Ship collision avoidance control method, device and equipment and storage medium

The invention discloses a ship collision avoidance control method, device and equipment and a storage medium. Comprising the steps that the ship collision risk degree and historical heading and rudder angle information of a current ship are acquired, and a ship control algorithm is established according to the historical heading and rudder angle information; obtaining the expected heading of the current ship according to the ship collision risk degree; and controlling the current ship to avoid collision based on the expected heading through a ship control algorithm. The expected heading of the current ship is determined by obtaining the collision risk degree, the dangerous situation encountered by the current ship can be determined in time in the sailing process, then the opportunity of collision avoidance and re-sailing can be accurately determined through the expected heading, and a ship control algorithm is established through historical heading and rudder angle information. And the current ship is control