WO2023286825A1 - 航行支援装置、航行支援方法、プログラム - Google Patents
航行支援装置、航行支援方法、プログラム Download PDFInfo
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- WO2023286825A1 WO2023286825A1 PCT/JP2022/027670 JP2022027670W WO2023286825A1 WO 2023286825 A1 WO2023286825 A1 WO 2023286825A1 JP 2022027670 W JP2022027670 W JP 2022027670W WO 2023286825 A1 WO2023286825 A1 WO 2023286825A1
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- ship
- margin
- navigation
- obstruction zone
- collision
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- 238000010586 diagram Methods 0.000 description 15
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- 238000012545 processing Methods 0.000 description 8
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B49/00—Arrangements of nautical instruments or navigational aids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
- B63B43/18—Improving safety of vessels, e.g. damage control, not otherwise provided for preventing collision or grounding; reducing collision damage
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
- G08G3/02—Anti-collision systems
Definitions
- the present invention relates to a navigation support device, a navigation support method, and a program.
- a navigation support system there is a system that displays the risk of collision between own ship and other ship so that it can be grasped.
- a system that performs a collision calculation for the own ship and the opponent ship and displays the navigation obstruction zone (OZT: Obstacle Zone by Target) by the opponent ship based on the result of the collision calculation (for example, Patent Document 1).
- OZT Obstacle Zone by Target
- Patent Document 1 a navigation obstruction zone
- the navigator can specifically grasp the range in which he/she should be careful.
- the navigator can navigate without colliding with the opponent's vessel by maneuvering the vessel avoiding the displayed navigation obstruction zone.
- the navigation obstruction zone can be navigated with a certain amount of margin.
- the present invention has been made in view of such circumstances, and its purpose is to provide a navigation support device, a navigation support method, and a program that can determine a navigation obstruction zone that considers a margin.
- one aspect of the present invention is a navigation support device that obtains a navigation obstruction zone from a relationship between own ship and an opponent ship, and includes margin acquisition for obtaining a margin indicating the degree of margin. and the margin position, which is a position that is a distance determined according to the margin, from at least one of the bow or stern position of the other ship in the target occupied space set based on the position of the other ship. and a calculating unit that calculates a collision course based on the position determined according to the motion vector of the other ship with the margin position as a reference, and calculates a navigation obstruction zone based on the obtained collision course. It is a support device.
- one aspect of the present invention is a navigation assistance method executed by a computer, wherein the navigation assistance method obtains the navigation obstruction zone from the relationship between the own ship and the opponent ship, wherein the margin acquisition unit A margin indicating the degree of margin is acquired, and the calculation unit calculates a distance determined according to the margin from at least one of the bow or stern of the other ship in the target occupied space set based on the position of the other ship.
- a collision course is obtained based on a position determined according to the motion vector of the other ship with reference to the margin position, and a navigation obstruction zone is determined based on the collision course obtained.
- a margin indicating the degree of margin is acquired, and from at least one of the bow or stern position of the other ship in the target occupied space set based on the position of the other ship, the above-mentioned A marginal position, which is a position separated by a distance determined according to the degree of margin, is obtained, and the collision course is obtained based on the position determined according to the motion vector of the other ship with the marginal position as a reference, and the collision is obtained.
- FIG. 1 is a schematic block diagram showing the configuration of a system using a navigation support device
- FIG. FIG. 10 is a diagram showing an example of a display screen 100 on which a navigation obstruction zone is displayed
- 4 is a flowchart for explaining the operation of the navigation support device 20; It is a figure explaining an own ship occupied space and a partner ship occupied space.
- FIG. 4 is a diagram for explaining part of the calculation process for obtaining the collision course CO
- FIG. 4 is a diagram for explaining part of the calculation process for obtaining the collision course CO
- It is a figure explaining the process of calculating
- FIG. 10 is a diagram for explaining processing when obtaining a navigation obstruction zone in consideration of a margin;
- FIG. 10 is a diagram for explaining processing when obtaining a navigation obstruction zone in consideration of a margin
- FIG. 10 is a diagram for explaining a display screen displaying a navigation obstruction zone with a desired navigation distance on the bow side and a navigation obstruction zone with a desired navigation distance on the stern side;
- FIG. 1 is a schematic block diagram showing the configuration of a system using a navigation support device according to one embodiment of the present invention.
- the navigation management system 10 and the navigation support device 20 are communicably connected.
- the navigation management system 10 is, for example, sensors such as a radar (TT; Target Tracking), an automatic identification system (AIS), a gyro (GYRO), and a ship speed rangefinder.
- the navigation management system 10 supplies results obtained from various sensors to the navigation support device 20 . Including ECDIS (Electronic Chart Display and Information System) and marine radar equipment.
- ECDIS Electronic Chart Display and Information System
- the navigation support device 20 may be a computer, or may be built into a radar or ECDIS as a module, or the output of the navigation support device 20 may be displayed on the radar or ECDIS. Also, the functions of the navigation support device 20 may be implemented by being installed and executed in a portable terminal device such as a smartphone or tablet as application software that implements the functions of the navigation support device 20 . Such a navigation support device 20 is mounted on a ship.
- the navigation support device 20 has a function of displaying a navigation obstruction zone (OZT: Obstacle Zone by Target) by the opponent ship by performing collision calculation based on the relationship between the own ship and the opponent ship. Collision calculation is performed based on various types of information (position, speed, direction of travel, etc.) of the own ship and the other ship and the safe cruising distance. It has a function to determine the navigation obstruction zone by performing collision calculations after considering the desired cruising distance in the bow or stern direction of the ship.
- OZT Obstacle Zone by Target
- the navigation support device 20 includes an input unit 210 , an output unit 220 , a calculation unit 230 and a storage unit 240 .
- the input unit 210 acquires various data. For example, the input unit 210 acquires results obtained from various sensors in the navigation management system 10 from the navigation management system 10 . Further, the input unit 210 acquires the degree of margin indicating the degree of margin. This margin indicates the degree of margin to be taken into consideration when performing collision calculations when determining a navigation obstruction zone that is different from the navigation obstruction zone based on the results of general collision calculations when displaying the navigation obstruction zone. . More specifically, when one's own ship passes another ship, if it passes near the navigation obstruction zone, it will come close to the other ship.
- the degree of margin can indicate the cruising distance set as the degree of margin.
