dangerous area Z (see FIG. 6C) recognized by the dangerous area recognition unit 130 is displayed on the monitor 170. The position and width of the icon b correspond to the position and width (wide or narrow) of the dangerous area Z recognized by the dangerous area recognition unit 130. In addition, only the icon b representing the dangerous area Z corresponding to the second ship determined to have the possibility of collision with the first ship by the collision determination unit 140 in the dangerous area Z is displayed on the monitor 170. Further, the icon b has a scale corresponding to its width.

Further, according to one or both of the first collision factor and a second collision factor recognized by the collision factor recognition unit 150, one or both of the design of the second vector a ₂ and icons b is changed. Specifically, when the second collision coefficient g ₂ is less than the first frequency such as “50”, an image in which “green” is added to the second vector a ₂ and the icon b corresponding to the second ship is displayed on the monitor 170. Is displayed. The second collision coefficient g ₂ is a case of less than the second frequency of and "80" and the like in the first degree or more, the second vector a ₂ and icons b "yellow" has been added in the image corresponding to the second marine vessel Is displayed on the monitor 170. Further, when the second collision coefficient g ₂ is equal to or higher than the second frequency, an image in which “red” is added to the second vector a ₂ and the icon b corresponding to the second ship is displayed on the monitor 170.

Incidentally, in response to the first level of the collision coefficients g _1, color or the like to be added to one or both of the second vector a ₂ and icons b, may each design change.

The series of processes (see FIG. 2) are sequentially executed, and as shown in FIG. 11 along with the route change of the first ship as shown in FIGS. 10 (a) to 10 (e). In addition, the position and the like of the second vector a ₂ (t _i ) and the icon b (t _i ) displayed on the monitor 170 at time t _i (i = 0, 1, 2, 3) gradually change.

As shown in FIG. 10A, the course of the first ship is maintained at about 188 ° from t ₀ to t ₁ and gradually changed from 188 ° to 201 ° from t ₁ to t _2. , From t ₂ to t ₃ , maintained at about 201 °, returned from 201 ° to 188 ° at t ₃ and then maintained at 188 °.

  As shown in FIG. 10B, the closest approach time T of the first and second vessels gradually decreases with time.

As shown in FIG. 10C, the closest approach distance d _min between the first and second ships remains substantially constant while oscillating from t ₀ to t ₁ and gradually increases from t ₁ to t _2. And then remain substantially constant.

As shown in FIG. 10D, the first collision coefficient g ₁ recognized by the collision coefficient recognition unit 150 gradually increases from t ₀ to later t ₁ and gradually from t ₁ to t _2. reduced, it has increased in the vicinity of the then t _3.

As shown in FIG. 10E, the second collision coefficient g ₂ recognized by the collision coefficient recognition unit 150 remains 100 from t ₀ to t _1, and is 100 from t ₁ to t _2. From then on, it gradually decreases, and thereafter it fluctuates up and down with a width of about 20-40.

In the image of the monitor 170 at time t ₀ as shown in FIG. 11, the y-coordinate of the icon b (t ₀ ) is relatively large. This is the highest as shown in FIG. 10 (b). This corresponds to the approach time T being relatively long at time t ₀ . In addition, the icon b (t ₀ ) is in front of the first vector a ₁ , which means that if the first ship goes straight ahead, it reaches the danger zone Z with the second position p ₂ as a reference, and thus the first And the possibility that the second ship will collide is high. Further, the second vector a ₂ (t ₀ ) and the icon b (t ₀ ) are marked with “red”, which is closest to the time t ₀ as shown in FIG. Corresponding to the distance d _min being relatively short and the second collision coefficient g ₂ being 100 at the time t ₀ as shown in FIG. 10 (e) being equal to or greater than the second frequency (= 80). is doing.

11 shows a line segment (see FIG. 6B) from the tip of the second velocity vector v ₂ ^* to the position q ₂ of the second ship at the time of closest approach to the first ship. It is displayed on the monitor 170 as shown as a line segment from the second vector a ₂ tip up to the icon b (see broken lines).

