Time‐Varying Risk Measurement for Ship Collision Prevention

We propose an innovative time‐varying collision risk (TCR) measurement for ship collision prevention in this article. The proposed measurement considers the level of danger of the approaching ships and the capability of a ship to prevent collisions. We define the TCR as the probability of the overlap of ships’ positions in the future, given the uncertainty of maneuvers. Two sets are identified: (1) the velocity obstacle set as the maneuvers of...