JP6679665B2 - 航海士の心理的特性を用いた船舶の衝突回避方法 - Google Patents
航海士の心理的特性を用いた船舶の衝突回避方法 Download PDFInfo
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- G—PHYSICS
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- G08G3/00—Traffic control systems for marine craft
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- B63B49/00—Arrangements of nautical instruments or navigational aids
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
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Description
数列の長さj(j=1,2,3,…,J)を有する相対距離(RD)Rrjで測定したサンプルデータDjに最適近似するb次の多項係数a(Rrj)は数式3の通りであり、数式4のようにa(Rrj)を用いて数列の長さn(n=1,2,3,…,N)を有するDnを推定することができる。
Dnに最適した最大値(GEV)分布に対するpdfのパラメータセット{γ、μ、σ}を表1の探索範囲で推定する。表1は数列の長さw(w=1,2,3,…,W)を有する標準正規データχwと{γ、μ、σ}の探索範囲(左側限界値は下付き文字LT、右側限界値は下付き文字RTで表示する)を表す。
上述した第2段階で推定した結果は、離散的な相対方位θi(i=1,2,3,…,I)に対するものであるので、連続した相対方位 RBu(u=1,2,3,…,U)に対するモデルパラメータが必要である。
表2の補間結果を用いて相対方位RBuを推定すると、以下の通りである。
Claims (6)
- 海技士の衝突危機に対する心理的特性を用いて船舶衝突を回避できるように支援する方法であって、
相対船舶の情報および本船の情報を用いて二隻の船舶間の相対距離(RD)と相対方位(RB)を計算する第1段階と、
航海士の衝突危機(CR)知覚を用いて前記相対距離(RD)と前記相対方位(RB)に対する衝突危機水準(CL)を推定し、推定結果を3次元座標データに変換する衝突危機予測モデル(CREM)をモデルリングする第2段階と、
船舶領域の距離(DSD)と前記モデルリングされた衝突危機予測モデル(CREM)を用いた前記衝突危機水準(CL)を計算する第3段階と、
二隻の船舶間に衝突危険があると判断するための基準距離に該当する空間的な側面の基準値および二隻の船舶間に衝突危険があると判断するための衝突危機水準(CL)に該当する心理的な側面の基準値を決定する第4段階と、
前記相対距離(RD)と前記空間的な側面の基準値とを比較して衝突可能距離であることを知らせる船舶領域(SD)警報を発するか、或いは前記相対距離(RD)に対する衝突危機水準(CL(RD))と前記心理的な側面の基準値とを比較して衝突危機水準であることを知らせる衝突危機(CR)警報を発する第5段階と、からなり、
前記第4段階は、船舶領域理論に基づいてコンピュータにより算出された前記相対方位(RB)のそれぞれにおける船舶同士の衝突の危険がある船舶領域の距離(DSD)を前記空間的な側面の基準値とし、前記衝突危機予測モデル(CREM)で推定した衝突危機水準(CL)のうち、前記相対方位(RB) のそれぞれにおける船舶同士の衝突の危険がある船舶領域の距離(DSD)に該当する衝突危機水準(CL(DSD))を前記心理的な側面の基準値とすることを特徴とする航海士の心理的特性を用いた船舶の衝突回避方法。 - 前記第5段階は、前記相対距離(RD)と前記空間的な側面の基準値とを比較して、前記相対距離(RD)が前記空間的な側面の基準値より大きいと、前記船舶領域(SD)の警報を発することを特徴とする請求項1に記載の航海士の心理的特性を用いた船舶の衝突回避方法。
- 前記第5段階は、前記相対距離(RD)に対する衝突危機水準(CL(RD))と前記心理的な側面の基準値とを比較して、前記心理的な側面の基準値が前記相対距離(RD)に対する衝突危機水準(CL(RD))より大きいと、前記衝突危機(CR)の警報を発することを特徴とする請求項1に記載の航海士の心理的特性を用いた船舶の衝突回避方法。
- 前記第2段階において、前記衝突危機予測モデル(CREM)の入力変数は前記相対方位(RB)と前記相対距離(RD)を含み、前記衝突危機予測モデル(CREM)の出力変数は連続した相対方位(RB)と相対距離(RD)に対して推定した衝突危機(CR)の前記衝突危機水準(CL)を含むことを特徴とする請求項1に記載の航海士の心理的特性を用いた船舶の衝突回避方法。
- 前記第2段階において、前記衝突危機予測モデル(CREM)の前記出力変数はさらに、前記衝突危機水準(CL)を3次元複合地図に表示するための座標値を含むことを特徴とする請求項4に記載の航海士の心理的特性を用いた船舶の衝突回避方法。
- 前記第2段階において、前記衝突危機予測モデル(CREM)は極大値(GEV)分布の確率密度関数(pdf)を用いて前記入力変数に対する前記衝突危機水準(CL)を推定することを特徴とする請求項4に記載の航海士の心理的特性を用いた船舶の衝突回避方法。
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