Method and apparatus for control of vessel maneuvering

An apparatus for a control of a vessel maneuvering, including:

• an initial data processing means, processing of initial signals containing an information about a distance and a bearing of at least one or each of a plurality of target objects, a vessel speed, a vessel course and about a speed and a course of said at least one or said each of said plurality of target objects, and wherein said initial data processing means comprises an output and five inputs;
• a dangerous criteria setting means, an object disposition evaluation means, a dangerous relative course zone determination means, a control means, forming a signals containing an information about borders of at least one or each of a plurality of dangerous relative course zones for said vessel with regard to an appropriate said least one or said each of said plurality of target objects, wherein said borders are characterized by a vessel maximal speed value arc and lines, each of which has a locus under an appropriate angle of North
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• processing said signals containing said information about said borders of said at least one or said each of said plurality of dangerous relative course zones for said vessel with regard to said appropriate at least one or said each of said plurality of target objects, and forming a processed signals containing an information about said at least one or said each of said plurality of dangerous relative course zones, and wherein said dangerous criteria setting means comprises an input and two outputs, said object disposition evaluation means comprises three inputs and two outputs, said dangerous relative course zone determination means comprises an output and six inputs, said control means comprises an output;
• a displaying means, displaying a vessel speed-vector, a critical approach distance circle with a center, belonging to a beginning of said vessel speed-vector, and said at least one or said each of said plurality of dangerous relative course zones, and wherein said displaying means comprises six inputs, and wherein:
• a first input of said initial data processing means is connected to a fifth input of said displaying means and to a vessel speed and course sensors, a second input of said initial data processing means is connected to a fourth input of said dangerous relative course zone determination means, to a radar means and to a second input of said displaying means, a third input of said initial data processing means is connected to said input of said dangerous criteria setting means, to a third input of said object disposition evaluation means, to said output of said control means, to a sixth input of said dangerous relative course zone determination means and to a fourth input of said displaying means, a fourth input of said initial data processing means is connected to a sixth input of said displaying means and to said radar means;
• a first input of said object disposition evaluation means is connected to said output of said initial data processing means and to a first input of said dangerous relative course zone determination means, a second input of said object disposition evaluation means is connected to a first output of said dangerous criteria setting means and to a third input of said dangerous relative course zone determination means;
• a first input of said displaying means is connected to a first output of said object disposition evaluation means, a third input of said displaying means is connected to said output of said dangerous relative course zone determination means;
• a second input of said dangerous relative course zone determination means is connected to a second output of said dangerous criteria setting means, a fifth input of said dangerous relative course zone determination means is connected to a second output of said object disposition evaluation means.