EP4241265A1

EP4241265A1 - Method, computer program, and apparatus for avoiding a collision of vehicles

Info

Publication number: EP4241265A1
Application number: EP21806220.6A
Authority: EP
Inventors: Peter Dürr
Original assignee: Sony Group Corp
Current assignee: Sony Group Corp
Priority date: 2020-11-05
Filing date: 2021-11-04
Publication date: 2023-09-13
Also published as: WO2022096579A1; CN116508086A

Abstract

The present disclosure relates to a method for avoiding a collision of a first and at least one second vehicle. The method comprises receiving a first trajectory of the first vehicle and a second trajectory of the second vehicle and comparing the first and the second trajectory to check whether a collision of the first and the second vehicle is imminent. The method further comprises receiving first information related to the first vehicle and second information related to the second vehicle and comparing the first and the second information to determine a priority. The method further provides for navigating, depending on the priority, the first vehicle along an updated first trajectory and/or the second vehicle along an updated second trajectory to avoid the collision.

Description

Method, computer program, and apparatus for avoiding a collision of vehicles

Field

Embodiments of the present disclosure relate to a method, a computer program, and an apparatus for avoiding a collision of vehicles, in particular aerial vehicles.

Background

In both, air and road traffic, vehicles, repeatedly encounter each other. In order to prevent collisions between encountering vehicles, it may be necessary for at least one of these vehicles to carry out an evasive maneuver. Particularly for automatically controlled vehicles, evasive maneuvers may lead to undesired consequences (e.g. delay, detour). For example, one or more evasive maneuvers delay a transport which is urgent for medical reasons (e.g. supply of medicines or patient transport).

Hence, there may be a demand for an improved concept for avoiding collisions of vehicles.

Summary

This demand may be satisfied by the subject-matter of the appended independent and dependent claims.

According to a first aspect, the present disclosure relates to a method for avoiding a collision of a first and at least one second vehicle. The method comprises receiving a first trajectory of the first vehicle and a second trajectory of the second vehicle and comparing the first and the second trajectory to check whether a collision of the first and the second vehicle is imminent. The method further comprises receiving first information related to the first vehicle and second information related to the second vehicle and comparing the first and the second information to determine a priority. The method further comprises navigating, depending on the priority, the first vehicle along an updated first trajectory and/or the second vehicle along an updated second trajectory to avoid the collision. The first and the second vehicle particularly refer to (at least partly) automatically or human- controlled vehicles. It should be noted that the aforementioned method can be generally used to avoid collisions of more than two vehicles, even if the present disclosure refers at least partially to two vehicles only.

The first and the second trajectory can be a path which the first and the second vehicle, respectively, intend to follow. Accordingly, the first and the second trajectory may be indicative of lines, vectors, geographical coordinates, a time, and/or a velocity and respective uncertainty information of the first and the second vehicle, respectively.

In automatically or partly automatically controlled vehicles, the first and the second trajectory may be predetermined automatically based on sensor data of their environment. In at least partly human-operated vehicles, the first and the second trajectory may be determined by a driver.

In order to check if the vehicles (i.e. the first and the second vehicle) collide, it can be checked if and where the first and the second trajectory intersect or converge such that the vehicles touch each other. In some applications, a collision probability or a collision probability rate indicates whether the vehicles collide. The collision probability rate can indicate the probability of the collision as a function of time. For example, a collision is assumed to be imminent if the collision probability rate exceeds a predefined level within a predefined range of time, e.g. when the collision probability exceeds 1% within the next 60 seconds.

A comparison of the first and the second trajectory, for example, is indicative of an imminent collision of the vehicles. In this case, the method proposes to provide the first and/or the second vehicle with the updated first trajectory and/or the updated second trajectory, respectively, to avert the imminent collision. That is, for example, the first or the second vehicle receives the updated first or the updated second trajectory, respectively, depending on the first and the second information. Alternatively, both the first and the second vehicle receive the first and the second updated trajectory, respectively, due to the first and the second information.

The first and the second information can indicate whether, in which way, and/or to what extent it is appropriate for the first and the second vehicle to deviate from the first and the second trajectory, respectively, and, for example be delayed or take a detour. Thus, the priority derived from the first and the second information, for example, indicates that it is more reasonable (e.g. technically easier) for the first vehicle to deviate from the first trajectory than for the second vehicle. In this event, the first vehicle receives the updated first trajectory in order to navigate the first vehicle along the updated first trajectory and avoid the imminent crash.

