Reliable anti-collision control algorithms conforming with the rules regulating traffic at sea, the International Regulations for Preventing Collisions at Sea (COLREG), are essential for the deployment of autonomous vessels in waters shared with other ships. The development of such methods is an active field of research. However, little attention has been given to how these rules are interpreted by experienced mariners, and how such information can be parametrised for use in automatic control systems and autonomous ships. This paper presents a method for exploiting historical automatic identification system (AIS) data to characterise parameters indicating the prevalent practices at sea in encounters with high collision risk. The method has been tested on data gathered in areas off the Norwegian coast over several years. Statistics on relevant parameters from the resulting dataset and the relation between them is presented. The results indicate that the strongest influence on vessel behaviour is the type of situation, and the amount of land and grounding hazards in the vessel's proximity.

中文翻译：

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从历史 AIS 数据中探索 COLREG 相关参数

符合海上交通规则（即《国际海上避碰规则》（COLREG））的可靠防碰撞控制算法对于在与其他船舶共享的水域部署自主船舶至关重要。此类方法的开发是一个活跃的研究领域。然而，很少有人关注经验丰富的海员如何解释这些规则，以及如何对这些信息进行参数化以用于自动控制系统和自主船舶。本文提出了一种利用历史自动识别系统（AIS）数据来表征参数的方法，这些参数表明海上遇到高碰撞风险时的普遍做法。该方法已经在挪威沿海地区收集了数年的数据进行了测试。给出了结果数据集中相关参数的统计数据以及它们之间的关系。结果表明，对船舶行为影响最大的是情况类型以及船舶附近的陆地和搁浅危险的数量。