基于滑动窗口算法的船舶避碰转向点数据挖掘模型  

Data mining model of ship collision avoidance turning points based on sliding window algorithm

作　　者：陈蜀喆[1,2] 王子威 龚彪 CHEN Shuzhe;WANG Ziwei;GONG Biao(School of Navigation,Wuhan University of Technology,Wuhan 430063,China;Hubei Key Laboratory of Inland Shipping Technology,Wuhan University of Technology,Wuhan 430063,China)

机构地区：[1]武汉理工大学航运学院,湖北武汉430063 [2]武汉理工大学内河航运技术湖北省重点实验室,湖北武汉430063

出　　处：《中国航海》2025年第1期124-131,共8页Navigation of China

基　　金：国家自然科学基金面上项目(52071249)。

摘　　要：随着无人船自主航行技术的发展,如何辨识船舶避碰行为成为其自主决策的关键。针对现有船舶轨迹辨识算法效率不高且存在误判等问题,提出一种基于滑动窗口算法的船舶避碰转向点数据挖掘模型,对船舶转向点进行辨识。首先通过固定滑动窗口判断船舶自动识别系统数据中相邻时刻点航向的变化特征;然后通过计算相邻时刻轨迹点的斜率变化进行验证,并标记窗口中航向变化的最早转向点;最后通过可变滑动窗口维护轨迹变化过程中航向变化及误差参数,判断该转向点是否为避碰转向点,并将模型与道格拉斯-普克算法进行试验对比。结果表明,该模型可以有效辨识船舶转向是否为避碰行为,并能解决道格拉斯-普克算法因数据波动而对转向点判断失误的问题,可以提取船舶避碰过程中的最早转向点,辅助船舶进行避碰决策。该研究成果可被用于智能避碰决策系统的研发,以保障船舶航行安全。With the development of autonomous navigation for unmanned ships,identifying ship collision avoidance behavior has become a key factor in their independent decision-making.To address the inefficiency and misjudgment issues of existing ship trajectory recognition algorithms,this paper proposes a data mining model based on the steering point of a sliding window for ship collision avoidance.When the model identifies a ship's steering point,it first evaluates the change characteristics of the heading at adjacent time points in the ship's Automatic Identification System(AIS)data using a fixed sliding window.Then,the slope change of the trajectory points at adjacent moments is calculated for verification,and the earliest turning point of the heading change within the window is marked.Finally,a variable sliding window is used to maintain the heading change and error parameters during the trajectory change process,determining whether the steering point is a collision-avoidance steering point.The model is experimentally compared with the Douglas-Peucker(DP)algorithm.The results show that the model can effectively identify whether a ship's steering is collision avoidance behavior,resolve the issue of the DP algorithm misjudging steering points due to data fluctuations,and extract the earliest steering point during the ship collision avoidance process to assist in collision avoidance decision-making.This model can be applied to the research and development of intelligent collision avoidance decision-making systems,ensuring the safety of ship navigation.

关 键 词：船舶 避碰 转向点 滑动窗口 数据挖掘 

分 类 号：U698[交通运输工程—港口、海岸及近海工程]