The image on the monitor 170 at time _{t 1,} but y-coordinate of the icons b _{(t 1)} is less than the y coordinate of the icons b _{(t 0),} which, as shown in FIG. 10 (b), This corresponds to the shortest approach time T from t ₀ to t ₁ . In addition, the icon b (t ₁ ) is in front of the first vector a ₁ , which means that if the first ship goes straight ahead, it reaches a dangerous area with the second position p ₂ as a reference, and the first and second It represents that there is a possibility that the second ship will collide. Further, the second vector a ₂ (t ₁ ) and the icon b (t ₁ ) are marked with “red”, which is closest at time t ₁ as shown in FIG. 10C. Corresponding to the fact that the distance d _min is relatively short and that the second collision coefficient g ₂ is 100 at time t ₁ and is not less than the second frequency (= 80) as shown in FIG. is doing.

In the image of the monitor 170 at time t ₂ , the second vector Z (t ₂ ) is tilted counterclockwise relative to the second vector Z (t ₁ ), which is shown in FIG. as described above, corresponds to the course of the first ship is gradually changed from t ₁ toward t _2. In addition, the icon b (t ₂ ) moves to the left of the icon b (t ₁ ) and deviates from the front of the first vector a _1. This is because the first ship changes its course by changing the course of the first ship. When the navigation direction is maintained, the danger area Z is not reached. Furthermore, “red” attached to the second vector a ₂ (t ₁ ) and the icon b (t ₁ ) is changed to “yellow” after that, and the second vector a ₂ (t ₂ ) and the icon b (t ₂ ) is marked with “green”, which corresponds to the second ship in the middle from t ₁ to t ₂ as shown in FIG. collision factor g ₂ gradually decreases, after becoming lower than the second frequency (= 80), it indicates that the addition was the first below the frequency (= 50).

In the image of the monitor 170 at the time t ₃ , the second vector a ₂ (t ₃ ) is inclined in the clockwise direction with respect to the second vector a ₂ (t ₃ ). This is shown in FIG. As shown, this corresponds to a change in the course of the first vessel at t ₃ . Further, the y coordinate of the icon b (t ₃ ) is smaller than the y coordinate of the icon b (t ₂ ). As shown in FIG. 10B, the closest approach time T is from t _2. It corresponds to the fact that the shortened until t _3. Further, the icon b (t ₃ ) is separated from the y axis. This is because even if this remains the first ship straight, indicating that does not lead the second position p ₂ in the hazardous area as a reference. Further, the second icon a ₂ (t ₃ ) and the icon b (t ₃ ) are marked with “green”. This is the second collision at time t ₃ as shown in FIG. It indicates that the coefficient _{g 2} is less than the first frequency (= 50).

According to marine navigational support apparatus 100 with the aforementioned functions, the start position of the first vector a ₁ displayed on the monitor 170, by the length and orientation, the position and velocity of the first ship (ship concerned), It is possible to make the ship operator recognize it through his vision (see FIG. 9). The position of the second vector a ₂ displayed on the monitor 170, by the length and orientation, the position and velocity of the second marine vessel (other ships) can be recognized through the visual sense rider (FIG. 9 reference).

Further, the position and breadth (see FIG. 6 (c)) of the dangerous area Z can be recognized by the operator through the visual sense based on the position of the icon b displayed on the monitor 170 and the length in the x direction (see FIG. 6C). (See FIG. 9). Further, the icons b (t ₀ ) and b (t ₁ ) shown in FIG. 11 have the icon b in front of the first vector a ₁ , so that the first and second vessels continue to navigate. When the direction is maintained, the operator can recognize through the visual sense that the first ship reaches the danger zone Z. Furthermore, by icons b is not deviated only slightly from the front of the first icon a _1, when the first and second vessels is also maintained sailing direction Thereafter, the first ship not lead to dangerous area Z Then, it is possible to make the operator recognize through the visual sense that there is a high possibility that the first ship will reach the danger zone Z depending on the subsequent route change of the first or second ship. On the other hand, as the icons b (t ₂ ) and b (t ₃ ) shown in FIG. 11, the icon b greatly deviates from the front of the first vector a _1. However, when the navigation direction is maintained substantially constant thereafter, it is possible for the operator to recognize through the visual sense that the possibility that the first ship will reach the danger zone Z is low.

Moreover, since the scale in accordance with the width icons b (scale) is attached (see FIG. 9), the width and the dangerous area Z, the first ship (ship concerned) and absolute closest position p ₂ ( Alternatively, the distance to the relative closest position p ₁ ) can be recognized by the operator through his visual sense.

