A marine vessel maneuvering support apparatus includes a controller configured or programmed to execute a lateral movement mode, in which a lateral thrust is applied to a hull, by controlling at least two propulsion devices in response to receiving an instruction to laterally move the hull. The controller is configured or programmed to control the propulsion devices so as to generate a thrust to pivot-turn the hull at least at a start of the lateral movement mode.

A propulsion control system on a marine vessel includes at least one propulsion device configured to propel the marine vessel and at least one proximity sensor system configured to generate proximity measurements describing proximity of objects surrounding the marine vessel. A control system is configured to receive the proximity measurements, access a preset buffer distance surrounding the marine vessel, calculate a velocity limit for the marine vessel in one or more directions of the objects based on a difference between the proximity measurements and the preset buffer distance surrounding the marine vessel so as to progressively decrease the velocity limit as the marine vessel approaches the preset buffer distance from any of the objects, and control the at least one propulsion device such that a velocity of the marine vessel does not exceed the velocity limit in the direction of any of the objects.

A propulsion control system on a marine vessel includes at least one propulsion device configured to propel the marine vessel and at least one proximity sensor system configured to generate proximity measurements describing a proximity of an object with respect to the marine vessel. The system further includes a controller configured to receive proximity measurements, access a preset buffer distance, and calculate a velocity limit in a direction of the object for the marine vessel based on the proximity measurements and the preset buffer distance so as to progressively decrease the velocity limit as the marine vessel approaches the preset buffer distance from the object.

In collision-avoidance maneuvering in congested waters, an own ship is decelerated by astern power. The own ship is continuously navigated on a current target course with a propulsion propeller always rotated forward at the stern of the own ship. The astern power is generated as the propulsion of a propeller slipstream with rudder angles formed at a pair of right and left high-lift rudders disposed behind the propulsion propeller. In the decelerating maneuvering, the rudder angles formed at the high-lift rudders are controlled within a range from a rudder angle for applying a maximum propeller slipstream as the astern power to a rudder angle for eliminating the ahead power of the propeller slipstream, and the deceleration of the own ship is controlled by changing the astern power according to the rudder angles.

In collision-avoidance maneuvering in congested waters, an own ship is decelerated by astern power. The own ship is continuously navigated on a current target course with a propulsion propeller always rotated forward at the stern of the own ship. The astern power is generated as the propulsion of a propeller slipstream with rudder angles formed at a pair of right and left high-lift rudders disposed behind the propulsion propeller. In the decelerating maneuvering, the rudder angles formed at the high-lift rudders are controlled within a range from a rudder angle for applying a maximum propeller slipstream as the astern power to a rudder angle for eliminating the ahead power of the propeller slipstream, and the deceleration of the own ship is controlled by changing the astern power according to the rudder angles.

A propulsion control system on a marine vessel includes at least one propulsion device configured to propel the marine vessel and at least one proximity sensor system configured to generate proximity measurements describing a proximity of an object with respect to the marine vessel. The system further includes a controller configured to receive proximity measurements, access a preset buffer distance, and calculate a velocity limit in a direction of the object for the marine vessel based on the proximity measurements and the preset buffer distance so as to progressively decrease the velocity limit as the marine vessel approaches the preset buffer distance from the object.

A boat includes: a propulsion device configured to generate propulsion force for a vessel body from driving force from an engine; a detection unit configured to detect a current position, a bow direction, and a movement speed of the vessel body; a steering device configured to change a cruising direction of the vessel body; a steering sensor configured to detect an operation amount of the steering device; and a control device that is connected to the propulsion device, the detection unit, and the steering sensor, and is configured to acquire an operating status of the propulsion device and a detection result obtained by the detection unit and the steering sensor, and to control the propulsion device based on the detection result. The control device executes a turning operation with the propulsion device, when the operation amount of the steering device detected by the steering sensor exceeds a threshold.

In collision-avoidance maneuvering in congested waters, an own ship is decelerated by astern power. The own ship is continuously navigated on a current target course with a propulsion propeller always rotated forward at the stern of the own ship. The astern power is generated as the propulsion of a propeller slipstream with rudder angles formed at a pair of right and left high-lift rudders disposed behind the propulsion propeller. In the decelerating maneuvering, the rudder angles formed at the high-lift rudders are controlled within a range from a rudder angle for applying a maximum propeller slipstream as the astern power to a rudder angle for eliminating the ahead power of the propeller slipstream, and the deceleration of the own ship is controlled by changing the astern power according to the rudder angles.

In collision-avoidance maneuvering in congested waters, an own ship is decelerated by astern power. The own ship is continuously navigated on a current target course with a propulsion propeller always rotated forward at the stern of the own ship. The astern power is generated as the propulsion of a propeller slipstream with rudder angles formed at a pair of right and left high-lift rudders disposed behind the propulsion propeller. In the decelerating maneuvering, the rudder angles formed at the high-lift rudders are controlled within a range from a rudder angle for applying a maximum propeller slipstream as the astern power to a rudder angle for eliminating the ahead power of the propeller slipstream, and the deceleration of the own ship is controlled by changing the astern power according to the rudder angles.

The invention provides a device which can reduce the drag and assist the steering of the ship, mainly to set up a 3-way pipe in the bow where is below the water level. The 3-way pipe leads to three openings at the stem, the port side and the starboard side respectively. At least one control valve (or deflector) can be provided in the 3-way piping system. The valve (or deflector) can be controlled from the bridge, with a diversion device. When the ship sails forward, water flows into the 3-way pipe from the forward pipe, distributed to both side pipes and then outflow, so that it can reduce the pressure drag to the stem, improve the ship's speed and save bunker. When the valve (or deflector) is set as neutral, the water will be distributed evenly to both side pipes, which will not affect the ship's heading. When the valve (or deflector) deflects more water to either side's pipe, the ship will turn to the opposite side.