KR102269151B1 - Method for determination a priority of multiple obstacles to be avoided - Google Patents
Method for determination a priority of multiple obstacles to be avoided Download PDFInfo
- Publication number
- KR102269151B1 KR102269151B1 KR1020180150722A KR20180150722A KR102269151B1 KR 102269151 B1 KR102269151 B1 KR 102269151B1 KR 1020180150722 A KR1020180150722 A KR 1020180150722A KR 20180150722 A KR20180150722 A KR 20180150722A KR 102269151 B1 KR102269151 B1 KR 102269151B1
- Authority
- KR
- South Korea
- Prior art keywords
- obstacles
- priority
- tcpa
- risk index
- obstacle
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000013459 approach Methods 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 2
- QZXCCPZJCKEPSA-UHFFFAOYSA-N chlorfenac Chemical compound OC(=O)CC1=C(Cl)C=CC(Cl)=C1Cl QZXCCPZJCKEPSA-UHFFFAOYSA-N 0.000 abstract 1
- LFULEKSKNZEWOE-UHFFFAOYSA-N propanil Chemical compound CCC(=O)NC1=CC=C(Cl)C(Cl)=C1 LFULEKSKNZEWOE-UHFFFAOYSA-N 0.000 abstract 1
- 238000011160 research Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000006866 deterioration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B49/00—Arrangements of nautical instruments or navigational aids
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/937—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of marine craft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
- G08G3/02—Anti-collision systems
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
본 발명은 선박의 회피 대상이 되는 다중 장애물의 회피 우선순위 결정 방법에 관한 것으로, 보다 구체적으로는 검출되는 장애물들과의 DCPA 정보와 TCPA 정보를 이용하여 위험지수를 산출해냄으로써, 검출되는 장애물들의 회피 우선 순위를 용이하게 도출해낼 수 있는 선박의 회피 대상이 되는 다중 장애물의 회피 우선순위 결정 방법에 관한 것이다. The present invention relates to a method for determining the priority of avoiding multiple obstacles that are to be avoided by a ship, and more specifically, by calculating a risk index using DCPA information and TCPA information with the detected obstacles, It relates to a method for determining the priority of avoidance of multiple obstacles, which are objects to be avoided by a ship, which can easily derive the avoidance priority.
Description
본 발명은 선박의 회피 대상이 되는 다중 장애물의 회피 우선순위 결정 방법에 관한 것으로, 보다 구체적으로는 검출되는 장애물들과의 DCPA 정보와 TCPA 정보를 이용하여 위험지수를 산출해냄으로써, 검출되는 장애물들의 회피 우선 순위를 용이하게 도출해낼 수 있는 선박의 회피 대상이 되는 다중 장애물의 회피 우선순위 결정 방법에 관한 것이다. The present invention relates to a method for determining the priority of avoiding multiple obstacles that are to be avoided by a ship, and more specifically, by calculating a risk index using DCPA information and TCPA information with the detected obstacles, It relates to a method for determining the priority of avoidance of multiple obstacles, which are objects to be avoided by a ship, which can easily derive the avoidance priority.
선박이 정해진 항로를 벗어나는 경우 좌초되거나 항만 시설과 충돌하여 인명 및 재산 손실 등이 발생할 수 있다. 이를 방지하기 위해, 해상 교통 관제센터(Vessel Traffic Service Center)는 선박의 위치와 속도 및 침로를 지속적으로 감시하는 관제 기능을 제공한다If the vessel deviates from the set route, it may be stranded or collide with port facilities, resulting in loss of life and property. To prevent this, the Vessel Traffic Service Center provides a control function that continuously monitors the position, speed and course of the vessel.
기존 관제 방식에 따르면, 숙련된 관제사에 의한 항해 감시와 상황 예측을 통하여 선박의 정상 운항 여부가 판단된다. 즉, 선박의 안전 운행을 위해서는 관제사의 역할이 매우 중요하다. According to the existing control method, it is determined whether the vessel is operating normally through navigation monitoring and situation prediction by an experienced controller. That is, the role of the controller is very important for the safe operation of the vessel.