Further, the y-coordinate of the icon b displayed on the monitor 170 allows the operator to recognize the length of the closest approach time T between the first and second vessels through their visual sense (see FIG. 9). When the y coordinate of the icon b is large like the icon b (t ₀ ) shown in FIG. 5, the time point at which the first and second ships are predicted to be closest is still ahead, It is possible to make the ship operator recognize that there is enough time to change the route of one ship (see FIG. 10B). On the other hand, when the y-coordinate of the icon b is small like the icon b (t ₁ ) shown in FIG. 11, the point in time when the first and second ships are predicted to be closest is soon, When there is a high possibility of collision, the operator can be made aware that there is a high need to quickly change the route of the first ship (see FIG. 10B).

Further, the difference between the second both vectors a ₂ and icons b color displayed on the monitor 170 (design), the first ship, possible collision with a second marine vessel that corresponds to the second vector a ₂ and icons b It is possible to make the ship operator recognize the high or low nature through his visual sense. Specifically, like the second vectors a ₁ (t ₀ ), a ₁ (t ₁ ) and icons b (t ₀ ), b (t ₁ ) shown in FIG. 11, the second vector a ₂ In addition, by adding “red” to the icon b, it is possible to make the ship operator recognize that the second collision coefficient g ₂ is the second frequency (= 80) or more (see FIG. 10E). . In addition, since the second vector a ₂ and the icon b are marked with “yellow” like the second vector a ₂ and the icon b at the intermediate time between the time t ₁ and the time t ₂ , the second collision coefficient is The boat operator can be made to recognize that it is less than the second frequency and equal to or greater than the first frequency (see FIG. 10E). Further, the second vector a ₂ and the icon b, such as the second vector a ₂ (t ₂ ), a ₂ (t ₃ ) and the icons b (t ₂ ) and b (t ₃ ) shown in FIG. to by "green" is attached, it is possible to recognize that the second collision coefficient g ₂ is less than the first power to the vessel operator (see FIG. 10 (e)). As a result, the operator can be made aware of the possibility of collision between the first ship and the second ship, and hence the necessity of changing the route of the first ship.

  Further, as shown in FIG. 9, since the icon b is linear, even when there are a plurality of dangerous areas such as a congested area where there is a high possibility of collision with a plurality of second ships, the icon b is shown in FIG. Unlike the conventional technique, the operator can easily recognize the position of each dangerous area by the icon C.

Therefore, according to the navigation support apparatus for a ship of the present invention, the operator of the first ship (own ship) is made to recognize the information necessary for avoiding a collision with the second ship (other ship) in an appropriate form, The operator can easily determine how the first ship (own ship) should be navigated (evacuated). For example, the ship operator can easily determine that 10 as shown (a), the should change the course of the first ship at time t _2.

  Further, only the icon b corresponding to the second ship recognized as having a high possibility of collision with the first ship by the collision determination unit 140 is displayed on the monitor 170. That is, the icon b corresponding to the second ship that does not collide with the first ship is not displayed on the monitor 170. For this reason, the operator can be made to recognize clearly the danger zone Z which should be careful for collision avoidance of the 1st ship (own ship) and the 2nd ship (other ship).

As another embodiment of the present invention, when the collision determination unit 140 recognizes that the first and second ships are likely to collide (see FIG. 2 S140 and FIG. 7B), the image control unit 160 The second auxiliary vector as shown in FIG. 12 (b) representing the magnitude and direction of the relative velocity vector v _r ^* (= v ₂ ^* −v ₁ ^* ) shown in FIG. 12 (a). a ₂ ′ (broken line) may be displayed on the monitor 170 in addition to or instead of the second vector a ₂ . Further, in this case, the image control unit 160 shows a line segment extending from the tip of the relative velocity vector v _r ^* shown in FIG. 12A to the relative closest position v _r ^{* in} FIG. A line segment as shown in (1) may be displayed on the monitor 170.

