Efficacy evaluation of adaptive collision avoidance systems for autonomous maritime surface ships based on target ships’ maneuvering behaviors

Figures & data

Figure 1. Research workflow.

Figure 2. Ship handling simulation result trajectory on designated route.

Table 1. Feature specification.

Domain	Feature specification	Unit
Steering	The average rate of turn	°/min
	Rate of turn standard deviation	°/min
	Average rudder angle	°
Spatial	Overall distance difference	%
	Average distance deviation	NM
	Distance standard deviation	NM
Temporal	Overall time difference	%
	The overall time of rudder angle at “0”	%

Figure 3. Simulation scenario concept.

Figure 4. Working procedure of the proposed CAS.

Figure 5. Differentiated levels in “average distance deviation”.

Figure 6. Simulation result for scenarios by”Original CAS”.

Figure 7. Simulation result for scenarios by”Proposed CAS”.

Table 2. Comparative analysis of minimum distance invasion.

	Scenario 1	Scenario 2	Scenario 3
Original CAS	14.09%	13.93%	13.46%
Proposed CAS	14.09%	9.26%	7.19%

Figure 8. Simulation result of minimum distance invasion rate for”Original CAS”.

Figure 9. Simulation result of minimum distance invasion rate for”Proposed CAS”.

Figure 10. Differentiated heading angle of “original CAS” and “proposed CAS.”.