JPH07234721A - Collision avoiding method - Google Patents
Collision avoiding methodInfo
- Publication number
- JPH07234721A JPH07234721A JP6052880A JP5288094A JPH07234721A JP H07234721 A JPH07234721 A JP H07234721A JP 6052880 A JP6052880 A JP 6052880A JP 5288094 A JP5288094 A JP 5288094A JP H07234721 A JPH07234721 A JP H07234721A
- Authority
- JP
- Japan
- Prior art keywords
- target
- collision
- valley
- ship
- mountains
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 19
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 11
- 238000012876 topography Methods 0.000 abstract description 2
- 230000009189 diving Effects 0.000 abstract 1
- 238000013459 approach Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- LFULEKSKNZEWOE-UHFFFAOYSA-N propanil Chemical compound CCC(=O)NC1=CC=C(Cl)C(Cl)=C1 LFULEKSKNZEWOE-UHFFFAOYSA-N 0.000 description 2
- 230000002194 synthesizing effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、船舶，自動車，航空機
等の移動物体（輸送機器）が目標に向って進む際の他の
物標との衝突回避方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of avoiding a collision with another target when a moving object (transportation device) such as a ship, an automobile or an aircraft travels toward a target.
【０００２】[0002]
【従来の技術】従来、自動操船の分野においては他船等
の衝突回避が重要な課題である。そして、三菱重工技報
「ＡＩを用いた自動操船・運航システムの開発」、Ｖｏ
ｌ．２９〔Ｎｏ．２〕ｐ．９２−９９（１９９２−３）
（以下文献１という）には、自船を中心とする衝突危険
判定用の円形の閉そく領域をとり、この領域内に他船が
侵入しないような経路をいわゆる深さ優先探索法で求め
る回避方法が記載されている。2. Description of the Related Art Conventionally, in the field of automatic marine vessel maneuvering, avoiding collision with other vessels has been an important issue. And Mitsubishi Heavy Industries Technical Report "Development of automatic ship handling and navigation system using AI", Vo
l. 29 [No. 2] p. 92-99 (1992-3)
In (hereinafter referred to as Document 1), a method for avoiding a circular block area for collision risk determination centering on the own ship and obtaining a route that prevents other ships from entering this area by the so-called depth-first search method Is listed.
【０００３】また、関西造船協会誌「Ｆｕｚｚｙ制御に
よる自動避航システムに関する研究」、〔第２０５号〕
関西造船協会ｐ．１〜１０（昭和６２年６月）（以下文
献２という）には、最接近距離（ＤＣＰＡ），最接近時
間（ＴＣＰＡ）の値から衝突危険度（ＣＲ）をファジィ
推論で求め、衝突危険度と他船の針路から自船の進路と
速度をファジィ推論で求める回避方法が記載されてい
る。[0003] The Kansai Shipbuilding Association magazine "Study on Automatic Flight Avoidance System by Fuzzy Control", [No. 205].
Kansai Shipbuilding Association p. 1 to 10 (June 1987) (hereinafter referred to as Reference 2), the collision risk (CR) is obtained from the values of the closest approach distance (DCPA) and the closest approach time (TCPA) by fuzzy inference, and the collision risk degree is calculated. And the avoidance method to obtain the course and speed of the own ship from the course of the other ship by fuzzy reasoning is described.
【０００４】[0004]
【発明が解決しようとする課題】前記文献１の回避方法
の場合、自船を内包する円形の閉そく領域を用意し、こ
の領域に他船が侵入しないような方向を衝突回避方向と
するため、いかなる場合も衝突しないという論理的な保
証を有するが、その解を求めるのに推論等の複雑，高度
な処理が必要で時間を要する問題点がある。In the case of the avoidance method of the above-mentioned document 1, since a circular block region containing the own ship is prepared and the direction in which another ship does not enter this region is set as the collision avoidance direction, Although there is a logical guarantee that they will not collide in any case, there is a problem that complicated and sophisticated processing such as inference is required to find the solution and it takes time.
【０００５】また、文献２の回避方法の場合、自船の進
路と速度を推論するに止まり、その推論のルール構成で
はいかなる場合も衝突しないという論理的な保証が得ら
れず、衝突を確実に回避し得ない問題点がある。しか
も、前記文献１，２のいずれの方法においても、回避方
向に進むことが必ずしも最短路をとることにはならない
問題点がある。Further, in the case of the avoidance method of Document 2, it is only possible to infer the course and speed of the own ship, and the rule construction of the inference does not provide a logical guarantee that a collision will not occur in any case. There are problems that cannot be avoided. Moreover, in any of the methods of Documents 1 and 2, there is a problem that the process of proceeding in the avoiding direction does not always take the shortest path.
