JPS62118282A - Evaluating method for marine vessel collision danger degree - Google Patents
Evaluating method for marine vessel collision danger degreeInfo
- Publication number
- JPS62118282A JPS62118282A JP60257940A JP25794085A JPS62118282A JP S62118282 A JPS62118282 A JP S62118282A JP 60257940 A JP60257940 A JP 60257940A JP 25794085 A JP25794085 A JP 25794085A JP S62118282 A JPS62118282 A JP S62118282A
- Authority
- JP
- Japan
- Prior art keywords
- ship
- marine vessel
- danger
- ships
- wave radar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
【発明の詳細な説明】
［産業上の利用分野］
本発明は例えば狭水道とか港内のように、輻幀したｔＦ
ＪＶｔにおける船舶の衝突防止に使用するのに最適な船
舶衝突危険度評価方法に関する。[Detailed Description of the Invention] [Industrial Application Field] The present invention is applicable to congested tF
This invention relates to a ship collision risk assessment method that is optimal for use in ship collision prevention in JVts.
［従来の技術］
従来、例えば狭水道とか港内のように輻較した海域にお
ける船舶衝突を防止する技術としては、センチ波レーダ
の信号を使用して大洋におけるそれを扱ってきたため、
船舶を点として捕えその点を中心にして大きい円を設定
し、この円内に他船の点が直線ベクトルの延長上で侵入
するか否かを判定する方法によってきている。[Prior Art] Conventionally, the technology for preventing ship collisions in congested sea areas such as narrow waterways or inside ports has been to use centimeter wave radar signals to deal with collisions in the ocean.
This method is based on a method of capturing a ship as a point, setting a large circle around that point, and determining whether or not another ship's point enters this circle as an extension of a straight line vector.
［発明が解決しようとする問題点］
ところで、船舶の衝突防止は航海における最重要な点で
あるが、省人化が進んでくると狭水道とか港内のように
輻較した海域では、従来の自動衝突予防援助装置（ＡＲ
ＰＡ）を使用しながら操船することが非常に困難になっ
てきている。特に、港内等では船舶間の距離が接近して
小さくなると、船舶は相対的に海面上における大きな面
積を占めるようになるため、船舶を点として捕えること
によっては衝突を正確に計算判定することができないば
かりでなく、それがどの程度危険であるのかまた時間の
経過によってそれがどのように変化するのかを評価する
ことは不可能である。[Problem to be solved by the invention] By the way, collision prevention of ships is the most important point in navigation, but as labor saving progresses, conventional Automatic collision prevention assistance system (AR)
It has become extremely difficult to maneuver the vessel while using the PA. In particular, as the distance between ships approaches and decreases, such as in a port, the ships occupy a relatively large area on the sea surface, so it is difficult to accurately calculate and judge collisions by capturing ships as points. Not only is it not possible, it is also impossible to assess how dangerous it is and how it changes over time.
