A hull behavior control system for controlling behavior of a hull of a marine vessel includes a memory and at least one controller coupled to the memory. The at least one controller is configured or programmed to control a steering that changes the traveling direction of the marine vessel, obtain a water surface shape around the marine vessel, estimate movement of a wave based on the water surface shape, and when it is determined that the hull rides the wave whose movement has been estimated, control the steering so as to reduce an influence of the wave on the hull.

A boat maneuvering support device supports maneuvering of a boat including a first propulsion device having a variable turning angle, a second propulsion device for generating a propulsive force for moving the boat in a left-right direction, and a steering mechanism for changing a turning angle of the first propulsion device and an output of the second propulsion device. The boat maneuvering support device includes a control unit which controls the turning angle of the first propulsion device and/or the output of the second propulsion device, a detection unit which detects a rotational speed of a propeller of the first propulsion device, and a calculation unit which obtains a rotational power of the boat based on the turning angle designated by the operation of the steering mechanism and the rotational speed. The control unit controls the output of the second propulsion device based on the rotational power.

A boat maneuvering support device supports maneuvering of a boat including a first propulsion device having a variable turning angle, a second propulsion device for generating a propulsive force for moving the boat in a left-right direction, and a steering mechanism for changing a turning angle of the first propulsion device and an output of the second propulsion device. The boat maneuvering support device includes a control unit which controls the turning angle of the first propulsion device and/or the output of the second propulsion device, a detection unit which detects a rotational speed of a propeller of the first propulsion device, and a calculation unit which obtains a rotational power of the boat based on the turning angle designated by the operation of the steering mechanism and the rotational speed. The control unit controls the output of the second propulsion device based on the rotational power.

A steering mechanism for a container carrier ship hull including a bow, a stern, and a container bay therebetween. The bow is provided with a set of depending lateral thruster pods, the set including a first pod disposed along a longitudinal centerline of the hull, a second pod disposed rearward of the first pod and outward from the centerline, and a third pod disposed rearward of the first pod and outward from the centerline opposite from the second pod. The first and second pods define a first longitudinal flow channel to one side of the centerline and the first and third thruster pods define a second longitudinal flow channel to the opposite side of the centerline. A fourth pod, which may omit thruster mechanisms, may be disposed along the centerline reward of the first, second, and third pods, to define with them first and second cross-centerline flow channels.

A steering mechanism for a container carrier ship hull including a bow, a stern, and a container bay therebetween. The bow is provided with a set of depending lateral thruster pods, the set including a first pod disposed along a longitudinal centerline of the hull, a second pod disposed rearward of the first pod and outward from the centerline, and a third pod disposed rearward of the first pod and outward from the centerline opposite from the second pod. The first and second pods define a first longitudinal flow channel to one side of the centerline and the first and third thruster pods define a second longitudinal flow channel to the opposite side of the centerline. A fourth pod, which may omit thruster mechanisms, may be disposed along the centerline reward of the first, second, and third pods, to define with them first and second cross-centerline flow channels.

A method for performing a sideway displacement of a marine vessel. The marine vessel includes a first and a second propulsion unit, a first and a second rudder respectively associated with the first and the second propulsion units, and a bow thruster. The first and the second propulsion units, the first and the second rudders and the bow thruster are operable via a single driver interface. The method includes the steps of; via the single driver interface operate the first and the second propulsion units and the bow thruster so as to provide a total thrust and set the rudder angles of the first and the second rudders, to thereby steer the displacement of the marine vessel during the sideway displacement.

A method for performing a sideway displacement of a marine vessel. The marine vessel includes a first and a second propulsion unit, a first and a second rudder respectively associated with the first and the second propulsion units, and a bow thruster. The first and the second propulsion units, the first and the second rudders and the bow thruster are operable via a single driver interface. The method includes the steps of; via the single driver interface operate the first and the second propulsion units and the bow thruster so as to provide a total thrust and set the rudder angles of the first and the second rudders, to thereby steer the displacement of the marine vessel during the sideway displacement.

A method of controlling propulsion of a marine vessel includes receiving proximity measurements from one or more proximity sensors on the marine vessel and limiting user input authority over propulsion output in a direction of an object by at least one propulsion device based on the proximity measurement so as to maintain the marine vessel at least a buffer distance from the object. The method further includes suspending maintenance of the buffer distance from the object in response to a user-generated instruction. Then, when user control input is received via a user input device to move the marine vessel in the direction of the object, the at least one propulsion device is controlled based on the user control input such that the marine vessel approaches and impacts the object.

A method of controlling propulsion of a marine vessel includes receiving proximity measurements from one or more proximity sensors on the marine vessel and limiting user input authority over propulsion output in a direction of an object by at least one propulsion device based on the proximity measurement so as to maintain the marine vessel at least a buffer distance from the object. The method further includes suspending maintenance of the buffer distance from the object in response to a user-generated instruction. Then, when user control input is received via a user input device to move the marine vessel in the direction of the object, the at least one propulsion device is controlled based on the user control input such that the marine vessel approaches and impacts the object.

A method for aligning steering angles of marine propulsion devices. The method includes receiving a first steering request to steer the marine propulsion devices, where when the first steering request is received, steering for a first device is deactivated and steering for a second device is activated, and changing a steering angle of the second device according to the first steering request while leaving a steering angle of the first device unchanged. The method includes receiving a request to activate steering for the first device and receiving a second steering request, then changing the steering angles of both the first and second devices when the second steering request is received after receiving the request to activate steering, and changing the steering angle of the second device while leaving the steering angle for the first device unchanged when the second steering request is received before receiving the request to activate steering.