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

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

Abstract

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

CLC Number:

U666.16

Li Shijie, Li Jialin, Liu Jialun, Xu Chengqi, Dong Zhilin. 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.

Figures/Tables 7

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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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