| 摘要 |
A safety apparatus (200) is set forth for a vehicle (100), in particular a driverless vehicle, having at least one optoelectronic sensor (10) for detecting objects in a monitored zone (18), having a protected field determination unit (34) for the dynamic definition of a protected field (206) within the monitored zone (18), having a protected field monitoring unit (36) for recognizing unpermitted intrusions into the protected field (206) as a protected field incursion and having a safety output (32) for outputting an emergency stop signal or braking signal to a vehicle control (102) of the vehicle (100) in the case of a protected field incursion. The protected field determination unit (34) is in this respect configured to define the protected field (206) with reference to an emergency stop trajectory (210). |
