Research On The Method Of Resolving Conflicts In Ship Traffic For Autonomous Navigation Scenarios

Intelligent ships are the development trend of future shipping.Autonomous ship navigation technology is one of the core and key technologies of ship information technology.With the gradual introduction of standards,test and verification systems for intelligent ships,the technology and industrial development of intelligent ships with autonomous navigation through the central government has come into the fast lane.The development of ship intelligence has made ships more efficient and safer,but at the same time,it has also caused the characteristics of ship traffic flow to be increasingly diversified and complicated.In addition,there are currently no clear rules and regulations applicable to traffic conflicts in autonomous navigation Relief,so automatic collision avoidance or conflict resolution between ships is one of the key issues facing intelligent ships in the future.In order to ensure the security of navigation of ships,reduce or prevent conflict in the process of ship sailing or accident,In the context of the autonomous navigation-based threshold,the paper explores the methods of resolving ships after a traffic conflict occurs.Based on the establishment of a conflict model based on the speed obstacle method of the dynamic ship field under autonomous navigation scenarios,it proposes the concept of priority and establishes effective A step-by-step strategic approach to ship traffic conflict resolution.This method can help the traffic conflict resolution under the condition of all information interconnection between ships,so that all ships can carry out the traffic conflict resolution decision according to the priority.The main research contents of this paper are as follows:（1）Construction of ship traffic conflict detection model for autonomous navigation scenarios.In the context of the autonomous navigation-based threshold,the paper explores the methods of resolving ships after a traffic conflict occurs.Based on the establishment of a conflict model based on the speed obstacle method of the dynamic ship field under autonomous navigation scenarios,it proposes the concept of priority and establishes effective a step-by-step strategic approach to ship traffic conflict resolution.（2）Research on Ship Traffic Conflict Resolution Methods for Autonomous Navigation Scenarios.Based on the ship traffic conflict theory and the basic principles and methods of ship traffic conflict resolution,according to the priority idea,select the ship traffic conflict danger degree,whether it is a direct ship,sailing speed,handling performance and other factors to determine the sequence of ship release behavior For the ships involved in the conflict,their relief strategies are determined according to the order,and a multi-ship traffic conflict resolution methods is established.（3）For the resolution of ship traffic conflicts under different situations in the autonomous navigation scene,after determining the conflict mode and the release process,use the method based on ship conflict detection and release model,and combine MATLAB software programming to achieve multi-ship traffic conflict resolution in different scenarios The simulation of the process validates the effectiveness of the release model and method.In this paper,the research on multi-ship traffic conflict resolution methods under the vision of autonomous navigation is of great practical significance for ensuring the safety of ship navigation.On the one hand,this paper studies the detection and resolution of ship traffic conflict from the perspective of autonomous navigation,and determines whether the ship has conflict,the conflict mode and the confirmation of the conflict resolution strategy,which enrich the relevant theories of maritime traffic accident safety.On the other hand,based on the ship traffic conflict detection and resolution model,the simulation verification of multi-ship traffic conflict resolution under different scenarios is realized,and the results show that this method can provide theoretical basis and technical support for the choice of traffic conflict resolution strategy under the situation of ship encounter in multiple driving modes under the background of autonomous navigation.