Framework of safety evaluation and scenarios for automatic collision avoidance algorithm.

This paper proposes a novel method to design a scenario set for evaluating automatic collision avoidance algorithms. While many automatic collision avoidance methods have been proposed recently, they have been verified using different methods and scenarios. This study aims to construct a scenario set that covers all possible encounter situations between ships. Based on risks, rules such as the COLREGs and characteristics of encounter angle of ships, the scenario sets of one-on-one and one-on-two encounter situations are built. For the evaluation of collision avoidance maneuvers, the authors provide the analytical solution in the time domain of evaluation indices using the position and velocity vectors of two ships. The authors also present the design method of the additional scenario to evaluate the automatic ship avoidance maneuvering algorithm, for the safety verification of autonomous and unmanned ships. • Encounter scenarios for ship collision avoidance were analyzed and classified. • A novel scenario set for the evaluation of automatic collision avoidance algorithms was proposed. • The analytical time-series solutions are presented for evaluation indices for collision avoidance. • The theorem that determines the target ship's position and course for a given CPA vector is obtained. [ABSTRACT FROM AUTHOR]