STEERING ASSIST SYSTEM FOR A MARINE VESSEL AND A METHOD FOR STEERING A MARINE VESSEL

TECHNICAL FIELD

[0001]The disclosure generally resides in the field of steering of marine vessels. More particularly, the disclosure relates to a steering assist system for a marine vessel and a method, or a computer implemented method, for steering a marine vessel. The system and the method are configured for increasing safety for people, equipment and the environment.

[0002]The disclosure can be applied to marine vessels of all sizes, such as leisure vessels, commercial vessels and navy vessels, among other types of marine vessels. Moreover, the disclosure can be applied to propelled vessels as well as to sailing vessels. Although the disclosure may be described with respect to a particular marine vessel, the disclosure is not restricted to any particular type of marine vessel.

BACKGROUND

[0003]Accidents involving marine vessels, such as groundings on shores or headlands or reefs and collisions with objects like other vessels or fixed structures, are common. It is estimated that approximately 50% of all marine accidents result from various forms of operator error or negligence. These accidents often occur when the marine vessel’s operator, often due to inattention, ignorance or lack of knowledge, navigates into hazardous areas. Marine vessels may be equipped with advanced steering and navigation systems designed to assist operators in safely navigating in non-hazardous waters. These systems often include positioning technologies, such as Global Positioning Systems (GPS), and display the marine vessel’s location on a sea-chart presented on a multifunctional display or sea-chart plotter. Additionally, these systems can be configured to alert the operator with visual or audible alarms if the marine vessel approaches or is located in a hazardous area.

[0004] Many vendors offer navigation support systems configured to support the operator in navigating a marine vessel safely from one location to another, often via so-called waypoints.

SUMMARY

[0005]According to a first aspect of the disclosure, there is provided a steering assist system for a marine vessel. The system comprises a steering control unit, such as a helm control unit, configured for receiving an operator steering command via a steering device such as a steering wheel, joystick, or tiller. The steering control unit is configured to provide feedback to an operator of the vessel via the steering device in response to a control signal. The steering assist system may comprise a positioning system, such as a GPS system, configured to determine a location of the marine vessel in a global reference frame such as WGS-84 or relative to some object in vicinity of the marine vessel. The positioning system may constitute an integral part of the steering assist system, or an auxiliary system configured for communicating with the steering assist system, e.g. via a data bus or link. Moreover, the positioning system may constitute a distributed solution where a first part of the positioning system is an integral part of the steering system, and a second part of the positioning system is an auxiliary system.

[0006]Some steering assist systems may also comprise one or more environment sensors such as one or more of a radar, a lidar, or a camera-based system. The environment sensor system may constitute an integral part of the steering assist system, or an auxiliary system configured for communicating with the steering assist system, e.g. via a data bus or link. The one or more environment sensors are arranged to obtain information about the environment surrounding the marine vessel. The steering assist system can be arranged to obtain the environment data and compare the environment data to previously stored data and thus position, or assist in positioning, the marine vessel in relation to one or more objects in the environment. This method of positioning can be used as an alternative to other positioning systems, as a redundant back-up positioning system, or as a complement to refine the position data from other positioning systems.

[0007]A radar or a lidar or a camera, with or without night vision, can detect an object such as a navigation mark or an obstacle and match the detected position to a corresponding position in a sea-chart, and thus improve the position estimate of the marine vessel. The environment data can also be used to determine a distance to an obstacle to be cleared, such as headland.

[0008]The steering assist system moreover may comprise processing circuitry configured to store or access sea-chart data indicating one or more hazardous location areas. The steering assist system may be configured to determine whether the current location, or the future location, of the marine vessel in relation to the one or more hazardous location areas satisfies a predetermined hazard criterion, and, in accordance with a determination that the hazard criterion is satisfied, transmit a control signal to the steering control unit.

[0009]The steering control unit, upon receipt of the control signal, is configured to provide feedback, or force feedback to an operator via the steering device. The steering device may, as examples, be a steering wheel, a joystick, or a tiller. An electronic actuator may be arranged in connection to the steering device to provide the force feedback. The magnitude of the force feedback may be predetermined or user configurable. An advantage of having a user configurable force feedback magnitude is that the steering assist system can be adapted for different users, i.e., according to different user preferences. Some users may desire stronger feedback force, while others may prefer a less pronounced, more delicate, and more easily overcome feedback force. The feedback force configuration may be carried out manually or automatically based on a detected operator. The operator of the marine vessel may, for example, be detected based on face recognition or based on a personal key or token used to activate the marine vessel.

[0010] A technical benefit may include provision of feedback to the operator in the event that the marine vessel is about to enter a hazardous area.

[0011]In an alternative or complement to the first aspect, there may be provided a computer system for a marine vessel, the computer system comprising processing circuitry configured to determining a location of the marine vessel, obtaining sea-chart data indicating one or more hazardous location areas, determining whether the location, or the future location, of the marine vessel in relation to the one or more hazardous location areas satisfies a predetermined hazard criterion, and in accordance with a determination that the hazard criterion is satisfied, triggering a control signal to be transmitted to the steering control unit, where the steering control unit, upon receipt of the control signal, provides feedback to an operator via a steering device.

[0012] Optionally in some examples, including in at least one preferred example, the hazard criterion may be satisfied upon determination by the processing circuitry that the marine vessel will enter a hazardous location area in response to extrapolation into future locations of the marine vessel based on one or more of the operator steering command, the location of the marine vessel, the speed of the marine vessel or the course of the marine vessel.

[0013]A technical benefit may include a capability of the steering assist system to accept or define changing or dynamic hazard criteria depending on user input or the operating state of the marine vessel.

[0014] Optionally in some examples, including in at least one preferred example, the system may be configured for receiving data representative of minimum requirements determined e.g. by the dimensions of the marine vessel or by the operator. The minimum requirements may, as examples, comprise one or more of depth of water below the hull of the marine vessel or any components or equipment extending below the hull of the marine vessel, clearance to underwater obstacles below the marine vessel, measurements or trends established by a depth sounder on the marine vessel, obstacles or hazards received or identified via broadcasts or free height above water/air draft.