한편, 관제사는 정해진 관제 구역에서 운항하는 다수의 선박을 동시에 감시해야 하기 때문에 자칫 업무의 과부하가 발생할 수 있다. On the other hand, since the controller has to simultaneously monitor a number of ships operating in a specified control area, work overload may occur.
이 경우, 관제사의 판단 저하에 따라 선박의 항해 감시 및 상황 예측에 대한 정확도가 감소할 수 있다는 문제점이 존재한다. In this case, there is a problem that the accuracy of the vessel's navigation monitoring and situation prediction may be reduced due to the deterioration of the controller's judgment.
더욱이, 기존 관제 방식에 의하는 경우 선박의 항해 감시 및 상황 예측이 관제사의 경험과 직관에 의하여 수행된다는 점에서 관제사의 직무 숙련 정도에 따라 부적절한 상황 판단 결과를 초래할 수 있다는 한계가 존재한다.Moreover, in the case of the existing control method, there is a limit that may lead to inappropriate situation judgment results depending on the job skill level of the controller in that the navigation monitoring and situation prediction of the vessel are performed based on the experience and intuition of the controller.
이러한 문제점을 해결하기 위해, 선박의 장애물간의 최대근접거리(DCPA, Distance to Closest Point of Approach)정보 및 최대근접 시간(TCPA, Time to CPA) 정보를 항해사 또는 교통관제센터의 관제사에게 제공하는 항해 장애물 식별 시스템이 제안되었다.In order to solve this problem, the navigation obstacle that provides the maximum proximity (DCPA, Distance to Closest Point of Approach) information and the maximum proximity time (TCPA, Time to CPA) information between the obstacles of the vessel to the navigator or the controller of the traffic control center An identification system has been proposed.
하지만, 종래의 항해 장애물 식별 시스템은, DCPA 및 TCPA가 제공되더라도, 두가지 정보에 대한 동시 해석이 필요하며, 다수의 장애물이 동시에 검출될 경우에는 다중 장애물 중 어떤 장애물을 우선적으로 회피하여야 하는지에 대한 정확한 판단을 하기 어려운 문제점이 있었다.However, in the conventional navigation obstacle identification system, even if DCPA and TCPA are provided, simultaneous interpretation of both information is required, and when multiple obstacles are detected at the same time, it is accurate for which obstacle among multiple obstacles to be avoided first. There was a problem that was difficult to judge.
본 발명은 이러한 문제점을 해결하기 위해 안출된 것으로, 본 발명의 목적은 검출되는 장애물들과의 DCPA 정보와 TCPA 정보를 이용하여 위험지수를 산출해내어, 검출되는 장애물들의 회피 우선 순위를 실시간으로 제공함으로써, 신속하고 정확한 상황판단이 가능하여 충돌을 효과적으로 방지할 있는 선박의 회피 대상이 되는 다중 장애물의 회피 우선순위 결정 방법을 제공하는 것이다.The present invention has been devised to solve this problem, and an object of the present invention is to calculate a risk index using DCPA information and TCPA information with the detected obstacles, and provide the avoidance priority of the detected obstacles in real time By doing so, it is to provide a method for determining the priority of avoidance of multiple obstacles, which is a target of avoidance of a ship, that can effectively and efficiently prevent a collision by quickly and accurately determining the situation.
본 발명의 목적들은 이상에서 언급한 목적들로 제한되지 않으며, 언급되지 않은 또 다른 목적들은 아래의 기재로부터 당업자에게 명확하게 이해될 수 있을 것이다.Objects of the present invention are not limited to the objects mentioned above, and other objects not mentioned will be clearly understood by those skilled in the art from the following description.