- the degree may be a level, a ratio, or the cruising distance itself. When using the level, the cruising distance can be determined according to the level. When a ratio is used, it may indicate what percentage of the size of the space occupied by the other ship should be allowed.
- the input unit 210 acquires the margin according to the details of the operation performed on the operator provided in the navigation support device 20 .
- the manipulator may be, for example, any one of a dial, numeric keypad, touch panel, and the like. A navigator or a crew member can set an arbitrary margin by operating this operator as needed. Also, the input from the manipulator may be an operation input for designating a desired cruising distance instead of the margin.
- the input unit 210 can also acquire the margin (or desired transit distance) according to the angle of the other ship with respect to the own ship, which is determined based on the position of the own ship and the position of the other ship. This angle can be determined based on the positions of the own ship and the other ship obtained from the navigation management system 10 .
- the input unit 210 acquires the data indicating the positions of the own ship and the partner ship, the input unit 210 obtains the angle of the partner ship with respect to the own ship, and obtains the degree of margin by obtaining the degree of margin according to this angle.
- the margin is larger. That is, the degree of margin may be changed according to the angle at which the other ship sails with respect to the own ship.
- the navigator and the crew can have the margin automatically set according to the positions of the own ship and the other ship without operating the operator.
- the input unit 210 may acquire the margin corresponding to the ship type based on the ship type of the other ship obtained from the navigation management system 10 .
- the navigation management system 10 includes an AIS (Automatic Identification System)
- the ship type information indicating the ship type of the other ship is acquired from the AIS, and according to the ship type of the other ship may be used to acquire the margin for each other ship.
- the type of the other vessel indicates a small fishing boat or pleasure boat, the other vessel itself can easily take evasive action due to its ability to turn around in a small radius. do.
- the other ship is of a type such as a container ship that is difficult to avoid, a large margin is set for the other ship.
- Input unit 210 acquires the changed margin in response to the change in margin.
- the margin can be reacquired each time a predetermined period of time (for example, 1 second) elapses.
- Such an input unit 210 has a function as a margin acquisition unit.
- the output unit 220 outputs data to the display device. For example, when the navigation support device 20 is provided with a display device, the output unit 220 displays various data by outputting data to the display device. Further, the output unit 220 may output data to the electronic chart information display device or the marine radar device to display the data on the electronic chart information device or the marine radar device. For example, the output unit 220 may display the navigation obstruction zone obtained by the calculation unit 230 so as to be superimposed on the display area where the radar screen is displayed, or may be displayed in a display area adjacent to the radar screen. can be Further, the output unit 220 may switch the navigation obstruction zone between the non-display state and the display state according to an instruction input from the operator.
- the calculation unit 230 performs various calculations based on the data obtained from the input unit 210 and outputs the calculation results via the output unit 220 to display various data on the display device.
- the arithmetic unit 230 can be configured by a processing unit such as a CPU (Central Processing Unit) or a dedicated electronic circuit, for example.
- a processing unit such as a CPU (Central Processing Unit) or a dedicated electronic circuit, for example.
- the calculator 230 has a function as a collision calculator 231 .
- the collision calculation unit 231 performs collision calculation to determine whether or not the own ship and the other ship will collide based on various data obtained from the navigation management system 10, and obtains an obstruction zone (OZT).
- OZT obstruction zone
- the collision calculation unit 231 performs collision calculation based on the margin input from the input unit 210 .
- the collision calculation unit 231 separates at least either the bow or the stern of the other ship in the target occupied space by a distance (cruising distance) determined according to the margin. It has a function as a marginal position calculation unit that obtains a marginal position, which is a position.
- the target occupied space is a space set based on the safe cruising distance based on the position of the other ship. This target occupied space may be the range of the other ship (for example, a circle Sb described later) set with reference to the position of the other ship, or the range of the other ship and the bow of the other ship with respect to the range of the other ship.
- At least one adjacent position on the stern side may include an adjacent range (for example, a circle Sa and a circle Sc described later) set according to the range of the other ship. That is, the target occupied space E1 may include not only one small circle, but also two or three small circles. Also, two or more adjacent ranges may be set on the bow side of the other ship, or two or more on the stern side of the other ship. Such number may be determined, for example, according to the shape of the hull. Also, the size of each circle may be changed according to the shape of the hull. In this way, the target occupied space E1 may be changed according to the purpose and application.
- an adjacent range for example, a circle Sa and a circle Sc described later
- the collision calculation unit 231 obtains the collision course based on the position determined according to the motion vector of the other ship with the marginal position as a reference, and determines the navigation obstruction zone based on the obtained collision course. Calculate
- the collision calculation unit 231 When the changed margin is obtained from the input unit 210 in response to the change in the margin, the collision calculation unit 231 obtains the margin position corresponding to the changed margin and performs collision calculation. . Accordingly, the collision calculation unit 231 performs collision calculation according to the change in the margin, and displays the navigation obstruction zone.
- the storage unit 240 stores various data.
- the storage unit 240 stores a computer program for realizing the function of acquiring the margin in the input unit 210 and the function of the collision calculation unit 231, and the calculation unit 230 reads and executes the computer program. , the function of acquiring the margin in the input unit 210 and the function of the collision calculation unit 231 may be realized.
- the storage unit 240 includes a storage medium such as a HDD (Hard Disk Drive), a flash memory, an EEPROM (Electrically Erasable Programmable Read Only Memory), a RAM (Random Access read/write Memory), a ROM (Read Only Memory), or any of these memories. Consists of any combination of storage media.
- a non-volatile memory for example, can be used for this storage unit 240 .
- FIG. 2 is a diagram showing an example of the display screen 100 on which the navigation obstruction zone is displayed on the display device based on the data output from the output unit 220.
- own ship O, opponent ship T, navigation obstruction zone OZTs by the opponent ship, and navigation obstruction zone OZTm are displayed.
- a concentric scale with own ship O as the center is also displayed.
- the navigation obstruction zone OZTs and the navigation obstruction zone OZTm represent ranges in which there is a risk of collision between own ship O and opponent ship T.
