[1] DU L, GOERLANDT F, KUJALA P. Review and analysis of methods for assessing maritime waterway risk based on non-accident critical events detected from AIS data[J]. Reliability Engineering & System Safety, 200, 106933(2020).

[2] [2] BERGLUND R, HUTTUNEN M. Analysis of crossing ship traffic in the gulf of Finl.[R]. [S. l.]: VTT Technical Research Centre of Finl, 2008.

[3] FUKUTO J, IMAZU H. New collision alarm algorithm using obstacle zone by target (OZT)[J]. IFAC Proceedings Volumes, 46, 91-96(2013).

[4] [4] PARK J W. A study on the estimation of a safe speed f prevention of ship''s collision in VTS area[D]. Mokpo: Mokpo National Maritime University, 2014.

[5] LANGARD B, MOREL G, CHAUVIN C. Collision risk management in passenger transportation: a study of the conditions for success in a safe shipping company[J]. Psychologie Française, 60, 111-127(2015).

[6] [6] KIM K I, JEONG J S. Visualization of ship collision risk based on nearmiss accidents[C]2016 Joint 8th International Conference on Soft Computing Intelligent Systems (SCIS) 17th International Symposium on Advanced Intelligent Systems (ISIS). Sappo, Hokkaido: IEEE, 2016: 323327.

[7] YOO S L. Near-miss density map for safe navigation of ships[J]. Ocean Engineering, 163, 15-21(2018).

[8] GOERLANDT F, MONTEWKA J, LAMMI H et al. Analysis of near collisions in the Gulf of Finland[J]. Astronomische Nachrichten, 126, 293-293(2012).

[10] ZHANG W B, GOERLANDT F, MONTEWKA J et al. A method for detecting possible near miss ship collisions from AIS data[J]. Ocean Engineering, 107, 60-69(2015).

[11] ZHANG W B, GOERLANDT F, KUJALA P et al. An advanced method for detecting possible near miss ship collisions from AIS data[J]. Ocean Engineering, 124, 141-156(2016).

[12] ZHANG W B, KOPCA C, TANG J J et al. A systematic approach for collision risk analysis based on AIS data[J]. The Journal of Navigation, 70, 1117-1132(2017).

[14] ZHAO L B, SHI G Y, YANG J X. Ship trajectories pre-processing based on AIS data[J]. The Journal of Navigation, 71, 1210-1230(2018).

[15] NORRIS A. AIS Implementation–success or failure?[J]. The Journal of Navigation, 60, 1-10(2007).

[17] [17] THEODOPOULOS G S, TRITSAROLIS A, THEODIDIS Y. Evolving clusters: online discovery of group patterns in enriched maritime data[C]Proceedings of the 1st International Wkshop on MultipleAspect Analysis of Semantic Trajecties. Würzburg, Germany: Springer, 2020: 5065.

[18] FUJII Y, SHIOBARA R. The analysis of traffic accidents[J]. The Journal of Navigation, 24, 534-543(1971).