韩国在MSC 107提交的海试记录文件，宣传HiNAS2.0自主航行系统。
值得注意的是，该系统的两个重要模块，是交由外部/原有子系统完成的。
大尺度路径规划就不说了，基于海图和天气数据，剥离出去很正常。
控制这部分就很有趣了，对于轨迹和速度都十分敏感的避碰动作，控制细节和精度都交给了传统Autopolit，速度控制通过BMS，其所能达到的航迹控制能力着实堪忧，简单地说，多大的船多少速度转什么样的弯，这些个逻辑都放哪了呢，没有这些设定，姑且不谈直航时的循迹误差，转向时安全性时难以保证的。
还有就是，冗余呢？
Planning: Route planning for the voyage (The system adopts route plan from ECDIS or another route planning module)
Control: Automated command input to the autopilot and BMS for planned route tracking and collision avoidance (Auto Mode, CA Mode)
Based on the current regulations of maritime navigation/manoeuvring equipment, the TCS function of the ECDIS is the only way to exchange signals with autopilot. In order for HiNAS2.0 to control autopilot, HiNAS2.0 uses the same protocol as TCS. In other words, from the perspective of autopilot, regardless of which equipment the command signal is from ECDIS or HiNAS2.0, it is possible to send and receive signals with the same protocol. In this case, neither ECDIS nor autopilot needs to modify hardware and software, so there is no need to undergo new inspections or certificates for existing equipment.