Apparatus and computer-implemented method for autonomous marine vessel docking, the method including determining a transit control mode associated with route plan data defining transit operation between ports; determining an autonomous docking control mode associated with harbor track data including a set of waypoint properties and defining approach zone information and track segments joined at waypoints. Method further includes determining vessel location, speed and heading; comparing 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 included 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.

Apparatus and computer-implemented method for autonomous marine vessel docking, the method including determining a transit control mode associated with route plan data defining transit operation between ports; determining an autonomous docking control mode associated with harbor track data including a set of waypoint properties and defining approach zone information and track segments joined at waypoints. Method further includes determining vessel location, speed and heading; comparing 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 included 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.

A watercraft safety lighting system includes one or more light sensors for measuring ambient light levels, which are operatively connected to an electronic controller, such as a programmable logic controller or any suitable programmable computing device. The navigation lights are operatively connected to the electronic controller, as well as docking lights, interior lights, and instrument panel lighting, such as the lighting for gauges, instrument panels, video screens, GPS monitors, and the like. When ambient light levels reach a predetermined level of low light (as darkness is setting in, for example), the electronic controller is programmed to switch on the navigation lights, and to adjust other lighting to appropriate levels for night-time operations. The system may also shut off docking lights at a predetermined speed after dark, and may include alarms to warn the boat captain of improper lighting settings in low-light conditions.

Disclosed is a dynamic collision avoidance method for an unmanned surface vessel based on route replanning. The method comprises the following steps: acquiring navigation information and pose information of a neighboring ship of an unmanned vessel itself via a vessel-borne sensor; constructing a collision cone between the unmanned vessel and the neighboring ship; introducing a degree of uncertainty with respect to observing movement information of the neighboring ship and applying a layer of soft constraint to the collision cone; applying a speed and a heading limit range of the unmanned vessel; acquiring an ultimate candidate speed set; introducing a cost function to select an optimum collision avoidance speed; and performing an internal recycle of navigation simulation with the optimum collision avoidance speed to obtain a route replanning point for dynamic collision avoidance of the unmanned vessel. According to the present invention, a dynamic collision avoidance strategy of the unmanned surface vessel is output in form of route replanning to meet constraints of international regulations for preventing collisions at sea, and it is well adapted to manipulate and control the unmanned vessel itself, so that a dynamic collision avoidance requirement of the unmanned vessel is met.

Disclosed is a dynamic collision avoidance method for an unmanned surface vessel based on route replanning. The method comprises the following steps: acquiring navigation information and pose information of a neighboring ship of an unmanned vessel itself via a vessel-borne sensor; constructing a collision cone between the unmanned vessel and the neighboring ship; introducing a degree of uncertainty with respect to observing movement information of the neighboring ship and applying a layer of soft constraint to the collision cone; applying a speed and a heading limit range of the unmanned vessel; acquiring an ultimate candidate speed set; introducing a cost function to select an optimum collision avoidance speed; and performing an internal recycle of navigation simulation with the optimum collision avoidance speed to obtain a route replanning point for dynamic collision avoidance of the unmanned vessel. According to the present invention, a dynamic collision avoidance strategy of the unmanned surface vessel is output in form of route replanning to meet constraints of international regulations for preventing collisions at sea, and it is well adapted to manipulate and control the unmanned vessel itself, so that a dynamic collision avoidance requirement of the unmanned vessel is met.

A device for measuring shoreline distance and distance to objects on a boat, including a measurement mechanism for measuring shoreline distance and object distance including a global positioning system (GPS) in combination with a camera and sensor. A method of determining shoreline distance and distance to objects on a boat, by actuating the device, measuring the shoreline distance and object distance from the boat, and displaying the shoreline distance and object distance on the graphical interface display.

A device for measuring shoreline distance and distance to objects on a boat, including a measurement mechanism for measuring shoreline distance and object distance including a global positioning system (GPS) in combination with a camera and sensor. A method of determining shoreline distance and distance to objects on a boat, by actuating the device, measuring the shoreline distance and object distance from the boat, and displaying the shoreline distance and object distance on the graphical interface display.

A control system for an outboard motor is provided which enables safe navigation over a shoal. A control system for an outboard motor including a propeller includes: a trim angle adjustment motor for changing the attitude of the outboard motor with respect to a watercraft; and a controller configured to selectively implement first control that operates the trim angle adjustment motor and controls the vertical position of the propeller to a first position, and second control that operates the trim angle adjustment motor and controls the vertical position of the propeller to a second position closer to a water surface than the first position. The controller acquires information on the depth of water a predetermined distance ahead in the travel direction of the watercraft, and determines which of the first control and the second control is implemented, on the basis of at least the information on the depth of water.

In some aspects, a safety system may be configured to receive vehicle position data indicating a position of a vehicle, determine a first lane segment in a lane coordinate system based on the vehicle position data, the first lane segment being a lane segment in which the vehicle is located, determine a relevant set of lane segments based on a safety-range from the first lane segment, determine or receive obstacle position data indicating a second lane segment in the lane coordinate system, the second lane segment being a lane segment in which an obstacle is located, and classify the obstacle either as a non-relevant obstacle in the case that the second lane segment is not included in the relevant set of lane segments, or as a relevant obstacle in the case that the second lane segment is included in the relevant set of lane segments.

In some aspects, a safety system may be configured to receive vehicle position data indicating a position of a vehicle, determine a first lane segment in a lane coordinate system based on the vehicle position data, the first lane segment being a lane segment in which the vehicle is located, determine a relevant set of lane segments based on a safety-range from the first lane segment, determine or receive obstacle position data indicating a second lane segment in the lane coordinate system, the second lane segment being a lane segment in which an obstacle is located, and classify the obstacle either as a non-relevant obstacle in the case that the second lane segment is not included in the relevant set of lane segments, or as a relevant obstacle in the case that the second lane segment is included in the relevant set of lane segments.