雾航情况下PIDVCA算法分析与仿真

为进一步测试验证船舶拟人智能避碰决策（PIDVCA）算法，在互见的左交叉会遇局面的雾航情况下结果是否合理有效，基于《1972国际海上避碰规则》，以左舷来船为对象，采用几何作图分析互见的左交叉会遇局面在雾航情况下不同交汇特征的避让方法，利用集成有PIDVCA算法的船舶智能操控（SIHC）仿真测试平台进行仿真测试。测试结果证明算法的合理性、有效性和经济性。该研究对算法的优化及实际应用具有参考价值。

Analysis and Simulation Verification of PIDVCA Algorithm in Restricted Visibility

In order to further test and verify the ship personification intelligent collision avoidance decision (PIDVCA) algorithm designed by our research and development team,whether the results are reasonable and effective for the port-side crossing situation in the case of navigation in fog.International Regulations for Preventing Collisions at Sea 1972,with the vessel that has the other on her port side as the object,using geometric mapping to analyze the different intersection characteristics of the collision preventing methods,the integrated PIDVCA algorithm of the ship intelligent handling control (SIHC) simulation test platform is used for simulation testing.The test results prove the rationality,validity and economy of the algorithm,which is of great value and practical significance to the optimization and practicality of the algorithm.