CN-122018514-A - Ship navigation control method, device, computer equipment and storage medium

CN122018514ACN 122018514 ACN122018514 ACN 122018514ACN-122018514-A

Abstract

The invention relates to the technical field of intelligent shipping and discloses a ship navigation control method, a device, computer equipment and a storage medium, wherein the method comprises the steps of obtaining real-time navigation information of a target ship and a preset reference path, wherein the real-time navigation information comprises ship position information and environment perception information; determining an expected course angle according to a preset reference path and ship position information, and determining expected motion parameters based on the preset reference path, the ship position information and environment perception information; and controlling the navigation of the target ship based on the desired course angle and the desired motion parameter. The invention solves the problems of path tracking lag and navigational speed response mismatch caused by independent heading and navigational speed control and fixed forward looking distance in the short-distance polyline navigation channel of the existing ship autonomous navigation method.

Inventors

MA YAPING
LI CHANGWEI
CHEN YUANFA
GU RENCHAO
QI YANNAN
HAN QI
SHEN WEI

Assignees

北京海兰信数据科技股份有限公司
广西北港西江港口有限公司

Dates

Publication Date: 20260512
Application Date: 20260414

Claims (12)

1. A method of controlling navigation of a vessel, the method comprising: acquiring real-time navigation information of a target ship and a preset reference path, wherein the real-time navigation information comprises ship position information and environment perception information; Determining an expected course angle according to the preset reference path and the ship position information, and determining expected motion parameters based on the preset reference path, the ship position information and the environment perception information; Controlling the target vessel voyage based on the desired heading angle and the desired motion parameter.
2. The method of claim 1, wherein the determining a desired heading angle from the preset reference path and the vessel position information comprises: determining a first reference point closest to the current position point of the target ship on the preset reference path according to the ship position information, and acquiring an arc length parameter corresponding to the first reference point on the preset reference path; Calculating a transverse tracking error of the position point relative to the first reference point, and determining a path curvature radius of the first reference point on the preset reference path according to the arc length parameter; Calculating the forward looking distance of the target ship according to the current navigational speed of the target ship, the path curvature radius and the minimum turning radius threshold of the target ship; Determining a second reference point according to the forward looking distance along the arc length direction of the preset reference path, and calculating a basic expected heading angle of the current position point of the target ship to the second reference point; determining a feedback control item of the transverse tracking error according to the transverse tracking error, and determining a feedforward control item of the path curvature according to the characteristic coefficient of the target ship and the arc length parameter; and correcting the basic expected course angle based on the feedback control item of the transverse tracking error and the feedforward control item of the path curvature to obtain the expected course angle.
3. The method of claim 1, wherein the determining the desired motion parameter based on the preset reference path, the vessel position information, and the context awareness information comprises: constructing a target speed profile of the target ship in a planning time domain, wherein the planning time domain comprises a plurality of stages; Determining a current target stage of the target ship according to the preset reference path, the ship position information and the environment perception information; And taking the motion parameter corresponding to the target stage in the target speed profile as the expected motion parameter.
4. A method according to claim 3, wherein said constructing a target speed profile of the target vessel in a planning time domain comprises: acquiring a planning time domain of a current control period, and discretizing the planning time domain into a plurality of phases; And solving the motion parameters of the target ship at each stage under a preset constraint condition, and obtaining a target speed profile of the target ship in the planning time domain when a preset cost function meets a preset convergence condition, wherein the preset cost function comprises at least one of curve safety cost, relaxation safety cost and efficiency cost, and the constraint condition comprises at least one of ship dynamics constraint, curve speed constraint, relaxation safety constraint, navigation speed limit constraint and experience navigation speed constraint.
5. The method of claim 1, wherein the real-time voyage information of the target vessel includes operational status information, the method further comprising: In the process of controlling the navigation of the target ship based on the expected course angle and the expected motion parameter, determining a target navigation scene where the target ship is currently located according to the environment perception information and the running state information, wherein the target navigation scene is any one of a direct navigation scene, a curve navigation scene, a following navigation scene, a dynamic obstacle avoidance scene and a narrow water navigation scene; And determining a corresponding cooperative control strategy according to the target navigation scene, and adjusting the expected course angle and the expected motion parameter in the navigation process of the target ship according to the cooperative control strategy.
6. The method of claim 5, wherein when the voyage scenario is a curve voyage scenario, the cooperative control strategy comprises: Simultaneously, adjusting the forward looking distance of the target ship according to a second decreasing rule to obtain an updated forward looking distance, and updating the expected course angle by utilizing the updated forward looking distance to obtain an updated expected course angle; maintaining the updated expected motion parameters and the updated expected heading angle in an over-bending stage; And simultaneously, adjusting the updated forward looking distance according to a second incremental rule to obtain the restored forward looking distance, and updating the updated expected course angle by utilizing the restored forward looking distance to obtain the restored expected course angle.
7. The method of claim 5, wherein when the voyage scenario is a following voyage scenario, the cooperative control strategy comprises: Detecting a reference vessel located in the forward direction of the target vessel; Determining a safe following speed according to the motion state information of the reference ship; And simultaneously adjusting the forward looking distance of the target ship according to a third increment rule to obtain an updated forward looking distance, and updating the expected course angle by utilizing the updated forward looking distance to obtain an updated expected course angle.
8. The method of claim 5, wherein when the voyage scenario is a dynamic obstacle avoidance scenario, the cooperative control strategy comprises: detecting whether collision risk exists between the target ship and a front obstacle; When collision risk is detected, a local path planner is called to generate a short-time obstacle avoidance course sequence, the expected course angle is updated according to the short-time obstacle avoidance course sequence to obtain an updated expected course angle, and meanwhile the expected motion parameters are adjusted according to a third descending rule to obtain updated expected motion parameters.
9. The method of claim 5, wherein when the voyage scenario is a narrow water voyage scenario, the cooperative control strategy comprises: acquiring channel width information of a current water area where the target ship is located; And simultaneously, adjusting the forward looking distance of the target ship according to a fourth descending rule to obtain an updated forward looking distance, and updating the expected course angle by using the updated forward looking distance to obtain an updated expected course angle.
10. A marine vessel voyage control device, said device comprising: The system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring real-time navigation information of a target ship and a preset reference path, wherein the real-time navigation information comprises ship position information and environment perception information; The determining module is used for determining an expected course angle according to the preset reference path and the ship position information and determining expected motion parameters based on the preset reference path, the ship position information and the environment perception information; and the control module is used for controlling the navigation of the target ship based on the expected course angle and the expected motion parameter.
11. A computer device, comprising: A memory and a processor in communication with each other, the memory having stored therein computer instructions which, upon execution, cause the processor to perform the method of any of claims 1 to 9.
12. A computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of any one of claims 1 to 9.

