交叉相遇局面让路船自动避碰行动方案

摘要

In order to study the automatic collision avoidance ( ACA) action for a give-way vessel in the crossing sit-uation, the whole encounter is separated into four stages by situation elements ( SE) .The ACA action in different stages is studied according to the convention on the international regulations for preventing collisions at sea ( COL-REGS) and the ordinary practice of seamen.The computing basis of point close-quarter situation formed ( PCSF) and point immediate danger formed (PIDF) is the mathematical modeling group (MMG) hydrodynamic model and circular ship domain theories.The Runge-Kutta and dichotomy methods are used in the mathematical model for PCRF and PCSF.An improved collision risk index model, which is composed of the space collision risk index and time collision risk index, is established based on COLREGS and the ordinary practice of seamen.A new most effec-tive collision avoidance comparison model is used to generate ACA plan before occurring of collision risk and in e-mergency situations.In order to verify the mathematical model and produce correct ACA plan, a power-driven ves-sel in the crossing situation is simulated.The followings are proven: The accuracy of MMG model is enough; the computing model of quantitative SEs is rapidly and reliably convergent during computing;different ACA actions of a give-way vessel in different stages can be produced as per rules and the ordinary practice of seamen.%为研究交叉相遇局面让路船自动避碰方案,通过局面要素将局面分为4个阶段,基于避碰规则和海员通常做法研究各个阶段自动避碰行动. 紧迫局面形成点和紧迫危险形成点的计算以MMG模型和圆形船舶领域模型为基础,依靠基于龙格库塔方法和二分法的数学模型实现. 改进的碰撞危险度模型以空间碰撞危险度和时间碰撞危险度基于海员通常做法合成. 一种新的最有效避让方式比较模型用于产生碰撞危险产生以前和紧急情况下的自动避碰方案. 以一艘交叉相遇局面让路船为对象进行仿真,验证采用的数学模型并生成应采取的自动避碰行动. 结果表明:MMG模型精度满足要求;基于二分法的局面要素数值化计算模型能可靠、快速地收敛;可生成符合避碰规则和海员通常做法的自动避碰方案.