【摘要】 针对传统动态窗口法在船舶自主避碰中航行规则约束缺失、复杂会遇场景下决策合规性不足的问题，提出一种《国际海上避碰规则》(COLREGs)嵌入式动态窗口避碰决策方法。该方法基于典型两船会遇场景构建规则驱动的差异化评价机制，将不同会遇局面下的避让责任与行动要求转化为可量化评价指标，并与最近会遇距离、最近会遇时间等安全参数统一融合，构建多指标轨迹评价函数。仿真结果表明，该方法在保证航行安全的前提下，能够有效引导船舶生成符合COLREGs要求的避碰路径，提升了避碰决策的规则一致性与可解释性。更多还原

【Abstract】 To address the shortcomings of the traditional Dynamic Window Approach(DWA) in autonomous ship collision avoidance-specifically, the lack of explicit compliance with navigational rules and insufficient decision-making conformity under complex encounter scenarios’ this paper proposes a COLREGs-embedded dynamic window collision avoidance method.Based on typical two-vessel encounter situations defined by the International Regulations for Preventing Collisions at Sea(COLREGs),a rule-driven, scenario-specific evaluation mechanism is developed.The responsibilities and required maneuvers stipulated by COLREGs for different encounter configurations are translated into quantifiable evaluation metrics.These metrics are then integrated with safety-related parameters-including distance at closest point of approach(DCPA),time to closest point of approach(TCPA),and velocity smoothness-into a unified multi-objective trajectory evaluation function.Simulation results demonstrate that the proposed method not only ensures navigational safety but also effectively guides vessels to generate collision avoidance trajectories fully compliant with COLREGs.The approach significantly enhances the regulatory consistency and interpretability of collision avoidance decisions.更多还原