Ship navigation control method, device, and equipment and medium

The invention discloses a ship navigation control method, device, and equipment and a medium. The method comprises: when an obstacle exists on a navigation path of a ship, a first angle beta, a secondangle alphai, a third angle delta alphai, an obstacle distance Li and a ship length R are obtained respectively, wherein the ship is set to be an original point by a set coordinate axis and the set coordinate axis and the navigation path are located on the same plane; according to the first angle beta, the second angle alphai, the third angle delta alphai, the obstacle distance Li and the ship length R, an obstacle avoidance adjusting angle of the ship is calculated; and the direction of the navigation path is adjusted based on the obstacle avoidance adjusting angle to control the ship to avoid the obstacle. With the method disclosed by the invention, the manual complexity of ship driving is reduced relatively; and obstacles during the ship driving process can be avoided flexibly. In addition, the invention also