Study On Optimization Of Pidvca Algorithm And Visualization Of Decision-making Effect

With the booming of the global shipping industry,the density of ships in open water is increasing,and collisions at sea occur frequently,which are caused by human negligence and other reasons.There are some achievements in the research of open water collision avoidance assisted decision making system based on Personifying Intelligent Decision-making for Vessel Collision Avoidance(PIDVCA),but there are shortcomings in the PIDVCA and the interface design of collision avoidance assisted decision making function for multi-vessel encounters in open and busy waters.Therefore,this thesis relies on the National Natural Science Foundation of China(NSFC)project "Research on Key Technology of Intelligent Collision Avoidance and Risk Avoidance Decision for Vessels in Complex Waters" and the Ministry of Industry and Information Technology(MIIT)project "Development of Intelligent Sensing System for Vessel Navigation Situation" undertaken by the supervisor,focusing on the research of the multi-vessel imminent danger decision method and the visual interpretation of coordinated avoidance in open and busy waters,further improving the PIDVCA,optimizing the system interface design,and better providing safe and economic collision avoidance assisted decision-making solutions for drivers,with the main work completed as follows:(1)Briefly introduces the principle of PIDVCA and ship collision danger evaluation system,explains the meaning of multi-ship imminent danger based on ship collision danger evaluation system;analyzes the composition,characteristics and the limitations of PIDVCA,and proposes the idea,method and content of solving multi-ship imminent danger collision avoidance decision.(2)Construct a multi-vessel typical encounter scenario imminent danger decision base.Analyze the feasibility of adopting variable speed or redirected variable speed decision to successfully avoid the imminent danger of multi-vessel(two target vessels)under the ship collision danger system;determine the typical multi-vessel encounter scenario by using the combination of spatial targets,and construct the imminent danger decision base for the typical multi-vessel encounter scenario in open and busy waters by combining geometric analysis and manual simulation experiments;construct the estimation model of variable speed and redirected variable speed maneuvering parameters through simulated ship operation experiments In order to achieve the correct estimation of the maneuvering delay from the execution point of avoidance decision to the end point of avoidance during the simulation experiment.(3)Design and validation of multi-vessel imminent danger collision avoidance algorithm.Based on the multi-vessel typical encounter scenario imminent danger decision base,the multi-vessel imminent danger collision avoidance algorithm module is designed and integrated into the PIDVCA algorithm base,which is embedded into our self-developed ship intelligent maneuvering simulation platform.The typical case is designed for simulation testing,and the experimental results prove that the designed multi-vessel imminent danger algorithm module is equipped to handle the decision problem under imminent situation redirection failure.(4)Introduce the collision danger warning and assisted decision-making functions of the ship collision avoidance assisted decision-making system,analyze the radar collision avoidance assisted decision-making function interface display and decision-making visualization demand questionnaire design method,design the collision avoidance assisted function interface and its decision-making visualization interface according to the questionnaire analysis results,focus on the realization of the visualization of the decision-making proposal of two-ship coordinated collision avoidance and design the analysis mode of the decision-making basis.By designing the simulation case and using the navigation simulator to show the simulation training effect,the application of two-ship coordinated collision avoidance assisted decision visualization and its analysis in the simulator training teaching reform is discussed.