Scenario modeling method for collision avoidance testing in inland waterway

To generate autonomous collision avoidance encounter scenarios for inland waterway vessels, according to the characteristics of inland waterways, this paper presents a method for parametric modeling of encounter scenarios for ship avoidance testing in inland waterways, which is employed to automatically generate inland waterway ship encounter scenarios. Starting from the utilization of AIS and radar data acquisition and fusion methods, a ship navigation data acquisition and fusion system was established. Taking the waterway between Three Gorges dam and Gezhouba Dams waterway segment in China as an example, the ship navigation data was collected and analyzed to identify key factors for collision avoidance scenarios. A parameterized modeling approach for generating encounter scenarios in inland waterway ship collision avoidance testing was proposed, enabling the automated generation of collision encounter scenarios by setting relevant parameters. By testing encounter scenarios between two or more ships, a series of test scenarios were generated. The simulation demonstrated the effectiveness of this parameterized scenario generation method in supporting the testing of autonomous collision avoidance algorithms for inland ships.