- the navigation obstruction zone OZTs is a navigation obstruction zone obtained by performing a collision calculation based on a general calculation method, and the navigation obstruction zone OZTm is calculated in consideration of the margin as shown in the present embodiment. is the navigation obstruction zone obtained by performing Although the details will be described later, the navigation obstruction zone OZTm is a navigation obstruction zone calculated so as to provide a desired cruising distance on the bow side of the other ship. Regarding the navigation obstruction zone OZTs and the navigation obstruction zone OZTm, if the course of own ship O is within the range indicated by the navigation obstruction zone, it is assumed that the other ship will be within a safe passage distance based on own ship in the future. indicate to enter. The safe passage distance is a distance that is determined according to the distance that can safely pass the closest distance of the other ship.
- one end (symbol Eda) of each of the navigation jamming zone OZTs and the navigation jamming zone OZTm is at the same position, but the other end of the navigation jamming zone OZTs is at the same position.
- (marked Eds) and the other end of the navigation jamming zone OZTm (marked Edm) are at different positions.
- one end of the navigation obstruction zone OZTs and the navigation obstruction zone OZTm indicates the end of the navigation obstruction zone on the stern side of the other ship, and the other end of the navigation obstruction zone OZTs (symbol Eds).
- the other end (symbol Edm) of the navigation obstruction zone OZTm indicates the end of the navigation obstruction zone on the bow side of the other ship.
- one end (symbol Eda) of each of the navigation obstruction zone OZTs and the navigation obstruction zone OZTm is at the same position, and the navigation obstruction zone OZTs is at the same position.
- the other end (labeled Eds) and the other end (labeled Edm) of the navigation jamming zone OZTm are determined as different positions.
- the other end of the navigation obstruction zone OZTm (symbol Edm) is located closer to the ship than the other end of the navigation obstruction zone OZTs (symbol Eds). Furthermore, comparing the length of each line segment of the navigation obstruction zone OZTs and the navigation obstruction zone OZTm, the navigation obstruction zone OZTm is longer than the navigation obstruction zone OZTs. As described above, in the present embodiment, the navigation obstruction zone is determined and displayed on the display screen in consideration of the margin, so that the navigation obstruction zone different from the navigation obstruction zone obtained according to the general method can be displayed. can be done.
- the navigation obstruction zone OZTs and the navigation obstruction zone OZTm can be displayed without displaying the navigation obstruction zone OZTs.
- the navigation obstruction zone OZTs and the navigation obstruction zone OZTm may be displayed in different display modes.
- the line segments or end points of the navigation obstruction zone may have different colors and shapes, or may have different shapes of figures.
- the navigation obstruction zone along with character strings and symbols that can be understood whether the navigation obstruction zone was determined without consideration of the margin or the navigation obstruction zone was determined with consideration of the margin. You may make it display.
- FIG. 3 is a flowchart for explaining the operation of the navigation support device 20.
- FIG. 4 is a diagram for explaining the space occupied by the own ship and the space occupied by the other ship.
- the input unit 210 of the navigation support device 20 acquires various data from the navigation management system 10 (step S101).
- the data acquired here are, for example, the speed of the own ship PO, the speed of the other ship (the other ship PT), the position of the own ship PO, the position of the other ship PT, the course of the own ship PO, the course of the other ship PT, Includes safe flight distance.
- the collision calculator 231 sets the own ship occupied space DO and the opponent ship occupied space DT based on various data obtained from the navigation management system 10 (step S102).
- the own ship occupied space DO is a space that is regarded as the area of the own ship.
- the space DT occupied by the other ship is a space regarded as the area of the other ship. That is, the state in which the two occupied spaces of the own ship occupied space DO and the other ship occupied space DT are in contact indicates a state in which the own ship and the other ship are in contact.
- the space DT occupied by the other ship is the range of the other ship (circle Sb) that is set based on the position of the other ship, and the range of the other ship (circle Sb) that is at least either the bow side or the stern side of the other ship.
- the adjacent position includes an adjacent range set according to the range of the other ship.
- a circle Sa is set as the adjoining range on the bow side of the circle Sb, which is the range of the other ship
- a circle Sc is set as the adjoining range on the stern side of the circle Sb.
- the adjacent range (circle Sa, circle Sc) is arranged adjacent to the counterpart ship range (circle Sb) in the direction along the course of the counterpart ship.
- the radii of these circles Sa, Sb and Sc are the same.
- the other ship's overall length LT is the sum of the diameters of three circles (circle Sa, circle Sb, and circle Sc).
- At least one adjacent position includes an adjacent range set according to the own ship range.
- a circle Sd is set as an adjacent range on the bow side of the circle Se, which is the range of the own ship
- a circle Sf is set as an adjacent range on the stern side of the circle Se.
- the adjacent range (circle Sd, circle Sf) is arranged adjacent to the own ship range (circle Se) in the direction along the course of the own ship.
- These circles Sd, Se, and Sf have the same radius.
- Own ship total length LO is the total diameter of three circles (circle Sd, circle Se, and circle Sf).
- the radius of the other ship's range can be set according to the size of the hull of the other ship and the safe passage distance. can be set.
- the collision course CO can be determined as the own ship course where the own ship occupied space DO and the opponent ship occupied space DT come into contact with each other.
- the collision calculator 231 obtains the collision course CO (step S103).
- 5 and 6 are diagrams for explaining part of the calculation process for obtaining the collision course CO.
- FIG. In this step, the collision calculator 231 first obtains the target occupied space E1.
- the target occupied space E1 is formed by arranging three circles (here, circle Sa, circle Sb, and circle Sc) centered on the other ship position PT and having a radius equal to the target occupied distance LG so as to match the course of the other ship. It is an area that circumscribes and surrounds three circles.
- the target occupied space E1 is the same as the other ship occupied space DT described above, but the target occupied space distance LG (the radius of the circle Sb in the other ship occupied space DT) is half the own ship length LO and the other ship total length. It is set to a distance of 1/3 or more of the total distance of half the length of LT.
- This target inter-occupancy distance LG can be expressed by the following formula (1). LG ⁇ ((LO/2)+(LT/2))/3 (1)
- the collision calculator 231 obtains a tangent line POA (FIG. 5) that contacts the target occupied space E1 at the contact point A and a tangent line POB (FIG. 6) that contacts the target occupied space E1 at the contact point B, from the own ship position PO. .
- the tangential line POA is the minimum tangential azimuth from the position of own ship PO to the target occupied space E1
- the tangent line POB is the maximum tangential azimuth from the position of own ship PO to the target occupied space E1.
