| 摘要 |
One example of the invention relates to a method for controlling the movement of an object for avoiding collisions with obstacles; the method comprises the following: recognizing at least one moving or stationary obstacle; defining a safety region around the obstacle moving along with the obstacle, wherein a penetration of the object into the same is to be avoided; detecting, whether the obstacle, including the safety region thereof, is on a collision course with the object; calculating an evasion movement path past the obstacle such that the evasion movement path extends at least approximately in the manner of a circular path, and said path or a straight line extending tangentially thereto is tangential to the safety region around the obstacle; steering the object such that said object initially approximately follows the calculated evasion movement path, wherein the calculated evasion movement is tangential to the present movement of the object. |