상기의 목적을 달성하기 위하여 본 발명은 레이더를 이용하여 실시간으로 장애물들을 검출하는 장애물 검출 단계; 검출된 장애물들에 대하여, DCPA(Distance to Closest Point of Approach) 및 TCPA(Time to Closest Point of Approach)를 산출해내는 DCPA 및 TCPA 산출 단계; 장애물별로 산출된 상기 DCPA 및 상기 상기 TCPA를 이용하여, 장애물별 위험지수를 산출해내는 장애물별 위험지수 산출 단계; 및 위험지수가 높은 장애물의 순서로 회피 우선순위가 결정되는 회피 우선순위 결정 단계;를 포함하는 것을 특징으로 하는 선박의 회피 대상이 되는 다중 장애물의 회피 우선순위 결정 방법을 제공한다.In order to achieve the above object, the present invention provides an obstacle detection step of detecting obstacles in real time using a radar; DCPA and TCPA calculation step of calculating a Distance to Closest Point of Approach (DCPA) and a Time to Closest Point of Approach (TCPA) with respect to the detected obstacles; a risk index calculation step for each obstacle calculating a risk index for each obstacle by using the DCPA and the TCPA calculated for each obstacle; and an avoidance priority determining step in which the avoidance priority is determined in the order of the obstacles having a high risk index.
바람직한 실시예에 있어서, 상기 장애물별 위험지수 산출단계는 상기 TCPA가 5분을 초과할 경우, 상기 위험지수는 하기 수학식 1로 산출되고, 상기 TCPA가 5분 이하일 경우, 상기 위험지수는 하기 수학식 2로 산출된다. In a preferred embodiment, in the step of calculating the risk index for each obstacle, when the TCPA exceeds 5 minutes, the risk index is calculated by Equation 1 below, and when the TCPA is 5 minutes or less, the risk index is calculated as follows It is calculated by Equation 2.
(수학식 1)(Equation 1)
위험지수 : (X*2*10)*(Y*1*100)Risk Index: (X*2*10)*(Y*1*100)
(수학식 2)(Equation 2)
위험지수 : (X*2*10)*(Y*2*100)Risk Index: (X*2*10)*(Y*2*100)
여기서, 상기 X는 DCPA(mile) 값이고, 상기 Y는 TCPA(분) 값이다.Here, X is a DCPA (mile) value, and Y is a TCPA (minute) value.
바람직한 실시예에 있어서, 상기 장애물은 선박, 부유물 및 지형을 포함한다.In a preferred embodiment, the obstacles include ships, floats and terrain.
또한, 본 발명은 본 발명에 따른 선박의 회피 대상이 되는 다중 장애물의 회피 우선순위 결정 방법이 적용된 전자해도 시스템을 더 제공한다.In addition, the present invention further provides an electronic chart system to which the avoidance priority determination method of multiple obstacles to be avoided by the ship according to the present invention is applied.
또한, 본 발명은 본 발명에 따른 선박의 회피 대상이 되는 다중 장애물의 회피 우선순위 결정 방법이 적용된 항해 안내 시스템을 더 제공한다.In addition, the present invention further provides a navigation guidance system to which the avoidance priority determination method of multiple obstacles to be avoided by the ship according to the present invention is applied.
본 발명은 다음과 같은 우수한 효과를 가진다.The present invention has the following excellent effects.
본 발명의 선박의 회피 대상이 되는 다중 장애물의 회피 우선순위 결정 방법에 의하면, 검출되는 장애물들과의 DCPA 정보와 TCPA 정보에 조건별 가중치를 적용하고, 이들 값을 서로 곱하여 산출되는 위험지수를 이용하여, 검출되는 장애물들의 회피 우선 순위를 실시간으로 제공함으로써, 신속하고 정확한 상황판단이 가능하여 충돌을 효과적으로 방지할 있는 효과가 있다.According to the method for determining the avoidance priority of multiple obstacles to be avoided by the ship of the present invention, a weighted value for each condition is applied to the DCPA information and the TCPA information with the detected obstacles, and a risk index calculated by multiplying these values is used. Thus, by providing the avoidance priority of the detected obstacles in real time, it is possible to quickly and accurately determine the situation, thereby effectively preventing a collision.
도 1은 본 발명의 일 실시예에 따른 선박의 회피 대상이 되는 다중 장애물의 회피 우선순위 결정 방법을 설명하기 위한 단계도이다.1 is a step diagram for explaining a method for determining an avoidance priority of multiple obstacles to be avoided by a ship according to an embodiment of the present invention.
