Ship Domain Model in Identification of Collision Risk

In order to solve the problems of incomplete consideration of the target ships motion parameters and the differences of Safe Distance Approach, S_DA in various approach bearing for traditional collision risk identification algorithm. The collision risks identification method is developed to suit for dynamic complex ship domain model. The area of safely passing for a ship is defined with KIJIMA ship domain model. The safe area is divided into 4 sections according to its shape. A set of new criteria, the upper limit and lower limit of relative bearing(φ_{r_Upper} and φ_{r_Lower}), is defined. The method for calculating the parameters is derived on section basis. The model tells which direction should be avoided. The model is tested in 8 encountering scenarios and verified.