本発明は上記のような問題点を解決するために成された
もので、その目的は狭水道とか港内のように輻峻した海
域における船舶の衝突防止に使用することが可能な船舶
衝突危険度評価方法を提供［問題点を解決するためのＭ
］
上記目的を達成するために本発明の船舶衝突危険度評価
方法は、ミリ波レーダにより近距離の他船を高速走査し
かつ精密に追尾して正確な他船データを高速に入力更新
し、コンピュータにより自船を占有面積を有する面とし
また他船を中心にしてその周囲に自船と他船との相対ベ
クトル上に危険度に応じて数ランクに分けた予測危険範
囲の面を設定して自船の占有面積がその予測危険範囲へ
侵入する具合を計算し、ディスプレイにより自船の占有
面積が予測危険範囲のいずれのランクへどの程度侵入す
るかまたこれが時間の経過と共にどのように変化するか
を表示し瞬時にして衝突危険度評価を行なうことにより
、自船と他船との衝突危険度がいかなる度合かまたこれ
が時間の経過と共にどのように変化するかを表示して衝
突危険度を評価ならしめると共に、避航の方法に関して
もシミュレーションにより同様の表示を行なわしめより
良い避航方法を見出せるようにすることを特徴とする。The present invention was made to solve the above-mentioned problems, and its purpose is to reduce the risk of ship collision so that it can be used to prevent ship collisions in narrow waterways or in congested sea areas such as in ports. Provide evaluation methods [M for solving problems
] In order to achieve the above object, the ship collision risk evaluation method of the present invention scans other ships in a short distance using a millimeter wave radar at high speed, tracks them precisely, inputs and updates accurate data on other ships at high speed, Using a computer, the own ship is set as a surface with an occupied area, and around it, a predicted danger range divided into several ranks according to the degree of danger is set on the relative vector between the own ship and the other ships. The system calculates the degree to which the own ship's occupied area intrudes into the predicted danger range, and the display shows how much the own ship's occupied area enters into which rank of the predicted danger range, and how this changes over time. By displaying the collision risk and instantly evaluating the collision risk, it is possible to display the degree of collision risk between one's own ship and another ship, and how this changes over time, and to evaluate the collision risk. The present invention is characterized in that it not only evaluates the avoidance method, but also displays the same result through simulation to find a better avoidance method.
［作用］
上述の本発明の船舶衝突危険度評価方法によれば、セン
チ波レーダが捕捉し自動衝突予防援助装置（ＡＲＰＡ）
にて演算処理した結果衝突の危険ありと判定された船舶
に関して、ミリ波レーダにより高速かつ精密に追尾し、
自船の占有面積が他船を中心に相対ベクトル上に設定さ
れた予測危険範囲（５ランク）に侵入するか、侵入する
とすればどの程度かまた時間の経過と共にそれはどのよ
うに変化するかが一目でわかるようにディスプレイ上に
表示されるため、乗組員は衝突危険度の評価を瞬間に行
なうことができる。[Function] According to the ship collision risk evaluation method of the present invention described above, the centimeter wave radar captures and the automatic collision prevention assistance system (ARPA)
Vessels that are determined to be at risk of collision as a result of calculation processing are tracked at high speed and precisely using millimeter wave radar.
Whether the area occupied by your own ship will invade the predicted danger range (5 ranks) set on a relative vector centered on other ships, and if so, to what extent, and how will it change over time? Since the information is displayed on the display so that it can be seen at a glance, crew members can instantly assess the risk of collision.
［実施例］ 以下、本発明を図面に示す一実施例について説明する。[Example] An embodiment of the present invention shown in the drawings will be described below.
第１図乃至第６図は本発明の船舶衝突危険度評価方法の
一実施例を示すもので、第１図はコンピュータが計算す
る自船データに基づく自船占有面積を示す図、第２図は
ミリ波レーダが捕捉追尾した他船データを基に相対ベク
トル上における他船周囲の予測危険範囲を示す図、第３
図は自船占有面積が予測危険範囲（５ランク）に侵入す
る相関関係の時間の経過による変化を示す図、第４図は
自船占有面積が予測危険範囲（５ランク）への侵入の割
合および時間経過によるその変化を示す図でディスプレ
イに表示されるものである。Figures 1 to 6 show an embodiment of the ship collision risk assessment method of the present invention, in which Figure 1 shows the area occupied by own ship based on own ship data calculated by a computer, and Figure 2 shows an area occupied by own ship based on own ship data calculated by a computer. Figure 3 shows the predicted danger range around other ships on a relative vector based on data from other ships captured and tracked by millimeter wave radar.
The figure shows the change over time in the correlation in which the own ship's occupied area enters the predicted danger range (rank 5). Figure 4 shows the rate of intrusion of the own ship's occupied area into the predicted danger range (rank 5) and its change over time, which is displayed on the display.
また、第５図はコンピュータ内における機能を示すフロ
ー図、第６図は機器構成を示す図である。Further, FIG. 5 is a flow diagram showing the functions within the computer, and FIG. 6 is a diagram showing the equipment configuration.