[0015]A technical benefit may include a capability of the steering assist system to establish or learn minimum geometric requirements of the marine vessel and, on basis thereof, assess whether a hazard criterion is satisfied or will be satisfied based on the location of the marine vessel or based on extrapolation into future locations of the marine vessel. All vessels are not the same in terms of, e.g., draught and maneuverability. Some vessels may be able to safely traverse regions where other vessel cannot venture without risk of running aground. Some vessels may not be able to maneuver in a sufficiently agile manner in order to clear obstacles in a given geographic area, while other vessel may face little or no difficulty in avoiding hazards in the area. The techniques disclosed herein allow for customization of the steering assist system to different types of vessels, and therefore account for differences between different marine vessels.

[0016]Another technical benefit may include that an authorized person such as an owner of the marine vessel can adapt a risk metric to suit a given preference. The data representative of the minimum requirements can be adapted by the operator, by the owner of the marine vessel, or by some other party in order to reduce or increase a level of risk associated with operating the marine vessel in a given area. This way a person such as the owner of the vessel can restrict the operational design domain of the vessel when allowing a less experienced operator to use the vessel.

[0017] Optionally in some examples, including in at least one preferred example, the system further may be configured to receive data representative of one or more of tidal conditions, flow conditions or wind conditions and apply the data as corrections to the minimum requirements. The system, having regard to the tidal conditions, flow conditions or wind conditions, and preferably also the geometrical characteristics of the hull of the marine vessel, is able to determine more accurate minimum requirements.

[0018]A technical benefit may include a capability of the steering assist system to take into account one or more external factors, such as environmental factors, and apply the data as corrections to the minimum requirements. This way the margins applied by the steering assist system can often be reduced, since the minimum requirements will be more accurately known.

[0019] Optionally in some examples, including in at least one preferred example, the hazardous location area is an area in a sea-chart where one or more of the minimum requirements are not met. A technical benefit may include a capability of the steering assist system to determine that the hazard criterion is satisfied and, in response, transmit a control signal to the steering control unit.

[0020] Optionally in some examples, including in at least one preferred example, the steering device may comprise one or more of a steering wheel, a joystick, a tiller, or a track ball. Some marine vessels comprise more than one steering device, such as an in-cabin steering device and a steering device located on a flybridge of the vessel. According to some aspects the steering assist system is configured with one set of parameters if the operator uses one of the steering devices, and configured with another set of parameters if the operator uses the other of the steering devices. A technical benefit may include the provision of a steering assist system configured for receiving operator input and, upon determination that the hazard criterion is satisfied, provide feedback, such as force feedback or some other form of tactile feedback, to an operator via the steering device.

[0021] Optionally in some examples, including in at least one preferred example, the feedback, tactile feedback, or the force feedback, to an operator via a steering device may comprise one or more of change in required steering command force to be applied by an operator to input a steering command or vibrations. The feedback, tactile feedback, or force feedback further may comprise steering lock or steering prevention towards a hazard or a hazardous area. The steering intervention that may be configured or applied to guide the marine vessel away from a hazardous location area by applying corrective force or torque to a steering device. A steering lock or steering prevention may comprise a reduction of the input range by the steering device, e.g., such that the position of a steering wheel is limited to an angular range smaller than a maximum angular range (lock-to-lock) of the steering wheel, or the limitation of a joystick over the maximum control range of the joystick. An operator is then allowed to freely steer the marine vessel, as long as the steering commands lie within an allowable steering control input range. An operator using the system may for instance experience that the steering wheel abuts an end stop if the operator tries to steer the marine vessel towards a hazard.

[0022]According to another example, the steering control unit may be configured to apply a force which resolutely urges the steering device into the allowable steering range, i.e., into the steering range delimited by the steering lock or steering prevention.

[0023]A technical benefit may include enabling the steering assist system for direct interaction with the operator via a plurality of feedback levels ranging from haptic or tactile feedback and vibrations to assisted steering or forced feedback steering.

[0024] Optionally in some examples, including in at least one preferred example, the steering assist functionality may be obtained as a software update such as a firmware or software flash or update or via a wireless update such as an over-the-air (OTA) update.

[0025]A technical benefit may include an option to update or even upgrade a compatible steering system, or compatible helm system, with the functionality according to the present disclosure.

[0026] Optionally in some examples, including in at least one preferred example, the system further may be configured to access a data warehouse comprising data representing one or more of sea-charts, sea-chart updates or information representative of navigational hazards.

[0027]A technical benefit may include a functionality that allows the system to assess whether a hazard criterion is met on basis of updated or real-time information.

[0028] Optionally in some examples, including in at least one preferred example, the data warehouse may comprise data representative of past tracks of other marine vessels. In this example, the system may be configured to, upon determination that the hazard criterion is satisfied, guide the marine vessel towards or along past tracks, or mean past tracks, of other marine vessels.

[0029]A technical benefit may include a functionality configured for guiding or steering the marine vessel towards or through corridors or paths considered to be unhazardous.

[0030] Optionally in some examples, including in at least one preferred example, the system further may be configured to up-load data indicative of a difference or a discrepancy between sensor data obtained by sensors on the marine vessel and the expected sea-chart data or any downloaded data.

[0031]A technical benefit may include a functionality enabling contribution to one or more of maintaining or improving crowdsourced data representative of the environment including providing updates to online sea-charts or sharing own past tracks for the guidance of other marine vessels.

[0032] Optionally in some examples, including in at least one preferred example, the system further may be configured to, e.g. in response to an operator command or in response to an operating history of the marine vessel where the hazard criterium has been consecutively satisfied, operate in a mode of additional cautiousness by one or more of altering the hazard criterium such that the criterium is satisfied or satisfied earlier, increasing one or more of the minimum requirements or transmitting to the propulsive mechanism a command to reduce propulsive power in the event that the hazard criterion is satisfied.