Alternatively or additionally, the second vehicle receives the updated second trajectory according to the first and the second information to avoid the imminent collision.

Otherwise, the second vehicle can continue to follow the second trajectory. In other words, the second vehicle is given right of way.

Vice versa, if merely the second vehicle receives the updated second trajectory, the first vehicle can continue to follow the first trajectory, i.e. the first vehicle is given the right of way.

The priority particularly can be understood as an order of precedence of the first and the second vehicle.

The above method allows a deterministic coordination (i.e. according to the first and the second information) of two or more vehicles encountering each other to avoid collisions.

In particular, the method allows a reduction of undesired consequences resulting from the vehicles avoiding the imminent collision. The above method, for example, allows to reduce a delay of an urgent transport using the first or the second vehicle.

In some embodiments, the first vehicle is a first aerial vehicle and the second vehicle is a second aerial vehicle.

Examples of the first and the second aerial vehicle correspond to a helicopter, an airplane, a unmanned aerial vehicle (UAV), and the like. In such embodiments, the first and the second trajectory, as well as the updated first and the second trajectory can be understood as a flight path. Alternatively, the first and the second vehicle correspond to ground-based vehicles (e.g. cars, trucks, busses), watercrafts (e.g. boats), or other moving objects.

In some embodiments, the first and the second vehicle are at least partly automatically controlled.

The first and the second vehicle, for example, are automatically controlled UAVs or cars.

In some embodiments, the first information is indicative of wind conditions in the first aerial vehicle's surrounding and the second in-formation is indicative of wind conditions in the second aerial vehicle's surrounding.

The first and the second information are, for example, indicative of a wind speed, wind velocity, or wind strength within the surrounding of the first and the second vehicle, respectively. The first and the second information further can indicate whether there is upwind or downwind within the surrounding. The wind conditions (e.g. the upwind or downwind) can be generated by the climate, the first and the second aerial vehicles, and/or other aerial vehicles (e.g. by a helicopter) in the surrounding.

In vertical evasive maneuvers of aerial vehicles, for example, the vehicle in whose surrounding the downwind is less strong can make an upward turn in accordance with the updated first or second trajectory.

This may reduce an overall power consumption of the first and the second vehicle for the evasive maneuver.

In some embodiments, the first information is indicative of a capability of the first vehicle and the second information is indicative of a capability of the second vehicle.

The first and the second information, for example, are indicative of a battery level, a range, a maximum altitude, a power, or an agility of the first and the second vehicle, respectively. The agility is characterized, for example, by the vehicle's weight and power. Accordingly, the priority may be indicative of the capability of the first and the second vehicle. In some applications, the vehicle having the larger range or better agility can carry out the evasive maneuver according to the updated first or updated second trajectory.

In some embodiments, the first information includes a first uncertainty of the first vehicle's state and the second information includes a second uncertainty of the second vehicle's state.

The first and the second vehicle's state can be understood as a position, velocity, or a combination thereof.

Accordingly, the first and the second uncertainty can be indicative of an uncertainty of the first and the second vehicle's position or velocity measured, for example, by one or more positioning systems.

In some cases, the vehicle, whose position and/or velocity is more accurately determined, may be given right of way. Accordingly, the other vehicle can receive the updated first or second trajectory to carry out an evasive maneuver.

In such embodiments, the method particularly allows to avoid collisions resulting from above uncertainties.

In some embodiments, the first information is indicative of the first vehicle's use and the second information is indicative of the second vehicle's use.

The first and the second vehicle's use can be understood as a mission or a purpose of use. The first and the second vehicle, for example, are used for purposes of transport, recreational, or medical purposes. Accordingly, the priority may indicate a relative precedence of the first and the second vehicle's use. Uses for medical purposes may have a higher precedence than uses for recreational purposes. In other words, one of the vehicles can be prioritized over the other vehicle.

Consequently, the prioritized vehicle can be given the way of right, for example, to avoid delays or detours of the prioritized vehicle. The other vehicle, in turn, can be instructed to carry out an evasive maneuver according to the updated first or updated second trajectory. In some embodiments, the method is executed on an external server separate from the first and the second vehicle.

In embodiments where the method is executed on the separate server, the first and the second vehicle do not need to carry a device (e.g. a data processing circuitry) for executing the method. This allows additional weight and costs to be saved.

