对近年来国内外海运船舶自主避碰技术的研究现状进行梳理,并将自主避碰方法分为三类,分别归纳分析了ÿ类方法的研究进展以及海运船舶避碰系统开发与应用情况;提出了船舶自主避碰技术尚待解决的问题,包括:狭窄水域和繁æ水域的避碰决策问题、基于船间信息交互的多船自主协调避碰问题、自主避碰系统与船舶控制系统的协调和集成问题以及自主避碰系统智能性、可靠性、完备性测试问题;阐述了船舶自主避碰技术的研究趋势,提出下一步需突破的核心理论和关键技术问题,包括:复杂水域中融合机器学习的多船自主避碰理论和高效算法、不同避碰算法的自适应集成与融合、智能船舶和传统船舶混合交通环境下的船间交互协同理论、船舶自主避碰决策和船舶车舵控制一体化、船舶自主避碰系统测试技术等。

The r ese arch sta tus of  aut onomo us c ollision  av oid- ance tech nolog y for marine v essel s at hom e a nd abroad in re- cent years was sum marized. The meth ods of aut omat ic collision a voidance we re di vided in to three cat egori es and the research prog ress of each ty pe of met hods as we ll as the 
devel- opm ent and application of collision avoid ance system f or marine ves sels were analyzed re spectively . The uns olved prob- lems in the research of ship collision avoidance technology wer e summar ize d, incl udin g collisio n avoida nce decisio n-mak- ing pr oblems in nar row and crowded w aters, mul ti-ship au ton- omous co ordination collision avoida nce problems base d on in- form ation exc hange be tween ships , coordin ation and integra-tion prob lems be tween au ton omou s co llision avoida nce system and ship control system , as well as intelligence , reliabi lity and com pleteness testi ng pro blems of a uton omous co llision a- voidance system. This paper elaborated t he r esea rch tren d of auto matic co llisio n avo idance techn olo gy, and pu t fo rwar d the core theories a nd key techn ologies t o be solve d in the next step, in cluding mu lti-vessel c ollision a voidance the ories and efficien t algorithms combining mach ine lea rn ing in co mplex wate rs, self-ad aption integr ation and fu sion of differ ent colli- sion av oidance al gorith ms, interactive colla bor ation t heories between intel ligent ships an d traditio nal ships i n mixed traffic env ironme nt, i ntegr ation of collisi on avoidanc e decisi on-mak- in g system and ship mo tion contro l system , and testing theories of a utonomous collision avoidance system , etc.