[0033]A technical benefit may include a functionality enabling increase of safety in response to an operator request or in response to the operating behavior of the of the marine vessel.

[0034] According to a second aspect of the disclosure, a computer implemented method for steering a marine vessel is provided. The method may comprise receiving, by a processing circuitry of a computer system configured to store or access sea-chart data indicating one or more hazardous location areas, minimum requirements of at least one of the marine vessel or the operator, for one or more of depth of water below the hull of the marine vessel or any components or equipment extending below the hull of the marine vessel, clearance to underwater obstacles below the marine vessel, measurements or trends established by a depth sounder on the marine vessel, obstacles or hazards received or identified via broadcasts or free height above water/air draft.

[0035] The method additionally may comprise receiving, by a processing circuitry configured to store sea-chart data, the location of the marine vessel.

[0036] Moreover, the method may comprise, by a processing circuitry, determining whether a hazard criterion is satisfied upon determination by the processing circuitry that the marine vessel will enter a hazardous location area in response to extrapolation into future locations of the marine vessel based on one or more of the operator steering command, the location of the marine vessel, the speed of the marine vessel or the course of the marine vessel, and, in accordance with a determination that the hazard criterion is satisfied, transmit a control signal to a steering control unit. The second aspect of the disclosure may seek to improve safety for people, equipment and the environment.

[0037]A technical benefit may include provision of a method for steering a marine vessel where feedback is provided to the operator in the event that the marine vessel is bound for entering a hazardous area.

[0038] Optionally in some examples, including in at least one preferred example, the hazardous location area is determined as an area in a sea-chart where one or more of the minimum requirements are not met.

[0039] A technical benefit may include provision of a method for steering a marine vessel where feedback is provided to the operator in the event that the marine vessel is bound for entering a hazardous area in a sea-chart.

[0040] Optionally in some examples, including in at least one preferred example, the control signal, depending on system settings or on a specific situation, may initiate on a steering device one or more of: change in required steering command force to be applied by an operator to input a steering command, vibrations, steering lock or steering prevention towards a hazard, steering intervention configured to guide the marine vessel away from an hazardous location area by applying corrective force or torque to the steering device.

[0041] A technical benefit may include provision of a plurality of feedback levels ranging from haptic or tactile feedback and vibrations to assisted steering or forced steering.

[0042] Optionally in some examples, including in at least one preferred example, the method further may comprise accessing a data warehouse comprising data representing sea-charts, sea-chart updates or information representative of navigational hazards and updating the stored sea-chart data with any updated data held in the data warehouse.

[0043] A technical benefit may include enabling the method to steer the marine vessel on basis of one or more of up-to-date sea-charts or on basis of real-time information relating to navigational hazards etc.

[0044] Optionally in some examples, including in at least one preferred example, the data warehouse may comprise data representative of past tracks of other marine vessels navigating the same area as the marine vessel implementing one or more of the steering assist functions described herein. The method further may comprise, upon determination that the hazard criterion is satisfied, by means of steering intervention, steering the marine vessel towards or along past tracks, or mean past tracks, of other marine vessels. According to an example, the past tracks are processed into a desired track to be followed by the marine vessel through a given local area. According to another example, the past tracks are processed into a lane or corridor traversing through a given area. Connecting back to the steering lock or steering prevention aspects discussed above, the steering control unit may be used to disallow steering outside of the corridor or lane through a given area by applying a steering lock that prevents an operator from navigating outside of the corridor or lane.

[0045] A technical benefit may include a functionality configured for guiding or steering the marine vessel towards or through corridors or paths considered to be unhazardous.

[0046] Optionally in some examples, including in at least one preferred example, the method further may comprise up-loading data to a data warehouse. The data may be indicative of a difference or a discrepancy between sensor data obtained by sensors on the marine vessel and the expected sea-chart data or any downloaded data.

[0047]A technical benefit may include a functionality enabling contribution to one or more of maintaining or improving crowdsourced data representative of the environment including providing updates to online sea-charts or sharing own past tracks for the guidance of other marine vessels.

[0048] Optionally in some examples, including in at least one preferred example, the method may, e.g. in response to an operator command or in response to an operating history of the marine vessel where the hazard criterium have been consecutively satisfied, comprise operating in a mode of additional cautiousness by activating one or more of increasing one or more of the minimum requirements or transmitting to the propulsive mechanism a command to reduce propulsive power in the event that the hazard criterion is satisfied.

[0049]A technical benefit may include a functionality enabling increase of safety in response to an operator request or in response to the operating behavior of the of the marine vessel.

[0050] The disclosed aspects, examples (including any preferred examples), and/or accompanying claims may be suitably combined with each other as would be apparent to anyone of ordinary skill in the art. Additional features and advantages are disclosed in the following description, claims, and drawings, and in part will be readily apparent therefrom to those skilled in the art or recognized by practicing the disclosure as described herein.

[0051] There are also disclosed herein computer systems, control units, code modules, computer-implemented methods, computer readable media, and computer program products associated with the above discussed technical benefits.

BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Examples are described in more detail below with reference to the appended drawings.

[0053]FIG. 1 is a schematic representation of a steering assist system for a marine vessel.

[0054]FIG. 2 is a schematic representation of a marine vessel during navigation.

[0055]FIG. 3 is a schematic representation of a marine vessel during navigation.

[0056]FIG. 4 is a flowchart of a method for steering a marine vessel.

[0057]FIG. 5 is a schematic diagram of an exemplary computer system for implementing examples disclosed herein, according to an example.

DETAILED DESCRIPTION

[0058] The detailed description set forth below provides information and examples of the disclosed technology with sufficient detail to enable those skilled in the art to practice the disclosure.

[0059] The present disclosure generally may seek to improve safety for people, equipment and the environment by disclosing a steering assist system for a marine vessel and a method for operating a marine vessel configured for assisting or preventing an operator of a marine vessel from navigating into one or more hazardous location areas.

