Ship avoidance decision-making method, device, equipment and medium

The invention discloses a ship avoidance decision-making method, device and equipment and a medium. The method comprises the steps that navigation planning of a local ship in a navigation channel is conducted according to navigation channel parameter information, and a planned route is determined; determining a safety area corresponding to each target object according to the category information of the target object; based on the velocity obstacle principle, the relative motion line of the ship relative to each target object is solved in combination with the planned route and the navigation information of the target objects; and according to the relationship between the relative motion line and the safety area corresponding to each target object, making an avoidance decision under the condition of determining that the local ship and the target object have a collision risk. According to the technical scheme, a new avoidance decision scheme is provided for the ship when the ship sails in the navigation channel,