In some further embodiments, the method is executed on at least one of the first and the second vehicle.

For example, the method may be carried out on a data processing circuitry which is attached to the first or the second vehicle. The data processing circuitry may particularly be used for other purposes, e.g. to control the first and the second vehicle, respectively.

In such embodiments, no external server separate from the first and the second vehicle is required for executing the method.

According to a further aspect, the present disclosure relates to a computer program comprising instructions, which, when the computer program is executed by a processor, cause the processor to carry out the aforementioned method.

According to a further aspect, the present disclosure relates to and apparatus for avoiding a collision of a first and at least one second vehicle. The apparatus comprises means for receiving a first trajectory of the first vehicle and a second trajectory of the second vehicle and means for comparing the first and the second trajectory to check whether a collision of the first and the second vehicle is imminent. The apparatus further comprises means for receiving first information related to the first vehicle and second information related to the second vehicle and means for comparing the first and the second information to determine a priority. Further, the apparatus comprises means for navigating, depending on the first and the second information, the first vehicle along an updated first trajectory and/or the second vehicle along an updated second trajectory to avoid the collision. Means for receiving the first information, the first trajectory of the first vehicle, the second information, and the second trajectory of the second vehicle, for example, comprise an interface configured to communicate with the first and the second vehicle.

Means for comparing the first and the second trajectory and/or the first and the second information to determine the priority, for example, include a data processing circuitry.

Means for navigating the first vehicle and/or the second vehicle, for example, comprise a data processing circuitry for generating the updated first trajectory and the updated second trajectory and an interface for communicating the updated first trajectory and the updated second trajectory with the first vehicle and/or the second vehicle.

The above apparatus may particularly be eligible for executing the above method. Therefore, features mentioned in connection with the above method can therefore be applied to the apparatus mutatis mutandis.

Brief description of the Figures

Some examples of apparatuses and/or methods will be described in the following by way of example only, and with reference to the accompanying figures, in which

Fig. 1 shows a flow chart schematically illustrating a method for avoiding a collision of a first and a second vehicle;

Fig. 2 shows a block diagram schematically illustrating an apparatus for avoiding a collision of a first and at least one second vehicle; and

Fig. 3a illustrates a first use case of the method; and

Fig. 3b shows a flow chart schematically illustrating a communication in the first use case;

Fig. 4a illustrates a second use case of the method; and Fig. 4b shows a flow chart schematically illustrating a communication in the second use case; and

Fig. 5 shows a flow chart schematically illustrating a communication in a third use case.

Detailed Description

Various examples will now be described more fully with reference to the accompanying drawings in which some examples are illustrated. In the figures, the thicknesses of lines, layers and/or regions may be exaggerated for clarity.

Accordingly, while further examples are capable of various modifications and alternative forms, some particular examples thereof are shown in the figures and will subsequently be described in detail. However, this detailed description does not limit further examples to the particular forms described. Further examples may cover all modifications, equivalents, and alternatives falling within the scope of the disclosure. Same or like numbers refer to like or similar elements throughout the description of the figures, which may be implemented identically or in modified form when compared to one another while providing for the same or a similar functionality.

It will be understood that when an element is referred to as being “connected” or “coupled” to another element, the elements may be directly connected or coupled via one or more intervening elements. If two elements A and B are combined using an “or”, this is to be understood to disclose all possible combinations, i.e. only A, only B as well as A and B, if not explicitly or implicitly defined otherwise. An alternative wording for the same combinations is “at least one of A and B” or “A and/or B”. The same applies, mutatis mutandis, for combinations of more than two Elements.

The terminology used herein for the purpose of describing particular examples is not intended to be limiting for further examples. Whenever a singular form such as “a,” “an” and “the” is used and using only a single element is neither explicitly or implicitly defined as being mandatory, further examples may also use plural elements to implement the same functionality. Likewise, when a functionality is subsequently described as being implemented using multiple elements, further examples may implement the same functionality using a single element or processing entity. It will be further understood that the terms “comprises,” “comprising,” “includes” and/or “including,” when used, specify the presence of the stated features, integers, steps, operations, processes, acts, elements and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, processes, acts, elements, components and/or any group thereof.

Unless otherwise defined, all terms (including technical and scientific terms) are used herein in their ordinary meaning of the art to which the examples belong.

