Table 3 Evaluation index system for multi-ship collision avoidance decision-making.
Index Category | Index Name | Calculation Method | Weight | Justification |
|---|---|---|---|---|
Collision Risk | Average Collision Risk | \(\:\frac{1}{NT}\sum\:_{t=1}^{T}\sum\:_{i=1}^{N}{R}_{i}^{t}\) | 0.3 | Primary safety concern in maritime navigation |
Navigation Efficiency | Average Speed Deviation | \(\:\frac{1}{NT}\sum\:_{t=1}^{T}\sum\:_{i=1}^{N}\parallel\:{v}_{i}^{t}-{v}_{i}^{des}\parallel\:\) | 0.2 | Critical for maintaining schedules and economic operation |
COLREGs Compliance | COLREGs Violation Rate | \(\:\frac{1}{NT}\sum\:_{t=1}^{T}\sum\:_{i=1}^{N}\left(1-C\left({s}_{i}^{t},{a}_{i}^{t}\right)\right)\) | 0.2 | Legal requirement for maritime navigation |
Energy Consumption | Average Energy Consumption | \(\:\frac{1}{NT}\sum\:_{t=1}^{T}\sum\:_{i=1}^{N}{E}_{i}^{t}\) | 0.15 | Environmental and operational cost factor |
Decision Stability | Average Decision Change Rate | \(\:\frac{1}{NT}\sum\:_{t=1}^{T}\sum\:_{i=1}^{N}\mathbb{I}\left({a}_{i}^{t}\ne\:{a}_{i}^{t-1}\right)\) | 0.15 | Impacts crew comfort and equipment wear |
