| 摘要 |
To prevent a collision between first and second mobiles, such as travelling cranes, on a common movement path, a method implemented in the first mobile entails measuring a first distance between the first mobile and an origin in a fixed system of axes and a second distance between the first and second mobiles. The method comprises the steps of determining a first speed of the first mobile in the system of axes and a second speed of the first mobile relative to the second mobile in order to deduce a third speed of the second mobile in the system of axes, then of estimating a safety margin between the first and second mobiles, then of comparing the safety margin with a threshold to generate a collision risk factor, and finally of deciding on an action at drive motors of the first mobile as a function of the sign of the first, second and third speeds and the collision risk factor.
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