Proceedings of the 6th World Congress on Intelligent Control

and Automation, June 21 - 23, 2006, Dalian, China

ECDIS Based Decision-Making System for Vessel

Automatic Collision Avoidance on Restricted Water Area
Shenhua Yang1,2, Lina Li1, Chaojian Shi2
1)
Navigation Institute, Jimei University, Xiamen 361021 (E-mail: yangshh@163.com, lln668@163.com)
2)
Merchant Marine College, Shanghai Maritime University, Shanghai 200135 (E-mail: cjshi@shmtu.edu.cn)

Abstract—The automatic decision-making for restricted sea area is one of the nodus in the research of vessel automatic collision
avoidance. Using Electronic Chart Display and Information System (ECDIS) as a credible resource of information and based on the
previous research work for open sea area, this paper focused on the techniques of collision avoidance automation for restricted water
areas. The static data of ECDIS and the dynamic information of vessel movements were integrated effectively to set up a
comprehensive basis for the decision-making on restricted water areas. A rectangular area model was suggested for searching the
information of dangerous underwater obstructions, and a reasoning flow of the decision-making system for vessel automatic collision
avoidance for restricted sea area was illustrated. Mathematical models for determining threshold of dangerous water depth and
parameters of the search area were provided in detail.

Keywords—ECDIS, restricted water area, collision avoidance automation, rectangular searching area, dangerous water depth

෎Ѣ ECDIS ᓔথফ䰤∈ඳ㠍㠊㞾ࡼ䙓䅽‫އ‬ㄪ㋏㒳
ᴼ⼲࣪ 1,2ᴢБ࿰ 1ᮑᳱ‫ ع‬2
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䲚㕢໻ᄺ㟾⍋ᄺ䰶ॺ䮼
2)
Ϟ⍋⍋џ໻ᄺଚ㠍ᄺ䰶Ϟ⍋

ᨬ㽕 ফ䰤∈ඳ㞾ࡼ䙓䅽‫އ‬ㄪᰃ㠍㠊㞾ࡼ䙓⺄ᮍ⊩ⷨおЁⱘϔϾ䲒⚍DŽᴀ᭛ҹ⬉ᄤ⍋೒ᰒ⼎Ϣֵᙃ㋏㒳˄Electronic Chart

Display and Information Systemˈㅔ⿄ ECDIS)԰Ў㞾ࡼ䙓⺄㋏㒳᳝ᬜ㗠ৃ䴴ⱘ䴭ᗕֵᙃ⑤੠ᅲ⦄ࡼᗕ䙓⺄ֵᙃϢ䴭ᗕֵᙃⱘ᳝ᴎ㵡ড়
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1-4244-0332-4/06/$20.00 ©2006 IEEE

7118
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೒ ᆑ∈ඳ㠍㠊㞾ࡼ䙓⺄‫އ‬ㄪ㋏㒳᥼⧚⌕⿟


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⹂ᅮ⹡㟾⠽᧰㋶ⶽᔶ㣗ೈ੠ॅ䰽∈⏅߸ᅮ䯜ؐ

᧰㋶ⲥ⌟㣗ೈ‫ࡼⱘݙ‬ᗕⳂᷛᑊ䅵ㅫⳂᷛখ᭄ঞॅ䰽߸ᅮ䯜ؐ

᮴
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᳝ Ẕ㋶ ECDIS ᭄᥂ᑧˈ߸ᮁ᳝ ᮴

᳔Շ䙓⺄‫އ‬ㄪ⫳៤῵ഫ ৺ॅ䰽⹡㟾⠽៪∈⏅⚍˛

᮴ ᳝
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᳝ 㕂ᇏᡒ᳔Շ䙓⻕៪䙓⌙ᮍḜ

Ẕ㋶ ECDIS ᭄᥂ᑧˈ乘
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⌟䙓䅽㟾৥Ϟᰃ৺᳝ॅ ᮴
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䰽⹡㟾⠽៪∈⏅⚍˛

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᳝
᳝ৃ㸠ᮍḜ৫˛

೒ 3 ফ䰤∈ඳ㟾㸠㞾ࡼ䙓䅽‫އ‬ㄪ㋏㒳ⱘ᥼⧚⌕⿟

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㠊㺙䕑㒉ؒᆠ㺩⏅ᑺ ' ㄝ಴㋴ˈৃҹᣝϟ߫݀ᓣ䅵ㅫ˖
DL D0  D1  D2  D3  D4 ˄˅

