场景驱动的拖轮自主伴航功能虚拟仿真测试方法研究

doi:10.16182/j.issn1004731x.joss.24-1346

系统仿真学报 ›› 2025, Vol. 37 ›› Issue (6): 1366-1375.doi: 10.16182/j.issn1004731x.joss.24-1346

• 新质交通系统建模与仿真 • 上一篇

场景驱动的拖轮自主伴航功能虚拟仿真测试方法研究

李诗杰¹^,², 李佳林¹, 刘佳仑²^,³^,⁴, 徐诚祺¹, 董智霖¹

^1.武汉理工大学交通与物流工程学院，湖北武汉 430063
^2.武汉理工大学水路交通控制全国重点实验室，湖北武汉 430063
^3.武汉理工大学智能交通系统研究中心，湖北武汉 430063
^4.湖北东湖实验室，湖北武汉 420202

收稿日期:2024-12-09 修回日期:2025-02-27 出版日期:2025-06-20 发布日期:2025-06-18
通讯作者: 刘佳仑
第一作者简介:李诗杰(1988-)，女，副教授，博士，研究方向为船舶航行控制和智能船舶测试验证评估。
基金资助:
国家重点研发计划(2022YFB4301402);国家自然科学基金(52272425);海洋工程全国重点实验室(上海交通大学)开放基金(GKZD010089)

Research on Scenario-driven Virtual Simulation Test Method for Autonomous Escort Function of Habor Tugs

Li Shijie¹^,², Li Jialin¹, Liu Jialun²^,³^,⁴, Xu Chengqi¹, Dong Zhilin¹

^1.School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan 430063, China
^2.State Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan 430063, China
^3.Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan, 430063, China
^4.East Lake Laboratory, Wuhan 420202, China

Received:2024-12-09 Revised:2025-02-27 Online:2025-06-20 Published:2025-06-18
Contact: Liu Jialun

摘要/Abstract

摘要：

为全面构建测试场景并验证拖轮自主伴航功能的可靠性，提出一种场景驱动的拖轮自主伴航功能虚拟仿真测试方法。基于目标船和拖轮的相对航向、相对航速、相对位置等要素生成拖轮自主伴航场景测试用例，利用五阶贝塞尔曲线评估测试用例的复杂度。通过对无障碍物和有障碍物的复杂典型测试场景进行仿真实验验证拖轮自主伴航功能。实验结果表明：拖轮在不同类别的测试场景中都实现了自主伴航并避免了与障碍物碰撞，验证了拖轮自主伴航功能的有效性以及测试用例的合理性。

关键词: 场景驱动, 自主伴航, 组合测试, 虚拟仿真测试, 场景生成

Abstract:

In order to comprehensively construct the test scenarios and verify the reliability of the tugboat autonomous companionway function, a scenario-driven virtual simulation test method for the tugboat autonomous companionway function is proposed. Based on the relative heading, relative speed and relative position of the target ship and the tugboat, the test cases of the tugboat autonomous companionway scenario are generated, and the complexity of the test cases is evaluated by using the fifth-order Bessel curve. The autonomous companion navigation function of the tug is verified through simulation experiments on the complex typical test scenarios without and with obstacles. The experimental results show that the tug can realize autonomous companion sailing and avoid collision with obstacles in different kinds of test scenarios, which verifies the effectiveness of the autonomous companion sailing function of the tug and the reasonableness of the test cases.

Key words: scenario-driven, autonomous companion navigation, combinatorial testing, virtual simulation testing, scenario generation

中图分类号:

U666.16

李诗杰,李佳林,刘佳仑等 . 场景驱动的拖轮自主伴航功能虚拟仿真测试方法研究[J]. 系统仿真学报, 2025, 37(6): 1366-1375.

Li Shijie,Li Jialin,Liu Jialun,et al . Research on Scenario-driven Virtual Simulation Test Method for Autonomous Escort Function of Habor Tugs[J]. Journal of System Simulation, 2025, 37(6): 1366-1375.

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序号	大船航速/kn	大船航向/(°)	拖轮航速/kn	拖轮航向/(°)	相对方位/(°)	相对距离/km	场景类别
Ⅰ	7	320	10	220	220	3	11
Ⅱ	7	60	12	40	100	1	8
Ⅲ	7	260	4	280	280	3	13
Ⅴ	7	240	8	260	220	2.5	9
Ⅳ	7	340	8	100	60	1.5	2
Ⅵ	7	260	6	180	120	2.5	8
Ⅶ	7	200	12	100	40	2	3

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[3]	郭枫, 许小剑. 基于VSOP87理论的行星红外辐射场景生成模型[J]. 系统仿真学报, 2015, 27(3): 643-648.

场景驱动的拖轮自主伴航功能虚拟仿真测试方法研究

Research on Scenario-driven Virtual Simulation Test Method for Autonomous Escort Function of Habor Tugs

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序号	大船航速/kn	大船航向/(°)	拖轮航速/kn	拖轮航向/(°)	相对方位/(°)	相对距离/km	场景类别
Ⅰ	7	320	10	220	220	3	11
Ⅱ	7	60	12	40	100	1	8
Ⅲ	7	260	4	280	280	3	13
Ⅴ	7	240	8	260	220	2.5	9
Ⅳ	7	340	8	100	60	1.5	2
Ⅵ	7	260	6	180	120	2.5	8
Ⅶ	7	200	12	100	40	2	3

序号	大船航速/kn	大船航向/(°)	拖轮航速/kn	拖轮航向/(°)	相对方位/(°)	相对距离/km	场景类别
Ⅰ	7	320	10	220	220	3	11
Ⅱ	7	60	12	40	100	1	8
Ⅲ	7	260	4	280	280	3	13
Ⅴ	7	240	8	260	220	2.5	9
Ⅳ	7	340	8	100	60	1.5	2
Ⅵ	7	260	6	180	120	2.5	8
Ⅶ	7	200	12	100	40	2	3

序号	大船航速/kn	大船航向/(°)	拖轮航速/kn	拖轮航向/(°)	相对方位/(°)	相对距离/km	场景类别
Ⅰ	7	320	10	220	220	3	11
Ⅱ	7	60	12	40	100	1	8
Ⅲ	7	260	4	280	280	3	13
Ⅴ	7	240	8	260	220	2.5	9
Ⅳ	7	340	8	100	60	1.5	2
Ⅵ	7	260	6	180	120	2.5	8
Ⅶ	7	200	12	100	40	2	3