[0060]FIG. 1 is a schematic representation of a steering assist system 1 for a marine vessel 75 (as shown in FIGS. 2 and 3). The system 1 includes a steering control unit 15, such as helm control unit 15, configured for receiving an operator’s steering commands and forward the steering commands to the steering system of the marine vessel 75. The steering control unit 15 may be configured for steering via an electronic steering system, such as a “drive-by-wire” system, or via a mechanical steering system where the operator commands typically are conveyed to the steering system via mechanical cables, rods, wires, chains or via hydraulics.

[0061] The steering assist system 1 including the steering control unit 15 may form part of a rigging kit for a marine vessel 75. The rigging kit may be configured to control also the propulsive mechanism of the marine vessel 75.

[0062] The steering control unit 15 may be configured to provide feedback 50, or force feedback 50, to an operator via a steering device 10 in response to a control signal CS. The level of force feedback 50 may be determined by the steering assist system 1.

[0063] The steering device 10 may comprise a steering wheel 10 as shown in FIG. 1. The steering wheel 10 may be mounted to a not shown steering axle of the steering control unit 15. Alternatively, or additionally, the steering device 10 may comprise a joystick or a tiller or a track ball or any other steering device configured for receiving an operator’s steering command as well as for providing force feedback 50 to the operator.

[0064] The steering system 1 according to the present disclosure may form part of a steering system comprising multiple steering positions spread across different decks of a marine vessel including remote or wireless steering positions.

[0065] The steering assist system 1 may comprise a positioning system 30, such as global positioning system (GPS), GNSS, GLONASS, Galileo, eLORAN or similar configured to determine a location of the marine vessel 75. The positioning system 30 may constitute an integral part of the steering assist system 1, or, in addition or as an alternative, an auxiliary system configured for communicating with the steering assist system via a data bus.

[0066] The steering assist system 1 moreover may comprise a processing circuitry of a computer system configured to store or access sea-chart data indicating one or more hazardous location areas. The processing circuitry may constitute an independent Electronic Control Unit (ECU) for assisted steering, form part of ECUs such as ECUs for steering or helm control, propulsive control or for autopiloting. In the example shown in FIG. 1, the processing circuitry forms part of a chart plotter or multifunction display 20 (MFD). Moreover, the processing circuitry may be integrated in the steering control unit 15.

[0067] The steering assist system 1 may be configured for receiving data representative of minimum requirements determined e.g. by the dimensions or particulars of the marine vessel 75 or by the operator. The minimum requirements may, as examples, comprise one or more of minimum depth of water below the hull of the marine vessel 75 or any components or equipment extending below the hull of the marine vessel 75. Other minimum requirements may constitute one or more of minimum clearance to underwater obstacles below the marine vessel 75, measurements or trends established by one or more sensors such as a radar or a depth sounder or an echo sounder on the marine vessel, minimum clearance to obstacles or hazards received or identified via broadcasts or minimum requirements to free height above water/air draft.

[0068] Trends established by one or more sensors such as a radar or a depth sounder or an echo sounder may, as an example, constitute extrapolation of future depths of water or future distances to hazardous areas or objects.

[0069] The processing circuitry of the steering assist system 1 may, based on the minimum requirements, be configured to determine minimum geometric requirements of the marine vessel 75 and, on basis thereof, assess whether a hazard criterion is satisfied or will be satisfied based on the location of the marine vessel 75 or based on extrapolation into future locations of the marine vessel 75. The system further may be configured to store or receive data representative of one or more of tidal conditions, flow conditions or wind conditions and apply the data as corrections to the minimum requirements.

[0070] Upon determination by the processing circuitry that the location, or the future location, of the marine vessel 75 in relation to one or more hazardous location areas satisfies a predetermined hazard criterion, a control signal CS triggers force feedback 50 to the operator via the steering device 10. In the example shown in FIG. 1, the force feedback 50 is generated by the steering control unit 15 and conveyed to the operator via the steering wheel 10 as mechanical feedback 50 acting on the hands of the operator thereby alerting the operator of a hazardous situation. Depending on the severity of the situation, the steering assist system 1 may at least partially assume control of steering of the marine vessel 75 by providing one or more of assisted steering or forced steering with the aim of preventing the marine vessel 75 from entering one or more hazardous location areas 6.

[0071] The hazard criterion may be satisfied upon determination by the processing circuitry that the marine vessel 75 will enter a hazardous location area 6 in response to extrapolation into future locations of the marine vessel based on one or more of the operators steering command 11, the location of the marine vessel 75, the speed of the marine vessel 75 or the course of the marine vessel 75.

[0072] The steering assist system 1 may be configured to pre-alert the operator of any upcoming hazards by triggering warning lights, sounds or alarms or pop-up messages shown on user interfaces such as on the MFD 20. Pre-alerts may be triggered before force feedback 50 is initiated by the control signal CS.

[0073] The feedback 50, or the force feedback 50, to an operator via a steering device 10 may comprise one or more of change in required steering command force 11 to be applied by an operator to input a steering command or vibrations. The feedback, or force feedback 50 further may comprise steering lock or steering prevention towards a hazard. Moreover, the feedback may comprise steering intervention that may be configured or applied to guide the marine vessel away from a hazardous location area 6 by applying corrective force or torque 50 to a steering device 10.

[0074] As an example, the operator may feel an urge in the steering wheel into an allowable steering angle range. If the operator tries to steer towards a hazard, or in some other undesired manner, then he or she will feel a stop at a given rudder or steering angle.