In addition, when the collision determination unit 140 recognizes that the possibility of collision between the first and second ships is high, the image control unit 160 sets the danger area Z shown in FIG. An auxiliary icon b ′ (broken line) as shown in FIG. 12B representing the width and position of the region Z ′ shifted to the closest closest position p _{1 as} it is in the direction of ₁ ^* You may display on the monitor 170 in addition to or instead of b. In this case, the image control unit 160, together represent the end of the reference area Z0, the line segment that intersects the y-axis (first direction vector a ₁₎ As shown in FIG. 12 (b) to monitor 170 It may be displayed.

  Furthermore, the marine navigation support apparatus 100 includes “first function recognition unit”, “second function recognition unit”, and “course angle range recognition unit” as described below, and the image control unit 160 will be described next. Functions recognized by these units may be displayed on the monitor 170.

The first function recognition unit determines the closest distance d _min (see FIG. 8B) of the first and second vessels based on the first and second navigation information recognized by the navigation information recognition unit 110 as the first vessel. It is recognized as the first function f ₁ (θ) of the course angle θ. FIG. 13 (a) shows the closest approach distance d _min between the two ships predicted when the current course angle of the first ship is maintained. FIG. 13B shows the closest approach distance d _min between the two ships predicted when the first ship changes its course to the left. FIG. 13C shows the closest approach distance d _min between the two ships predicted when the first ship changes its course to the right. Here, the course angle θ is defined as changing from 0 ° to + 180 ° clockwise with respect to the current course angle and changing from 0 ° to −180 ° counterclockwise. It may be defined in various ways, such as one that changes clockwise from 0 ° to + 360 ° with reference to the course angle at.

As shown in FIG. 3A, the second function recognition unit has the first function in the + Y direction and the −Y direction when the direction from the first position p ₁ to the second position p ₂ is the + X direction. The average value (avoidance separation distance) of the distances Y ₁₊ and Y ₁₋ (see Equation (9)) to the boundary of the neighboring area A ₁ (see FIG. 3C) is the second function of the course angle θ of the first ship. Recognized as f ₂ (θ). 13 (a), 13 (b) and 13 (c) show the distances Y ₁₊ and Y when the first ship changes its course to the left and when the first ship changes its course to the right. _1- is shown.

In the course angle range recognition unit, a line segment extending in the direction of the relative velocity vector v _r ^* (= v ₂ ^* −v ₁ ^* ) of the second ship with respect to the first ship from the second position p ₂ is generated by the neighborhood area recognition unit 120. recognizing the recognized scope of course angle θ of the first ship, as contained in the first neighboring region a _1. For example, the first ship changes the course to the left and right from the state shown in FIG. 13A, and the course angle θ is θ _L (as shown in FIGS. 13B and 13C, respectively. <0), theta _{R (>} and until 0), if the line segment extending from the second position p ₂ is included in the first neighboring region a _1, course angle range recognition unit heading angle of the first ship The range [θ _L , θ _R ] (θ _L <0 <θ _R ) of θ is recognized.

Then, the image control unit 160 recognizes the first function f ₁ (θ) recognized by the first function recognition unit and the second function f ₂ (θ) recognized by the second function recognition unit from the course angle range recognition. It is displayed on the monitor 170 over the range of angles recognized by the unit. In a state example shown in FIG. 13 (a), first function _{f 1} as shown in FIG. 14 (theta) (solid line) and the second function _{f 2} (theta) (broken line) angular range [theta _L , Θ _R ] are displayed on the monitor 170. The first function f ₁ (θ) gradually decreases from θ = θ _L , takes a minimum value 0 at θ = θ ₀ (<0), and then gradually increases toward θ = θ _R. The second function f ₂ (θ) gradually decreases from θ = θ _L to θ = θ _R. In addition, the values of the first function f ₁ (θ) and the second function f ₂ (θ) coincide with each other at the lower limit θ = θ _L and the upper limit θ = θ _R of the angle range [θ _L , θ _R ]. Yes.

