CN114428500B - Ship autonomous navigation collision prevention method based on safety field - Google Patents
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Abstract
The invention discloses an autonomous navigation collision avoidance method for a ship based on the safety field, which utilizes the geographic coordinates and navigation parameters of the ship and other ships to determine the meeting situation between the two ships, and divides the collision avoidance strategies of the two ships into three types according to the meeting situation between the two ships so as to avoid collision in different modes, thereby realizing the intelligent collision avoidance decision for the ship, automatically navigating according to a preset route when no obstacle exists, and reducing the consumption of energy sources of the ship as much as possible.
Description
Technical Field
The invention relates to the technical field of autonomous navigation of ships, in particular to a ship autonomous navigation collision prevention method based on the safety field.
Background
When a water surface ship encounters static and dynamic obstacles such as islands, ships and sea floats in the offshore navigation process, the course and the speed of the ship can be adaptively adjusted according to the international maritime collision avoidance regulations (COLREGS), so that various obstacles are avoided, and the intelligent obstacle avoidance decision of the ship is realized; when no obstacle exists, the vehicle can automatically navigate according to a preset route, and the consumption of energy sources can be reduced as much as possible. However, the international ocean collision avoidance regulations (COLREGS) are very ambiguous for the division of meeting situations between vessels, which can only be applied by the vessel driver in terms of feel.
Disclosure of Invention
In view of the above, the invention provides a ship autonomous navigation collision prevention method based on the safety field.
The autonomous navigation collision prevention method for the ship based on the safety field specifically comprises the following steps:
S1, performing grid division on an electronic chart by using a grid method to describe a marine environment;
S2, setting three safety fields with different sizes, namely a reactive collision prevention safety area, a negotiation type collision prevention safety area and an emergency collision prevention safety area, judging the distance between the ship and the other ship, and judging the current safety field of the ship according to the distance between the ship and the other ship; determining meeting situations between the two ships by using the geographic coordinates and navigation parameters of the ship and other ships, so as to determine collision avoidance strategies of the two ships;
if the collision avoidance strategies of the two ships are the negotiation type collision avoidance, carrying out collision avoidance according to the regulations of the international offshore collision avoidance rules;
If the collision avoidance strategies of the two vessels are reactive collision avoidance, planning an optimal collision avoidance route of the vessel under a state space by using the geographic coordinates and navigation parameters of the vessel and other vessels;
If the collision avoidance strategy of the two vessels is the emergency collision avoidance, the vessel rapidly drives away from the other vessel in the opposite direction of the connecting line between the vessel and the other vessel at the maximum navigational speed allowed by the vessel navigation.
Preferably, in step S2, the specific steps of determining the meeting situation between the two vessels by using the geographic coordinates and navigation parameters of the present vessel and the other vessel are as follows:
Firstly, calculating true azimuth angles of the ship relative to the ship by using geographic coordinates of the ship and navigation parameters;
then, the meeting situation between the two vessels is divided according to the magnitude of the true azimuth angle of the other vessel relative to the own vessel.
Preferably, meeting situations between the present vessel and other vessels include meeting, crossing and overtaking;
When the true azimuth angle of the ship is 0-15 degrees or 345-360 degrees, the meeting situation between the ship and the other ship is the meeting;
when the true azimuth angle of the ship is 15-135 degrees or 225-345 degrees relative to the ship, the meeting situation between the ship and the ship is crossed;
When the true azimuth angle of the ship is 135-225 degrees relative to the ship, the situation between the ship and the ship is overtaking.
Preferably, in step S2, the specific step of planning the optimal collision avoidance route of the present ship in the state space by using the geographic coordinates and navigation parameters of the present ship and other ships is:
firstly, constructing a rectangular area around the other ship by taking the other ship as a geometric center according to navigation parameters of the ship and the other ship, and taking the rectangular area as a potential danger area for navigation of the ship;
Then, calculating the optimal collision avoidance course angle of the ship;
And then, according to the size of the potential dangerous area of the ship navigation, planning the optimal collision avoidance course angle and the navigation speed of the ship and the course and the navigation speed of other ships under a state space by using a speed barrier method.
Preferably, the calculation formula of the optimal collision avoidance heading angle of the ship is as follows: f=max (α×dcpa+β×r+γ×v i), wherein α, β, γ are set weight parameters, R is the shortest distance between the ship and other ship in motion, v i is a speed steering angle, DCPA is the nearest meeting distance, F is an objective function, and the size of F represents the sailing safety and economy.
And selecting the speed steering angle when F is maximum as the optimal collision avoidance course angle.
The beneficial effects of the invention are as follows:
The invention utilizes the geographic coordinates and navigation parameters of the ship and other ships to determine the meeting situation between the two ships, and divides the collision avoidance strategies of the two ships into three types according to the meeting situation between the two ships so as to avoid collision in different modes, thereby realizing the intelligent collision avoidance decision of the ships, automatically navigating according to a preset route when no obstacle exists, and reducing the consumption of energy sources per se as much as possible.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a collision avoidance decision diagram of the meeting situation between the ship and other ships.
