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 , 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 , 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 . <EOS>