Obstruction zone generation device and method
An obstruction zone generation device for a movable body includes a calculation information generation module to generate calculation information based on sensor information acquired by one or more information acquisition devices, an obstruction zone calculation module to calculate an obstacle zone by target (OZT) for each target ship of one or more target ships and generate OZT information, a mask area determination module to determine for each target ship of the one or more target ships whether to mask the OZT of the respective target ship in the OZT information based on a direction of the respective target ship and generate output information, and a display information generation module configured to generate OZT display information for displaying the OZT of the one or more target ships based on the output information and the OZT information.
1. An obstruction zone generation device configured to be installed on a ship, comprising:
processing circuitry configured to:
generate calculation information based on sensor information acquired by one or more information acquisition devices associated with the ship,
wherein the calculation information includes each of:
a speed of the ship,
information about a direction of the ship, the direction including at least one of:
a course of the ship, and
a heading direction of the ship, and
a distance between the ship and a target ship that has been sensed by the one or more information acquisition devices;
based on the calculation information, determine each of:
a heading direction of the target ship,
an obstacle zone by target (OZT) for the target ship, and
a mask area corresponding to the OZT; and
based on the determined heading direction of the target ship, selectively display the OZT of the target ship or mask the OZT of the target ship with the mask area such that:
the OZT of the target ship is displayed along a first vector corresponding to the heading direction of the target ship only when the first vector intersects a second vector corresponding to the direction of the ship, and
the OZT of the target ship is masked by the mask area only when the first vector does not intersect the second vector.
2. The obstruction zone generation device according to claim 1 , wherein:
the processing circuitry calculates the OZT for each target ship based on each of:
a course of the target ship,
the heading direction of the target ship,
a speed of the target ship,
the course of the ship,
the heading direction of the ship, and
the speed of the ship, and
the distance between the ship and the target ship.
3. The obstruction zone generation device according to claim 1 , wherein:
the processing circuitry is further configured to generate additional display information based on the sensor information acquired by the one or more information acquisition devices.
4. The obstruction zone generation device according to claim 3 , wherein:
the additional display information includes each of:
information about a position of the ship,
information about the heading direction of the ship,
information about a position of the target ship, and
information about a course of the target ship.
5. The obstruction zone generation device according to claim 3 , wherein:
the additional display information includes at least one of:
target ship information,
information about a terrain in a region surrounding the ship, and
information about one or more predetermined target objects in the region surrounding the ship.
6. The obstruction zone generation device according to claim 1 , wherein:
the one or more information acquisition devices include at least one of:
a global navigation satellite system (GNSS) compass,
an angular velocity sensor,
a GNSS receiver,
an acceleration sensor,
an automatic identification system (AIS) receiver,
an electronic chart display and information system (ECDIS),
a plotter,
a radio detection and ranging device (RADAR),
an automatic radar plotting aid (ARPA), or
a sound navigation and ranging (SONAR) device.
7. The obstruction zone generation device according to claim 1 , wherein:
the target ship is one of a plurality of target ships, and
the processing circuitry is further configured to mask corresponding OZTs of respective ones of the plurality of target ships which are determined by the processing circuitry as not having headings that intersect the course of the ship.
8. The obstruction zone generation device according to claim 7 , wherein:
the processing circuitry is configured to generate a set of masked areas corresponding to OZTs of respective target ships that are determined by the processing circuitry as not having headings that do not intersect the direction of the ship.
9. The obstruction zone generation device according to claim 1 , wherein:
the mask area has one of:
a triangular shape
a rectangular shape or
a trapezoidal shape,
the mask area is larger than the OZT, and
the mask area is centered over the OZT along a vector connecting the ship and the target ship.
10. An obstruction zone generation method performed by a device configured to be installed on a ship, the obstruction zone generation method comprising:
generating calculation information based on sensor information acquired by one or more information acquisition devices associated with the ship;
wherein the calculation information includes each of:
a speed of the ship,
information about a direction of the ship the direction including at least one of:
a course of the ship, and
a heading direction of the ship, and
a distance between the ship and a target ship that has been sensed by the one or more information acquisition devices;
based on the calculation information determining each of:
a heading direction of the target ship,
an obstacle zone by target (OZT) for the target ship, and
a mask area corresponding to the OZT; and
based on the determined heading direction of the target ship, selectively displaying the OZT of the target ship or masking the OZT of the target ship with the mask area such that:
the OZT of the target ship is displayed along a first vector corresponding to the heading direction of the target ship only when the first vector intersects a second vector corresponding to the direction of the ship, and
the OZT of the target ship is masked by the mask area only when the first vector does not intersect the second vector.
11. A non-transitory computer readable medium having stored thereon computer-executable instructions which, when executed by a computer configured to be installed on a ship, cause the computer to:
generate calculation information based on sensor information acquired by one or more information acquisition devices associated with the ship,
wherein the calculation information includes each of:
a speed of the ship,
information about a direction of the ship, the direction including at least one of:
a course of the ship, and
a heading direction of the ship, and
a distance between the ship and a target ship that has been sensed by the one or more information acquisition devices:
based on the calculation information, determine each of:
a heading direction of the target ship,
an obstacle zone by target (OZT) for the target ship, and
a mask area corresponding to the OZT; and
based on the determined heading direction of the target ship, selectively display the OZT of the target ship or mask the OZT of the target ship with the mask area such that:
the OZT of the target ship is displayed along a first vector corresponding to the heading direction of the target ship only when the first vector intersects a second vector corresponding to the direction of the ship, and
the OZT of the target ship is masked by the mask area only when the first vector does not intersect the second vector.