3. Realization

3.1 Fine-Tuning and Tuning of the Algorithms

The concept for autonomous ship guidance is being worked out in detail within the work package “Fine-tuning of concept and algorithms”. Furthermore, the transfer variables to the areas of sensor technology and actuator technology are coordinated.

The initial route of the barge from a starting point to a destination is determined within the concept by global path planning. The global path planning is based on all known static objects, which are extracted from the available map material.

During the journey, a so-called obstacle map is created on the basis of the environment recorded by the sensors. In addition to the static objects, this also includes dynamic objects such as other barges. The obstacle map is created and continuously updated in a defined area around the inland vessel.

On the basis of this obstacle map, local path planning is then performed. The route created by the global path planning is used as a starting point for the local path planning. Depending on obstacles detected within the obstacle map, the route is continuously adjusted by local path planning.

Work packages

The simulation environment as a virtual image of the real world is the central development environment for all control and monitoring algorithms. A digital twin of the test vessel is implemented in the simulation environment.

The development of the automated control of the inland vessel will initially take place in a simulator. In the first work package, the existing simulator will therefore be extended so that sensor readings can be generated virtually. The artificial intelligence (AI) developed in parallel in a modular fashion for ship control and for implementing the driving behavior functions will then be integrated in a simulation model in such a way that a later parallel porting to a real inland waterway vessel will be possible. Furthermore, the behavior of other road users (vessels in the vicinity of the automated barge) will be modeled and integrated into the simulation environment. The development of the AI for the implementation of the driving behavior functions for different tasks is initially carried out in parallel and then tested in the simulator. Fundamental questions about the choice and structure of the module are efficiently addressed in this way.

1.1 Simulator

The virtual home of the digital twin

1.2 AI / Behavior Control

The central algorithms: ship guidance and driving behavior functions

1.3 Behavior of other Road Users

Prerequisite for accident-free traffic: understanding the traffic situation

To test the test vessel, test scenarios are first defined. Subsequently, the automated vessel control is integrated and iteratively adapted. Test runs are absolutely necessary for this.

2.1 Sensors

The senses of AI

2.2 Actuator

Artificial intelligence takes the control

2.3 Human-Machine Interface

Development of the human-machine interface

The realization of the automation of the test vessel requires a fine conception and coordination of the algorithms. Furthermore, the automation functions must be tested in advance in the simulation environment. This is followed by validation on the real system.