Patent ID: 7603235

Claim:
A method of preventing a mine vehicle from colliding, the mine vehicle comprising at least: a movable carrier that is driven in a first movement direction and in a second movement direction, at least one scanner, and a control system including at least a first control unit arranged on the carrier; the method comprising: determining for the mine vehicle at least one safe area provided within an area between minimum distances and maximum distances determined with respect to the vehicle; scanning the environment in front of the vehicle when driving the vehicle in one movement direction; carrying out a first collision examination wherein the safe area in front of the vehicle is monitored, and issuing a collision warning message if an obstacle is detected within the safe area, determining also at least one sideward safe area for the vehicle, determining an obstacle-free route on the basis of the forward scanning results, and determining points in a sideward direction of the vehicle to restrict the route; forming memory points on the basis of coordinates of the points restricting the route, and storing the memory points in the control system, and carrying out a second collision examination wherein at least one sideward safe area of the vehicle is monitored, and issuing a collision warning message if even one of the memory points resides within the safe area being monitored.