The automatic collision avoiding plan research of given way vessel in crossing situation

This paper aims to the computing model of quantitative elements in crossing situation based on the separating of different states about vessel’s meeting to study the automatic collision-avoiding plan of given way vessel in crossing situation. Following results are proved by simulations: The accuracy of hydrodynamic model is enough for studying and application for automatic collision-avoiding; computing model of quantitative elements by method of bisection is rapidly and reliably convergent during computing. The whole meeting process can be separated to several stages according to the quantitative elements in crossing situation. Different initial collision avoiding measures of given-way vessel in different stages produced as per rules and ordinary practice of seaman.