Patent ID: 8838292

Claim:
A collisions avoiding method for avoiding collisions between vehicles moving in a predetermined area, wherein said vehicles may include autonomous vehicles and manned vehicles, comprising: storing a map covering at least said predetermined area in a collision avoidance calculation module, said map including possible routes used by any of said autonomous vehicles and said manned vehicles and including preferred routes used by manned vehicles, continuously sending position information from said autonomous vehicles and said manned vehicles to said collision avoidance calculation module and updating a first set of data relating to present positions of said autonomous vehicles and said manned vehicles moving in said area, continuously predicting in said collision avoidance calculation module specific paths of said autonomous vehicles based on present positions and possible routes of said autonomous vehicles, storing and updating a second set of data relating to currently used paths for said autonomous vehicles when moving in at least said predetermined area, continuously predicting specific paths of manned vehicles based on present positions and preferred routes of said manned vehicles, and preventing collisions between said autonomous vehicles and said manned vehicles by continuously comparing said predicted paths with said currently used paths to detect overlapping positions and by forwarding interrupting commands from said collision avoidance calculation module to any of said autonomous vehicles and said manned vehicles heading to an overlapping position.