図において、センナ波レーダ空中線により捕捉された船
舶はセンチ波送受信機２ｏにて信号処理され、自動衝突
予防援助装置（ＡＲＰＡ＞３０により従来の方法にて衝
突判定計算が行なわれるが、その結果もし自船と衝突す
る危険ありと判定されるとその船舶のデータはコンピュ
ータ６０に転送される。In the figure, a ship captured by a Senna wave radar antenna is signal-processed by a centimeter wave transmitter/receiver 2o, and a collision judgment calculation is performed using a conventional method using an automatic collision prevention assist system (ARPA > 30). When it is determined that there is a risk of collision with the own ship, the data of that ship is transferred to the computer 60.
一方コンピュータ６０においては、ミリ波レーダ空中線
４０により捕捉、追尾され高速に更新されるその船舶の
精密な信号がミリ波送受信ｔａ５０にて信号処理される
が、これを基に他船を中心に相対ベクトル上を移動する
予測危険範囲（５ランク）が第２図に示す如く計算設定
され、同時に自船データに基づ（自船占有面積も第１図
に示す如く計算設定される。また、コンピュータ６０に
おいてはさらにこれら２つの面のかかわり合いを計算し
、自船占有面積が予測危険範囲（５ランク）のいずれの
ランクへどの程度浸入するのか、またそれは時間の経過
と共にどのように変化するかを第３図に示す如く計算し
、これがディスプレイ７Ｏに出力される。On the other hand, in the computer 60, the precise signal of the ship that is captured and tracked by the millimeter wave radar antenna 40 and updated at high speed is processed by the millimeter wave transmitter/receiver TA50. The predicted danger range (5 ranks) moving on the vector is calculated and set as shown in Figure 2, and at the same time, based on own ship data (the own ship's occupied area is also calculated and set as shown in Figure 1). In 60, we further calculate the relationship between these two aspects, and determine to what extent the own ship's occupied area will penetrate into which rank of the predicted danger range (5 ranks), and how this will change over time. The calculation is performed as shown in FIG. 3, and this is output to the display 7O.
ディスプレイ７０においては、コンピュータ６０からの
入力データを基にして、自船占有面積が予測危険範囲（
５ランク）のいずれのランクに時間経過と共にどの程度
侵入しかつそれがどのように変化するかが一目で見れる
ように、すなわち第４図に示す如く衝突危険度が瞬時に
評価できるように表示される。On the display 70, based on the input data from the computer 60, the own ship's occupied area is displayed in the predicted danger range (
The collision risk level is displayed so that it can be seen at a glance how much it has penetrated into any of the five ranks (5 ranks) and how it changes over time, that is, the collision risk can be evaluated instantly, as shown in Figure 4. Ru.
なお、第１図において ａ−’ｔ’ （Ｌｌ、Ｖ）、ｂ
−（Ｂ） にて夫々示され、Ｌｌは自船の全長を、■
は自船の速度を、Ｂは自船の全幅を夫々表わしている。In addition, in Fig. 1, a-'t' (Ll, V), b
- (B) respectively, Ll is the total length of own ship, ■
represents the speed of own ship, and B represents the total width of own ship.
また第２図において、 Ｙ−１／（Ｋ＋２） ・
ｆ （Ｌ２） 、 （１−’Ｉ／Ｋ・ｆ （ｖ）
＋Σ にて夫々示され、Ｋは予測危険範囲のランク＝５
（重危険）４（大危険）３（中危険）２（小危険）１（
軽危険）を、ΣはＩ！測誤差十予測誤差を、Ｌ２は他船
の全長を、■は自船と他船の相対速度を夫々表わしてい
る。Also, in Figure 2, Y-1/(K+2) ・
f (L2), (1-'I/K・f (v)
+Σ respectively, and K is the rank of predicted danger range = 5
(Severe danger) 4 (Major danger) 3 (Medium danger) 2 (Slight danger) 1 (
(light danger), Σ is I! L2 represents the total length of the other ship, and ■ represents the relative speed between the own ship and the other ship.
