Research Article
Early Warning Method and Model of Inland Ship Collision Risk Based on Coordinated Collision-Avoidance Actions
Figure 8
Comparison of the early warning process for two ships in an inland waterway proposed in this study. 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 maneuvering actions. S4: verifying collision-avoidance effectiveness. Co: degree of coordinated collision-avoidance of two ships. DCPA: distance to the closest point of approach; TCPA: time to the closest point of approach.