Method, device and apparatus for autonomous docking of marine vessel

A marine vessel apparatus for autonomous docking for a marine vessel, comprising:

• at least one sensor:
• a communication interface for transceiving data;
• at least one processor;
• and
• at least one memory including computer program code;
• the at least one memory and the computer program code with the at least one processor, configured to cause the marine vessel apparatus to:
• determine a transit control mode associated with route plan data defining transit operation between ports;
• determine an autonomous docking control mode associated with harbor track data comprising a set of waypoint properties and defining approach zone information and track segments joined at waypoints, wherein the approach zone information comprises:
• location area information for an approach zone;
• maximum vessel speed for entering the approach zone;
• and
• maximum heading deviation for entering the approach zone;
• determine vessel location, speed and heading;
• compare the vessel location, speed and heading to the approach zone information and changing from the transit control mode to the autonomous docking control mode in response to:
• the vessel location comprised by the location area information;
• the vessel speed being lower than the maximum vessel speed for entering the approach zone;
• and
• the vessel heading matching criteria defined by the maximum heading deviation for entering the approach zone;
• determine a dynamic setpoint based on the set of waypoint properties, wherein the dynamic setpoint comprises a setpoint position, a setpoint speed and a setpoint heading that changes based on the harbor track data;
• interpolate the setpoint heading and the setpoint speed between waypoints and respective setpoint values based on the vessel location on a track segment;
• and
• align the vessel heading to the interpolated setpoint heading and the vessel speed to the interpolated setpoint speed.

A computer program product embodied on a non-transitory computer readable medium comprising computer executable program code, when executed by at least one processor of an apparatus, causes the apparatus to:

• determine a transit control mode associated with route plan data defining transit operation between ports;
• determine an autonomous docking control mode associated with harbor track data comprising a set of waypoint properties and defining approach zone information and track segments joined at waypoints, wherein the approach zone information comprises:
• location area information for an approach zone;
• maximum vessel speed for entering the approach zone;
• and
• maximum heading deviation for entering the approach zone;
• determine vessel location, speed and heading;
• compare the vessel location, speed and heading to the approach zone information and changing from the transit control mode to the autonomous docking control mode in response to:
• the vessel location comprised by the location area information;
• the vessel speed being lower than the maximum vessel speed for entering the approach zone;
• and
• the vessel heading matching criteria defined by the maximum heading deviation for entering the approach zone;
• determine a dynamic setpoint based on the set of waypoint properties, wherein the dynamic setpoint comprises a setpoint position, a setpoint speed and a setpoint heading that changes based on the harbor track data;
• interpolate the setpoint heading and the setpoint speed between waypoints and respective setpoint values based on the vessel location on a track segment;
• and
• align the vessel heading to the interpolated setpoint heading and the vessel speed to the interpolated setpoint speed.