ᇍ㠍ԧϟ≝ؐ ' ⱘ⹂ᅮˈ⬅Ѣϡৠ㠍ൟ៪ৠϔ⾡㠍ൟ

೼ϡৠ㺙䕑੠ϡৠ䗳ᑺϟӮѻ⫳ϡৠⱘϟ≝䞣ˈ಴ℸ䗮䖛
ᇍ䖯ߎॺ䮼␃੠ᅕ⊶␃ⱘ䖥  㠬ϡৠ㉏ൟⱘ㠍㠊䖯㸠ᅲ
㠍㾖⌟ˈᇚᇐߎ㠍ԧϟ≝䞣 ' ⱘᅲᯊࡼᗕ᭄ᄺ῵ൟˈ݇Ѣ ೒ ⶽᔶ᧰㋶ऎඳ⼎ᛣ೒‫؛‬䆒㠍㠊ে㠋ফ⌕
῵ൟⷨおᇚ঺᭛䖯㸠䯤䗄DŽ
啭偼ϟ᳔ᇣᆠ㺩⏅ᑺ ' 䞛⫼㸼  Ёⱘ᭄ؐ>@DŽ ᓣ˄˅Ё˖/ Ў㠍㠊䭓ᑺˈ3 Ў㠍㠊ᅮԡ㊒ᑺˈ5[ Ў
⊶⌾ᆠ㺩⏅ᑺ ' 䞛⫼㸼  Ёⱘ᭄ؐ>@DŽ ∈⌕㟈Փ㠍㠊ѻ⫳ⓖ⿏ⱘ䎱⾏೼㠍㠊ࠡ䖯ᮍ৥Ϟⱘߚ䞣ˈ
㠍㠊㺙䕑㒉ؒᆠ㺩⏅ᑺ 'ˈᇍᴖ䋻㠍੠䲚㺙ㆅ㠍ৃϡ ৃҹ⬅ᓣ˄˅䅵ㅫᕫࠄ˗
䅵ˈ⊍㠍੠ᬷ䋻㠍প P>@DŽ
Rx VR ˜ t s cos(C0  C R ) ˄3˅

㸼 㠍㠊㟾㸠ᯊ啭偼ϟ᳔ᇣᆠ㺩⏅ᑺ '˄P˅ ᓣ˄˅Ё˖95 Ў⌕䗳໻ᇣ˗&5 Ў⌕䗳ᮍ৥˗& Ў㟾৥˗
㠍㠊ৼ㑻 5000 10000 50000 WV Ў‫צ‬䔺‫ذ‬㠍ᯊ䯈ˈৃ⬅ᓣ˄˅∖ᕫ>@˗
DWT< 100000
˄t˅ İDWT İDWT İDWT 6 Ў㠍㠊‫צ‬䔺ࠊࡼ㒉䎱ˈৃҹ⬅ᓣ˄˅䅵ㅫᕫࠄ>@˖
5000 İDWT
ᑩ䋼⡍ᕕ <10000 <50000 <100000 1 V02 1
S TS ln(1  ˜ )  V0 t r ˄4˅
⎸⊹ೳ 0.20 0.20 0.30 0.40 0.40 K S n12 2
ⷖ 0.30 0.30 0.40 0.50 0.60 ᓣ˄˅Ё˖76 Ўࠡ䖯ᛃᗻᣛ᭄ˈৃ⬅ᓣ˄˅∖ᕫ>@˗
ᖿ⢊ೳ 0.40 0.40 0.50 0.60 0.60 .6 Ў㶎ᮟḼ‫צ‬䔺ᢝ࡯ᣛ᭄ˈৃ⬅ᓣ˄˅∖ᕫ>@˗9 ЎЏᴎ
ች⷇ 0.50 0.60 0.60 0.80 0.80 ᓔྟ‫צ‬䔺ᯊⱘ䅵⿟Ҿ㠍䗳˗Q ЎЏᴎ‫צ‬䔺䕀䗳˗WU Ў㶎ᮟ
⊼˖ DWT˖dead weight tonnage, Ў㠍㠊䕑䞡䞣DŽ Ḽ೼ᤶ䔺䖛⿟ЁҢᓔྟᤶ䔺ࠄ䖯䔺‫ذ‬䕀㒣ग़ⱘᯊ䯈DŽ
2TS V0 1
ts tan 1  tr ˄5˅
㸼 2 㠍ǃ⌾།㾦 Ϣ D3 /H4% ⱘব࣪㋏᭄ؐ n1 K S n1 K S 2
  0 10 20 30 40 50 60 70 80 90 (m  m x )
TS ˄6˅
(e) (180) (170) (160) (150) (140) (130) (120) (110) (100) (90) 2k
D3 K T 1 ȡD 4
0.24 0.32 0.38 0.42 0.44 0.46 0.48 0.49 0.50 0.52 KS ˄7˅
/H4% k
⊼˖ķᔧ DWT<10000t ᯊˈ㸼  Ёⱘ᭄ؐᑨ๲ࡴ ˁ˗ ᓣ˄˅Ё˖P Ў㠍㠊ᴀ䑿䋼䞣˗P[ Ў㠍㠊ࠡ䖯ᮍ৥ⱘ
ĸH4% 㸼⼎⊶߫㌃⿃乥⥛Ў ˁⱘ⊶催DŽ 䰘ࡴ䋼䞣ˈN Ў䰏࡯㋏᭄DŽ
ᓣ˄˅Ё˖.7 Ў㶎ᮟḼᢝ࡯㋏᭄˗²Ў⍋∈ᆚᑺ˗'
 ⶽᔶ᧰㋶ऎඳ᭄ᄺ῵ൟ Ў㶎ᮟḼⳈᕘ˗
᮴䖍⬠ ECDIS ⍋೒᭄᥂ᑧࣙᣀњܼ⧗ৃ㟾∈ඳⱘ᠔᳝ བ೒  ᠔⼎ˈ᧰㋶ⶽᔶᆑᑺ % Џ㽕㗗㰥ᡥࠊኌຕᬜᑨǃ
∈⏅ǃኌ㒓ǃḹṕǃᶊぎ⬉㓚ǃ⌙Ⓗǃ≝㠍ǃቯ⻕ㄝֵᙃˈ ᭰വᬜᑨㄝᕅડˈপ‫އ‬Ѣ㠍㠊ሎᑺǃ㠍䗳ǃ⍋‫މ‬੠㠍㠊ᅮ
ᆍ䞣ᑲ໻ˈЎњᦤ催䅵ㅫẔ㋶䗳ᑺˈ㋏㒳䞛⫼ⶽᔶऎඳᴹ ԡ㊒ᑺㄝ಴㋴ˈᅗㄝѢ % ੠ % П੠ˈेҹ㠍Ё㒓Ў䍋⚍ˈ
⬠ᅮ᧰㋶㣗ೈˈҙẔ㋶ⶽᔶऎඳ‫∈ⱘݙ‬ϟ⹡㟾⠽ⱘֵᙃDŽ ৥Ꮊℷ῾ᮍ৥ᑺ䞣 % ؐ੠৥েℷ῾ᮍ৥ᑺ䞣 % ؐˈ݊Ё %
བ೒  ᠔⼎ˈ᧰㋶ⶽᔶⱘ䭓ᑺ / ҹ㠍ሒЎ䍋⚍ˈ৥㠍佪ᮍ ৃ⬅ᓣ˄˅䅵ㅫᕫࠄˈ% ৃ⬅ᓣ˄˅䅵ㅫᕫࠄDŽ
৥ᑺ䞣ˈ݊ؐৃ⬅ᓣ˄˅ᕫߎDŽ
B1 ( K V  C ) ˜ L0  B0  P0  R y ˄8˅
L L0  P0  R x  S ˄2˅ B2 ( K V  C ) ˜ L0  B0  P0  R y ˄9˅