With increasing numbers of vehicles (e.g. unmanned aerial vehicles), potentially belonging to different operators, sharing a common traffic space or airspace, the potential of collisions increases. In known concepts it is not clear how to resolve a conflict resulting from two or more vehicles being on a collision course, the vehicles might have reasons to stay on the initially determined trajectory.

The present disclosure particularly suggests a deterministic concept for avoiding collisions of supposedly colliding vehicles using attributes or information related to those vehicles. The attributes or the information of the involved vehicles ideally may be used to determine the best course of action to avoid an imminent collision of the vehicles.

Fig. 1 illustrates a flow chart schematically illustrating method 100 for avoiding a collision of a first and at least one second vehicle.

As can be seen from Fig. 1, method 100 comprises receiving 110 a first trajectory of the first vehicle and a second trajectory of the second vehicle and comparing 120 the first and the second trajectory to check whether a collision of the first and the second vehicle is imminent. Method 100 further includes receiving 130 first information related to the first vehicle and second information related to the second vehicle and comparing 140 the first and the second information to determine a priority. Further, method 100 provides for navigating 150, depending on the first and the second information, the first vehicle along an updated first trajectory and/or the second vehicle along an updated second trajectory to avoid the collision. A basic idea of method 100 is to instruct, depending on the priority, the first, the second, or both vehicles to execute an evasive maneuver to avoid the collision. The priority, for example, includes an order of precedence of the vehicles and indicates whether it is more reasonable for the first or the second vehicle to execute the evasive maneuver.

The first and the second information, for example, are indicative of environmental information, an urgency, and/or technical specifications of the first and the second vehicle. As stated below with reference to use cases of method 100, undesired consequences (e.g. delays, detours) resulting from an avoidance of the collision may be reduced.

Fig. 2 shows a block diagram schematically illustrating an apparatus 200 for avoiding a collision of a first vehicle 230a and a second vehicle 230b. In Fig. 2, the apparatus 200 is separated from the vehicles 230a and 230b. In other applications, the apparatus 200 may be on board the first vehicle 230a or the second vehicle 230b.

The apparatus 200 comprises an interface 210 and a data processing circuitry 220. The interface 210 is configured to receive the first trajectory of the first vehicle 230a and the second trajectory of the second vehicle 230b and receive the first information related to the first vehicle 230a and the second information related to the second vehicle 230b. To this end, the interface 210 can communicate with the first and the second vehicle 230a and 230b, e.g. using radio signals.

The data processing circuitry 220, on the one hand, is configured to compare the first and the second trajectory to check whether a collision of the first and the second vehicle 230a and 230b is imminent. To this end, the data processing circuitry 220 can check whether, where, and/or when the first and the second trajectory intersect or come so close to each other that the vehicles collide.

On the other hand, the data processing circuitry 220 is configured to determine based on the first and the second information the priority of the first and the second vehicle 230a and 230b and either to instruct the first vehicle 230a or the second vehicle 230b to carry out an evasive maneuver according to the priority. The data processing circuitry 220 can be further used to generate the updated first trajectory and/or the updated second trajectory indicative of the respective evasive maneuver of the first vehicle 230a or the second vehicle 230b. The interface 210 can communicate the updated first trajectory and/or the updated second trajectory to the first and the second vehicle, 230a and 230b, respectively, to navigate either the first vehicle 230a, the second vehicle 230b, or both along the respective updated first trajectory and the updated second trajectory.

For a more detailed explanation of the present concept, some exemplary use cases of method 100 and apparatus 200 will be discussed below with reference to Fig. 3a, 3b, 4a, 4b, and 5.

Fig. 3a and 3b refer to a first use case where the first and the second vehicle 230a and 230b each correspond to an unmanned aerial vehicle (UAV). For example, the first vehicle is a first UAV (“Drone A”) and the second vehicle is a second UAV (“Drone B”).

As can be seen in Fig. 3b, the first UAV 230a can, in a first step 310, establish a communication channel to the second UAV 230b when the UAVs 230a and 230b encounter each other, i.e. when the UAVs are within a certain distance of each other, using a radio communication system. Thus, the first UAV 230a can communicate its planned (first) trajectory 232a to the second UAV 230b.

Subsequently, the second UAV 230b can compare the first trajectory 232a with its “own” planned (second) trajectory 234b to determine a probability of an imminent collision of the first and the second UAV 230a and 230b, e.g. using an on-board data processing circuitry. Based on the probability, it is for example possible to determine whether the vehicles 230a and 230b collide by using a threshold comparison. In the first use case, the probability, for example, indicates/predicts an imminent collision of the UAVs 230a and 230b.

