内河航道避碰测试会遇场景建模方法研究

Study on scenario modeling method for collision avoidance test in inland waterway

[目的]旨在通过建模获取内河航道智能船舶自主避碰会遇场景。[方法]从船舶自动识别系统(AIS)及雷达数据采集与融合方法入手,建立船舶航行数据采集与融合系统,然后以三峡-葛洲坝两坝间的航道为例采集船舶航行数据,分析船舶主要避碰会遇场景要素,提出一种内河航道船舶避碰测试会遇场景参数化建模方法,并通过设定相关参数实现船舶避碰会遇场景的自动生成。随后,以两船及多船会遇局面测试场景为例,生成一系列测试场景,并进行仿真测试。[结果]结果显示,参数化场景生成方法可有效支撑内河船舶自主避碰算法测试的开展。[结论]所做研究可为提升内河智能船舶避碰测试的实用性提供依据。

[Objectives]The aim of this paper is to obtain test scenarios of autonomous collision avoidance for inland waterway ships by modeling.[Methods]Starting with the automatic identification system(AIS)and radar data collection and fusion method,a ship navigation data collection and fusion system is established.Taking the inland waterway between the Three Gorges Dam and Gezhouba Dam as an example,ship scenario elements are collected and analyzed,and a parametric generation method of inland waterway collision avoidance test scenarios is proposed which can automatically generate a ship collision avoidance test scenario by setting a series of parameters.Taking two-ship and multi-ship encounters scenario as examples,a series of test scenarios are generated and simulated.[Results]The collision avoidance simulation tests results show that the parameterized test scenario generation method proposed herein can effectively test the autonomous ship collision avoidance algorithm.[Conclusions]The research providing a basis for improving the pertinence and practicality of inland river smart ship collision avoidance testing.