Fig. 2 is a schematic diagram of three meeting situations between the present ship and other ships.
The meaning of the reference numerals in the figures is:
the method comprises the steps of 1, a rectangular potential dangerous area around a ship, 2, an original planned route of the ship, 3, an optimal collision avoidance route of the ship, 4, a reactive collision avoidance range, 5, a negotiation type collision avoidance range and 6, an emergency collision avoidance range.
Detailed Description
For a better understanding of the technical solution of the present invention, the following detailed description of the embodiments of the present invention refers to the accompanying drawings.
It should be understood that the described embodiments are merely some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The application will now be described in further detail with reference to specific examples thereof in connection with the accompanying drawings.
The invention provides a ship autonomous navigation collision prevention method based on the safety field, which specifically comprises the following steps:
S1, meshing the electronic chart by using a grid method to describe the marine environment.
S2, presetting three safety fields with different sizes, namely a reactive type collision avoidance safety field, a negotiation type collision avoidance safety field and an emergency type collision avoidance safety field, judging the distance between the ship and the other ship, and judging which safety field range the ship is in according to the distance between the ship and the other ship;
The meeting situation between the two vessels is determined by using the geographic coordinates and navigation parameters of the ship and the other ship, and specifically, first, the true azimuth angle of the other ship relative to the ship is calculated by using the geographic coordinates and navigation parameters of the ship and the other ship.
When calculating the true azimuth angle of the ship relative to the ship, the geographic coordinates, the navigation speed and the heading of the ship and the ship are determined.
The geographical coordinates of the boat S 0 are (x 0,y0), the speed v 0 and the heading
The geographical coordinates of the boat S T are (x T,yT), speed v T and headingThen:
1. the components of the speed of the boat and the other boat on the x and y axes are as follows:
2. speed of relative movement of the boat
Since the relative velocity is in the x, y axis components can be expressed as:
the relative speed is of the magnitude:
the heading of the relative speed is:
Wherein:
3. the relative distance of the boat is as follows:
4. The true orientation of the boat relative to the present boat is:
Wherein the alpha determination principle is the same as 3.
Then, the meeting situation between two vessels is divided according to the true azimuth angle of the other vessel relative to the own vessel, and the meeting situation comprises meeting, crossing and overtaking.
The collision avoidance rules divide the three meeting situations to determine the rights and obligations of two boats in collision avoidance under the specific meeting situations. In the case of cross-meeting and cross-over, one boat is under the obligation of yielding while the other boat is under the obligation of direction and speed retention. However, in the same situation of cross-meeting, when the straight boat is located at a different side angle of the yielding boat, the yielding boat does not take exactly the same action of collision avoidance. In some cases a right turn is taken, and in other cases a left turn anti-collision action is taken. In addition, according to the collision avoidance theory, when the gangway angle of the direct navigation boat is larger than a certain value, the left turn is more beneficial to collision avoidance than the right turn, and the yaw loss caused to the yielding boat is relatively smaller.
Therefore, when the true azimuth angle of the ship is 0-15 degrees or 345-360 degrees, the meeting situation between the ship and the other ship is the meeting;
when the true azimuth angle of the ship is 15-135 degrees or 225-345 degrees relative to the ship, the meeting situation between the ship and the ship is crossed;
When the true azimuth angle of the ship is 135-225 degrees relative to the ship, the situation between the ship and the ship is overtaking.
And determining a collision avoidance strategy of the two vessels according to the meeting situation between the ship and the other ship, namely the true azimuth angle.
If the collision avoidance strategies of the two ships are the negotiation type collision avoidance, the collision avoidance is carried out according to the regulations of the international offshore collision avoidance rules.
If the collision avoidance strategy of the two vessels is reactive collision avoidance, the optimal collision avoidance route of the vessel is planned under the state space by utilizing the geographic coordinates and navigation parameters of the vessel and other vessels, and the specific steps are as follows:
firstly, constructing a rectangular area around a ship by taking the ship as a geometric center according to navigation parameters of the ship and the ship, and taking the rectangular area as a potential dangerous area for navigation of the ship, wherein the ship should avoid the potential dangerous area as much as possible when planning a path, thereby realizing avoiding dynamic obstacles;
When a rectangular potential dangerous area is built around a ship by taking the ship as a geometric center, modeling the potential dangerous area of the ship sailing into a circle or an ellipse, wherein the radius of the circle or the ellipse is the safe distance of the ship, and the safe distance is determined according to sailing experience. The elliptical radius is extended in the speed direction of the dynamic obstacle, and the extension length is the product of the speed of the dynamic obstacle and the latest meeting Time (TCPA). In order to facilitate planning of an optimal collision avoidance line based on the rasterized chart, the circular or elliptical area is modified to a rectangular area, which is slightly larger than the elliptical ship potential hazard area.