【０００６】そして、船舶の衝突回避の場合だけでな
く、自動車，航空機及び工場のロボット搬送車等の種々
の移動物体の衝突回避の場合にも同様の問題点が生じ
る。Similar problems occur not only in avoiding collisions of ships, but also in avoiding collisions of various moving objects such as automobiles, airplanes and robot carriers of factories.
【０００７】本発明は、確実に衝突を回避でき、しか
も、ほぼ最短路をとることになる衝突回避方向を、迅速
に求め得る衝突回避方法を提供することを目的とする。It is an object of the present invention to provide a collision avoidance method capable of surely avoiding a collision and capable of promptly obtaining a collision avoidance direction which takes a shortest path.
【０００８】[0008]
【課題を解決するための手段】前記の目的を達成するた
めに、本発明の衝突回避方法においては、到達目標を
谷，衝突回避対象の物標を山と見たてた仮想的な地形を
想定し、該地形に水が流れるような最急降下方向を衝突
回避方向として求める。In order to achieve the above-mentioned object, in the collision avoidance method of the present invention, a virtual landform in which the reaching target is a valley and the target object of the collision avoidance is a mountain is formed. Assuming that, the steepest descent direction in which water flows through the terrain is determined as the collision avoidance direction.
【０００９】[0009]
【作用】前記のように構成された本発明の衝突回避方法
の場合、到達目標が谷底に位置し、他船等の衝突回避対
象の物標が山を形成するとして、それらの関係が仮想的
な地形で把握される。そして、この仮想的な地形の水が
流れるような最急降下方向が衝突回避方向として求めら
れ、このとき、最急降下方向は前記の山を避けながら常
に到達目標を目指して進むほぼ最短路の方向になる。In the case of the collision avoidance method of the present invention configured as described above, it is assumed that the target to be reached is located at the valley bottom and the target of collision avoidance such as another ship forms a mountain, and their relationship is virtual. It is grasped by the various topography. Then, the steepest descent direction in which the water of this virtual terrain flows is obtained as the collision avoidance direction. At this time, the steepest descent direction is the direction of the shortest route that always goes toward the target while avoiding the mountains. Become.
【００１０】しかも、到達目標の谷，物標の山の起伏を
合成してその傾きを求める簡単な数式演算により、高
度，複雑な推論処理等を行うことなく、迅速に最急降下
方向が求まる。そのため、論理的に衝突が発生し得ない
手法により、確実に衝突が回避でき、しかも、ほぼ最短
路をとることになる最善の衝突回避方向を迅速に求める
ことができる。Furthermore, the simplest mathematical operation for synthesizing the undulations of the target valley and the mountain of the target to obtain the slope thereof can quickly find the steepest descent direction without performing altitude and complicated inference processing. Therefore, it is possible to surely avoid the collision by a method in which the collision cannot logically occur, and moreover, it is possible to quickly find the best collision avoidance direction that takes the shortest path.
【００１１】[0011]
【実施例】１実施例について、図１及び図２を参照して
説明する。この実施例においては、図１に示すように到
達目標１を目指す自船２の初期設定航路が破線Ａに設定
され、衝突回避対象の物標としての他船３，４が前記初
期設定航路と交差する実線Ｂ，Ｃの方向に進む場合に適
用する。EXAMPLE One example will be described with reference to FIGS. In this embodiment, as shown in FIG. 1, the initial setting route of the own ship 2 aiming at the reaching target 1 is set to the broken line A, and the other ships 3 and 4 as the target of collision avoidance are set to the initial setting route. It is applied when proceeding in the direction of intersecting solid lines B and C.
【００１２】この場合、到達目標１については、図１の
破線の等高線に示すように、この目標１を谷底の点と
し、この谷底の点を通る鉛直線を軸とする釣鐘状の谷
１’に見たてる。また、他線３，４については、図１の
実線の等高線に示すように、他線３，４の中心を通る鉛
直線上に山頂が位置する釣鐘状の山３’，４’に見たて
る。In this case, as for the reaching target 1, as shown by the dashed contour lines in FIG. 1, the target 1 is a valley bottom point, and a bell-shaped valley 1'having a vertical line passing through the valley bottom point as an axis. To see. The other lines 3 and 4 can be seen in the bell-shaped mountains 3'and 4'in which the peaks are located on the vertical line passing through the centers of the other lines 3 and 4 as shown by the solid contour lines in FIG. .
