The Mathematic Model of "Pressing Complexion" Differential Coefficient Countermeasure Decision for Collision-avoidance

In this article, we have done some analysis about the collision-avoidance specialty of "pressing complexion" and "pressing danger" in the meet process of two boats, and offered a mathematic model of differential coefficient countermeasure decision for collision-avoidance. which adapt to the right complexion. The basal idea is, in the right condition whatever do the coming boat do, and our boat will always adopt dynamic, continuous and the best countermeasure. When both the controlling capabilities of two boats have advantage and inferior position, we can working-out with the qualitative differential coefficient countermeasure.