Computer-implemented method for autonomous marine vessel docking, the method comprising: 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 comprising a set of waypoint properties and defining approach zone information and track segments joined at waypoints (180, 181, 182, 183, 184, 185, 186, 187), wherein the approach zone information comprises: location area information for the approach zone; characterized in that the approach zone information further comprises: maximum vessel speed for entering the approach zone; and maximum heading deviation for entering the approach zone; and in that the method comprises 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 comprised in the approach zone defined 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. 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 comprising a set of waypoint properties and defining approach zone information and track segments joined at waypoints (180, 181, 182, 183, 184, 185, 186, 187), wherein the approach zone information comprises: location area information for the approach zone; characterized in that the approach zone information further comprises: maximum vessel speed for entering the approach zone; and maximum heading deviation for entering the approach zone; maximum vessel speed for entering the approach zone; and maximum heading deviation for entering the approach zone; and in that the method comprises 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 comprised in the approach zone defined 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. 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 comprised in the approach zone defined 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. the vessel location comprised in the approach zone defined 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.