【００１３】そして、コンピュータシミュレーション等
により、図２に示すように、到達目標１を谷１’，他船
３，４を山３’，４’に見たてた仮想的な３次元の地形
を想定する。このとき、水平面（２次元平面）での到達
目標１，自船２の位置（座標）を（Ｘ0 ，Ｙ0 ），
（Ｘ，Ｙ）とし、自船２から到達目標１までの距離（ベ
クトル量）をｒ0 とすると、ｒ0 は｛Ｘ−Ｘ0 ），（Ｙ
−Ｙ0 ）｝になる。Then, as shown in FIG. 2, a virtual three-dimensional terrain is obtained by looking at the target 1 as the valley 1'and the other vessels 3, 4 as the mountains 3 ', 4'by computer simulation or the like. Suppose. At this time, the position (coordinates) of the target 1 and the own ship 2 on the horizontal plane (two-dimensional plane) are (X 0 , Y 0 ),
And (X, Y) and the distance from the ship 2 until reaching the target 1 when the (vector quantity) and r 0, r 0 is {X-X 0), ( Y
-Y 0 )}.
【００１４】そして、到達目標１の高さを基準（＝０）
とすると、谷１’の影響に基づく自船２の高さは、ｃ0
・ｒ0 （ｃ0 は定数）として求まる。また、他船３，４
を一般化してｉ（１，…，Ｎ）番目の他船の水平面での
位置を（Ｘｉ，Ｙｉ）とし、自船２の中心からｉ番目の
他船の中心までの距離をｒｉとすると、ｒｉは｛（Ｘ−
Ｘｉ），（Ｙ−Ｙｉ）｝になる。Then, the height of the target 1 is set as a reference (= 0)
Then, the height of the own ship 2 due to the influence of the valley 1'is c 0
It is obtained as r 0 (c 0 is a constant). In addition, other vessels 3, 4
If the position of the i (1, ..., N) -th other ship in the horizontal plane is (Xi, Yi) and the distance from the center of the ship 2 to the center of the i-th other ship is ri, ri is {(X-
Xi), (Y-Yi)}.
【００１５】そして、ｉ番目の他船の山の高さをｈｉと
し、その水平方向の広がり（大きさ）をａｉとすると、
この他船の山の影響に基づく自船２の高さは、ｈｉ・ｅ
ｘｐ（−ｒｉ2 ／ａｉ2 ）として求まる。したがって、
到達目標１の谷１’及び各他船の山の影響を総合した自
船２の高さは、この高さをＺとして、つぎの数１の式か
ら求まる。If the height of the mountain of the i-th other ship is hi and its horizontal extent (size) is ai,
The height of own ship 2 due to the influence of mountains of other ships is hi · e
It is obtained as xp (-ri 2 / ai 2 ). Therefore,
The height of the ship 2 that integrates the influence of the valley 1'of the target 1 and the mountains of each other ship is obtained from the following formula 1 with Z being this height.
【００１６】[0016]
【数１】 [Equation 1]
【００１７】すなわち、図１の場合の自船２の各時点で
の高さは、各時点での到達目標１の谷１’及び他船３，
４の山３’，４’の起伏を加算合成して求まる。なお、
谷１’の深さ，山３’，４’の高さ及びその広がりは船
の大きさ，速度等を考慮して衝突が生じ得ない適当な大
きさに設定される。That is, in the case of FIG. 1, the height of the own ship 2 at each time point is the valley 1'of the target 1 to be reached at each time point and the other vessels 3,
It is obtained by adding and synthesizing the undulations of the 4's mountains 3'and 4 '. In addition,
The depth of the valley 1 ', the heights of the mountains 3'and 4'and their spreads are set in consideration of the size, speed, etc. of the ship so that a collision cannot occur.
【００１８】また、それらの値は通常は一定としてよい
が、自船２と谷１’，山３’，４’との相対的な位置関
係等を考慮し、例えば他船３，４のＤＣＰＡ，ＴＣＰ
Ａ，針路等から数式或いはファジィ推論で時間とともに
可変して設定すれば、回避精度等の面で一層好ましい。Although these values may normally be constant, the relative positional relationship between the own ship 2 and the valley 1 ', the mountains 3', 4 ', etc. is taken into consideration, for example, the DCPA of the other ships 3,4. , TCP
It is more preferable in terms of avoidance accuracy and the like if the setting is made variable with time by mathematical formulas or fuzzy inference from A, course, etc.
