基于刺激行动的理论、船舶领域的概念及最晚施舵点，建立了空间碰撞危险度、时间碰撞危险度和碰撞危险度模型。
On the basis of stimulating action theory, the concepts of vessel's domain and the last opportunity to use helm, the models of SCR, TCR and collision risk (CR) are established.
基于刺激行动的理论、船舶领域的概念及最晚施舵点，建立了空间碰撞危险度、时间碰撞危险度和碰撞危险度模型。
On the basis of stimulating action theory, the concepts of vessel's domain and the last opportunity to use helm, the models of SCR, TCR and collision risk (CR) are established.
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