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 ᓣ˄˅ǃ˄˅Ё˖/ Ў㠍㠊䭓ᑺ˗% Ў㠍㠊ᆑᑺ˗.9
Ў㠍䗳㋏᭄ˈৃ⬅ᓣ˄˅䅵ㅫᕫࠄ˗& Ў㠍㠊ᆑ䭓↨˗
3 Ў㠍㠊ᅮԡ㊒ᑺ˗5\ Ў∈⌕㟈Փ㠍㠊ѻ⫳ⓖ⿏ⱘ䎱⾏೼
Ϣ㠍㠊ࠡ䖯ᮍ৥ⳌൖⳈᮍ৥Ϟⱘߚ䞣ˈৃҹ⬅ᓣ˄˅䅵
ㅫᕫࠄ˗
V0
KV
VR
ᓣ˄10˅Ё˖VR Ў㠍㠊乱ᅮ㠍䗳DŽ
Ry VR ˜ t s sin(C0  C R )
⬅ᓣ˄11˅ৃⶹˈᔧ㠍㠊ে㠋ফࠄ⌕ⱘᕅડᯊˈ%!%ˈ
Ꮊ㠋ফ⌕ᯊˈ%%ˈℸᯊ᧰㋶ⶽᔶҹ㠍Ё㒓ਜϡᇍ⿄ᗻߚ
Ꮧ˗Ԛᔧ㠍㠊乊⌕ǃ乎⌕៪ϡᄬ೼⌕ⱘᕅડᯊˈ% %ˈℸ
ᯊ᧰㋶ⶽᔶҹ㠍Ё㒓ਜᇍ⿄ᗻߚᏗDŽ
᧰㋶ऎඳᴹẔ㋶∈ϟॅ䰽⹡㟾⠽ⱘֵᙃˈҹᅲ⦄ফ䰤∈ඳ
ⱘ㠍㠊㞾ࡼ䙓⺄DŽᆑ∈ඳ੠ফ䰤∈ඳᇍϡৠ㠍㠊ᴹ䇈ᰃϔ
㒘Ⳍᇍⱘὖᗉˈ᮹ৢᇚ䖯ϔℹⷨおབԩḍ᥂⍋‫މ‬ǃ㠍㠊⾡
㉏੠ሎᑺᴹࡼᗕ⬠ᅮDŽৠᯊᇚ䖯ϔℹ߽⫼⬅㠍㠊᪡㒉῵ᢳ
఼ᡔᴃ߯ᓎⱘĀ㟾㸠ᅝܼঞ㞾ࡼ䙓⺄˄16$&$˅ӓⳳ⌟䆩ᑇ
ৄāᴹ偠䆕ফ䰤∈ඳ㠍㠊㞾ࡼ䙓⺄ㅫ⊩੠⌕⿟DŽ
˄10˅


