Early Warning Method and Model of Inland Ship Collision Risk Based on Coordinated Collision-Avoidance Actions

Figure 5

Coordinated avoidance actions of two ships with early warning. A: understanding each other’s movements. B: unifying collision-avoidance strategies. C: taking coordinated maneuvering actions. S1: not yet understanding each other’s movements. S2: not yet unifying collision-avoidance strategies. S3: not yet taking coordinated maneuver’s actions. S4: verifying collision-avoidance effectiveness. TCPA: time to the closest point of approach.