- the contact point A is arranged in the course direction (bow side) of the counterpart ship PT
- the contact point B is arranged on the opposite side (stern side) of the course of the counterpart ship PT.
- the collision calculation unit 231 obtains the end point C determined by drawing the motion vector UT of the other ship with the point of contact A as the tip (Fig. 5), and the motion vector UT of the other ship with the point of contact B as the tip. Find the end point D determined by drawing (FIG. 6).
- the motion vector UT of the other ship is a vector whose magnitude is the speed of the other ship VT and whose direction is the course of the other ship CT.
- the collision calculator 231 obtains a circle C1 centered at the end point C and having a radius equal to the own ship speed VO, and obtains an intersection point E between the circle C1 and the tangent line POA (FIG. 5). Further, the collision calculation unit 231 obtains a circle C2 centered at the end point D and having a radius of the own ship speed VO, and obtains F as an intersection point between the circle C2 and the tangent line POB (FIG. 6).
- the collision calculator 231 obtains a collision course in which the own ship PO collides with the opponent ship PT.
- the collision calculator 231 obtains the direction of a line segment EC connecting the intersection point E and the endpoint C as the collision course CO1, and obtains the direction of the line segment FD connecting the intersection point F and the endpoint D as the collision course CO2.
- the collision course CO can be obtained based on the following formula (2).
- This formula (2) is expressed including sin-1. Since two solutions are obtained for sin-1, two collision courses are obtained for one tangent. In other words, there are a total of two tangent lines, the minimum tangent line POA and the maximum tangent line POB, and two solutions can be obtained from sin-1 for each, so a total of four collision courses can be obtained. Based on the obtained four collision courses and a predetermined conditional expression based on TCPA (time of closest approach), the number of collision courses is 0, 2 or 4. If there are 0 collision courses, no obstruction zone is plotted. If there are two collision courses, one navigation obstruction zone is obtained. When there are four collision courses, two navigation obstruction zones are obtained. Here, a case where there are two collision courses (collision course CO1, collision course CO2) and one navigation obstruction zone is determined will be described.
- the collision calculator 231 determines the navigation obstruction zone (step S104).
- FIG. 7 is a diagram for explaining the process of finding the navigation obstruction zone.
- the collision calculator 231 obtains a straight line in the direction of the collision course CO1 with the own ship position PO as a base point, obtains a straight line in the direction of the other ship's course CT with the point of contact A as a base point, and obtains the intersection of these two straight lines. as the intersection point G.
- the collision calculation unit 231 obtains a straight line in the direction of the collision course CO2 using the own ship position PO as a base point, obtains a straight line in the direction of the opponent ship's course CT using the point of contact B as a base point, and obtains the intersection point H of these two straight lines. .
- the collision calculator 231 obtains a straight line connecting the obtained intersection points G and H as a navigation obstruction zone. If the own ship PO navigates through this navigation obstruction zone, it will pass through the target occupied space E1 and collide with the opponent ship PT.
- the navigation obstruction zone obtained based on the above-described steps S103 and S104 is a navigation obstruction zone that is generally obtained.
- the collision calculation method has a part in common with steps S103 to S104 described above. A description of the common parts will be omitted, and the different parts will be mainly described.
- finding a navigation obstruction zone that considers a margin find a collision course with a desired traversing distance on the bow side of the other ship PT, and then find a navigation obstruction zone from the results. At least one of obtaining a collision course with a desired cruising distance and obtaining a navigation obstruction zone from the result is sufficient.
- a collision course having a desired cruising distance on the bow side of the other ship PT is obtained, and a navigation obstruction zone is obtained from the result.
- the input unit 210 acquires the margin (step S105).
- the margin is acquired based on the details of the operation performed by the manipulator. For example, when a certain margin is set by turning an operator such as a dial, the input unit 210 acquires the set margin.
- the collision calculation unit 231 obtains the distance corresponding to the margin as the margin distance (step S106). For example, if a certain margin is specified, the margin distance is determined as 1 mile. It should be noted that when an operation content that reduces the margin is input, the collision calculation unit 231 sets the margin distance to the distance set as the margin, such as 0.8 miles, 0.6 miles, etc., according to the content of the operation. is shortened and the margin is increased, the distance set as the margin is increased, such as 1.2 miles, 1.4 miles, etc., according to the operation.
- FIG. 8 and FIG. 9 are diagrams for explaining the processing when obtaining the navigation obstruction zone considering the margin.
- the collision calculator 231 obtains a point Ei on a straight line passing through the opponent ship PT and the center of the circle Sa in the circle Sa of the target occupied space E1 and on the outer peripheral side of the target occupied space E1. Then, the collision calculator 231 obtains a point I that is separated from the point Ei in the course direction (bow side) of the other ship PT (step S107).
- BOW represents the desired cruising distance (margin distance).
- the collision calculation unit 231 obtains the end point J determined by drawing the motion vector UT of the other ship with the point I as the tip (step S108). A certain circle C3 is obtained (step S109). The collision calculator 231 obtains a straight line POI from the own ship PO to the point I, and obtains K as the intersection of the circle C3 and the straight line POI (step S110). Then, the collision calculation unit 231 determines the direction of the line segment KJ connecting the intersection point K and the end point J as a collision course, which is a collision course in which the own ship PO has a transit distance of BOW in the bow direction of the opponent ship PT to avoid collision. It is obtained as CO3 (step S111).
- FIG. 9 is a diagram for explaining the process of determining the navigation obstruction zone considering the margin.
- the collision calculation unit 231 obtains a straight line in the direction of the collision course CO3 using the own ship position PO as a base point, obtains a straight line in the direction of the opponent ship's course CT using the point I as a base point, and obtains an intersection point L of these two straight lines.
- the collision calculation unit 231 calculates a navigation obstruction zone OZTm having a desired traversing distance (margin) on the bow side by obtaining a straight line connecting the intersection point H and the intersection point L.
- the collision calculator 231 outputs the navigation obstruction zone from the output unit 220 and displays it on the screen (step S113).
- the above-described processing may be repeatedly executed at regular time intervals (for example, at intervals of one second) to update and display the navigation obstruction zone displayed on the display screen.
- the above process may be executed at the timing when the margin input from the input unit 210 is changed.
- the case where the navigation obstruction zone OZTs is obtained by executing steps S103 and S104 has been described, but the navigation obstruction zone OZTm is obtained without executing steps S103 and S104. good too.
