Risk Prediction for Ship Encounter Situation Awareness Using Long Short-Term Memory Based Deep Learning on Intership Behaviors

Figure 10

Head-on situation: (a) and (b) are the spatial distribution of risk level under various prediction horizons; (c) is the corresponding spatial distribution of realistic risk level. (d) and (e) show the risk level statistics of each window under two prediction horizons. (f) and (g) are the number of samples of each risk level in the five stages. (h) is the frequency of each risk level at various stages.

(a)

(b)

(c)

(d)

(e)

(f)

(g)

(h)