JPH08235500A - Collision prevention support device - Google Patents

Abstract

PURPOSE: To prevent a target from colliding by recognizing a dangerous state correctly by passing alarm judgement by using an alarm judging value in which the size of the target with possibility of collision is added as a variable. CONSTITUTION: An alarm judging condition judging means 1 sets the alarm judging value of the dangerous state by adding the size of the target with possibility of collision as the variable. A target tracing means 2 traces the target by calculating the future predictive position of each target inputted sequentially from a fixed station radar 20 sequentially, and an alarm discrimination arithmetic means 3 calculates the future predictive position of the target being traced by the target tracing means 2, it arrival time and a future dangerous state between the targets based on them, and when such alarm discrimination that such calculated dangerous state goes to a value less than the alarm judging value of the dangerous state set by the alarm judging condition judging means 1 is passed, a collision alarm signal relating to a discriminated target is outputted. An alarm display processing means 4 displays the collision alarm signal relating to the discriminated target on an external display 40.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a collision prevention support device for a ship using a land-based fixed station radar.

[0002]

2. Description of the Related Art Conventionally, this type of device is an automatic radar plotting assistance device (ARPA) described in "Research Report on Collision Prevention Device" (March 1982, issued by Japan Ship Supplies Certification Association). The main product was a collision prevention device that is installed on ships that comply with the standards for This collision prevention device for mounting on a ship carries out an alarm operation described below in order to prevent a ship equipped with this device from colliding with another ship.

That is, item 3 of the standard relating to the ARPA.
4 Operation alarms 3.4.1 to 3.4.3, (1) Proximity target alarm, (2) TCPA (closest approach distance arrival time) alarm and CPA (closest approach distance) alarm test method Has been stipulated and is summarized below. First, as a test of whether or not an alarm is properly generated when there is a danger of collision between your ship and at least two other ship targets, (1) 10 nautical miles from your ship in advance. And a test to set a guard ring at a distance of 2.5 nautical miles, and when another ship arrives at this guard ring, whether a visual and audible alarm is automatically generated within 1 minute from this arrival time, (2) ARPA C installed on the ship
The PA is set to 1 nautical mile and the TCPA is set to 15 minutes, and the TCPA value and C when the actual TCPA alarm and CPA alarm are generated by another ship target during tracking and tracking.
The value of PA is recorded, and this recorded value is ± 1 of the set value.
The test was to see if it was within the range of 0%.

Next, a conventional method of calculating CPA and TCPA and its alarm operation will be described. Figure 3 shows the conventional CPA
FIG. 6 is an explanatory diagram of a calculation method of TCPA and TCPA. In Fig. 3, the position of the own ship is point A, the position of the other ship is point B, and
If the position of the ship when the ship comes closest to it is point C,
CPA (closest approach distance) is the distance at the time when the distance BC from point B to point C is the minimum. And TC
Since PA (closest approach time) is the time to reach CPA, in FIG. 3, it is the time from the point A to point C (point A becomes point C). . In (a) of FIG. 3, the size of the target at the points A and B is not considered at all, and the points are simply two points, and CPA is the closest distance between these two points, TC
PA is TCPA = R / V, where R is the time to reach CPA, that is, the distance between points A and C, and V is the relative speed between the ship and the other ship. In this way, the target is regarded as a point without size, and the CPA between these two points is
The conventional calculation method was to calculate TCPA and TCPA.

Next, the alarm operation of CPA and TCPA will be described. The reference values of the CPA and TCPA are set in advance as numerical values indicating the dangerous state of the target that may collide (for example, the CPA is set to 1 nautical mile and the TCPA is set to 15 minutes under the same ARPA test conditions). ). Then, the collision prevention device successively calculates the predicted positions of both ships in the future and their inter-vehicular distances, assuming that the other ship currently being tracked and the own ship will continue to maintain the current course and speed in the future. That is, one minute, two minutes, three minutes, and so on, the predicted positions of both ships and the distance between them will be calculated one by one, and the distance (CPA) that minimizes the distance between both ships in the future will be calculated. CP
Time to reach A (TCPA, eg 1 from now)
0 minutes later) is calculated. Next, the collision prevention device determines whether or not the calculated values of CPA and TCPA, which are calculated by predicting the future, are equal to or less than a preset reference value. As an alarm. For example, the calculated value is 0.
When the calculated value of CPA is 75 nautical miles or when the calculated value of CPA is 1 nautical mile but the calculated value becomes 10 minutes with respect to the set value of 15 minutes of TCPA, the alarm action is immediately performed.