さらに第４図において、
■自船占有面積が時間ｔ！〜ｔ′１の間：予測危険範囲
１（軽危険）に侵入する。Furthermore, in Figure 4, ■ Own ship's occupied area at time t! ~t'1: Intrudes into predicted danger range 1 (light danger).
７８ 大侵入１” ハフ ０ ％ テＹ Ｅ Ｌ ｌ−
ＯＷ Ｇ ＲＥ ＥＮにて表示される。78 Big Invasion 1” Huff 0% TEY E L l-
Displayed on OW G RE EN.
■自船占有面積が時間ｔ２〜ｔ−２の間：予測危険範囲
２（小危険）に侵入する。■ Own ship occupied area enters predicted danger range 2 (small danger) between times t2 and t-2.
最大侵入率は５０％でＹＥＬＬＯＷにて表示される。The maximum intrusion rate is 50% and is displayed in YELLOW.
■自船占有面積が時間ｔ３〜１−＝の間：予測危険範囲
３（中危険）に侵入する。■The own ship's occupied area enters predicted danger range 3 (medium danger) between times t3 and 1-=.
最大侵入率は２０％ｒＹＥＬＬＯＷ−ＯＲＡＮＧＥにて
表示される。The maximum penetration rate is displayed as 20%rYELLOW-ORANGE.
■自船占有面積が予測危険範囲４（大危険）に侵入する
場合には、０ＲＡＮＧＥにて表示される。■If the own ship's occupied area enters predicted danger range 4 (major danger), it will be displayed as 0RANGE.
■自船占有面積が予測危険範囲５（重危険）に侵入する
場合には、ＲＥＤにて表示される。■If the own ship's occupied area enters predicted danger range 5 (serious danger), it will be displayed in RED.
［発明の効果］
以上説明したように本発明の船舶衝突危険度評価方法に
よれば、実際に即したように自船、他船を面として捕捉
、計算し、自船と他船との相関関係がどの程度にまたど
のように危険度が高まりそして低くなっていくかを的確
に予測表示することができる。また、運航のシミュレー
ションによっても同様に予測表示できるため、的確な運
航操船を行なうことができるといった顕著な利点が得ら
れるものである。[Effects of the Invention] As explained above, according to the ship collision risk assessment method of the present invention, the own ship and other ships are captured and calculated as surfaces, and the correlation between the own ship and other ships is calculated. It is possible to accurately predict and display to what extent and how the risk level of a relationship will increase or decrease. In addition, predictions can be similarly displayed by simulation of navigation, which provides the remarkable advantage of being able to perform accurate navigation maneuvers.
第１図乃至第６図は本発明の船舶衝突危険度評価方法の
一実施例を示すもので、第１図はコンピュータが計算す
る自船データに基づく自船占有面積を示す図、第２図は
ミリ波レーダが捕捉追尾した他船データを基に相対ベク
トル上における他船周囲の予測危険範囲を示す図、第３
図は自船占有面積が予測危険範囲（５ランク）に侵入す
る相関関係の時間の経過による変化を示す図、第４図は
自船占有面積が予測危険範囲（５ランク）への侵入の割
合および時間経過によるその変化を示す図、第５図はコ
ンピュータ内における機能を示すフロー図、第６図は機
器構成を示す図である。
１０・・・センチ波レーダ空中線、２０・・・センチ波
送受信機、３０・・・自動衝突予防援助装置（ＡＲＰＡ
＞、４０・・・ミリ波レーダ空中線、５０・・・ミリ波
送受信機、６０・・・コンピュータ、７０・・・ディス
プレイ。Figures 1 to 6 show an embodiment of the ship collision risk assessment method of the present invention, in which Figure 1 shows the area occupied by own ship based on own ship data calculated by a computer, and Figure 2 shows an area occupied by own ship based on own ship data calculated by a computer. Figure 3 shows the predicted danger range around other ships on a relative vector based on data from other ships captured and tracked by millimeter wave radar.
