Improving stand-on ship's situational awareness by estimating the intention of the give-way ship
Improving stand-on ship's situational awareness by estimating the intention of the give-way ship
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通过估计让路船的意图来提高待命船舶的态势感知能力
DOI：
10.1016/j.oceaneng.2020.107110
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发表时间：
2020-04-01
影响因子：
5
通讯作者：
Kujala, Pentti
中科院分区：
文献类型：
--
作者：
Du, Lei;Goerlandt, Floris;Kujala, Pentti
缺乏态势感知是船只相撞的主要原因。因此，提高待命船舶的态势感知能力是保证航行安全的关键，其中让行船舶的意图估计是关键。根据COLREGS的规定，在让路船没有及时采取适当行动之前，备用船只不得采取规避行动。需要备用舰艇采取行动的阶段起到了为舰船提供第二层保护的作用，这就是所谓的备用舰艇作为第二道防线(SLOD)。本文提出了一种估计让路船意图和触发SLD的方法。该方法的四个模块包括：“数据预处理”收集所有交通信息并确定船舶的义务；“动作识别”确定转折点；“动作不确定性”生成考虑让路船舶操纵性的有界可达速度；“冲突评估”利用非线性速度障碍算法判断潜在碰撞。通过对几种典型的交会场景进行仿真，验证了该方法的可行性。结果表明，让行船舶的意图估计提高了待命船舶的态势感知能力，可以为待命船舶的避碰决策提供支持。
The lack of situational awareness is a major cause of ship collisions. Thus, enhancing the situational awareness of the stand-on ship is a key for navigational safety, where the intention estimation of the give-way ship is crucial. According to COLREGs, the stand-on ship is not allowed to take evasive actions until the give-way ship does not take proper actions timely. The stage that needs the stand-on ship to take actions plays as the second protective layer for the ship, which is named as 'Stand-on Ship as Second Line of Defense' (SLoD). A method to estimate the intention of the give-way ship and to trigger SLoD is proposed in this article. Four modules of the proposed method include: "data pre-processing" collects all traffic information and determines the ships' obligations; "action identification" pinpoints the turning points; "action uncertainty" generates a bounded reachable velocity considering the give-way ship's maneuverability; "conflict assessment" judges potential collision by using nonlinear velocity obstacle algorithm. Several typical encounter scenarios are simulated to demonstrate the feasibility of the proposed method. The results show that intention estimation of the give-way ship improves the situational awareness of the stand-on ship, which can support the stand-on ship to make collision avoidance decisions.