[0006]

However, in the above-described collision preventing device for mounting on a ship, the calculation method of CPA and TCPA does not consider the size of the target, so that the danger condition is correctly grasped and an alarm is issued. There is a problem that operation is not possible, and a problem that the number of ships subject to collision prevention is limited to the ship equipped with the collision prevention device and two other ships related thereto. For example, VL
Large tankers such as CC and ULCC have a hull length of 200
~ 300m, the actual C for these vessels
In order to determine the dangerous state of the PA, it is necessary to consider the length of the ship and the size of the target. FIG. 3B shows a model that a collision may occur before reaching the CPA obtained in FIG. 3A depending on the size of the target. As described above, in the conventional alarm processing method based on CPA and TCPA, it is possible to change the alarm processing conditions such as the alarm determination value in a timely manner depending on the size of both ships and their approaching states (crossing, reverse sailing, same sailing, etc.). There was a problem that it could not be done.

Further, in a collision prevention support device coupled with a radar (for example, a port surveillance radar) provided in a land-based fixed station, a collision between a large number of various vessels existing in the area to be monitored is prevented from occurring in the vessel. The purpose is to provide preventive support by taking into consideration special circumstances such as size and approaching conditions.The number of ships subject to collision prevention is limited in the conventional ship-borne collision prevention device. There is a problem that the purpose as a collision prevention support device for a fixed station cannot be satisfied.

[0008]

A collision prevention support apparatus according to the present invention is an apparatus which is coupled with a land-based fixed station radar and supports collision prevention between a plurality of targets existing in a monitoring target area of the radar. In addition, Y = A · X, where A is a coefficient and B is a constant, and X is a warning determination value Y in a dangerous state when the size of a target that may cause a collision is a variable X.
An alarm determination condition setting means that can be set as + B, and a target tracking means that sequentially calculates a future predicted position of each target based on the position information of each target that is sequentially input from the fixed station radar, and target tracking means. , The target tracking means calculates a future predicted position of the target being tracked and its arrival time and a future dangerous state between the targets based on these, and the calculated dangerous state becomes the alarm determination condition setting means. An alarm determination is made as to whether or not the value is equal to or less than a set alarm determination value for a dangerous state. An alarm display processing means for displaying the collision warning signal relating to the discrimination target on an external display when the warning discrimination calculation means outputs the collision warning signal.

[0009]

According to the present invention, in a device which is coupled with a land-based fixed station radar and supports collision prevention between a plurality of targets existing in the area to be monitored by the radar, there is a risk of collision due to the alarm determination condition setting means. A target value tracking means can be set as Y = A · X + B, where A is a coefficient for multiplying X by an alarm determination value Y of a dangerous state when the size of a certain target is a variable X, and B is a constant. The target tracking is performed by sequentially calculating the future predicted position of each target based on the position information of each target sequentially input from the fixed station radar, and the alarm discrimination calculation means is performing tracking by the target tracking means. The future predicted position of the target and its arrival time and the future dangerous state between the targets based on these are calculated, and the calculated dangerous state is less than or equal to the warning judgment value of the dangerous state set in the warning judgment condition setting means. Warning judgment whether or not Was carried out, the case of the alarm determination becomes less, and outputs a collision warning signal according to the determination target object,
The alarm display processing means, when the warning discrimination calculation means outputs the collision warning signal, causes the external display to display the collision warning signal related to the discriminated target. The alarm determination value is automatically changed with the size as a variable to perform the alarm determination, and the alarm operation can be performed based on the determination information that correctly grasps the dangerous state as compared with the related art.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a diagram showing the structure of a collision prevention support device according to the present invention. In FIG. 1, reference numeral 10 is a collision prevention support device for a land-based fixed station according to the present invention.
Including equipment. Reference numeral 1 is an alarm determination condition setting means according to the present invention, for example, an operating device 30 such as an external keyboard.
The size of the target that is connected to
It is possible to set Y = A · X + B, where A is a coefficient for multiplying the X by the warning determination value Y of the dangerous state at that time, and B is a constant. Reference numeral 2 denotes a target tracking means for performing target tracking by sequentially calculating future predicted positions of each target based on the position information of each target sequentially input from the land-based fixed station radar 20. There is a well-known means included in the conventional collision prevention device.

