基于安全等级的动态船舶安全领域模型研究

Research on Dynamic Ship Safety Domain Model Based on Safety Level

船舶安全领域模型是智能船舶避碰决策的关键环节,针对传统船舶安全领域模型在碰撞风险系数定量计算方面存在的局限性,以及在不同会遇态势下采取相同的静态模型,且未考虑多船同时会遇本船时模型变化的情况,提出一种考虑两种安全等级的动态船舶安全领域模型。结合船舶几何形状,综合考虑了会遇过程中目标船和本船的船速比、相对方位、两船距离、最近会遇距离、最近会遇时间5个因素,选取Kijima船舶安全领域模型界定两个安全等级的会遇范围,通过构建危险度隶属函数进行船舶碰撞的危险度评估。在此基础上,选取Gaussian函数为影响函数,将目标船的危险度代入影响函数,通过计算得出该船对安全领域模型各节点方向的分量。在多种不同的单船和多船的会遇态势下对模型进行仿真验证,结果表明:构建的船舶安全领域模型能有效识别目标船的碰撞危险度,可为智能船舶及自动避障航行系统研发提供技术支持。

The ship safety domain model is a key link in the collision avoidance decision of intelligent ships. the traditional ship safety domain model has limitations in the quantitative calculation of the collision risk coefficient, and the same static model is adopted in different encounter situations, and does not consider The model changes when multiple ships encounter the own ship at the same time, a dynamic ship safety domain model considering two safety levels is proposed. Combined with the geometric shape of the ship, the ship domain model of Kijima was selected by comprehensively considering the ship speed ratio, relative orientation, distance between the two ships, the closest meeting and distance(DCPA), and the closest meeting time(TCPA) of the target ship in the encounter. The encounter range of the two safety levels was defined, and the risk of ship collision was effectively evaluated by constructing the risk degree membership function. On this basis, the Gaussian function was selected as the influence function, the danger of the target ship was brought into the influence function, and the components of the ship to each node direction of the domain model are obtained by calculation. Through the simulation and verification of the model under a variety of different single-ship and multi-ship encounter situations, the results show that the constructed safety model of the ship domain can effectively identify the collision risk of the target ship, and can be useful for the development of ships with autonomous collision avoidance capabilities. The intelligent navigation system provides technical support, and has a good application scenario for the navigation of small intelligent ships with uncertain targets in the offshore.