This paper introduces a novel data-driven approach for generating realistic and hazardous overtaking scenarios. These scenarios are crucial for rigorously evaluating the autonomous collision avoidance capabilities of autonomous ships. Existing methods often struggle to balance scenario diversity, realism, and the representation of hazardous situations. To overcome this limitation, our method leverages the rich information embedded in automatic identification system (AIS) data to generate diverse and realistic overtaking encounters.

Specifically, we propose a hybrid model that integrates a sequence generative adversarial network (SeqGAN) with a self-attention mechanism (SAM). The SeqGAN captures the complex patterns and dynamics in AIS-based ship trajectories, enabling the generation of novel, yet plausible, overtaking maneuvers. The incorporation of a SAM further enhances the model's ability to capture long-range dependencies in ship trajectories, resulting in more realistic and nuanced simulations. To ensure that the generated scenarios accurately reflect hazardous situations, we have developed a constraint model based on longitudinal and lateral safety distances between vessels to define realistic initial conditions. This model dynamically adjusts the initial positions and velocities of both the target vessel and the autonomous ship under test, ensuring that each generated scenario presents a genuine collision risk.

The results show that the effectiveness of our approach is validated through extensive simulations. A total of 500 hazardous overtaking scenarios were generated, significantly improving the coverage of test scenarios. Notably, 97.3% of these generated trajectories fall within a predefined buffer zone that encompasses real-world trajectories, demonstrating the high fidelity of our model. Furthermore, the speed distributions of the generated target vessels closely match those observed in real-world AIS data, further validating the realism of our approach.

The enhanced realism and diversity of scenarios generated by this method significantly improve the efficiency of autonomous collision avoidance testing. This allows for a more precise definition of safety performance boundaries and accelerates the development and optimization of autonomous collision avoidance algorithms. Ultimately, this work contributes to the development of safer and more reliable autonomous maritime systems capable of navigating the complexities of modern maritime environments.