Intelligent collision avoidance decision model based on geometric analysis of relative movement

Based on collected information such as course and speed of own ship and radar observations of target ship, or AIS motion state data of own ship and target ship, a mathematical model for vessel collision avoidance is constructed adopting geometry theory and geometrical analysis of relative movement. Considering MSPD (minimum safe passing distance), this decision model for vessel collision avoidance is based on measures of space collision risk DCPA (distance to closest point of approach) and time collision risk TCPA (time to closet point of approach). In this paper, three decision models of collision avoidance for own ship's course alteration, speed alteration, course and speed alteration at the same time are deducted with plane geometry analysis as tool, movement elements of own ship and target ship as computation model, and minimum safe passing distance, TCPA and DCPA as decision variables. To verify the proposed intelligent decision model, simulation results are given to show the efficiency and robustness of the model.