According to this embodiment, how the closest approach distance d _min between the first and second ships changes according to the course angle θ of the first ship through the first function f ₁ (θ) displayed on the monitor 170. Can be recognized by the operator. This makes it easy for the operator to set the heading angle θ and the like that should be taken from the viewpoint of ensuring navigation safety by making the closest approach distance d _min between the first ship (own ship) and the second ship (other ship) sufficiently large. Can be judged. Further, through the second function f ₂ (θ) displayed on the monitor 170, the size (= (Y ₁₊ + Y ₁₋ ) / 2) of the first neighboring area A ₁ with respect to the first position p ₁ is the first. It can be recognized how it changes according to the course angle θ of the ship. Furthermore, the range [θ _L of the course angle θ of the first vessel such that the line segment extending in the direction of the relative vector v _r ^* of the second vessel with respect to the first vessel from the second position p ₂ is included in the first neighboring region A _1. , Θ _R ], that is, the range of the course angle θ of the first ship that is predicted to have a high possibility of collision between the two ships is displayed by the first function f ₁ (θ) and the second function f ₂ (θ). The operator can be made to recognize the angle range (see FIG. 14). As a result, it is possible to cause the operator to recognize the course angle θ that should be taken to prevent the collision between the first ship and the second ship. For example, through the image as shown in FIG. 14, for reliable collision avoidance with the second ship (other ships), changes the course of the first ship (ship concerned) to the right by theta _R greater than the angle Or the operator of the first ship can recognize that it is only necessary to change the angle to the left by an angle larger than | θ _L |.

Further, the first function f ₁ (θ) and the second function f ₂ (θ) of each of the plurality of second ships (other ships) may be displayed on the monitor 170 over the respective angle ranges. For example, as shown in FIG. 15, the first function f ₁₁ (θ) and the first function f ₁₂ (θ) with a second ship are in the angular range [θ _1L , θ _1R ] (θ _1L <0 <θ _1R ) is displayed on the monitor 170, and the first function f ₁ (θ) and the second function f ₂ (θ) with another second ship are in the angular range [θ _2L , θ _2R ] (θ _1R <θ _2L ) on the monitor 170. The first function f ₁₁ (θ) of one second ship takes a minimum value at θ = θ ₁₀ and the first function f ₁₂ (θ) of another second ship takes a minimum value at θ = θ ₂₀ . Yes. Note that the minimum values of the first function f ₁ (θ) and the second function f ₂ (θ) are not necessarily zero. According to this example, to recognize for reliable collision avoidance with the second ship, that may be changed to the right course of the first ship only theta _2L smaller angle than theta _1R on boat operator of the first ship be able to.

In the above embodiment, the course angle range recognition unit includes a line segment extending from the second position p _{2 in} the direction of the relative velocity vector v _r ^* (= v ₂ ^* −v ₁ ^* ) in the first neighboring area A _1. A range of the course angle θ is recognized, but a course angle range in which a line segment extending from the second position p _{2 in} the direction of the relative velocity vector v _r ^* is included in the first neighboring area A ₁ is recognized. Is equivalent to recognizing a course angle range in which the first function f ₁ (θ) is equal to or less than the second function f ₂ (θ). Therefore, as another embodiment, the course angle range recognition unit may recognize a range of the course angle θ such that the first function f ₁ (θ) is equal to or less than the second function f ₂ (θ).

In the embodiment, the course angle θ such that the line segment extending from the second position p _{2 in} the direction of the relative velocity vector v _r ^* (= v ₂ ^* −v ₁ ^* ) is included in the first neighboring area A _1. Is recognized by the course angle range recognition unit. In another embodiment, the range of the course angle θ such that this line segment is included in the second neighboring area A ₂ (see FIG. 5B) is the course angle. It may be recognized by a range recognition unit. In addition, the first function f ₁ (θ) and the second function f are set so that the two angular ranges corresponding to the first neighboring area A ₁ and the second neighboring area A ₂ can be distinguished from each other due to design differences or the like. One or both of ₂ (θ) may be displayed on the monitor 170. In the monitor 170, the numerical value of the closest approach time (see FIG. 10B) of the angle that becomes θ ₀ may be displayed near the first function f ₁ (θ).

Further, in the embodiment, the first function f ₁ (θ) and the second function f ₂ (θ) are displayed on the monitor 170 over the angle range recognized by the course angle range recognition unit (see FIGS. 14 and 15). As another embodiment, one or both of the first function f ₁ (θ) and the second function f ₂ (θ) may be displayed on the monitor 170 over a range different from this range. On the monitor 170, images as shown in FIGS. 4 and 5 may be displayed with the top and bottom (up and down) reversed.

