A system comprising: a logic device configured to communicate with a user interface and with a perimeter ranging system (148, 148a, 148b) mounted to a marine vessel, the logic device configured to provide docking assist for the marine vessel, wherein the logic device is configured to: receive docking assist parameters from the user interface and perimeter sensor data from the perimeter ranging system (148, 148a, 148b); determine 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: determining, based at least in part on the docking assist parameters, a user demand for velocity of the marine vessel; characterized by 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 comprises moving towards the navigation hazard; attenuating the user demand for 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 provide 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. receive docking assist parameters from the user interface and perimeter sensor data from the perimeter ranging system (148, 148a, 148b); determine 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: determining, based at least in part on the docking assist parameters, a user demand for velocity of the marine vessel; characterized by 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 comprises moving towards the navigation hazard; attenuating the user demand for 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 provide 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. determining, based at least in part on the docking assist parameters, a user demand for velocity of the marine vessel; characterized by 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 comprises moving towards the navigation hazard; attenuating the user demand for 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 provide 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.