In a subsequent step 320, UAV 230b performs a handshake with UAV 230a and informs UAV 230a of the imminent collision as well as of its planned second trajectory 232b via the communication channel.

In a further step 330, UAV 230a sends first information including a first uncertainty 234a of the first UAV s position to UAV 230b via the communication channel. The first information is encrypted and/or signed by an (impartial) external authority for a verification of the first uncertainty 234a. The external authority further provides a public key to enable UAV 230b to check a signature of the first information, decrypt, and access the first information for a comparison of the first uncertainty 234a with second information including a (second) uncertainty 234b of its own, i.e. the second UAV's, position. As can be seen in Fig. 3a, each of the first and the second uncertainty 234a and 234b refers to an area or space around the first and the second UAV 230a and 230b, respectively.

The first and the second uncertainty 234a and 234b may be given by a respective specification of UAV 230a and 230b, respectively. In the first use case, the uncertainty 234a of UAV 230a, for example, is higher (i.e. worse) than the uncertainty 234b of UAV 230b.

In accordance with an agreement between operators of the UAVs 230a and 230b, UAVs whose position is determined more accurately may be given right of way. In accordance with the priority derived from the above uncertainties, UAV 230b can instruct UAV 230a to leave the planned first trajectory 232a and perform an evasive maneuver. For this, UAV 230b provides UAV 230a in a further step 340 with an updated first trajectory of the evasive maneuver via the communication channel.

In a subsequent step 350, UAV 230a acknowledges the receipt of the updated first trajectory.

As a result of the aforementioned steps, UAV 230b continues following its planned second trajectory 232b and UAV 230a travels along the updated first trajectory for the evasive maneuver, i.e. to avoid the imminent collision of the UAVs 230a and 230b.

Fig. 4a and 4b illustrate a further, second use case of method 100 for avoiding the imminent collision of UAV 230a and UAV 230b. In the second use case, UAV 230a and 230b carry out the steps 310 and 320 as in the first use case to determine and inform each other about the imminent collision.

The skilled person having benefit from the present disclosure will understand that an energy consumption of UAVs can particularly depend on surrounding wind conditions. In order to reduce an energy consumption of the UAVs 230a and 230b, wind conditions acting on UAV 230a and 230b can be considered in method 100 for avoiding the imminent collision. For example, an external entity or external party determines and detects the wind conditions acting on UAV 230a and UAV 230b and communicates UAV 230b.

In the second use case, UAV 230a is subjected to a weaker downwind than UAV 230b. Hence, it can be less energy consuming and therefore more reasonable for UAV 230a to fly over UAV 230b than vice versa.

For example, UAV 230a generates a weaker downwind than UAV 230b. Thus, it can be more efficient (e.g. less energy/time consuming) for UAV 230a to pass above UAV 230b than the other way round.

To consider the wind conditions, the first and the second information in step 330 are indicative of a strength of downwind generated by UAV 230a and 230b, respectively.

Subsequently, in step 340, the UAVs 230a and 230b agree on a respective updated first and updated second trajectory 232a’ and 232b’ indicative of respective evasive maneuvers of the UAVs 230a and 230b. UAV 230b, for example, generates and communicates the updated first trajectory 232a’ to UAV 230a.

In step 350, UAV 230a acknowledges the receipt of the updated first trajectory 232a’.

Considering the aforementioned wind conditions, the updated first and the updated second trajectory 232a’ and 232b’ cause UAV 230a to execute an evasive maneuver upwards and UAV 230b to carry out an evasive maneuver downwards. This can be particularly less energy consuming than the other way round.

Fig. 5 illustrates a further, third use case of method 100 for avoiding the imminent collision of UAV 230a and UAV 230b. Again, the steps 310 and 320 may be the same as in the first and second use case.

In step 330, the first information is indicative of the first vehicle's use and the second information is indicative of the second vehicle's use. The first and the second information, for example, indicate a respective use or mission of UAV 230a and 230b which is associated with a respective precedence/priority. The operators of UAV 230a and 230b, for example, have agreed on an assignment of several potential uses of UAVs to a distinct precedence each. Alternatively, an impartial authority can predefine such an assignment.