Description

Ship navigation control method, device, computer equipment and storage medium Technical Field The invention relates to the technical field of intelligent shipping, in particular to a ship navigation control method, a device, computer equipment and a storage medium. Background Autonomous navigation technology of inland vessels mainly relies on a Global Positioning System (GPS) and preset waypoints to realize path tracking through geometric methods such as line of sight (LOS), pure tracking algorithm and the like. The ship is regarded as particles by the method, the expected heading is calculated based on the geometric relation between the current pose and the target point, and the ship is controlled in practice by combining the experience of a crew or constant navigational speed. However, inland waterways generally have the characteristics of short track section distance, frequent steering and obvious fold line characteristics, and particularly in the scenes of a hub ship lock connecting section, port fork openings, a dense bridge area, a city serpentine waterway and the like, the ship needs to complete multi-angle continuous steering in a short navigation section. The existing method does not fully consider the dynamics characteristics of large ship inertia and slow response, and the course and the speed control are mutually independent, so that the control coupling requirement caused by high-frequency geometric change is difficult to adapt. The prior art has the defects that the traditional sight line method adopts a fixed forward sight distance under a short-distance multi-fold line path, or causes the ship to cut into the inner side of a bent angle when turning into the next navigation section, the risk of landing or deviating from a navigation channel exists, or causes the ship to punch out a preset end point along the current navigation section to generate intense oscillation at the break point, meanwhile, the navigation speed control is mainly reactive regulation, the speed regulation is carried out depending on the current tracking error, the dynamic matching of acceleration and deceleration cannot be completed in time under the condition of limited navigation section length, the control delay dilemma that the speed is just about to be reduced is trapped, and the dynamic synergy between the path tracking and the navigation speed safety cannot be realized. Disclosure of Invention In view of the above, the embodiments of the present invention provide a method, an apparatus, a computer device, and a storage medium for controlling ship navigation, so as to solve the problem of mismatching between path tracking lag and speed response caused by independent heading and speed control and fixed forward looking distance in the short-distance polyline navigation channel of the existing ship autonomous navigation method. In a first aspect, an embodiment of the present invention provides a ship navigation control method, including: acquiring real-time navigation information of a target ship and a preset reference path, wherein the real-time navigation information comprises ship position information and environment perception information; Determining an expected course angle according to the preset reference path and the ship position information, and determining expected motion parameters based on the preset reference path, the ship position information and the environment perception information; Controlling the target vessel voyage based on the desired heading angle and the desired motion parameter. Further, the determining the expected heading angle according to the preset reference path and the ship position information includes: determining a first reference point closest to the current position point of the target ship on the preset reference path according to the ship position information, and acquiring an arc length parameter corresponding to the first reference point on the preset reference path; Calculating a transverse tracking error of the position point relative to the first reference point, and determining a path curvature radius of the first reference point on the preset reference path according to the arc length parameter; Calculating the forward looking distance of the target ship according to the current navigational speed of the target ship, the path curvature radius and the minimum turning radius threshold of the target ship; Determining a second reference point according to the forward looking distance along the arc length direction of the preset reference path, and calculating a basic expected heading angle of the current position point of the target ship to the second reference point; determining a feedback control item of the transverse tracking error according to the transverse tracking error, and determining a feedforward control item of the path curvature according to the characteristic coefficient of the target ship and the arc length parameter; and correcting the basic expected course