SHIP ROUTE KEEPING CONTROL METHOD AND DEVICE, AND SHIP

摘要

PROBLEM TO BE SOLVED: To control a route of a ship navigating side by side with a navigating body controlling a route to keep a target route with considering a balance of control of keeping the target route and control of keeping a relative position to the navigating body navigating side by side.;SOLUTION: A route same as or in parallel with the target route C2 of the navigating body B is defined as a ship target route C1. The relative position to the navigating body B that the ship A needs to keep is defined as a relative position target point D. The distance between the relative position target point D and the ship target route C1 is defined as a determination distance Tdy. A gap between a ship position and a crossing point of the ship target route C1 and a perpendicular line to the ship target route C1 is defined as a heading distance deviation Lt. The ship target route C1 is corrected depending on the determination distance Tdy and a setting speed of the ship A is corrected depending on the heating distance deviation Lt.;COPYRIGHT: (C)2002,JPO