[0075] As shown in FIG. 1, the system may further, to allow the system to assess whether a hazard criterion is satisfied on basis updated or real-time information, be configured to access a data warehouse 25. The data warehouse 25 may constitute a web-based or cloud based data warehouse, and the system 1 may be configured to connect to the data warehouse 25 via a single or multidirectional data link via wireless technology such as one or more of cellular technology, satellite links or any form of receiver/transceiver enabling exchange of data between the steering assist system 1 and a data warehouse 25. In an alternative example, the system may be configured for accessing a data warehouse by means of a local interface such as a USB port or an interface for a memory card such as SD card. The received or downloaded data may comprise data representing one or more of sea-charts, sea-chart updates or information representative of navigational hazards such as other marine traffic. The data warehouse 25 moreover may comprise data representative of past tracks of other marine vessels.

[0076] Other sources for provision of real-time data to the steering assist system may, as examples, comprise one or more of Automatic Identification System (AIS), Digital Selective Calling (DSC), radar, lidar, sonar systems or imaging/camera systems including imaging/camera systems with night vision.

[0077] The system may also be configured to up-load data to the data warehouse 25. The uploads may constitute one or more of the position or past tracks of the marine vessel 75, data indicative of a difference or a discrepancy between the expected sea-chart data or any downloaded data or any sensor data obtained by sensors, such as an echo sounder, on the marine vessel 75.

[0078] The steering assist system 1 further may be configured to operate in a mode of additional or increased cautiousness. The mode of additional cautiousness may be activated in response to an operator command or in response to an operating history of the marine vessel 75 where the hazard criterium has been consecutively satisfied. Consecutively satisfaction of the hazard criterium may indicate increased willingness of the operator to accept risks or inability of the operator to safely control or steer the marine vessel 75.

[0079] The mode of additional cautiousness may, in the event that the hazard criterion is satisfied, be configured to increase one or more of the minimum requirements or to transmit to the propulsive mechanism a command to reduce or even stop propulsive power. The minimum requirements may be dynamically set, as examples, in view of minimum requirements to water depth, minimum requirements to distance. The minimum requirements moreover may be set in view of the speed of the marine vessel.

[0080] The steering assist functionality according to the present disclosure may, on compatible steering or helm systems, be obtained as a software update such as a firmware or software flash or update or via a wireless update such as an over-the-air (OTA) update.

[0081]FIG. 2 is a schematic representation of a marine vessel 75 during navigation. The operator is attempting to steer the marine vessel 75 along the desired track 2-S1 which, as shown, breaches a hazardous location area 6. The breach may, as examples, be due to a too small (horizontal or vertical) distance to the underwater obstacles 5, and/or a too small depth under the keel or bottom of the marine vessel 75.

[0082] The hazardous location area 6 may comprise underwater obstacles 5 such as one or more of rocks, reefs, wrecks or shallow water. The obstacles 5 may be encircled by a danger line such as a danger line typically used in a sea-chart to draw attention to a mapped danger through which it, depending on the particulars of the marine vessel, is unsafe to navigate or sail. The hazardous location area 6 may also comprises dangers from above-water structures and other marine traffic.

[0083] In the context of the present disclosure, a hazardous location area 6 is an area where one or more of the minimum requirements are not met. The hazardous location area 6 may constitute an area in a sea-chart.

[0084] The marine vessel 75 is, as shown in FIG. 2, bound for entering a hazardous location area 6 and, in accordance with an aspect of the present disclosure, the processing circuity therefore determines that a predetermined hazard criterium is satisfied. A control signal CS is triggered and the steering control unit 15 applies, depending the configuration or settings or on the severity of the hazardous situation, one or more of vibrations in the steering wheel 10 to prompt for operator awareness or corrective force 50 to steer the marine vessel 75 along a corrected track 2-C1 which is safe and clear of the hazardous location area 6. Consequently, an operator steering the marine vessel 75 will experience an action by the steering system which guides him or her away from the hazardous situation thus increasing the margin to the hazardous location area 6 and reducing the risk of collision.

[0085] The severity may be assessed in view of any assumed consequence by the processing circuitry. If it is determined that a hazard criterium can be dissatisfied by alerting the operator to take light to moderate action, the force feedback 50 to the operator may be low, e.g. the control signal CS may trigger vibrations in the steering device 10 to alert the operator. If it is determined that a hazard criterium can be dissatisfied only upon steering intervention, the force feedback 50 to the operator may be high or even constitute steering intervention whereby the steering assist system or the steering control unit 15 actively steers the marine vessel 75 away from a hazardous area 6.

[0086] The steering lock or steering prevention function discussed above may also be used with advantage to disallow the operator from steering too close to the hazardous location area 6.

[0087] In an example, a marine vessel 75 equipped with one of the steering assist systems described herein is navigating in an area. The marine vessel 75 is provided with a steering control unit 15 configured for receiving an operator steering command 11 via a steering device 10 such as a steering wheel 10. The steering control unit 15 is configured to provide feedback 50 to an operator via the steering device 10 in response to a control signal CS, such as force feedback 50 urging the steering wheel 10 in a given direction of rotation. The marine vessel 75 may also comprise a positioning system 30 configured to determine a location of the marine vessel 75, and a processing circuitry configured to store sea-chart data indicating one or more hazardous location areas, such as the hazardous location area 6. When the marine vessel 75 approaches the hazardous location area 6, the steering assist system determines that the location of the marine vessel in relation to the hazardous location area 6 satisfies a predetermined hazard criterion, since the area comprises shoals and perhaps too small or shallow depth which is to be avoided to ensure safe navigation past the area. As a result of the determining, the system generates and transmits a control signal CS to the steering control unit 15, which, upon receipt of the control signal CS, provides feedback 50 to the operator via the steering device 10. The provided feedback urges the operator to increase the margin to the hazardous location area 6, such that the risk of collision is reduced.

[0088] In one example of the present disclosure, the steering control unit 15 may be configured to provide steering intervention or forced steering without applying force to the steering device 10.

[0089]FIG. 3 is a schematic representation of a marine vessel 75 during navigation. The marine vessel 75 is steered by an operator along the desired track 2-S2 which, as shown, is close to breaching a hazardous location area 6 whereby the hazard criterium is satisfied.

