Safety Risk Analysis of Unmanned Ships in Inland Rivers Based on a Fuzzy Bayesian Network

Table 3

Node table at each level of Inland river unmanned ship navigation safety risk status.

Target node	Intermediate node	Sub-node	Evidence node
Inland river unmanned ship navigation safety risk status	Ship factor	Ship stowage	Full load rate
			Ship balance
			Hazardous nature of cargo
			Cargo fastening degree
		Tonnage and age	Tonnage
			Age
		Structure and performance	Buoyancy reserve
			Speed of ship
			Initial stability height
		Equipment and maintenance	Integrity rate of outfit
			Ship maintenance
	Environmental factor	Weather condition	Fog
			Rain
			Wind
			Illumination
		Channel condition	Channel width
			Keel clearance
			Sailing restrictions
			Obstructed building
			Channel traffic density
		Hydrological condition	Flow rate
			Flow state
		Parking condition	Berth utilization
			Anchorage condition
		Interference factor	Floating objects hinders navigation
			Speed and direction of interference boat
	Management and controlling factor	Human-related	Human error
			Technical failures
			Situation awareness
			Information overload
		Reliability and security of control device	Remote operation reliability
			Power device stability
			Cyber security
			Information transmission security
		Emergency response capability	Emergency rescue capability
		Safety supervision	Security check strength
			Fault maintenance timeliness