狭水道追越局面下的船舶避碰建模

为了解决在狭窄水域船舶追越情况下的避碰问题,提出了一种狭水道追越局面下的船舶转向避碰模型.在航道规划设计规范的基础上对狭水道四元船舶领域进行重塑,构建符合航道内航行船舶最小船舶领域模型,进而确定船舶追越时的安全通过距离;其后,在船舶操纵运动数学模型的基础上,结合船舶转向避碰几何模型确定避碰行动目标,即最近会遇距离(DCPA)和最近会遇时间(TCPA),使得上述两个避碰行动指标满足避碰实际(DCPA值大于等于Ship Domain,TCPA值尽可能大).仿真实验表明采用该模型进行追越避碰时,追越船追越运动轨迹符合航行实际,与被追越船保持的最小横向距离为80 m,与浅水区保持的最小横向距离为55 m.

Modeling of Ship Collision Avoidance under Narrow Channel Overtaking Situation

In order to solve the collision avoidance problem in the case of ship overtaking in a narrow water area,a ship collision avoidance model in a narrow channel overtaking situation is proposed.On the basis of the channel planning and design specifications,the quaternary ship area of the narrow channel is reshaped,and a model of the minimum ship area of a ship in the waterway is constructed to further determine the safe passing distance of the ship when it is overtaken;therefore,a mathematical model of ship manoeuvring motion based on the combination of the ship's steering collision avoidance geometric model,the collision avoidance action target is determined,that is,the closest encounter distance(DCPA)and the closest encounter time(TCPA),so that the above two collision avoidance action indicators meet the actual collision avoidance(DCPA value is greater than Ship Domain,TCPA value is as large as possible).Simulation experiments show that when using this model for overtaking and collision avoidance,the overtaking ship's trajectory of motion is in line with the actual navigation.The minimum lateral distance to the overtaken ship is 80 m and the minimum lateral distance to shallow water is 55 m.