খ㗗᭛⤂
˄11˅
>@H. Itoh, “Vessels”, In T. Yukimachi (Eds), Human factors for
human error prevention, Techno system, Tokyo, 2004.
>@䚥ЁНˈਈ‫ܚ‬味㠍㠊䙓⺄‫އ‬ㄪ䖑ᅕ˖໻䖲⍋џ໻ᄺߎ⠜
⼒
>@߬ᖋᮄˈਈ‫ܚ‬味ˈ䌒Ӵ㤻㠍㠊ᱎ㛑䙓⺄‫އ‬ㄪϢ᥻ࠊ㋏㒳ⷨ
㋏㒳ḍ᥂Ϟ䗄῵ൟᅲᯊࡼᗕഄ⹂ᅮ᧰㋶ⶽᔶⱘ໻ᇣˈ お㓐䗄໻䖲⍋џ໻ᄺᄺ᡹ˈ˖
✊ৢ⫼ⶽᔶऎඳẔ㋶ (&',6 ᭄᥂ᑧⱘ∈⏅ǃኌ㒓ǃḹṕǃ >@ᴢБ࿰㠍㠊㞾ࡼ䙓⺄ⷨおЁᅝܼӮ䘛䎱⾏ㄝ㽕㋴ⱘ⹂ᅮ
ᶊぎ⬉㓚ǃ⌙Ⓗǃ≝㠍ǃቯ⻕ㄝ᭄᥂ˈ⫼Ѣ߸ᮁ㠍㠊ࠡᮍ ໻䖲⍋џ໻ᄺᄺ᡹˖
ⶽᔶ∈ඳᰃ৺ᄬ೼ᇍᴀ㠍㟾㸠ᵘ៤ॅ䰽ⱘ∈ϟ⹡㟾⠽DŽ >@ᴢБ࿰ˈ䰜㘾䌉㠍㠊㞾ࡼ䙓⺄ᮍ⊩ⱘⷨおЁ೑㟾⍋
˖
㒧ᴳ䇁 >@ᴢБ࿰ˈ❞ᤃफㄝ໮㠍ᱎ㛑䙓⺄‫އ‬ㄪⱘ⫳៤ϢӬֵ࣪ᙃ
ফ䰤∈ඳ㞾ࡼ䙓䅽‫އ‬ㄪᰃ㠍㠊㞾ࡼ䙓⺄ᮍ⊩ⷨおЁⱘ
ϔϾ䲒⚍ˈᴀ᭛෎Ѣϧᆊ㋏㒳ॳ⧚Ϣ᭄⧚ߚᵤ੠῵㊞᭄ᄺ
ᮍ⊩Ⳍ㒧ড়ⱘҎᎹᱎ㛑࣪ⷨおᮍ⊩ˈᇚ䙓⺄‫އ‬ㄪ῵ഫጠܹ
(&',6ˈ߽⫼ (&',6 ᑇৄᡔᴃⷨおࡼ䴰ֵᙃⱘѸᤶ੠໘⧚ᮍ
⊩ˈᦤߎњফ䰤∈ඳ㠍㠊㞾ࡼ䙓⺄‫އ‬ㄪ㋏㒳᥼⧚⌕⿟ˈᑊ
೼ᆑ∈ඳ㠍㠊㞾ࡼ䙓⺄ⷨお៤ᵰⱘ෎⸔Ϟˈᦤߎ䞛⫼ⶽᔶ
Ϣ᥻ࠊ˖
>@ЁढҎ⇥݅੠೑Ѹ䗮䚼⍋␃ᘏᑇ䴶䆒䅵㾘㣗࣫Ҁ˖Ҏ⇥
Ѹ䗮ߎ⠜⼒ˈ
>@䰚ᖫᴤ㠍㠊᪡㒉䖑ᅕ˖໻䖲⍋џ໻ᄺߎ⠜⼒

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