The figure shows the change over time in the correlation in which the own ship's occupied area enters the predicted danger range (rank 5). Figure 4 shows the rate of intrusion of the own ship's occupied area into the predicted danger range (rank 5) FIG. 5 is a flowchart showing the functions within the computer, and FIG. 6 is a diagram showing the equipment configuration. 10... Centimeter wave radar antenna, 20... Centimeter wave transmitter/receiver, 30... Automatic Collision Prevention Assistance System (ARPA)
>, 40... Millimeter wave radar antenna, 50... Millimeter wave transceiver, 60... Computer, 70... Display.
Claims (1)
に追尾して正確な他船データを高速に入力更新し、コン
ピュータにより自船を占有面積を有する面としまた他船
を中心にしてその周囲に自船と他船との相対ベクトル上
に危険度に応じて数ランクに分けた予測危険範囲の面を
設定して自船の占有面積がその予測危険範囲へ侵入する
具合を計算し、ディスプレイにより自船の占有面積が予
測危険範囲のいずれのランクへどの程度侵入するかまた
これが時間の経過と共にどのように変化するかを表示し
瞬時にして衝突危険度評価を行なうことにより、自船と
他船との衝突危険度がいかなる度合かまたこれが時間の
経過と共にどのように変化するかを表示して衝突危険度
を評価ならしめると共に、避航の方法に関してもシミュ
レーションにより同様の表示を行なわしめより良い避航
方法を見出せるようにすることを特徴とする船舶衝突危
険度評価方法。Millimeter-wave radar scans other ships in close range at high speed, tracks them precisely, inputs and updates accurate data on other ships at high speed, and uses a computer to define the own ship as a surface with an occupied area, and to use other ships as the center. Set a predicted danger range divided into several ranks according to the degree of danger on the relative vector between your own ship and other ships, and calculate the degree to which the area occupied by your ship will invade the predicted danger range. The display shows the extent to which rank of the predicted danger range the own ship's occupied area enters, and how this changes over time, and instantly assesses the collision risk. In addition to displaying the degree of risk of collision between a ship and another vessel and how this changes over time to help evaluate the risk of collision, the system also uses simulation to display the method of giving way. A ship collision risk evaluation method characterized by making it possible to find a better way to give way.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60257940A JPS62118282A (en) | 1985-11-18 | 1985-11-18 | Evaluating method for marine vessel collision danger degree |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60257940A JPS62118282A (en) | 1985-11-18 | 1985-11-18 | Evaluating method for marine vessel collision danger degree |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62118282A true JPS62118282A (en) | 1987-05-29 |
| JPH045954B2 JPH045954B2 (en) | 1992-02-04 |
Family
ID=17313316
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60257940A Granted JPS62118282A (en) | 1985-11-18 | 1985-11-18 | Evaluating method for marine vessel collision danger degree |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62118282A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008254134A (en) * | 2007-04-06 | 2008-10-23 | Honda Motor Co Ltd | Moving device, its control method and control program |
| WO2022113610A1 (en) * | 2020-11-26 | 2022-06-02 | 古野電気株式会社 | Ship monitoring system, ship monitoring method, information processing device, and program |
| WO2022249632A1 (en) * | 2021-05-26 | 2022-12-01 | 古野電気株式会社 | Ship monitoring device, ship monitoring method, and program |
-
1985
- 1985-11-18 JP JP60257940A patent/JPS62118282A/en active Granted
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008254134A (en) * | 2007-04-06 | 2008-10-23 | Honda Motor Co Ltd | Moving device, its control method and control program |
| US8204679B2 (en) | 2007-04-06 | 2012-06-19 | Honda Motor Co., Ltd. | Mobile apparatus, control device and control program |
| WO2022113610A1 (en) * | 2020-11-26 | 2022-06-02 | 古野電気株式会社 | Ship monitoring system, ship monitoring method, information processing device, and program |
| WO2022249632A1 (en) * | 2021-05-26 | 2022-12-01 | 古野電気株式会社 | Ship monitoring device, ship monitoring method, and program |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH045954B2 (en) | 1992-02-04 |
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