Patent ID: 11899465
Assignee: FLIR BELGIUM BVBA
Field: Control (Instruments)
Classification: CPC G  B | IPC G

Claim 12:
13. A method comprising:
receiving docking assist parameters from a user interface for a marine vessel and perimeter sensor data from a perimeter ranging system mounted to the marine vessel;
determining one or more docking assist control signals based, at least in part, on the received docking assist parameters and the received perimeter sensor data, wherein the determining the one or more docking assist control signals comprises:
interpreting the docking assist parameters as providing a user-demanded velocity of the marine vessel which is a user demand for velocity of the marine vessel;
determining, based at least in part on the perimeter sensor data, that a navigation hazard is present within a safety perimeter of the marine vessel, and determining whether the user-demanded velocity provided by the docking assist parameters comprises moving towards the navigation hazard;
attenuating the user-demanded velocity towards the navigation hazard, the attenuating being based at least in part on determining the navigation hazard presence within the safety perimeter and on determining that the user-demanded velocity comprises moving towards the navigation hazard, the attenuating comprising determining an attenuated target linear and/or angular velocity for the marine vessel; and
determining the one or more docking assist control signals based, at least in part, on the determined attenuated target linear and/or angular velocity; and

providing the one or more docking assist control signals to a navigation control system for the marine vessel, wherein the one or more docking assist control signals are configured to cause the navigation control system to maneuver the marine vessel according to the determined attenuated target linear and/or angular velocity.