With more goods to be transported oversea, traffic and vessels’ dimensions increase while berthing areas merely remain constant and thus challenge ship masters and pilots to maneuver in small basins with dense traffic even in bad weather situations. Too fast approaches or steep angles of attack result in damages to fenders, quay walls, or even impact the hull structure. We propose a shore-based, vessel-independent berthing assistant system to support sailors by Reference Points that are aligned to a quay’s meter markings and identify the precise berthing location by measuring distance and approach speed. For this purpose, we define the concept of a Berthing Support Area (BSA), which specifies an area in which, subject to constraints, safe berthing is provided. Within this area there are Reference Points, perpendicular distance measurements at arbitrary positions, which are implemented with a set of LiDAR sensors that have been integrated into the quay wall. In a test campaign with a vessel equipped with DGPS sensors, we sailed seven different maneuvers and evaluated the precision and the accuracy of the Reference Points for speed and distance measurements.