Patent ID: 6994046

Claim:
A marine vessel running controlling apparatus for controlling running of a marine vessel that includes a pair of propulsion systems which respectively generate propulsive forces on a rear port side and a rear starboard side of a hull, and a pair of steering mechanisms which respectively change steering angles defined by directions of the propulsive forces generated by the respective propulsion systems with respect to the hull, the marine vessel running controlling apparatus comprising: a target combined propulsive force acquiring section which acquires a target combined propulsive force to be applied to the hull by the pair of propulsion systems; a target movement angle acquiring section which acquires a target movement angle defined by a target movement direction of the hull with respect to a stem direction of the hull; a steering controlling section which controls the steering angles of the respective steering mechanisms such that a turning angular speed of the hull is substantially equal to a predetermined target angular speed; a target propulsive force calculating section which calculates target propulsive forces to be generated from the respective propulsion systems based on the target combined propulsive force acquired by the target combined propulsive force acquiring section, the target movement angle acquired by the target movement angle acquiring section and the steering angles of the respective steering mechanisms; and a propulsive force controlling section which controls the respective propulsion systems so as to attain the target propulsive forces calculated by the target propulsive force calculating section.