본 발명에서 사용되는 용어는 가능한 현재 널리 사용되는 일반적인 용어를 선택하였으나, 특정한 경우는 출원인이 임의로 선정한 용어도 있는데 이 경우에는 단순한 용어의 명칭이 아닌 발명의 상세한 설명 부분에 기재되거나 사용된 의미를 고려하여 그 의미가 파악되어야 할 것이다.As for the terms used in the present invention, general terms that are currently widely used as possible are selected, but in certain cases, there are also terms arbitrarily selected by the applicant. In this case, the meaning described or used in the detailed description of the invention rather than the name of the term is considered. So the meaning should be understood.
이하, 첨부한 도면에 도시된 바람직한 실시예들을 참조하여 본 발명의 기술적 구성을 상세하게 설명한다.Hereinafter, the technical configuration of the present invention will be described in detail with reference to preferred embodiments shown in the accompanying drawings.
그러나, 본 발명은 여기서 설명되는 실시예에 한정되지 않고 다른 형태로 구체화 될 수도 있다. 명세서 전체에 걸쳐 동일한 참조번호는 동일한 구성요소를 나타낸다.However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Like reference numerals refer to like elements throughout.
도 1은 본 발명에 따른 선박의 회피 대상이 되는 다중 장애물의 회피 우선순위 결정 방법을 설명하기 위한 단계도이다.1 is a step diagram for explaining a method of determining an avoidance priority of multiple obstacles to be avoided by a ship according to the present invention.
도 1을 참조하면, 본 발명의 일 실시예에 따른 선박의 회피 대상이 되는 다중 장애물의 회피 우선순위 결정 방법은 레이더를 통해 탐지된 다수의 장애물들에 대한 각각의 DCPA(Closest Point of Approach) 값과 TCPA(Time to Closest Point of Approach) 값을 이용하여 위험지수를 산출해냄으로써, 장애물들의 회피 우선 순위를 신속하고 정확하게 결정하기 위한 다중 장애물의 회피 우선순위 결정 방법으로서, 먼저 레이더를 이용하여 실시간으로 장애물들을 검출한다(S100).Referring to FIG. 1 , in the method for determining the priority of avoidance of multiple obstacles to be avoided by a ship according to an embodiment of the present invention, a Closest Point of Approach (DCPA) value for a plurality of obstacles detected through a radar. and TCPA (Time to Closest Point of Approach) value is used to calculate the risk index, so as to determine the avoidance priority of obstacles quickly and accurately, it is a method of determining the priority of avoiding multiple obstacles in real time using radar. Obstacles are detected (S100).
여기서, 상기 레이더는 알파 레이더가 이용될 수 있다.Here, the radar may be an alpha radar.
또한, 상기 장애물들은 항해 중인 선박, 정착된 선박, 지형, 항로 표지, 주의 부표 등, 선박과 충돌 시 위험을 야기하는 장애물이면 제한되는 바가 아니다. In addition, the obstacles are not limited as long as they are obstacles that cause a danger when colliding with a vessel, such as a sailing vessel, a settled vessel, a terrain, a route mark, a caution buoy, and the like.
또한, 상기 장애물 검출 단계(S100)에서는 전방 180도, 2mile 이내의 장애물을 감시한다.In addition, in the obstacle detecting step ( S100 ), obstacles within 180 degrees in front and within 2 miles are monitored.
다음, 상기 레이더를 통해 검출된 장애물들에 대하여, DCPA(Closest Point of Approach) 및 TCPA(Time to Closest Point of Approach) 값을 실시간으로 산출해내는 DCPA 및 TCPA 산출 단계(S200)가 수행된다.Next, with respect to the obstacles detected through the radar, DCPA and TCPA calculation step ( S200 ) of calculating DCPA (Closest Point of Approach) and TCPA (Time to Closest Point of Approach) values in real time is performed.
여기서, 상기 TCPA는 상대 장애물이 현재위치에서 본선과 가장 가까운 지점을 통과하는 시점이고, 상기 DCPA는 상대 장애물이 현재 위치에서 본선과 가장 근거리로 접근하는 거리의 개념다.Here, the TCPA is a time point at which the opponent obstacle passes the point closest to the main line from the current location, and the DCPA is the concept of the distance at which the opponent obstacle approaches the main line closest to the current location.