[0090] In this example, the processing circuitry has received data representing past tracks 2-P, or mean past tracks, of other marine vessels. The past tracks 2-P may define safe corridors 60 around a hazardous location area 6 and the steering assist system 1 in this example may, in case a hazard criterium is satisfied, be configured to guide the marine vessel 75 away from the hazardous location area 6 and towards or along the past tracks 2-P or mean past track of other marine vessels through the safe corridor 60.

[0091] In another example, the steering assist system 1 may, even in case a hazard criterium is not satisfied, be configured to guide the marine vessel 75 towards or along the past tracks 2-P or mean past track of other marine vessels through the corridor 60.

[0092] More generally, the past tracks 2-P can be processed by the steering assist system to define a desired navigation route through a hazardous area. The past tracks 2-P can, for instance, be combined into a desired single track by determining a mean track out of the past tracks.

[0093] The steering device can for instance be locked to only allow steering commands that will not result in the marine vessel 75 leaving the corridor 60 determined from the past tracks.

[0094] The steering assist system can be arranged to obtain user configuration data related to the magnitude of the force feedback function. The user configuration data may, as examples, be activated or detected by one or more of detection of biometrics, face recognition, selection of an operator profile on a user interface or linked to a key or a frequency operated button (FOB), or token used to activate the marine vessel 75.

[0095] The force feedback may be configured or chosen to increase in strength as the marine vessel 75 approaches a hazardous area 6 or obstacle 5. Moreover, depending on the severity of the upcoming hazard, the force of the force feedback 50 may increase in strength to a level where it will not be possible by the operator to overcome the force feedback 50.

[0096] Some steering assist systems according to the present disclosure may comprise one or more environment sensors such as one or more of a radar, lidar, or a camera-based system that may be configured with night vision. The environment sensor system may constitute an integral part of the steering assist system, or an auxiliary system configured for communicating with the steering assist system, e.g. via a data bus or link. The one or more environment sensors are arranged to obtain information about the environment surrounding the marine vessel 75. The steering assist system can be arranged to obtain the environment data and compare the environment data to previously stored data and thus position the marine vessel in relation to one or more objects in the environment. This method of positioning can be used as a complement to other positioning systems, or to refine the position data from other positioning systems.

[0097] A radar or a lidar or a camera, with or without night vision, can detect an object such as a navigation mark or an obstacle and match the detected position to a corresponding position in a sea-chart, and thus improve the position estimate of the marine vessel. The environment data moreover can be used to determine a distance to an obstacle, such as headland, to be cleared.

[0098] An authorized person such as an owner of the marine vessel 75 can adapt a risk metric to suit a given preference. The data representative of the minimum requirements can be adapted by the operator, by the owner of the marine vessel, or by some other party in order to reduce or increase a level of risk associated with operating the marine vessel in a given area. The risk metric may be adapted locally via a user interface or remote via a data link.

[0099]FIG. 4 is a flowchart 100 of a method for steering a marine vessel according to the present disclosure.

[0100] The method for steering a marine vessel according to the present disclosure may constitute a computer implemented method for steering a marine vessel.

[0101] The method is configured to determine whether a hazard criterion is satisfied upon determination by the processing circuitry that the marine vessel will enter a hazardous location area in response to extrapolation into future locations of the marine vessel based on one or more of the operator steering command, the location of the marine vessel, the speed of the marine vessel or the course of the marine vessel, and, in accordance with a determination that the hazard criterion is satisfied, transmit a control signal to a steering control unit.

[0102] The method comprising, in step S110, receiving, by a processing circuitry of a computer system, configured to store or access sea-chart data indicating one or more hazardous location areas, minimum requirements of at least one of the marine vessel or the operator.

[0103] The minimum requirements may, as examples, constitute particulars of the marine vessel optionally combined with safety margins, one or more minimum requirements to depth of water below the hull of the marine vessel or any components or equipment extending below the hull of the marine vessel, minimum clearance to underwater obstacles below the marine vessel, measurements or trends established by a depth sounder on the marine vessel, obstacles or hazards received or identified via broadcasts or free height above water/air draft.

[0104] In step S120, the method comprises obtaining, by the processing circuitry, data representative of the position of the marine vessel.

[0105] In step S130, the method comprises determining, by the processing circuitry, one or more of the position, speed and course of the marine vessel on a sea-chart.

[0106] In step S135, the method optionally may comprise communicating, by the processing circuitry, with a server or data warehouse to assess whether any updated or real-time data is available.

[0107] In step S140, the method comprises determining, by the processing circuitry, whether a hazard criterion is satisfied based on step S110 and step S130.

[0108] In step S150, the processing circuitry triggers a control signal depending on the severity of the hazard or of the situation. The control signal may be chosen to trigger an alert to the operator of a hazardous situation via application of vibrations on the steering device or, if the severity of the hazard is considered high, at least partially assume control of steering of the marine vessel by providing one or more of assisted steering or forced steering in with the aim of preventing the marine vessel 75 from entering one or more hazardous location areas.

[0109]FIG. 5 is a schematic diagram of an exemplary computer system for implementing examples disclosed herein, according to an example. The computer system 200 is adapted to execute instructions from a computer-readable medium to perform these and/or any of the functions or processing described herein. The computer system 200 may be connected (e.g., networked) to other machines or devices in a LAN (Local Area Network), LIN (Local Interconnect Network), automotive or marine network communication protocol (e.g., FlexRay or NMEA), an intranet, an extranet, or the Internet. While only a single device is illustrated, the computer system 200 may include any collection of devices that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. Accordingly, any reference in the disclosure and/or claims to a computer system, computing system, computer device, computing device, control system, control unit, electronic control unit (ECU), processor device, processing circuitry, etc., includes reference to one or more such devices to individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. For example, control system may include a single control unit, or a plurality of control units connected or otherwise communicatively coupled to each other, such that any performed function may be distributed between the control units as desired. Further, such devices may communicate with each other or other devices by various system architectures, such as directly or via a Controller Area Network (CAN) bus, etc.

