本文以定性和定量微分对策理论为依据,研究了大型船舶之间的碰撞避免问题。通过采用“有限时间局部捕捉区”的概念和“集合覆盖法”,发现了一种新性质的曲线——半开关曲线,并得到了危险区和局部危险区。此外,本文还对一类尚未解决的慢船躲快船的碰撞避免问题给出一种解答。这些结果表明,本文所使用的方法是有效的,所得到的两种区域是有实际意义的。 Based on the qualitative and quantitative differential game theory, this paper studies the problem of collision avoidance between large ships. By adopting the concept of “finite time local capture zone” and the “set cover method”, a new type of curve, semi-switch curve, was found, and the danger zone and the local danger zone were obtained. In addition, this article also gives a solution to the problem of collision avoidance of a class of unresolved slow vessel. These results show that the method used in this paper is valid and that the two regions obtained are of practical significance.