한편, 이하에서는 일예를 들어, 상기 DCPA 및 상기 TCPA를 산출하는 방법에 대해 설명하기로 한다.Meanwhile, hereinafter, as an example, a method of calculating the DCPA and the TCPA will be described.
도 2는 TCPA와 DCPA를 설명하기 위한 개념도로, 도 2를 참조하여 설명하면, 본선의 위치는 상대적으로 중앙(O점)에 위치하여 자신의 침로-속력(
이에 따라, 본선의 RADAR 상에서 타 장애물은 상대침로-속력(
이때, 상기 TCPA는 DCPA를 상대속력(Vr)으로 나누어 산출될 수 있다.In this case, the TCPA may be calculated by dividing DCPA by the relative speed (V r ).
다음, 장애물별로 산출된 상기 DCPA 및 상기 상기 TCPA를 이용하여, 장애물별 위험지수를 산출해내는 장애물별 위험지수 산출 단계(S300)가 수행된다.Next, by using the DCPA and the TCPA calculated for each obstacle, a risk index calculation step (S300) for each obstacle is performed to calculate a risk index for each obstacle.
삭제delete
삭제delete
삭제delete
삭제delete
삭제delete
삭제delete
삭제delete
삭제delete
삭제delete
삭제delete
삭제delete
삭제delete
삭제delete
이때, 상기 장애물별 위험지수 산출 단계(S300)는 상기 TCPA가 5분을 초과할 경우, 상기 위험지수는 하기 수학식 1로 산출되고, 상기 TCPA가 5분 이하일 경우에는 상기 위험지수는 하기 수학식 2로 산출된다.At this time, in the step of calculating the risk index for each obstacle (S300), when the TCPA exceeds 5 minutes, the risk index is calculated by Equation 1 below, and when the TCPA is 5 minutes or less, the risk index is calculated by the following Equation is calculated as 2.
(수학식 1)(Equation 1)
위험지수 : (X*2*10)*(Y*1*100)Risk Index: (X*2*10)*(Y*1*100)
(수학식 2)(Equation 2)
위험지수 : (X*2*10)*(Y*2*100)Risk Index: (X*2*10)*(Y*2*100)
여기서, 상기 X는 DCPA(단위 : mile) 값이고, 상기 Y는 TCPA(단위 : 분) 값이다.Here, X is a DCPA (unit: mile) value, and Y is a TCPA (unit: minutes) value.
다음, 산출된 상기 장애물별 위험 지수를 기준으로, 위험지수가 높은 장애물의 순서로 회피 우선순위가 결정되는 회피 우선순위 결정단계(S400)가 수행된다.Next, based on the calculated risk index for each obstacle, the avoidance priority determination step S400 in which the avoidance priority is determined in the order of the obstacles having a high risk index is performed.
즉, 본 발명에 따른 선박의 회피 대상이 되는 다중 장애물의 회피 우선순위 결정 방법은 검출된 장애물들의 DCPA(Distance to Closest Point of Approach) 및 TCPA(Time to Closest Point of Approach)값에 설정된 TCPA 조건에 따른 가중치를 적용하고, 이들의 값을 곱하여 위험지수로 산출해내고, 회피 우선 순위를 실시간으로 제공함으로써, 장애물에 대해 신속하고 정확한 상황판단이 가능하여 장애물과의 충돌을 효과적으로 방지할 수 있게 되는 것이다.That is, the method for determining the priority of avoidance of multiple obstacles to be avoided by the ship according to the present invention is based on the TCPA conditions set in the DCPA (Distance to Closest Point of Approach) and TCPA (Time to Closest Point of Approach) values of the detected obstacles. By applying weights according to the corresponding weights, multiplying these values to calculate the risk index, and providing the avoidance priority in real time, it is possible to quickly and accurately determine the situation for obstacles, effectively preventing collisions with obstacles. .
또한, 본 발명에 따른 선박의 회피 대상이 되는 다중 장애물의 회피 우선순위 결정 방법을 이용하면, 기존의 전자해도 시스템이나 항해 안내 시스템과 연계하여, 종래에 비해 직관성이 보다 개선된 전자해도 시스템 및 항해 안내시스템을 구현할 수 있다.In addition, using the method for determining the priority of avoiding multiple obstacles to be avoided by the ship according to the present invention, the electronic chart system and navigation with improved intuitiveness compared to the prior art in connection with the existing electronic chart system or navigation guidance system A guide system can be implemented.