Reference numeral 3 denotes an alarm discrimination calculation means according to the present invention, which indicates a future predicted position of the target object being tracked by the target object tracking means 2 and its arrival time and a future dangerous state between the target objects based on these predicted positions. An alarm determination is made as to whether or not the calculated dangerous state is equal to or less than the alarm determination value Y of the dangerous state set in the alarm determination condition setting means 1. If the alarm determination value is less than this, the alarm determination is performed. The collision warning signal related to the discrimination target is output. Reference numeral 4 denotes an alarm display processing means, which is provided when the warning discrimination calculation means 3 outputs a collision warning signal,
The collision warning signal related to the discrimination target is displayed on the external display 40.

Further, the fixed station radar 20 is installed, for example, near the coast, and monitors a large number of various targets existing in the bay or the strait as a monitoring target area.
Then, the position information of each target measured by the radar 20 is sequentially supplied to the target tracking means 2 in the collision prevention support device 10.

FIG. 2 is an explanatory diagram of a method of setting an alarm determination value of CPA in consideration of the size of the target. A specific method of setting the alarm determination value will be described with reference to FIG. In this embodiment, the size of the target is described in two cases, (1) the hull length when the target is a ship, and (2) the target length calculated from the planar area of the target. To do. (1) Example of setting alarm determination value of CPA in consideration of hull length, in the alarm determination condition setting means 1 of FIG. Assuming that the warning judgment value is Y and the hull lengths of the two ships that may be in collision are La and Lb, the average value L = (La + Lb) / 2 of these two hull lengths is the variable X, and this X is The coefficient to be multiplied is A (for example, a set value set according to the approaching situation of two ships), and the conventional determination value is B (CPA
And the like, for example, B = 100 m), and these relationships are set by the following equation (1). Y = A · X + B (1) The new alarm determination value Y becomes a variable set value according to the equation (1), and the set value is automatically changed according to the average value of the hull lengths of the two ships.

Next, an example of setting the coefficient A of X will be described. In this example, the coefficient A of X is set according to the approaching situation of two ships, and (1) A = 0.5 to
Within the range of 1.3, (2) A = 1.
Within the range of 5 to 2.5, at the time of (3) intersection, A =
Within the range of 3.0 to 4.0, the coefficient value is set in consideration of the situation such as the relative speed between two ships. As the average value L of the hull length, if it is set in advance, the set value is used, but if it is not set in advance, a value calculated from a radar image or the like is used. For example, A = 0.5, B
= 50m, the equation (1) is Y = L / 2 +
It becomes 50, and CP which newly added the average value L of the hull length of two ships and the coefficient A (= 0.5) according to the approach situation of the two ships
The alarm judgment value of A is obtained. In the formula (1), A
When = 0 is set, the equation (1) becomes Y = B, and the CPA alarm determination can be performed by the conventional determination value B.

(2) An example of setting an alarm judgment value of CPA in consideration of the length of the target calculated from the area of the target. As the target in the port, for example, a dredger, a towed object or a buoy is used. However, since these do not have a shape with a substantially constant aspect ratio as in the case of a ship having normal self-propelling ability, a planar area S is first obtained from a radar image for these targets. Next, a method is generally used in which the square root of S is obtained, and the square root of S is further multiplied by a predetermined coefficient α to obtain the length of the target. In this way, even when one or both of the two targets is not a normal ship, the length of the target obtained from the area S is used instead of the ship length, and the two targets that may collide with each other are used. If the average value of the lengths is X and A and B are used, the alarm determination value of the CPA can be variably set using the equation (1).

In the above embodiment, the warning determination value in a dangerous state where there is a risk of collision has been described as CPA, but it may be TCPA or both CPA and TCPA. Further, in the above embodiment, the variable X in the equation (1) is
An example is shown in which is the average value of the lengths obtained from the size of the target or the average value of the two hull lengths, but the present invention is not limited to this. For example, the load and the ship type may be set as the variable X in the formula (1) so that the CPA and TCPA can be variably set depending on the ship having a cargo with a high risk of flame or explosion upon collision and the ship not having the danger. Furthermore, for example, if you want to make a difference in the dangerous state between sea areas where there are reefs or strong tidal currents and where it is not easy to maneuver, or where the relative speed between the two vessels is large or small. Therefore, the alarm determination value indicating the dangerous state in such a case may be variably set by the variable X or the coefficient A of the equation (1).