Then, calculating the optimal collision avoidance course angle of the ship, wherein the calculation formula of the optimal collision avoidance course angle of the ship is as follows: f=max (α×dcpa+β×r+γ×v i), wherein α, β, γ are set weight parameters, R is the shortest distance between the ship and other ship in motion, v i is a speed steering angle, DCPA is the nearest meeting distance, F is an objective function, and the size of F represents the sailing safety and economy.
And selecting the speed steering angle when F is maximum as the optimal collision avoidance course angle.
And then, according to the size of the potential dangerous area of the ship navigation, planning the optimal collision avoidance course angle and the navigation speed of the ship and the course and the navigation speed of other ships under a state space by using a speed barrier method.
For the dynamic obstacle collision avoidance, a state Space (Configuration Space, abbreviated as C-Space) concept is proposed, and the basic idea is to transform the position and direction of a moving object into a point in the state Space, where each coordinate of the point represents one degree of freedom in the position or direction of the object, and accordingly map the obstacles in the environment into the state Space, so as to transform the path planning problem in the physical environment into the state Space.
Determining the state of a k-dimensional polyhedron, wherein the number of parameters is d,K parameters are used to determine the reference point rv A for a,The parameters are used to determine the direction of a. Thus, the state of A can be considered a point in d-dimensional spaceThe d-dimensional state space of this A is availableIs indicated, a is located at state x is indicated as (a) x.
Obstacle CO A (B) of obstacle B in the corresponding physical space of (a) is defined as follows:
the internal CI A (B) of B is defined as
Let R denote the original physical space, the path planning problem is equivalent to finding a series of connected states (paths) for a, such that all of these states are outside of CO A (B), but inside CI A (R),
If the collision avoidance strategy of the two vessels is the emergency collision avoidance, the vessel rapidly drives away from the other vessel in the opposite direction of the connecting line between the vessel and the other vessel at the maximum navigational speed allowed by the vessel navigation.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the invention.
Claims (3)
1. The autonomous navigation collision prevention method for the ship based on the safety field is characterized by comprising the following steps of:
S1, performing grid division on an electronic chart by using a grid method to describe a marine environment;
S2, setting three safety fields with different sizes, namely a reactive collision prevention safety area, a negotiation type collision prevention safety area and an emergency collision prevention safety area, judging the distance between the ship and the other ship, and judging the current safety field of the ship according to the distance between the ship and the other ship; determining meeting situations between the two ships by using the geographic coordinates and navigation parameters of the ship and other ships, so as to determine collision avoidance strategies of the two ships;
if the collision avoidance strategies of the two ships are the negotiation type collision avoidance, carrying out collision avoidance according to the regulations of the international offshore collision avoidance rules;
If the collision avoidance strategies of the two vessels are reactive collision avoidance, planning an optimal collision avoidance route of the vessel under a state space by utilizing geographic coordinates and navigation parameters of the vessel and the other vessels, specifically, firstly, constructing a rectangular area around the other vessels by taking the other vessels as geometric centers according to the navigation parameters of the vessel and the other vessels, and taking the rectangular area as a potential danger area for navigation of the vessel; then, calculating the optimal collision avoidance course angle of the ship; then, according to the size of the potential dangerous area of the ship navigation, planning an optimal collision avoidance course of the ship under a state space by utilizing a speed obstacle method according to the optimal collision avoidance course angle and the speed of the ship and the course and the speed of other ships;
The calculation formula of the optimal collision avoidance course angle of the ship is as follows:
F=max (α×dcpa+β×r+γ×v i), wherein α, β, γ are set weight parameters, R is the shortest distance between the ship and other ship in motion, v i is the speed steering angle, DCPA is the nearest meeting distance, F is an objective function, F represents the sailing safety and economy,
Selecting the speed steering angle when F is maximum as the optimal collision avoidance course angle;
If the collision avoidance strategy of the two vessels is the emergency collision avoidance, the vessel rapidly drives away from the other vessel in the opposite direction of the connecting line between the vessel and the other vessel at the maximum navigational speed allowed by the vessel navigation.
2. The autonomous navigation collision avoidance method of a ship based on the safety field according to claim 1, wherein in step S2, the specific step of determining the meeting situation between the two ships by using the geographic coordinates and navigation parameters of the ship and other ships is:
Firstly, calculating true azimuth angles of the ship relative to the ship by using geographic coordinates of the ship and navigation parameters;
then, the meeting situation between the two vessels is divided according to the magnitude of the true azimuth angle of the other vessel relative to the own vessel.
3. The autonomous navigation collision avoidance method of a vessel based on the safety domain according to claim 2, wherein the meeting situation between the present vessel and other vessels includes a meeting, a crossing, and a chasing;
When the true azimuth angle of the ship is 0-15 degrees or 345-360 degrees, the meeting situation between the ship and the other ship is the meeting;
when the true azimuth angle of the ship is 15-135 degrees or 225-345 degrees relative to the ship, the meeting situation between the ship and the ship is crossed;
When the true azimuth angle of the ship is 135-225 degrees relative to the ship, the situation between the ship and the ship is overtaking.
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