[0110] The computer system 200 may comprise at least one computing device, processing circuitry or electronic device capable of including firmware, hardware, and/or executing software instructions to implement the functionality described herein. The computer system 200 may include processing circuitry 210 (e.g., processing circuitry including one or more processor devices or control units), a memory 220, and a system bus 230. The computer system 200 may include at least one computing device having the processing circuitry 210. The system bus 230 provides an interface for system components including, but not limited to, the memory 220 and the processing circuitry 210. The processing circuitry 210 may include any number of hardware components for conducting data or signal processing or for executing computer code stored in memory 220. The processing circuitry 210 may, for example, include a general-purpose processor, an application specific processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a circuit containing processing components, a group of distributed processing components, a group of distributed computers configured for processing, or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. The processing circuitry 210 may further include computer executable code that controls operation of the programmable device.

[0111]The system bus 230 may be any of several types of bus structures that may further interconnect to a memory bus (with or without a memory controller), a peripheral bus, and/or a local bus using any of a variety of bus architectures. The memory 220 may be one or more devices for storing data and/or computer code for completing or facilitating methods described herein. The memory 220 may include database components, object code components, script components, or other types of information structure for supporting the various activities herein. Any distributed or local memory device may be utilized with the systems and methods of this description. The memory 220 may be communicably connected to the processing circuitry 210 (e.g., via a circuit or any other wired, wireless, or network connection) and may include computer code for executing one or more processes described herein. The memory 220 may include non-volatile memory 221 (e.g., read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.), and volatile memory 222 (e.g., random-access memory (RAM)), or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures and which can be accessed by a computer or other machine with processing circuitry 210. A basic input/output system (BIOS) 223 may be stored in the non-volatile memory 221 and can include the basic routines that help to transfer information between elements within the computer system 200.

[0112] The computer system 200 may further include or be coupled to a non-transitory computer-readable storage medium such as the storage device 240, which may comprise, for example, an internal or external hard disk drive (HDD) (e.g., enhanced integrated drive electronics (EIDE) or serial advanced technology attachment (SATA)), HDD (e.g., EIDE or SATA) for storage, flash memory, or the like. The storage device 240 and other drives associated with computer-readable media and computer-usable media may provide non-volatile storage of data, data structures, computer-executable instructions, and the like.

[0113]Computer-code which is hard or soft coded may be provided in the form of one or more modules. The module(s) can be implemented as software and/or hard-coded in circuitry to implement the functionality described herein in whole or in part. The modules may be stored in the storage device 240 and/or in the volatile memory 222, which may include an operating system 224 and/or one or more program modules 225. All or a portion of the examples disclosed herein may be implemented as a computer program 245 stored on a transitory or non-transitory computer-usable or computer-readable storage medium (e.g., single medium or multiple media), such as the storage device 240, which includes complex programming instructions (e.g., complex computer-readable program code) to cause the processing circuitry 210 to carry out actions described herein. Thus, the computer-readable program code of the computer program 245 can comprise software instructions for implementing the functionality of the examples described herein when executed by the processing circuitry 210. In some examples, the storage device 240 may be a computer program product (e.g., readable storage medium) storing the computer program 245 thereon, where at least a portion of a computer program 245 may be loadable (e.g., into a processor) for implementing the functionality of the examples described herein when executed by the processing circuitry 210. The processing circuitry 210 may serve as a controller or control system for the computer system 200 that is to implement the functionality described herein.

[0114] The computer system 200 may include an input device interface 250 configured to receive input and selections to be communicated to the computer system 200 when executing instructions, such as from a keyboard, mouse, touch-sensitive surface, etc. Such input devices may be connected to the processing circuitry 210 through the input device interface 260 coupled to the system bus 230 but can be connected through other interfaces, such as a parallel port, an Institute of Electrical and Electronic Engineers (IEEE) 1394 serial port, a Universal Serial Bus (USB) port, an IR interface, and the like. The computer system 200 may include an output device interface configured to forward output, such as to a display, a video display unit (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)). The computer system 200 may include a communications interface 270 suitable for communicating with a network as appropriate or desired.

[0115] The operational actions described in any of the exemplary aspects herein are described to provide examples and discussion. The actions may be performed by hardware components, may be embodied in machine-executable instructions to cause a processor to perform the actions, or may be performed by a combination of hardware and software. Although a specific order of method actions may be shown or described, the order of the actions may differ. In addition, two or more actions may be performed concurrently or with partial concurrence.

EXAMPLES

[0116]Example 1: A steering assist system for a marine vessel, the system comprising:

[0117]a steering control unit configured for receiving an operator steering command via a steering device, where the steering control unit is configured to provide feedback to an operator via a steering device in response to a control signal,

[0118]a positioning system configured to determine a location of the marine vessel, and

[0119]a processing circuitry configured to store sea-chart data indicating one or more hazardous location areas,

[0120]where the steering assist system is configured to:

[0121]determine whether the location of the marine vessel in relation to the one or more hazardous location areas satisfies a predetermined hazard criterion, and

[0122]in accordance with a determination that the hazard criterion is satisfied, transmit a control signal to the steering control unit,

[0123]where the steering control unit, upon receipt of the control signal, is configured to provide feedback to an operator via a steering device.

[0124]Example 2: The steering assist system of example 1, where the hazard criterion is satisfied upon determination by the processing circuitry that the marine vessel will enter a hazardous location area in response to extrapolation into future locations of the marine vessel based on one or more of the operator steering command, the location of the marine vessel, the speed of the marine vessel or the course of the marine vessel.

[0125]Example 3: The steering assist system of example 1 or 2, where the system is configured for receiving data representative of minimum requirements of at least one of the marine vessel or the operator, for one or more of depth of water below the hull of the marine vessel or any components or equipment extending below the hull of the marine vessel, clearance to underwater obstacles below the marine vessel, measurements or trends established by a depth sounder on the marine vessel, obstacles or hazards received or identified via broadcasts or free height above water/air draft.