- each navigation obstruction zone will be displayed more than usual. It will be displayed as a long line segment. If so, it may become difficult to take a course to avoid the navigation obstruction zone. In such a case, by operating the control to lower the margin, the length of the line segment of each navigation obstruction zone will be shortened according to the reduction in the margin, so the avoidance course will be adjusted. can be made easier to obtain.
- FIG. 10 shows a navigation obstruction zone having a desired passage distance on the bow side of the other ship PT and a navigation obstruction zone having a desired passage distance on the stern side of the opponent ship PT.
- FIG. 10 is a diagram for explaining a display screen when This figure shows a case where the other ship PT is sailing from the right side to the left side of the own ship PO.
- the collision calculation unit 231 sets the target occupied space E1 for the other ship PT according to the same procedure as the collision calculation described above, and obtains the general navigation obstruction zone OZTs without considering the margin.
- the collision calculation unit 231 uses a point on the bow side of the target occupied space E1 from the own ship PO as a reference point, and points a position separated by BOW (desired cruising distance) in the course direction (bow side) of the other ship PT. Obtained as TL1. Then, the collision calculator 231 obtains an intersection point RL1 between the collision course CCL1 obtained from this point TL1 and the opponent ship's course CT line from the point TL1. Further, the collision calculation unit 231 obtains a point TR that touches the stern side of the occupied space E1 from the own ship PO, and calculates a line segment that connects one end point RR of the navigation obstruction zone OZTs obtained from this point TR and the intersection point RL1. , as a navigation obstruction zone OZTmb having a desired transit distance on the bow side of the other ship PT.
- the collision calculation unit 231 uses a point on the stern side of the target occupied space E1 from the own ship PO as a base point, and separates it by STERN (desired cruising distance) on the opposite side (stern side) of the course direction of the other ship PT.
- a point TR1 is obtained as the position where the Then, the collision calculator 231 obtains an intersection point RR1 between the collision course CCR1 obtained from the point TR1 and the opponent ship's course CT line from the point TR1.
- the collision calculation unit 231 obtains a point TL that contacts the bow side of the occupied space E1 from the own ship PO, and a line segment that connects the other end point RL of the navigation obstruction zone OZTs obtained from this point TL and the intersection point RR1. , as a navigation obstruction zone OZTms having a desired transit distance on the stern side of the other ship PT.
- a navigation obstruction zone having a desired cruising distance on the stern side can be obtained and displayed on the display screen.
- three navigational obstruction zones OZTs which are generally required, an obstruction zone OZTmb with a desired navigation distance on the bow side, and an obstruction zone OZTms with a desired navigation distance on the stern side.
- any one of them may be selected and displayed.
- the navigation obstruction zone OZTs, the navigation obstruction zone OZTmb, and the navigation obstruction zone OZTms may be displayed in different display modes.
- the navigation obstruction zone OZTmb and the navigation obstruction zone OZTms may be determined using the same margin, or may be determined using different margins. Generally, it is preferable to pay more attention to the bow side of the other ship than to the stern side of the other ship.
