A Decision-Making Method for Ship Collision Avoidance Based on Improved Cultural Particle Swarm

Table 2

Related data of own ship and other ships.

Longitude	Latitude	Course	Speed	Bearing	Relative bearing	Distance	Relative speed heading	Relative	DCPA	TCPA	Collision risk
23	30	0	50	—	—	—	—	—	—	—	—
23.07	30.02	220	60	71.72	71.72	4.33	201.89	103.42	−3.31	1.62	−0.077
22.88	30.01	310	60	275.52	275.52	7.23	256.03	47.36	2.41	8.63	0.057
23.05	29.98	260	60	114.78	114.78	3.18	224.36	84.51	−2.99	0.75	0.28
22.87	29.97	40	60	255.11	255.11	7.97	95.98	38.78	2.84	11.52	1.17