[0126]Example 4: The steering assist system of example 3, where the system further is configured to receive data representative of one or more of tidal conditions, flow conditions or wind conditions and apply the data as corrections to the minimum requirements.

[0127]Example 5: The steering assist system of example 3 or 4, where the hazardous location area is an area in a sea-chart where one or more of the minimum requirements are not met.

[0128]Example 6: The steering assist system of any one of the preceding examples, where the steering device comprises one or more of a steering wheel, a joystick or a track ball.

[0129]Example 7: The steering assist system of any one of the preceding examples, where the feedback to an operator via a steering device comprises one or more of change in required steering command force to be applied by an operator to input a steering command, vibrations, steering lock or steering prevention towards a hazard, steering intervention configured or applied to guide the marine vessel away from an hazardous location area by applying corrective force or torque to a steering device.

[0130]Example 8: The steering assist system of any one of the preceding examples, where the steering assist functionality is obtained as a software update.

[0131]Example 9: The steering assist system of any one of the preceding examples, where the system further is configured to access a data warehouse comprising data representing one or more of sea-charts, sea-chart updates or information representative of navigational hazards.

[0132]Example 10: The steering assist system of example 9, where the data warehouse comprising data representative of past tracks of other marine vessels and where the system is configured to, upon determination that the hazard criterion is satisfied, guide the marine vessel towards or along past tracks, or mean past tracks, of other marine vessels.

[0133]Example 11: The steering assist system of any one of the preceding examples, where the system further is configured to up-load data indicative of a difference or a discrepancy between sensor data obtained by sensors on the marine vessel and the expected sea-chart data or any downloaded data.

[0134]Example 12: The steering assist system of any one of the preceding examples, where the system further is configured to, in response to an operator command, operate in a mode of additional cautiousness by one or more of increasing one or more of the minimum requirements or transmitting to the propulsive mechanism a command to reduce propulsive power in the event that the hazard criterion is satisfied.

[0135]Example 13: A method for steering a marine vessel comprising

[0136]receiving, by a processing circuitry configured to store sea-chart data indicating one or more hazardous location areas, minimum requirements of at least one of the marine vessel or the operator, for one or more of depth of water below the hull of the marine vessel or any components or equipment extending below the hull of the marine vessel, clearance to underwater obstacles below the marine vessel, measurements or trends established by a depth sounder on the marine vessel, obstacles or hazards received or identified via broadcasts or free height above water/air draft,

[0137]receiving, by a processing circuitry configured to store sea-chart data, the location of the marine vessel,

[0138]by a processing circuitry, determine whether a hazard criterion is satisfied upon determination by the processing circuitry that the marine vessel will enter a hazardous location area in response to extrapolation into future locations of the marine vessel based on one or more of the operator steering command, the location of the marine vessel, the speed of the marine vessel or the course of the marine vessel, and, in accordance with a determination that the hazard criterion is satisfied, transmit a control signal to a steering control unit.

[0139]Example 14: The method for steering a marine vessel of example 13, where the hazardous location area is determined as an area in a sea-chart where one or more of the minimum requirements are not met.

[0140]Example 15: The method for steering a marine vessel of example 13 or 14, where the control signal, depending on system settings or on a specific situation, initiates on a steering device one or more of: change in required steering command force to be applied by an operator to input a steering command, vibrations, steering lock or steering prevention towards a hazard, steering intervention configured to guide the marine vessel away from an hazardous location area by applying corrective force or torque to the steering device.

[0141]Example 16: The method for steering a marine vessel of any of the preceding examples 13 to 15, where the method further comprising accessing a data warehouse comprising data representing sea-charts, sea-chart updates or information representative of navigational hazards and updating the stored sea-chart data with any updated data held in the data warehouse.

[0142]Example 17: The method for steering a marine vessel of example 16, where the data warehouse comprising data representative of past tracks of other marine vessels and where the method comprises, upon determination that the hazard criterion is satisfied, by means of steering intervention, steering the marine vessel towards or along past tracks, or mean past tracks, of other marine vessels.

[0143]Example 18: The method for steering a marine vessel of any of the preceding examples 13 to 17, where the method further comprising up-loading to a data warehouse data indicative of a difference or a discrepancy between sensor data obtained by sensors on the marine vessel and the expected sea-chart data or any downloaded data.

[0144]Example 19: The method for steering a marine vessel of any of the preceding examples 13 to 18, where the method, in response to an operator command, further is configured to operate in a mode of additional cautiousness by activating one or more steps of increasing one or more of the minimum requirements or transmitting to the propulsive mechanism a command to reduce propulsive power in the event that the hazard criterion is satisfied.

[0145]Example 20: A computer program product comprising program code for performing, when executed by the processing circuitry, the method of any of the examples 13-19.

[0146]Example 21. A non-transitory computer-readable storage medium comprising instructions, which when executed by the processing circuitry, cause the processing circuitry to perform the method of any of the examples 13-19.

[0147] The terminology used herein is for the purpose of describing particular aspects only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including" when used herein specify the presence of stated features, integers, actions, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, actions, steps, operations, elements, components, and/or groups thereof.

[0148] It will be understood that, although the terms first, second, etc., may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element without departing from the scope of the present disclosure.

[0149] Relative terms such as "below" or "above" or "upper" or "lower" or "horizontal" or "vertical" may be used herein to describe a relationship of one element to another element as illustrated in the Figures. It will be understood that these terms and those discussed above are intended to encompass different orientations of the device in addition to the orientation depicted in the Figures. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present.

[0150] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It will be further understood that terms used herein should be interpreted as having a meaning consistent with their meaning in the context of this specification and the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0151] It is to be understood that the present disclosure is not limited to the aspects described above and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the present disclosure and appended claims. In the drawings and specification, there have been disclosed aspects for purposes of illustration only and not for purposes of limitation, the scope of the disclosure being set forth in the following claims.