【００１９】例えば山３’，４’の高さｈｉについて
は、高さｈｉが高くなる程回避量が多くなるため、他船
３，４が自船２から離れているときは高さｈｉをあまり
高くとらず、自船２に接近するにしたがって高くすれば
よい。そして、図２の地形に水を流すと、この水は必ず
山３’，４’を避けて到達目標１の谷底に向うため、こ
の水が流れるような最急降下方向に進めば、理論上から
も他船３，４との衝突を確実に回避して到達目標１に達
し得る。For example, regarding the heights hi of the mountains 3'and 4 ', the higher the height hi, the greater the avoidance amount. Therefore, when the other vessels 3 and 4 are separated from the own vessel 2, the height hi is It does not take too high, and may be increased as it approaches the ship 2. Then, when water is poured over the terrain shown in Fig. 2, this water always goes to the valley bottom of the target 1 while avoiding the mountains 3'and 4 ', so if you proceed in the steepest descent direction of this water, theoretically, Can surely avoid the collision with the other ships 3 and 4 and reach the target 1.
【００２０】しかも、最急降下方向に進むことにより、
常に到達目標１を目指しつつ衝突を回避することにな
り、近似的に衝突を回避し得る最短路を通ることにな
る。そして、最急降下方向は高さＺをＸ，Ｙについて微
分し、その傾きを求めるつぎの数２の演算から求まる。Moreover, by proceeding in the steepest descent direction,
Collision is always avoided while aiming at the target 1, and the shortest path that can approximately avoid collision is taken. Then, the steepest descent direction is obtained by differentiating the height Z with respect to X and Y, and obtaining the inclination thereof by the following calculation of the equation 2.
【００２１】[0021]
【数２】 [Equation 2]
【００２２】この最急降下方向をくり返し求めてその方
向に進めば、自船２は図１の実線Ｄに沿って到達目標１
に達し、このとき、その航路は他船３，４を確実に回避
する近似的な最短路になる。そして、数１，数２の数式
演算のみを行う極めて簡単で，しかも理論上衝突し得な
い手法により衝突回避方向が求まるため、従来より極め
て簡単な手法により、より高速で信頼性が高い衝突回避
方法を提供できる。If this steepest descent direction is repeatedly obtained and proceeded in that direction, the ship 2 will reach the target 1 along the solid line D in FIG.
At this time, the route becomes an approximate shortest route that surely avoids the other ships 3 and 4. Then, the collision avoidance direction is obtained by a method that is extremely simple to perform only the mathematical expressions 1 and 2 and that cannot theoretically cause a collision. Therefore, the collision avoidance direction is faster and more reliable than the conventional method. A method can be provided.
【００２３】なお、自船２の高さを求める数式等が実施
例と異なる場合にも適用できるのは勿論である。また、
他船の数が実施例と異なる場合，船舶以外の物標がある
場合及び物標が静止している場合等の種々の状況下の場
合に適用できるのは勿論である。そして、船舶の衝突回
避の場合だけでなく、自動車，航空機及び工場ロボット
の搬送車等の種々の移動物体の衝突回避に適用できる。Needless to say, the present invention can be applied to the case where the mathematical formula for obtaining the height of the ship 2 is different from that of the embodiment. Also,
It is needless to say that the present invention can be applied to various cases such as a case where the number of other ships is different from that of the embodiment, a case where there is a target other than the ship, and a case where the target is stationary. The present invention can be applied not only to avoiding collisions of ships, but also to avoiding collisions of various moving objects such as automobiles, airplanes, and carrier vehicles of factory robots.
【００２４】[0024]
【発明の効果】本発明は、以上説明したように構成され
ているため、以下に記載する効果を奏する。到達目標１
が谷底に位置し、他船３，４等の衝突回避対象の物標が
山３’，４’を形成するとして、それらの関係が仮想的
な地形で把握され、この仮想的な地形の水が流れるよう
な最急降下方向が衝突回避方向として求められる。Since the present invention is configured as described above, it has the following effects. Goal 1
Is located at the bottom of the valley, and it is assumed that the target of collision avoidance such as another ship 3 or 4 forms mountains 3'and 4 ', their relations are grasped by virtual topography, and the water of this virtual topography is The steepest descent direction in which is flowing is obtained as the collision avoidance direction.