The use of UAV 230a refers to an urgent or medical transport (e.g. of medicine or a patient) while the use UAV 230b is for a recreational purpose (e.g. a fun flight). Considering the uses of UAV 230a and UAV 230b, UAV 230a can have precedence over UAV 230b.

According to the higher precedence of UAV 230a, UAV 230b can give UAV 230a the right of way in step 340. Accordingly, UAV 230b can determine the updated second trajectory for an evasive maneuver and provide UAV 230a with the updated second trajectory for information.

Thus, UAV 230a can continue following the planned first trajectory to avoid delays or detours and UAV 230b executes an evasive maneuver to avoid the imminent collision.

Further embodiments pertain to:

(1) A method for avoiding a collision of a first and at least one second vehicle, the method comprising: receiving a first trajectory of the first vehicle and a second trajectory of the second vehicle; comparing the first and the second trajectory to check whether a collision of the first and the second vehicle is imminent; receiving first information related to the first vehicle and second information related to the second vehicle; comparing the first and the second information to determine a priority; and navigating, depending on the priority, the first vehicle along an updated first trajectory and/or the second vehicle along an updated second trajectory to avoid the collision.

(2) Method of (1), wherein the first vehicle is a first aerial vehicle and the second vehicle is a second aerial vehicle.

(3) Method of (1) or (2), wherein the first and the second vehicle are at least partly automatically controlled.

(4) Method of any one of (1) to (3), wherein the first information is indicative of wind conditions in the first aerial vehicle's surrounding and the second information is indicative of wind conditions in the second aerial vehicle's surrounding.

(5) Method of any one of (1) to (4), wherein the first information is indicative of a capability of the first vehicle and the second information is indicative of a capability of the second vehicle.

(6) Method of any one of (1) to (5), wherein the first information includes a first uncertainty of the first vehicle's state and the second information includes a second uncertainty of the second vehicle's state.

(7) Method of any one of (1) to (6), wherein the first information is indicative of a first priority of the first vehicle's use and the second information is indicative of a second priority of the second vehicle's use.

(8) Method of any one of (1) to (7), wherein the method is executed on an external server separate from the first and the second vehicle.

(9) Method of any one of (1) to (7), wherein the method is executed on at least one of the first and the second vehicle.

(10) A computer program comprising instructions, which, when the computer program is executed by a processor, cause the processor to carry out the method of any one of (1) to (9). (11) Apparatus for avoiding a collision of a first and at least one second vehicle, the apparatus comprising: means for receiving a first trajectory of the first vehicle and a second trajectory of the second vehicle; means for comparing the first and the second trajectory to check whether a collision of the first and the second vehicle is imminent; means for receiving first information related to the first vehicle and second information related to the second vehicle; and means for navigating, depending on the first and the second information, the first vehicle along an updated first trajectory and/or the second vehicle along an updated second trajectory to avoid the collision.

The aspects and features mentioned and described together with one or more of the previously detailed examples and figures, may as well be combined with one or more of the other examples in order to replace a like feature of the other example or in order to additionally introduce the feature to the other example.

Examples may further be or relate to a computer program having a program code for performing one or more of the above methods, when the computer program is executed on a computer or processor. Steps, operations or processes of various above-described methods may be performed by programmed computers or processors. Examples may also cover program storage devices such as digital data storage media, which are machine, processor or computer readable and encode machine-executable, processor-executable or computer-executable programs of instructions. The instructions perform or cause performing some or all of the acts of the abovedescribed methods. The program storage devices may comprise or be, for instance, digital memories, magnetic storage media such as magnetic disks and magnetic tapes, hard drives, or optically readable digital data storage media. Further examples may also cover computers, processors or control units programmed to perform the acts of the above-described methods or (field) programmable logic arrays ((F)PLAs) or (field) programmable gate arrays ((F)PGAs), programmed to perform the acts of the above-described methods.

The description and drawings merely illustrate the principles of the disclosure. Furthermore, all examples recited herein are principally intended expressly to be only for illustrative purposes to aid the reader in understanding the principles of the disclosure and the concepts contributed by the inventor(s) to furthering the art. All statements herein reciting principles, aspects, and examples of the disclosure, as well as specific examples thereof, are intended to encompass equivalents thereof.

A functional block denoted as “means for ...” performing a certain function may refer to a circuit that is configured to perform a certain function. Hence, a “means for s.th.” may be implemented as a “means configured to or suited for s.th.”, such as a device or a circuit configured to or suited for the respective task.

