DESCRIZIONE
A method is proposed for motor-driven docking with a ship (1), in particular a yacht, at a dock (2) in a docking area, wherein an actual map of an environment of the docking area is created in a map creation step, wherein in a docking position determination step the dock (2) and an application position of the vessel (1) in the dock (2) in the area of the attachment is determined; wherein in a Trajektorienplanungsschritt a target trajectory (3) from an actual position of the vessel (1) to the application position of the ship (1) is determined, wherein in a trajectory tracking step, the ship (1) along the desired trajectory (3) in Direction of the application position is controlled. [Image Omitted]