- a point separated from the target occupied space E1 of the other ship PT by a desired cruising distance is obtained, and then a navigation obstruction zone is obtained in consideration of a margin.
- the degree of margin (how much margin It is possible to display the navigation obstruction zone considering the cruising distance according to the desire to have For this reason, for example, if a one-mile margin is designated and input from the input unit 210, even if the navigation is made to pass near the end of the navigation obstruction zone displayed on the screen, the It is possible to navigate on a course with a mile margin. Also, in this case, it is possible to take a course while recognizing that the cruising distance is one mile.
- the navigation support device 20 in the above-described embodiment may be realized by a computer.
- a program for realizing these functions may be recorded in a computer-readable recording medium, and the program recorded in this recording medium may be read into a computer system and executed.
- the "computer system” referred to here includes hardware such as an OS and peripheral devices.
- the term "computer-readable recording medium” refers to portable media such as flexible discs, magneto-optical discs, ROMs and CDROMs, and storage devices such as hard discs incorporated in computer systems.
- “computer-readable recording medium” means a medium that dynamically retains a program for a short period of time, like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. It may also include something that holds the program for a certain period of time, such as a volatile memory inside a computer system that serves as a server or client in that case. Further, the program may be for realizing a part of the functions described above, or may be capable of realizing the functions described above in combination with a program already recorded in the computer system. It may be implemented using a programmable logic device such as an FPGA (Field Programmable Gate Array).
- FPGA Field Programmable Gate Array
- PO Own ship
- PT Other ship
- 10 Navigation management system
- 20 Navigation support device
- 210 Input unit
- 220 Output unit
- 230 Calculation unit
- 231 Collision calculation unit
- 240 Storage unit
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Abstract
Description
このようなシステムでは、航行者は、航行妨害ゾーンが表示された場合に、注意すべき範囲を具体的に把握することができる。また、航行者は、表示された航行妨害ゾーンを避けて操船すれば、相手の船舶とは衝突せずに航行することが可能である。
図1は、この発明の一実施形態による航行支援装置が用いられたシステムの構成を示す概略ブロック図である。
航行管理システム10と航行支援装置20は、通信可能に接続される。
航行管理システム10は、例えば、レーダ(TT;Target Tracking)、船舶自動識別装置(AIS;Automatic Identification System)、ジャイロ(GYRO)、船速距離計等のセンサーである。航行管理システム10は、各種センサーから得られた結果を航行支援装置20に供給する。電子海図情報表示装置(ECDIS:Electronic Chart Display and Information System)や、船舶用レーダ装置等を含む。
にしてもよい。
また、航行支援装置20の機能を実現するアプリケーションソフトウェアとしてスマートフォンやタブレット等の携帯可能な端末装置にインストールされ実行されることで、航行支援装置20の機能を実現してもよい。このような航行支援装置20は、船舶に搭載される。
衝突計算は、自船と相手船の各種情報(位置、速力、進行方向等)と安全航過距離とに基づいて衝突計算を行うが、この実施形態においては、これらのデータの他に、相手船の船首方向または船尾方向に希望する航過距離を考慮した上で衝突計算を行い、航行妨害ゾーンを求める機能を有する。
入力部210は、各種データを取得する。例えば、入力部210は、航行管理システム10から、当該航行管理システム10における各種センサーから得られた結果を取得する。
また、入力部210は、余裕の度合いを示す余裕度を取得する。この余裕度は、航行妨害ゾーンを表示するにあたり、一般的な衝突計算を行った結果に基づく航行妨害ゾーンとは異なる航行妨害ゾーンを求めるにあたり、衝突計算を行う上で考慮する余裕の度合いを表す。より具体的に、自船が相手船に対して航過する場合、航行妨害ゾーンの近傍を航過すると、相手船と接近することになるが、相手船の船首方向または船尾方向において、ある航過距離を余裕として持つようにした航行妨害ゾーンを求める。余裕度は、余裕として設定される航過距離を度合いによって示すことができる。度合いとしては、レベルであってもよいし、割合であってもよいし、航過距離そのものであってもよい。レベルを用いる場合、レベルに応じて、航過距離を決めることができる。割合を用いる場合、相手船の占有空間の大きさに対して何%の余裕を持たせるかを示すものであってもよい。
このような入力部210は、余裕度取得部としての機能を有する。
例えば、出力部220は、演算部230によって求められた航行妨害ゾーンを、レーダ画面が表示される表示領域に重ねて表示させるようにしてもよいし、レーダ画面に隣接する表示領域に表示させるようにしてもよい。また、出力部220は、航行妨害ゾーンを、操作子から入力される指示に応じて、非表示状態または表示状態のいずれかの状態とするように切り替えるようにしてもよい。
演算部230は、例えばCPU(中央処理装置)等の処理装置または専用の電子回路によって構成することができる。