Furthermore, marine navigational support device 100, the second position p ₂ in the closest point to the first position p ₁ as a reference, a region extending in accordance with the recognized course angle range by course angle range recognition units "sub dangerous "Sub-hazardous area recognition unit" recognized as "area", and the position and spread of the "sub-hazardous area" recognized by the sub-hazardous area recognition unit is the position and extension of the line icon on the plane representing the navigation area May be displayed on the monitor 170 as a line icon.

For example, the auxiliary danger area recognition unit recognizes the auxiliary danger area Z ″ shown in FIG. 16. Specifically, the auxiliary danger area recognition unit recognizes the lower limit value θ of the course angle range recognized by the course angle range recognition unit. _L and the upper limit value θ _R , the course angle θ _{0 at} which the first function f ₁ (θ) takes the minimum value, and the closest point to the first position p ₁ when the course angle θ of the first ship is θ = θ ₀ based on the second position _{q 2} y coordinate H in accordance with the following equation (14) and (15), the spread _{w L} and _{w R} to the left and right sub-critical region Z "with the second position _{q 2} as a reference decide.

w _L = H · | tan (θ _L −θ ₀ ) |
w _R = H · | tan (θ _R −θ ₀ ) |
Further, as shown in FIG. 16, the sub-hazardous area recognition unit creates a sub-hazardous area Z ″ that extends w _L and w _R left and right with reference to the second position q ₂ at the time of closest approach to the first ship. Then, the image control unit 160 causes the monitor 170 to display a line icon representing the sub dangerous area Z ″ in addition to or instead of the line icon b representing the dangerous area Z (see FIG. 9).

  According to the embodiment, whether or not the course of the first ship needs to be changed for ensuring safety by avoiding navigation in the sub-hazardous area Z ″ through the line icon representing the sub-hazardous area Z ″ displayed on the monitor 170, and If necessary, the course change amount can be recognized by the operator of the first ship.

Configuration explanatory diagram of a marine navigation support apparatus according to an embodiment of the present invention Functional explanatory diagram of the ship navigation support device of the present invention (No. 1) Functional explanatory diagram of the ship navigation support apparatus of the present invention (No. 2) Functional explanatory diagram of the ship navigation support apparatus of the present invention (No. 3) Functional explanatory diagram of the ship navigation support device of the present invention (No. 4) Functional explanatory diagram (No. 5) of the ship navigation support apparatus of the present invention Functional explanatory diagram (No. 6) of the marine navigation support apparatus of the present invention Functional explanatory view (No. 7) of the marine navigation support apparatus of the present invention Functional explanatory drawing of the navigation support apparatus for ships of the present invention (No. 8) Functional explanatory diagram (No. 9) of the marine navigation support apparatus of the present invention Functional explanatory view (No. 10) of the marine navigation support apparatus of the present invention Functional explanatory diagram of the marine navigation support apparatus of the present invention (No. 11) Functional explanatory diagram of the ship navigation support apparatus of the present invention (No. 12) Functional explanatory view (13) of the ship navigation support device of the present invention Functional explanatory diagram (No. 14) of the marine navigation support apparatus of the present invention Functional explanatory diagram of the ship navigation support apparatus of the present invention (No. 15) Illustration of prior art

Explanation of symbols

100 .. Ship navigation support device, 110 .. Navigation information recognition unit, 130 .. Danger area recognition unit, 140 .. Collision judgment unit, 150 .. Collision coefficient recognition unit, 120 .. Neighborhood area recognition unit, 120・ Near area recognition unit, 160 ..Image control unit, 160 ..Image control unit, 170 ..Monitor (image display device)

Claims (16)