Functions of various elements shown in the figures, including any functional blocks labeled as “means”, “means for providing a signal”, “means for generating a signal ”, etc., may be implemented in the form of dedicated hardware, such as “a signal provider”, “a signal processing unit”, “a processor”, “a controller”, etc. as well as hardware capable of executing software in association with appropriate software. When provided by a processor, the functions may be provided by a single dedicated processor, by a single shared processor, or by a plurality of individual processors, some of which or all of which may be shared. However, the term “processor” or “controller” is by far not limited to hardware exclusively capable of executing software, but may include digital signal processor (DSP) hardware, network processor, application specific integrated circuit (ASIC), field programmable gate array (FPGA), read only memory (ROM) for storing software, random access memory (RAM), and nonvolatile storage. Other hardware, conventional and/or custom, may also be included.

A block diagram may, for instance, illustrate a high-level circuit diagram implementing the principles of the disclosure. Similarly, a flow chart, a flow diagram, a state transition diagram, a pseudo code, and the like may represent various processes, operations or steps, which may, for instance, be substantially represented in computer readable medium and so executed by a computer or processor, whether or not such computer or processor is explicitly shown. Methods disclosed in the specification or in the claims may be implemented by a device having means for performing each of the respective acts of these methods.

It is to be understood that the disclosure of multiple acts, processes, operations, steps or functions disclosed in the specification or claims may not be construed as to be within the specific order, unless explicitly or implicitly stated otherwise, for instance for technical reasons. Therefore, the disclosure of multiple acts or functions will not limit these to a particular order unless such acts or functions are not interchangeable for technical reasons. Furthermore, in some examples a single act, function, process, operation or step may include or may be broken into multiple sub-acts, -functions, -processes, -operations or -steps, respectively. Such sub acts may be included and part of the disclosure of this single act unless explicitly excluded.

Furthermore, the following claims are hereby incorporated into the detailed description, where each claim may stand on its own as a separate example. While each claim may stand on its own as a separate example, it is to be noted that - although a dependent claim may refer in the claims to a specific combination with one or more other claims - other examples may also include a combination of the dependent claim with the subject matter of each other dependent or independent claim. Such combinations are explicitly proposed herein unless it is stated that a specific combination is not intended. Furthermore, it is intended to include also features of a claim to any other independent claim even if this claim is not directly made dependent to the independent claim.

Claims

1. A method for avoiding a collision of a first and at least one second vehicle, the method comprising: receiving a first trajectory of the first vehicle and a second trajectory of the second vehicle; comparing the first and the second trajectory to check whether a collision of the first and the second vehicle is imminent; receiving first information related to the first vehicle and second information related to the second vehicle; comparing the first and the second information to determine a priority; and navigating, depending on the priority, the first vehicle along an updated first trajectory and/or the second vehicle along an updated second trajectory to avoid the collision.

2. Method of claim 1, wherein the first vehicle is a first aerial vehicle and the second vehicle is a second aerial vehicle.

3. Method of claim 1, wherein the first and the second vehicle are at least partly automatically controlled.

4. Method of claim 1, wherein the first information is indicative of wind conditions in the first aerial vehicle's surrounding and the second information is indicative of wind conditions in the second aerial vehicle's surrounding.

5. Method of claim 1, wherein the first information is indicative of a capability of the first vehicle and the second information is indicative of a capability of the second vehicle.

6. Method of claim 1 , wherein the first information includes a first uncertainty of the first vehicle's state and the second information includes a second uncertainty of the second vehicle's state.

7. Method of claim 1, wherein the first information is indicative of the first vehicle's use and the second information is indicative of the second vehicle's use.

8. Method of claim 1, wherein the method is executed on an external server separate from the first and the second vehicle.

9. Method of claim 1, wherein the method is executed on at least one of the first and the second vehicle.

10. A computer program comprising instructions, which, when the computer program is executed by a processor, cause the processor to carry out the method of claim 1.

11. Apparatus for avoiding a collision of a first and at least one second vehicle, the apparatus comprising: means for receiving a first trajectory of the first vehicle and a second trajectory of the second vehicle; means for comparing the first and the second trajectory to check whether a collision of the first and the second vehicle is imminent; means for receiving first information related to the first vehicle and second information related to the second vehicle; means for comparing the first and the second information to determine a priority; and means for navigating, depending on the priority, the first vehicle along an updated first trajectory and/or the second vehicle along an updated second trajectory to avoid the collision.