“…To mention a few, on the one hand, Fujii and Tanaka, Goodwin, Coldwell, Hansen et al, and Wang and Chin studied empirical ship domain models [12][13][14][15][16]; on the other hand, Zhu et al, Pietrzykowski and Uriasz, and Dinh and Im researched knowledge-based ship domain models [17][18][19][20]. Other authors such as Montewka et al, Davis et al, Wang et al, Rawson et al, and Liu et al have studied analysis-based ship domain models [21][22][23][24][25][26][27]. The International Association of Marine Aids to Navigation and Lighthouse Authorities (IALA) Waterway Risk Assessment Program (IWRAP), which is used as a maritime traffic evaluation tool, is a representative evaluation method that quantitatively calculates collision probability based on statistical data of vessels.…”