A device for assisting the operator in making navigation decisions to prevent ship collisions,
Navigation information recognition means for recognizing first and second navigation information including respective positions, speeds and lengths of the first and second vessels in the navigation area;
A dangerous area recognizing means for recognizing, as a dangerous area, an area that expands based on the position of the second ship at the time of closest approach to the first ship based on the first and second navigation information recognized by the navigation information recognizing means;
The respective positions and velocities of the first and second ships included in the first and second navigation information recognized by the navigation information recognition means respectively indicate the first and second vectors in the plane representing the navigation area. It is expressed by the position of the starting point, the direction and the length, and the position and spread of the dangerous area recognized by the dangerous area recognition means are expressed by the position and extension of the line icon on the plane representing the navigation area. A marine vessel navigation support device, comprising: an image control unit that displays an image displayed on an image display device mounted on the first vessel. In the ship navigation support device according to claim 1,
Based on the first and second navigation information recognized by the navigation information recognizing means, an area that is deflected and widened according to the level of the collision probability of the first and second ships based on the position of the first ship. Providing a neighborhood area recognition means to recognize as a neighborhood area,
The dangerous area recognizing means recognizes how to expand the dangerous area based on the position of the second ship at the time of closest approach to the first ship based on how the neighboring area expands based on the position of the first ship. A marine navigation support device as a feature. In the marine navigation support apparatus according to claim 2,
A marine vessel navigation support apparatus, wherein the dangerous area recognition means recognizes how the dangerous area spreads according to the distance from the position of the first ship to the boundary of the neighboring area recognized by the neighboring area recognition means. In the ship navigation support device according to claim 1,
Based on the first and second navigation information recognized by the navigation information recognition means, comprising a collision determination means for determining the presence or absence of a collision possibility of the first and second ships,
A ship navigation support apparatus, wherein the image control means causes the image display apparatus to display only the line icon corresponding to the second ship that is determined to have a collision possibility by the collision determination means. The marine navigation support apparatus according to claim 4,
Based on the first and second navigation information recognized by the navigation information recognizing means, an area that is deflected and widened according to the level of the collision probability of the first and second ships based on the position of the first ship. Providing a neighborhood area recognition means to recognize as a neighborhood area,
The collision determination means recognizes a reference area that is widened based on the position of the first ship based on the way of spreading based on the position of the first ship in the area recognized by the vicinity area recognition means, and the position of the second ship Determining whether or not there is a collision possibility between the first ship and the second ship according to whether or not a line segment extending in the direction of the relative velocity vector of the second ship to the first ship intersects the reference region. Ship navigation support device. In the marine navigation support apparatus according to claim 5,
The collision determination means recognizes how the reference area spreads based on the position of the first ship based on the distance from the position of the first ship to the boundary of the vicinity area recognized by the vicinity area recognition means. Ship navigation support device. In the ship navigation support device according to claim 1,
Based on the first and second navigation information recognized by the navigation information recognition means, provided with a collision coefficient recognition means for recognizing a collision coefficient representing the level of collision possibility at the present time or the closest approach time of the first and second ships,
The image control means causes the image display device to display an image in which the design of one or both of the second vector and the line icon is changed according to the level of the collision coefficient recognized by the collision coefficient recognition means. Ship navigation support device. The marine navigation support apparatus according to claim 7,
Based on the first and second navigation information recognized by the navigation information recognizing means, the first ship is deflected and spreads according to the level of collision possibility of the first and second ships, based on the position of the first ship. Recognizes a nearby region, and recognizes a second nearby region that includes the first nearby region based on the position of the first ship and is deflected and widened according to the collision possibility of the first and second vessels. And a neighboring area recognition means that
The collision coefficient recognizing means includes first and second navigation information recognized by the navigation information recognizing means, a spreading method based on the position of the first ship in the first neighboring area recognized by the neighboring area recognizing means, and the vicinity A marine vessel navigation support apparatus that recognizes a collision coefficient between the first and second vessels based on a spread method based on the position of the first vessel in the second neighboring region recognized by the region recognition means. The marine navigation support apparatus according to claim 8,
A marine vessel navigation support device, wherein the collision coefficient recognizing means recognizes the collision coefficient based on the distance from the position of the first ship to each boundary between the first and second neighboring areas. In the ship navigation support device according to claim 1,
First function recognition means for recognizing the closest approach distance of the first and second ships as a first function of the course angle of the first ship based on the first and second navigation information recognized by the navigation information recognition means,
The marine vessel navigation support apparatus, wherein the image control means displays the first function recognized by the first function recognition means on the image display device. The marine navigation support apparatus according to claim 10,
