Early Warning Method and Model of Inland Ship Collision Risk Based on Coordinated Collision-Avoidance Actions

Figure 14

Stages of collision-avoidance in a narrow waterway of the Yangtze River. Stage one: the two vessels have not yet understood each other’s movements. Stage two: the vessels have not yet unified their collision-avoidance strategies. Stage three: the vessels have not yet taken coordinated maneuvering actions. Stage four: the vessels have to verify collision-avoidance effectiveness.

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