이상에서 살펴본 바와 같이 본 발명은 바람직한 실시예를 들어 도시하고 설명하였으나, 상기한 실시예에 한정되지 아니하며 본 발명의 정신을 벗어나지 않는 범위 내에서 당해 발명이 속하는 기술분야에서 통상의 지식을 가진 자에 의해 다양한 변경과 수정이 가능할 것이다.As described above, the present invention has been illustrated and described with reference to preferred embodiments, but it is not limited to the above-described embodiments, and those of ordinary skill in the art to which the present invention pertains within the scope not departing from the spirit of the present invention Various changes and modifications will be possible.
[이 발명을 위한 국가연구개발 사업][National R&D project for this invention]
[과제고유번호] P0002133[Project unique number] P0002133
[부처명] 산업통상자원부[Name of Ministry] Ministry of Trade, Industry and Energy
[연구관리전문기관] 한국산업기술진흥원[Research and management institution] Korea Institute of Industrial Technology Promotion
[연구사업명] 경제협력권산업육성사업[Research project name] Economic cooperation zone industry promotion project
[연구과제명] 중소형 스마트 친환경 선박 및 기자재 기술·사업화 지원사업[Research project name] Small and medium-sized smart eco-friendly ships and equipment technology and commercialization support project
[기여율] 1/1[Contribution rate] 1/1
[주관기관] 전남대불산학융합원[Organizer] Chonnam National University Folklore Academy Convergence Center
[연구기간] 2018.04.01.~ 2018.12.31[Research period] 2018.04.01. ~ 2018.12.31
Claims (5)
상기 장애물별 위험지수 산출단계는
상기 TCPA가 5분을 초과할 경우, 상기 위험지수는 하기 수학식 1로 산출되고,
상기 TCPA가 5분 이하일 경우,
상기 위험지수는 하기 수학식 2로 산출되는 것을 특징으로 하는 선박의 회피 대상이 되는 다중 장애물의 회피 우선순위 결정 방법.
(수학식 1)
위험지수 : (X*2*10)*(Y*1*100)
(수학식 2)
위험지수 : (X*2*10)*(Y*2*100)
여기서, 상기 X는 DCPA(mile) 값이고, 상기 Y는 TCPA(분) 값이다.
an obstacle detection step of detecting obstacles in real time using radar; DCPA and TCPA calculation step of calculating a Distance to Closest Point of Approach (DCPA) and a Time to Closest Point of Approach (TCPA) with respect to the detected obstacles; a risk index calculation step for each obstacle calculating a risk index for each obstacle by using the DCPA and the TCPA calculated for each obstacle; and an avoidance priority determination step in which the avoidance priority is determined in the order of the obstacles having a high risk index;
The step of calculating the risk index for each obstacle is
When the TCPA exceeds 5 minutes, the risk index is calculated by Equation 1 below,
If the TCPA is less than 5 minutes,
The risk index is a method for determining the priority of avoidance of multiple obstacles to be avoided by the ship, characterized in that calculated by the following Equation (2).
(Equation 1)
Risk Index: (X*2*10)*(Y*1*100)
(Equation 2)
Risk Index: (X*2*10)*(Y*2*100)
Here, X is a DCPA (mile) value, and Y is a TCPA (minute) value.
상기 장애물은 선박, 부유물 및 지형을 포함하는 것을 특징으로 하는 선박의 회피 대상이 되는 다중 장애물의 회피 우선순위 결정 방법.
The method of claim 1,
The obstacle is a method for determining the priority of avoidance of multiple obstacles to be avoided by the ship, characterized in that it includes a ship, a floating object, and a terrain.
The electronic chart system to which the method of determining the priority of avoiding multiple obstacles to be avoided by the ship of claim 1 is applied.