【００２５】このとき、最急降下方向が前記の山３’，
４’を避けながら常に到達目標１を目指して進むほぼ最
短路の方向になり、しかも、到達目標１の谷１’，物標
の山３’，４’の起伏を合成してその傾きを求める簡単
な数式演算により、高度，複雑な推論処理等を行うこと
なく、迅速に最急降下方向が求まるため、論理的に衝突
が発生し得ない手法により、確実に衝突が回避でき、し
かも、ほぼ最短路をとることになる最善の衝突回避方向
を迅速に求めることができる。At this time, the steepest descent direction is the above-mentioned mountain 3 ',
It will be the direction of the shortest path that always goes toward the target 1 while avoiding 4 ', and the slope is calculated by combining the undulations of the valley 1'of the target 1 and the mountains 3', 4'of the target. A simple mathematical operation can be used to quickly find the steepest descent direction without performing advanced or complicated inference processing, etc. Therefore, a method that logically prevents collisions can be used to reliably avoid collisions, and also to minimize the collision time. The best collision avoidance direction to take the road can be quickly found.
【図１】本発明の衝突回避方法の１実施例の模式図であ
る。FIG. 1 is a schematic diagram of an embodiment of a collision avoidance method of the present invention.
【図２】図１の衝突回避方向を求める仮想的な地形の説
明図である。FIG. 2 is an explanatory diagram of virtual terrain for determining a collision avoidance direction in FIG.
１ 到達目標 １’ 谷 ２ 自船 ３，４ 他船 ３’，４’ 山 1 Target 1'Valley 2 Own ship 3,4 Other ship 3 ', 4' Mountain
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.6 識別記号 庁内整理番号 ＦＩ 技術表示箇所 Ｇ０８Ｇ 5/04 Ａ 7740−3Ｈ ─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. 6 Identification code Internal reference number FI technical display location G08G 5/04 A 7740-3H
Claims (1)
と見たてた仮想的な地形を想定し、該地形に水が流れる
ような最急降下方向を衝突回避方向として求める衝突回
避方法。1. A collision avoidance method that assumes a virtual terrain in which a target is a valley and a target object for collision avoidance is a mountain, and a steepest descent direction in which water flows through the terrain is determined as a collision avoidance direction. Method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6052880A JPH07234721A (en) | 1994-02-24 | 1994-02-24 | Collision avoiding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6052880A JPH07234721A (en) | 1994-02-24 | 1994-02-24 | Collision avoiding method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH07234721A true JPH07234721A (en) | 1995-09-05 |
Family
ID=12927204
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6052880A Pending JPH07234721A (en) | 1994-02-24 | 1994-02-24 | Collision avoiding method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH07234721A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11125675A (en) * | 1997-10-23 | 1999-05-11 | Japan Radio Co Ltd | Automatic collision prevention aiding device |
| JP2006228227A (en) * | 2005-02-17 | 2006-08-31 | Northrop Grumman Corp | Mixed integer linear programming method for automatically generating trajectory for terrain following flight under circumstances having threat object |
| JP2013212716A (en) * | 2012-03-30 | 2013-10-17 | Nec Corp | Underwater sailing body coping method recommendation system, underwater sailing body coping method recommendation method and program therefor |
| CN107677275A (en) * | 2017-09-15 | 2018-02-09 | 北京航空航天大学 | The heterogeneous aircraft paths planning method in one kind mixing spatial domain and device |
| CN110007603A (en) * | 2019-05-13 | 2019-07-12 | 南京航空航天大学 | A kind of low latitude unmanned plane conflict Resolution method and system based on kernel solution |
| US11853066B2 (en) | 2018-12-27 | 2023-12-26 | Nec Corporation | Control device, formation determination device, control method, and program |
-
1994
- 1994-02-24 JP JP6052880A patent/JPH07234721A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11125675A (en) * | 1997-10-23 | 1999-05-11 | Japan Radio Co Ltd | Automatic collision prevention aiding device |
| JP2006228227A (en) * | 2005-02-17 | 2006-08-31 | Northrop Grumman Corp | Mixed integer linear programming method for automatically generating trajectory for terrain following flight under circumstances having threat object |
| JP2013212716A (en) * | 2012-03-30 | 2013-10-17 | Nec Corp | Underwater sailing body coping method recommendation system, underwater sailing body coping method recommendation method and program therefor |
| CN107677275A (en) * | 2017-09-15 | 2018-02-09 | 北京航空航天大学 | The heterogeneous aircraft paths planning method in one kind mixing spatial domain and device |
| US11853066B2 (en) | 2018-12-27 | 2023-12-26 | Nec Corporation | Control device, formation determination device, control method, and program |
| CN110007603A (en) * | 2019-05-13 | 2019-07-12 | 南京航空航天大学 | A kind of low latitude unmanned plane conflict Resolution method and system based on kernel solution |
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