Based on the first and second navigation information recognized by the navigation information recognizing means, an area that is deflected and widened according to the level of the collision probability of the first and second ships based on the position of the first ship. Neighborhood area recognition means for recognizing as a neighborhood area;
The range of the course angle of the first ship is recognized such that the line segment extending in the direction of the relative velocity vector of the second ship relative to the first ship from the position of the second ship is included in the neighborhood area recognized by the neighborhood area recognition means. A course angle range recognition means,
The marine vessel navigation support apparatus, wherein the image control means displays the first function recognized by the first function recognition means on the image display device over the range of the course angle recognized by the course angle range recognition means. In the ship navigation support device according to claim 1,
Based on the first and second navigation information recognized by the navigation information recognizing means, an area that is deflected and widened according to the level of the collision probability of the first and second ships based on the position of the first ship. Neighborhood area recognition means for recognizing as a neighborhood area;
Second function recognizing means for recognizing the size of the vicinity area recognized by the vicinity area recognizing means based on the position of the first ship as a second function of the course angle of the first ship;
The marine vessel navigation support apparatus, wherein the image control means displays the second function recognized by the second function recognition means on the image display device. The ship navigation support apparatus according to claim 12,
The range of the course angle of the first ship is recognized such that the line segment extending in the direction of the relative velocity vector of the second ship relative to the first ship from the position of the second ship is included in the neighborhood area recognized by the neighborhood area recognition means. A course angle range recognition means,
The marine vessel navigation support device, wherein the image control means causes the image display device to display the second function recognized by the second function recognition means over the range of the course angle recognized by the course angle range recognition means. In the ship navigation support device according to claim 1,
First function recognition means for recognizing the closest approach distance of the first and second ships as a first function of the course angle of the first ship based on the first and second navigation information recognized by the navigation information recognition means;
Based on the first and second navigation information recognized by the navigation information recognizing means, an area that is deflected and widened according to the level of the collision probability of the first and second ships based on the position of the first ship. Neighborhood area recognition means for recognizing as a neighborhood area;
Second function recognizing means for recognizing a size based on the position of the first ship in the neighboring area recognized by the neighboring area recognizing means as a second function of the course angle of the first ship;
A course angle range recognizing means for recognizing a course angle range of the first ship in which the first function recognized by the first function recognizing means is equal to or lower than the second function recognized by the second function recognizing means;
One or both of the first function recognized by the image control means by the first function recognition means and the second function recognized by the second function recognition means are set over the course angle range recognized by the course angle range recognition means. A navigation support device for a ship, which is displayed on an image display device. In the ship navigation support device according to claim 1,
First function recognition means for recognizing the closest approach distance of the first and second ships as a first function of the course angle of the first ship based on the first and second navigation information recognized by the navigation information recognition means;
Based on the first and second navigation information recognized by the navigation information recognizing means, an area that is deflected and widened according to the level of the collision probability of the first and second ships based on the position of the first ship. Neighborhood area recognition means for recognizing as a neighborhood area;
Second function recognizing means for recognizing a size based on the position of the first ship in the vicinity area recognized by the vicinity area recognition means as a second function of the course angle of the first ship;
A course angle range recognizing means for recognizing a range of course angles of the first ship in which the first function recognized by the first function recognizing means is equal to or less than the second function recognized by the second function recognizing means;
Sub-hazardous area recognition means for recognizing an area extending according to the course angle range recognized by the course angle range recognition means as a sub-hazard area based on the position of the second ship at the time of closest approach to the first ship,
An image in which the position and spread of the sub-hazardous area recognized by the sub-hazardous area recognizing means is represented by the position and extension of the line icon on the plane representing the navigation area is displayed on the image display device as a line icon. A marine navigation support apparatus characterized in that the ship navigation support apparatus is provided. In the ship navigation support device according to claim 1,
Based on the first and second navigation information recognized by the navigation information recognizing means, an area that is deflected and spreads according to the level of collision possibility of the first and second ships based on the position of the first ship. Neighborhood area recognition means for recognizing as a neighborhood area;
The range of the course angle of the first ship is recognized such that the line segment extending in the direction of the relative velocity vector of the second ship with respect to the first ship from the position of the second ship is included in the neighborhood area recognized by the neighborhood area recognition means. Course angle range recognition means;
Sub-risk area recognition means for recognizing an area that expands according to the course angle range recognized by the course angle range recognition means as a sub-danger area based on the position of the second ship at the time of closest approach to the first ship;
An image in which the position and spread of the sub-hazardous area recognized by the sub-hazardous area recognizing means is represented by the position and extension of the line icon on the plane representing the navigation area is displayed on the image display device as a line icon. The marine navigation support apparatus according to claim 1, wherein

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