The navigation guidance system to which the method of determining the priority of avoiding multiple obstacles to be avoided by the ship of claim 1 is applied.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020180150722A KR102269151B1 (en) | 2018-11-29 | 2018-11-29 | Method for determination a priority of multiple obstacles to be avoided |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020180150722A KR102269151B1 (en) | 2018-11-29 | 2018-11-29 | Method for determination a priority of multiple obstacles to be avoided |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| KR20200064522A KR20200064522A (en) | 2020-06-08 |
| KR102269151B1 true KR102269151B1 (en) | 2021-06-25 |
Family
ID=71090177
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR1020180150722A KR102269151B1 (en) | 2018-11-29 | 2018-11-29 | Method for determination a priority of multiple obstacles to be avoided |
Country Status (1)
| Country | Link |
|---|---|
| KR (1) | KR102269151B1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111941428B (en) * | 2020-08-17 | 2022-01-18 | 上海快仓智能科技有限公司 | Obstacle avoidance control method and device |
| CN114384917B (en) * | 2022-01-14 | 2023-11-17 | 上海大学 | Real-time ship collision prevention method based on field theory |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101711025B1 (en) * | 2011-04-21 | 2017-02-28 | 한국전자통신연구원 | Apparatus and method for choosing a object for controlling first of all, and apparatus for controlling the object |
| KR101298925B1 (en) * | 2011-12-21 | 2013-08-22 | 한국해양과학기술원 | Collision Risk Recognition Support System on Multiple Ships by using the Directional Collision Risk |
| KR102251720B1 (en) * | 2015-03-16 | 2021-05-17 | 한국전자통신연구원 | Method and apparatus for preventing a collision of ship |
-
2018
- 2018-11-29 KR KR1020180150722A patent/KR102269151B1/en active IP Right Grant
Also Published As
| Publication number | Publication date |
|---|---|
| KR20200064522A (en) | 2020-06-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Szlapczynski | A unified measure of collision risk derived from the concept of a ship domain | |
| US9150221B2 (en) | Vehicle controller, control method for vehicle and control system for vehicle | |
| CN109933067B (en) | Unmanned ship collision avoidance method based on genetic algorithm and particle swarm algorithm | |
| US9598843B2 (en) | Real-time route terrain validity checker | |
| KR101900851B1 (en) | Method And Apparatus for Monitoring Marine Traffic | |
| US8674854B2 (en) | Traffic control apparatus and method using navigation route information of vehicle for each navigational situation | |
| JP4888182B2 (en) | Control device for mobile body and mobile body having the same | |
| KR101298925B1 (en) | Collision Risk Recognition Support System on Multiple Ships by using the Directional Collision Risk | |
| WO2015155833A1 (en) | Collision prevention device | |
| KR102269151B1 (en) | Method for determination a priority of multiple obstacles to be avoided | |
| GB2475197A (en) | System and method for preventing a collision | |
| CN107076565B (en) | Travel route calculation device | |
| EP3273426B1 (en) | Routing aircraft ground movements at an airport | |
| KR101658133B1 (en) | System for calculating collision risk of vessel | |
| KR102251720B1 (en) | Method and apparatus for preventing a collision of ship | |
| CN203094401U (en) | Shipborne automatic identification system (AIS) automatic intelligent collision prevention system adopting sonar detection | |
| CN115407786B (en) | Automatic navigation decision-making method, device, equipment and medium for full voyage of ship | |
| EP3605500B1 (en) | Output device, control method, program, and storage medium | |
| CN110398956A (en) | Stop the vehicle routing plan of the example of automatic operation based on other vehicles | |
| Rong et al. | Simulation and analysis of maritime traffic in the Tagus River Estuary using AIS data | |
| Perera et al. | Detections of potential collision situations by relative motions of vessels under parameter uncertainties | |
| CN113125795B (en) | Obstacle speed detection method, device, equipment and storage medium | |
| US11169259B2 (en) | Method and surroundings detection device for determining the presence and/or properties of one or multiple objects in the surroundings of a motor vehicle | |
| KR101725128B1 (en) | Ultra-high speed ship detection method and apparatus thereof | |
| CN116088513A (en) | Automatic path optimization method, device and unit for unmanned mine car and mine car |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| E902 | Notification of reason for refusal | ||
| E701 | Decision to grant or registration of patent right |