衝突計算部231は、航行管理システム10から得られる各種データに基づいて、自船と相手船が衝突するか否かを求める衝突計算を行い、航行妨害ゾーン(OZT)を求める。衝突計算を行うにあたり、OZTを求める手法がいくつかあるが、本実施形態においては、「線分OZT」と呼ばれる手法に基づいてOZTを算出する場合について説明する。
すなわち、目標占有空間E1は、小円1つだけでなく小円が2つ、あるいは小円が3つであってもよい。また、隣接範囲は、相手船の船首側に2つ以上設定されてもよいし、相手船の船尾側に2つ以上設定されてもよい。このような個数は、例えば、船体の形状に合わせて個数を決めてよい。また、船体の形状に応じて、各円のサイズを変更するようにしてもよい。このように、目標占有空間E1は、目的や用途に応じて変更するようにしてもよい。
これにより、衝突計算部231は、余裕度が変更されたことに応じて衝突計算を行い、航行妨害ゾーンを表示させる。
記憶部240は、記憶媒体、例えば、HDD(Hard Disk Drive)、フラッシュメモリ、EEPROM(Electrically Erasable Programmable Read Only Memory)、RAM(Random Access read/write Memory)、ROM(Read Only Memory)、またはこれらの記憶媒体の任意の組み合わせによって構成される。
この記憶部240は、例えば、不揮発性メモリを用いることができる。
表示画面100には、自船Oと、相手船Tと、相手船による航行妨害ゾーンOZTsと、航行妨害ゾーンOZTmとが表示されている。また、自船Oを中心として同心円状の目盛りも表示されている。
航行妨害ゾーンOZTsと、航行妨害ゾーンOZTmは、自船Oと相手船Tと衝突の危険性がある範囲を表す。
航行妨害ゾーンOZTsは、一般的な演算方法に基づいて衝突計算を行うことで求められた航行妨害ゾーンであり、航行妨害ゾーンOZTmは、本実施形態に示すように余裕度を考慮して衝突計算を行うことで求められた航行妨害ゾーンである。
詳細は後述するが、航行妨害ゾーンOZTmは、相手船の船首側に、希望する航過距離を持たせるようにして計算された場合の航行妨害ゾーンである。
航行妨害ゾーンOZTs、航行妨害ゾーンOZTmについては、いずれも、航行妨害ゾーンが示す範囲に自船Oの針路が入る場合には、将来において、自船を基準とした安全航過距離に相手船が入ることを示す。安全航過距離は、相手船の最接近距離を安全に航過することができる距離に応じて定められる距離である。
ここで、航行妨害ゾーンOZTsと航行妨害ゾーンOZTmとのそれぞれの一端(符号Eda)は、相手船の船尾側における航行妨害ゾーンの端部を示し、航行妨害ゾーンOZTsの他端(符号Eds)と航行妨害ゾーンOZTmの他端(符号Edm)は、それぞれ、相手船の船首側における航行妨害ゾーンの端部を示す。この例では、相手船の船首側に希望する航過距離を持たせるようにしたため、航行妨害ゾーンOZTsと航行妨害ゾーンOZTmとのそれぞれの一端(符号Eda)は同じ位置となり、航行妨害ゾーンOZTsの他端(符号Eds)と航行妨害ゾーンOZTmの他端(符号Edm)は、異なる位置として求められている。
また、航行妨害ゾーンOZTsの他端(符号Eds)よりも航行妨害ゾーンOZTmの他端(符号Edm)の方が自船に近い位置に配置されている。さらに、また、航行妨害ゾーンOZTsと航行妨害ゾーンOZTmとのそれぞれの線分の長さを比較すると、航行妨害ゾーンOZTsよりも航行妨害ゾーンOZTmの方が長い。
このように、本実施形態においては、余裕度を考慮した航行妨害ゾーンを求め表示画面に表示することで、一般的な手法に従って求めた場合の航行妨害ゾーンとは異なる航行妨害ゾーンを表示することができる。
航行支援装置20の入力部210は、航行管理システム10から、各種データを取得する(ステップS101)。ここで取得されるデータは、例えば、自船POの速力、相手船(相手船PT)の速力、自船POの位置、相手船PTの位置、自船POの針路、相手船PTの針路、安全航過距離を含む。
ここで、自船占有空間DOは自船の領域とみなす空間である。相手船占有空間DTは相手船の領域とみなす空間である。即ち、自船占有空間DOと相手船占有空間DTとの2つの占有空間が接触した状態は、自船と相手船が接触した状態を示す。
相手船占有空間DTは、相手船の位置を基準として設定される相手船範囲(円Sb)と、相手船範囲(円Sb)に対して相手船の船首側または船尾側の少なくともいずれか一方の隣接する位置に、相手船範囲に応じて設定される隣接範囲とを含む。ここでは、相手船範囲である円Sbの船首側に円Saが隣接範囲として設定され、円Sbの船尾側に円Scが隣接範囲として設定されることで、相手船占有空間DTは、3つの円を含む領域として設定される。また、隣接範囲(円Sa、円Sc)は、相手船範囲(円Sb)に対して、相手船の針路に沿う方向に隣接して配置される。これらの円Sa、円Sb、円Scの半径は同じである。
相手船全長LTは、3つの円(円Sa、円Sb、円Sc)の直径の合計である。
自船全長LOは、3つの円(円Sd、円Se、円Sf)の直径の合計である。
衝突針路COは、自船占有空間DOと相手船占有空間DTが接触する自船針路として求めることができる。
図5、図6は、衝突針路COを求める計算過程の一部を説明する図である。
このステップにおいて衝突計算部231は、まず目標占有空間E1を求める。
目標占有空間E1は、相手船位置PTを中心として目標占有間距離LGを半径とする3つの円(ここでは円Sa、円Sb、円Sc)が、相手船針路に合わせるように並べられ、これら3つの円を外接するようにして取り囲む領域である。
目標占有空間E1は、上述した相手船占有空間DTと同様であるが、目標占有間距離LG(相手船占有空間DTにおける円Sbの半径)が、自船全長LOの半分の長さと相手船全長LTの半分の長さとを合計した距離の3分の1の距離以上に設定される。この目標占有間距離LGは、下記の式(1)のように示すことができる。
LG≧((LO/2)+(LT/2))/3 ・・・(1)
このようにして目標占有間距離LGが設定されることにより、自船占有空間DOの領域について目標占有空間E1の方に含めて設定することができ、自船POを点として考えることができる。
また、衝突計算部231は、端点Dを中心として、半径が自船速力VOとなる円C2を求め、円C2と接線POBとの交点をFとして求める(図6)。
ここで、衝突針路COは、下記の式(2)に基づいて求めることができる。
求められた4つの衝突針路と、TCPA(最接近時間)に基づく所定の条件式とに基づいて、衝突針路が0個、2個、4個のいずれかとなる。
衝突針路が0個の場合には、航行妨害ゾーンは作図されない。衝突針路が2個の場合には、航行妨害ゾーンは、1つ求まる。衝突針路が4個の場合には、航行妨害ゾーンは、2つ求まる。ここでは、衝突針路が2個(衝突針路CO1、衝突針路CO2)であり、航行妨害ゾーンが、1つ求められた場合について説明する。
衝突計算部231は、求められた交点Gと交点Hを結んだ直線を航行妨害ゾーンとして求める。自船POがこの航行妨害ゾーンの中を航走すると、目標占有空間E1の中を通ることになり、相手船PTと衝突することを示す。
次に、余裕を考慮した航行妨害ゾーンを求める場合の処理を説明する。この場合、衝突計算の仕方は、上述したステップS103からステップS104と共通する部分がある。その共通する部分については説明を省略し、相違する部分について主に説明する。また、余裕を考慮した航行妨害ゾーンを求める場合、相手船PTの船首側に希望する航過距離を持つ衝突針路を求め、その結果から航行妨害ゾーンを求める場合と、相手船PTの船尾側に希望する航過距離を持つ衝突針路を求め、その結果から航行妨害ゾーンを求める場合との少なくともいずれか一方であればよい。ここでは、相手船PTの船首側に希望する航過距離を持つ衝突針路を求め、その結果から航行妨害ゾーンを求める場合について説明する。
衝突計算部231は、目標占有空間E1の円Saのうち、相手船PTと円Saの中心を通る直線上であって、目標占有空間E1の外周側にある点Eiを求める。そして衝突計算部231は、この点Eiを基点として相手船PTの針路方向(船首側)にBOW離した位置を点Iとして求める(ステップS107)。ここでBOWは、希望する航過距離(余裕距離)を表す。
衝突計算部231は、自船POから点Iに対する直線POIを求め、円C3と直線POIとの交点をKとして求める(ステップS110)。
そして衝突計算部231は、交点Kから端点Jを結ぶ線分KJの方向を、自船POが相手船PTの船首方向にBOWの航過距離を持って衝突を回避する衝突針路である衝突針路CO3として求める(ステップS111)。
衝突計算部231は、自船位置POを基点として衝突針路CO3方向の直線を求め、点Iを基点として相手船針路CT方向の直線を求め、これら2つの直線の交点を交点Lとして求める。
