Assisted docking based on a snap-in docking distance

A computer-implemented method for assisted docking of a marine vessel, the method comprising:

• obtaining, by processing circuitry of a computer system, environment data of the marine vessel in relation to at least one fixed structure;
• monitoring, by the processing circuitry, a snap-in docking distance in relation to said at least one fixed structure based on the environment data, wherein the snap-in docking distance is defined to determine a point at which the marine vessel transitions to a controlled docking procedure targeting a deliberate physical engagement with the at least one fixed structure;
• in response to the marine vessel being outside the monitored snap-in docking distance:
• controlling, by the processing circuitry, movement of the marine vessel based on one or more of (i) at least one maneuvering request received from a user operating the marine vessel, and (ii) the environment data;
• and
• in response to the marine vessel being within the monitored snap-in docking distance:
• controlling, by the processing circuitry, the marine vessel to move into physical engagement with said at least one fixed structure,
• obtaining, by the processing circuitry, force sensing data from a pressure sensor in response to said physical engagement, the force sensing data indicating an engagement pressure between the marine vessel and said at least one fixed structure, and
• regulating, by the processing circuitry, a thrust force in a direction towards said at least one fixed structure based on said force sensing data to control a desired engagement pressure of the marine vessel against said at least one fixed structure.