The alarm determination condition setting means 1 is preset with the alarm determination value Y = A · X + B such as CPA as described above. The alarm discrimination calculation means 3 is a distance between the predicted position and the target position of the target object which is in the possibility of collision while the target tracking means 2 is tracking, for example, 1 minute, 2 minutes, 3 minutes, ... Is calculated sequentially, and the distance (CP
A) is calculated. Then, it is determined whether or not the calculated value is equal to or less than a preset alarm determination value Y, and if it is less than or equal to the preset alarm determination value Y, a collision alarm signal related to the determination target is output. The collision warning signal is displayed on the display device 40 via the alarm display processing means 4, and the collision prevention support device 10 immediately takes a marine vessel maneuvering process for the relevant ship from the collision prevention support device 10 using a wireless transceiver or the like. Will be contacted.

Therefore, even if the ship in the area to be monitored by the fixed station radar 20 is not equipped with a collision prevention device, the collision avoidance process can be performed by the assistance notification from the land collision prevention support device 20. You can In addition, the collision prevention support device 20 determines an alarm by using an alarm determination value that takes into consideration special situations such as the size of a target that is likely to collide and the approaching state (crossing, backward flight, same flight) as described above. So do
By the judgment result that grasped the dangerous state more correctly than before,
It is possible to support the collision prevention of the relevant ship.

[0019]

As described above, according to the present invention, in a device which is coupled with a land-based fixed station radar and assists in preventing collision between a plurality of targets existing in the area to be monitored by the radar, an alarm determination is made. The coefficient X for multiplying the warning judgment value Y of the dangerous state when the size of the target object having a risk of collision by the condition setting means is a variable X is A, and the constant is B,
It can be set as Y = A · X + B, and the target tracking means sequentially calculates a future predicted position of each target based on the position information of each target sequentially input from the fixed station radar to perform target tracking and issue an alarm. The discrimination calculation means calculates the future predicted position of the target being tracked by the target tracking means and its arrival time and the future dangerous state between the targets based on these, and the calculated dangerous state is the alarm determination condition. An alarm judgment is made as to whether or not the warning judgment value set in the setting means is equal to or less than the danger judgment value. The means is adapted to, when the warning discrimination calculation means outputs the collision warning signal, display the collision warning signal relating to the discriminated target on an external display, so that the size of the target which may possibly collide is determined. Using the alarm judgment value with consideration Performs multi-address discrimination by than conventional correctly grasp the danger state determination information, it is possible to assist the collision prevention of the relevant vessels.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of a collision prevention support device according to the present invention.

FIG. 2 is an explanatory diagram of an alarm determination value of CPA in consideration of the size of a target.

FIG. 3 is an explanatory diagram of a conventional CPA and TCPA calculation method.

[Explanation of symbols]

 1 Alarm Judgment Condition Setting Means 2 Target Tracking Means 3 Alarm Discrimination Calculating Means 4 Alarm Display Processing Means 10 Collision Prevention Support Equipment 20 Fixed Station Radar 30 Manipulator 40 Display

Claims (5)

[Claims] 1. A device, which is coupled with a land-based fixed station radar and supports collision prevention between a plurality of targets existing in a monitoring target area of the radar, the size of a target having a risk of collision. An alarm determination value Y in a dangerous state, where X is a variable X, and A is a coefficient for multiplying X, and B is a constant. Target tracking means that sequentially calculates the future predicted position of each target based on the position information of each target that is sequentially input, and future prediction of the target that is being tracked by the target tracking means. Whether or not the position and its arrival time and the future dangerous state between the targets based on these are calculated, and whether the calculated dangerous state is less than or equal to the warning judgment value of the dangerous state set in the warning judgment condition setting means The warning was judged, and the warning was judged when the following occurred. In this case, an alarm discrimination calculation means for outputting a collision warning signal relating to this discrimination target, and a collision warning relating to the discrimination target on an external display when the warning discrimination calculation means outputs a collision warning signal. A collision prevention support device comprising: an alarm display processing means for displaying a signal. 2. The collision prevention support device according to claim 1, wherein the warning determination value Y of the dangerous state is set by one or both of CPA and TCPA between targets having a risk of collision. 3. The variable X of the warning judgment value Y of the dangerous state
Is the average value of the hull lengths of two ships that are at risk of collision, and the collision prevention support device according to claim 1 or 2. 4. A variable X of the warning judgment value Y of the dangerous state.
Is the average value of the lengths calculated from the areas of the two targets that are likely to collide, The collision prevention support device according to claim 1 or 2, wherein 5. The coefficient A of the variable X of the warning judgment value Y of the dangerous state is set to the situation of the approaching situation of two ships or targets that are likely to collide, at the time of the same voyage, at the time of counter-going, or at the time of crossing. The collision prevention support device according to any one of claims 1 to 4, wherein the value is set to a value according to.