衝突計算部231は、交点Hと交点Lを結んだ直線を求めることで、船首側に希望する航過距離(余裕)を持つ航行妨害ゾーンOZTmを算出する。
ここでは、余裕を考慮せずに得られる航行妨害ゾーンOZTsの一方の一端と航行妨害ゾーンOZTmの一端は、交点Hについて重なるが、航行妨害ゾーンOZTsの他端と航行妨害ゾーンOZTmの一方の他端は、それぞれ異なる位置にある。
衝突計算部231は、航行妨害ゾーンが求まると、航行妨害ゾーンを出力部220から出力し、画面上に表示させる(ステップS113)。
上述した処理において、ステップS103とステップS104とを実行することによって、航行妨害ゾーンOZTsを求める場合について説明したが、このステップS103とステップS104を実行することなく、航行妨害ゾーンOZTmを求めようにしてもよい。
相手船が複数ある場合、ある程度の余裕度をもって航行妨害ゾーンを表示した場合には、複数の航行妨害ゾーンが存在し、かつ、余裕度が考慮されているためそれぞれの航行妨害ゾーンが通常よりも長い線分で表示されることになる。そうすると、航行妨害ゾーンを回避するように避航する針路がとりにくくなる場合がある。このような場合には、余裕度を下げるように操作子を操作することで、各航行妨害ゾーンの線分の長さが、余裕度を下げたことに応じて短くなるため、避航する針路を取りやすくすることができる。
この図では、自船POに対し、相手船PTが右側方から左側方に向かうようにして航行している場合が図示されている。
衝突計算部231は、上述した衝突計算と同様の手順に従い、相手船PTに対して目標占有空間E1が設定され、余裕を考慮せずに一般的な従い航行妨害ゾーンOZTsが求められる。
また、衝突計算部231は、自船POから目標占有空間E1の船首側の点を基点として、相手船PTの針路方向(船首側)にBOW(希望する航過距離)だけ離した位置を点TL1として求める。そして、衝突計算部231は、この点TL1から求めた衝突針路CCL1と、点TL1から相手船針路CT線との交点RL1を求める。また、衝突計算部231は、自船POから占有空間E1の船尾側に接する点TRを求め、この点TRから求めた航行妨害ゾーンOZTsの一方の端点RRと、交点RL1とを結ぶ線分を、相手船PTの船首側に希望する航過距離をもつ航行妨害ゾーンOZTmbとして求める。
ここでは、一般的に求められた航行妨害ゾーンOZTsと、船首側に希望する航過距離をもつ航行妨害ゾーンOZTmbと、船尾側に希望する航過距離をもつ航行妨害ゾーンOZTmsとの3つの航行妨害ゾーンを表示画面上に表示させる場合について説明したが、いずれか1つを選択して表示させるようにしてもよい。また、航行妨害ゾーンOZTsと、航行妨害ゾーンOZTmbと、航行妨害ゾーンOZTmsとをそれぞれ異なる表示態様で表示するようにしてもよい。
本実施形態では、余裕度を取得し、その余裕度に応じて、相手船占有空間から希望する航過距離を設定した上で衝突計算を行うようにしたので、余裕の度合い(どの程度の余裕を持たせるかの希望に応じた航過距離)を考慮した航行妨害ゾーンを表示することができる。そのため、例えば、入力部210から1マイル分の余裕を持たせることを指定入力した場合には、画面上に表示された航行妨害ゾーンの端部の近傍を航過するようにしたとしても、1マイル分の余裕を確保した針路を航行することができる。また、この場合、余裕を持たせた航過距離が1マイルであることを認識して針路をとることができる。
Claims (7)
- 自船と相手船との関係から航行妨害ゾーンを求める航行支援装置であって、
余裕の度合いを示す余裕度を取得する余裕度取得部と、
相手船の位置を基準として設定される目標占有空間における当該相手船の船首または船尾のうち少なくともいずれかの位置から前記余裕度に応じて定まる距離だけ離れた位置である余裕位置を求め、前記余裕位置を基準として前記相手船の運動ベクトルに応じて決定される位置に基づいて、衝突針路を求め、求められた衝突針路に基づいて航行妨害ゾーンを算出する演算部と、
を有する航行支援装置。 - 前記余裕度取得部は、操作子に対して操作された操作内容に応じた余裕度を取得する
請求項1に記載の航行支援装置。 - 前記余裕度取得部は、前記自船の位置と前記相手船の位置とに基づいて定まる前記自船に対する前記相手船の角度に応じた余裕度を取得する
請求項1または請求項2に記載の航行支援装置。 - 前記目標占有空間は、前記相手船の位置を基準として設定される相手船範囲と、前記相手船範囲に対して前記相手船の船首側または船尾側の少なくともいずれか一方の隣接する位置に、前記相手船範囲に応じて設定される隣接範囲と、を含む
請求項1から請求項3のうちいずれか1項に記載の航行支援装置。 - 前記余裕度取得部は、前記余裕度が変更されることに応じて、変更された後の余裕度を取得し、
前記演算部は、前記変更された後の余裕度に応じた余裕位置を求め、前記変更された後の余裕度に応じた余裕位置に基づいて航行妨害ゾーンを算出する
請求項1から請求項4のいずれか1項に記載の航行支援装置。 - コンピュータにより実行される航行支援方法であって、
自船と相手船との関係から航行妨害ゾーンを求める航行支援方法であって、
余裕度取得部が、余裕の度合いを示す余裕度を取得し、
演算部が、相手船の位置を基準として設定される目標占有空間における当該相手船の船首または船尾のうち少なくともいずれかの位置から前記余裕度に応じて定まる距離だけ離れた位置である余裕位置を求め、前記余裕位置を基準として前記相手船の運動ベクトルに応じて決定される位置に基づいて、衝突針路を求め、求められた衝突針路に基づいて航行妨害ゾーンを算出する
航行支援方法。 - 余裕の度合いを示す余裕度を取得し、
相手船の位置を基準として設定される目標占有空間における当該相手船の船首または船尾のうち少なくともいずれかの位置から前記余裕度に応じて定まる距離だけ離れた位置である余裕位置を求め、前記余裕位置を基準として前記相手船の運動ベクトルに応じて決定される位置に基づいて、衝突針路を求め、求められた衝突針路に基づいて航行妨害ゾーンを算出する
ことをコンピュータに実行させるプログラム。
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JPH07129872A (ja) * | 1993-11-01 | 1995-05-19 | Unyusho Senpaku Gijutsu Kenkyusho | 船舶衝突予防航行支援装置 |
WO2018193596A1 (ja) * | 2017-04-20 | 2018-10-25 | 富士通株式会社 | 衝突リスク算出プログラム、衝突リスク算出方法および衝突リスク算出装置 |
JP2019166865A (ja) * | 2018-03-22 | 2019-10-03 | 東京計器株式会社 | 船舶用航行支援装置 |
JP2020095333A (ja) | 2018-12-10 | 2020-06-18 | 国立研究開発法人 海上・港湾・航空技術研究所 | 妨害ゾーン判断方法、移動体用システム及び妨害ゾーン表示方法 |
JP2021018484A (ja) * | 2019-07-17 | 2021-02-15 | 国立研究開発法人 海上・港湾・航空技術研究所 | 周辺状態表現方法、避航動作学習プログラム、避航動作学習システム、及び船舶 |
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JPH07129872A (ja) * | 1993-11-01 | 1995-05-19 | Unyusho Senpaku Gijutsu Kenkyusho | 船舶衝突予防航行支援装置 |
WO2018193596A1 (ja) * | 2017-04-20 | 2018-10-25 | 富士通株式会社 | 衝突リスク算出プログラム、衝突リスク算出方法および衝突リスク算出装置 |
JP2019166865A (ja) * | 2018-03-22 | 2019-10-03 | 東京計器株式会社 | 船舶用航行支援装置 |
JP2020095333A (ja) | 2018-12-10 | 2020-06-18 | 国立研究開発法人 海上・港湾・航空技術研究所 | 妨害ゾーン判断方法、移動体用システム及び妨害ゾーン表示方法 |
JP2021018484A (ja) * | 2019-07-17 | 2021-02-15 | 国立研究開発法人 海上・港湾・航空技術研究所 | 周辺状態表現方法、避航動作学習プログラム、避航動作学習システム、及び船舶 |
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