Non-transitory computer-readable storage medium for storing collision risk calculation program, collision risk calculation method, and collision risk calculation apparatus

1. A non-transitory computer-readable storage medium storing a collision risk calculation program configured to cause a processor to perform processing, the processing comprising:

executing acquisition processing that includes acquiring travel information regarding a position and velocity of each of a first vessel and a second vessel;

executing region calculation processing that includes calculating a region having a possibility of future collision between the first vessel and the second vessel from the travel information of each of the first vessel and the second vessel; and

executing, for at least any one of the first vessel or the second vessel, first risk calculation processing that includes

estimating a maneuvering amount to be used by that vessel on water, the maneuvering amount being a minimum turning radius required for that vessel to avoid the region, and

calculating a first risk value by dividing the minimum turning radius as the estimated maneuvering amount for that vessel on water by a turning radius of a predetermined turning zone for that vessel on water.

2. The non-transitory computer-readable storage medium according to claim 1 ,

wherein the processing comprises:

executing second risk calculation processing that includes calculating a second risk value that numerically indicates a possibility of future collision between the first vessel and the second vessel; and

executing third risk calculation processing that includes calculating a third risk value that indicates a possibility of future collision between the first vessel and the second vessel by weighting the first risk value and the second risk value.

3. The non-transitory computer-readable storage medium according to claim 2 ,

wherein the second risk calculation processing is configured to

calculate a plurality of future paths of each of the first vessel and the second vessel from travel information of vessels that have navigated in the past to calculate a future path of each of the first vessel and the second vessel by weighting the plurality of future paths with probability of occurrence of each, and

calculate the first risk value or the second risk value on the basis of the future path.

4. The non-transitory computer-readable storage medium according to claim 1 ,

wherein the first risk value is determined based on a minimum turning angle taken by the first vessel or the second vessel in order to avoid the region.

5. The non-transitory computer-readable storage medium according to claim 1 ,

wherein the first risk value is determined based on a value obtained by dividing a minimum turning angle taken by the first vessel or the second vessel in order to avoid the region by a time taken for the first vessel or the second vessel that takes the minimum turning angle to reach the region.

6. A apparatus for a collision risk calculation, the apparatus comprising:

a memory; and

a processor coupled to the memory, the processor being configured to

execute acquisition processing that includes acquiring travel information regarding a position and velocity of each of a first vessel and a second vessel,

execute region calculation processing that includes calculating a region having a possibility of future collision between the first vessel and the second vessel from the travel information of each of the first vessel and the second vessel, and

execute, for at least any one of the first vessel or the second vessel, first risk calculation processing that includes

estimating a maneuvering amount to be used by that vessel on water, the maneuvering amount being a minimum turning radius required for that vessel to avoid the region, and

calculating a first risk value by dividing the minimum turning radius as the estimated maneuvering amount for that vessel on water by a turning radius of a predetermined turning zone for that vessel on water.

7. A method performed by a computer for a collision risk calculation, the method comprising:

executing acquisition processing that includes acquiring travel information regarding a position and velocity of each of a first vessel and a second vessel;

executing region calculation processing that includes calculating a region having a possibility of future collision between the first vessel and the second vessel from the travel information of each of the first vessel and the second vessel; and

executing, for at least any one of the first vessel or the second vessel, first risk calculation processing that includes

estimating a maneuvering amount to be used by that vessel on water, the maneuvering amount being a minimum turning radius required for that vessel to avoid the region, and

calculating a first risk value by dividing the minimum turning radius as the estimated maneuvering amount for that vessel on water by a turning radius of a predetermined turning zone for that vessel on water.

8. The method according to claim 7 , further comprising:

executing second risk calculation processing that includes calculating a second risk value that numerically indicates a possibility of future collision between the first vessel and the second vessel; and

executing third risk calculation processing that includes calculating a third risk value that indicates a possibility of future collision between the first vessel and the second vessel by weighting the first risk value and the second risk value.

9. The method according to claim 8 ,

wherein the second risk calculation processing is configured to

calculate a plurality of future paths of each of the first vessel and the second vessel from travel information of vessels that have navigated in the past to calculate a future path of each of the first vessel and the second vessel by weighting the plurality of future paths with probability of occurrence of each, and

calculate the first risk value or the second risk value on the basis of the future path.

10. The method according to claim 7 ,

wherein the first risk value is determined based on a minimum turning angle taken by the first vessel or the second vessel in order to avoid the region.

11. The method according to claim 7 ,

wherein the first risk value is determined based on a value obtained by dividing a minimum turning angle taken by the first vessel or the second vessel in order to avoid the region by a time taken for the first vessel or the second vessel that takes the minimum turning angle to reach the region.

12. The apparatus according to claim 6 ,

wherein the first risk value is determined based on a minimum turning angle taken by the first vessel or the second vessel in order to avoid the region.

13. The apparatus according to claim 6 ,

wherein the first risk value is determined based on a value obtained by dividing a minimum turning angle taken by the first vessel or the second vessel in order to avoid the region by a time taken for the first vessel or the second vessel that takes the minimum turning angle to reach the region.

14. The apparatus according to claim 6 ,

wherein the processor is further configured to

execute second risk calculation processing that includes calculating a second risk value that numerically indicates a possibility of future collision between the first vessel and the second vessel; and

execute third risk calculation processing that includes calculating a third risk value that indicates a possibility of future collision between the first vessel and the second vessel by weighting the first risk value and the second risk value.

15. The apparatus according to claim 14 ,

wherein the second risk calculation processing is configured to

calculate a plurality of future paths of each of the first vessel and the second vessel from travel information of vessels that have navigated in the past to calculate a future path of each of the first vessel and the second vessel by weighting the plurality of future paths with probability of occurrence of each, and

calculate the first risk value or the second risk value on the basis of the future path.