智慧船舶航行安全驗證平台──決策系統的硬體在環測試工具

SMART SHIP NAVIGATION SAFETY VERIFICATION PLATFORM: A HARDWARE-IN-THE-LOOP TESTING FRAMEWORK WITH FIELD VALIDATION

本文提出一套智慧船舶（自主船）決策系統的驗證工具—智慧船舶航行安全驗證平台（以下簡稱「驗證平台」）。不同於傳統實船對實船進行的測試方式，驗證平台使用硬體在環（hardware in the loop，HIL）測試架構，透過與智慧船舶的決策系統連線實現實船之決策系統對虛擬目標船的測試。測試以虛擬目標船的形式，透過船舶中心開發的船舶運動操縱模擬系統（SMS）進行，從而有效降低測試過程中的碰撞風險與實船測試之高額成本。其中，作為本船之決策電腦將會與驗證平台連線，根據其輸出之虛擬目標船狀態進行本船操控，控制形式與通訊架構均與實船作為目標船時相同。驗證平台具備廣泛的參數化設計選項，提供2款情境設計參數、3種船舶航行模式、6處國內主要港口與34種船型，涵蓋航行中可能遇到的各類會遇情境。透過本船即時的位置、速度與航向資料進行預測，生成指定時間或距離相會的虛擬船隻，客製化各種海上多船會遇測試情境，並解決一般在測試中過早或過晚相遇導致實驗失敗的問題。最後，本文分享團隊自主研發的自動駕駛共通性測試船「智馭號」透過驗證平台進行的測試成果。

This article introduces the Smart Ship Navigation Safety Verification Platform (SSNSVP), a tool for evaluating decision-making systems of autonomous ships. Unlike conventional trials using real ships, the SSNSVP applies a hard-ware-in-the-loop (HIL) framework. The decision computer of the test ship connects to the SSNSVP and conducts tests with virtual ships. These ships are generated by the Ship Maneuvering Simulation system (SMS) developed by the Ship and Ocean Industries R&D Center (SOIC). By receiving virtual ship state data, the decision computer can perform ma-neuvering operations in a virtual environment. This approach reduces collision risks and lowers the cost of sea trials. The control structure and communication protocols remain consistent with real ship encounters, ensuring realistic test condi-tions. The SSNSVP provides broad configurability, including two sets of scenario design parameters, three navigation modes, six major domestic ports, and thirty-four ship types. These options cover a wide range of encounter situations. Using real-time position, speed, and heading data of the test vessel, the platform generates virtual ships that meet at specified times or distances, avoiding failures caused by early or delayed encounters. Finally, the paper reports experi-mental results of the THETIS Smart Ship, an autonomous vessel developed by our team, demonstrating the effectiveness of the SSNSVP for systematic testing of navigation safety.