能见度不良是造成舰船碰撞事故发生的主要原因，为防止舰船碰撞，从转向与减速2个角度提出能见度不良时舰船避碰辅助决策方法。在能见度不良条件下，将目标舰船同其他舰船间的转向避碰问题定义为多目标函数优化问题，以同其他会遇舰船间的碰撞危险度充分下降、最大限度降低转向角度、目标舰船转向航行最少时间内恢复初始航向与航速为目标函数。能见度不良造成可视距离较小，在单独采用转向避碰决策无法有效实现避碰目的的情况下，需结合舰船变速避碰，以碰撞危险度与变速能量损失最小为目标函数，通过求解各目标函数，获取舰船转向幅度与降速决策信息。实验结果显示，当能见度不良时，舰船在不同会遇条件下均能够有效实现避碰目的。
Poor visibility is the main cause of ship collision accidents. To prevent ship collisions, an auxiliary decision-making method for ship collision avoidance during poor visibility is proposed from the perspectives of steering and deceleration. Under poor visibility conditions, the problem of turning and collision avoidance between the target ship and other ships is defined as a multi-objective function optimization problem, with the objective function of fully reducing the risk of collision with other ships, minimizing the turning angle, and restoring the initial heading and speed of the target ship within the minimum time of turning and sailing. Due to poor visibility, the visible distance is relatively small. In cases where the use of steering collision avoidance decisions alone cannot effectively achieve the purpose of collision avoidance, it is necessary to combine the variable speed collision avoidance of ships, with the objective function of minimizing collision risk and variable speed energy loss. By solving each objective function, the ship's steering amplitude and deceleration decision information can be obtained. The experimental results show that when visibility is poor, ships can effectively achieve collision avoidance under different encounter conditions.
2023,45(23): 190-193 收稿日期：2023-05-30
DOI：10.3404/j.issn.1672-7649.2023.23.036
分类号：U675
基金项目：江苏省职业教育“双师型”名师工作室培养项目（2022−09）
作者简介：臧继明(1981-),男,硕士,讲师,主要研究方向为航海技术
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