Collision avoidance methods and means for their implementation

Abstract

Collision avoidance procedure (300) comprising: acquiring (320) vehicle driving parameters (1) indicating whether and at what speed the vehicle (1) is moving forward or backward; acquiring (330) a driving request for the vehicle (1) specifying that the vehicle (1) should move forward, move backward or remain stationary; specifying (340) one or more forward-facing environmental sensors (11) or one or more backward-facing environmental sensors (11) of the vehicle (1) depending on the driving parameters and the driving request;and Subsequent use (350) of the specified sensors (11, 12) for detecting objects (21, 31) in the vicinity of the vehicle (1), wherein the method further comprises at least one of the following steps: Specifying (340) the forward-facing proximity sensor(s) (11) whenever at least one of the following conditions is met: - the driving request specifies that the vehicle (1) should drive forward and the driving parameters specify that the vehicle (1) should drive forward, be stationary, or reverse at no more than a specified speed; - the driving request specifies that the vehicle (1) should drive backward and the driving parameters specify that the vehicle (1) should drive forward at more than a specified speed; - the driving request specifies that the vehicle (1) should be stationary and the driving parameters specify that the vehicle (1) should be stationary or moving forward;The rear-facing environmental sensor(s) (12) are always set (340) when at least one of the following conditions is met: - the driving request specifies that the vehicle (1) should drive forward in the future and the driving parameters specify that the vehicle (1) should drive backward at a speed higher than a specified speed; - the driving request specifies that the vehicle (1) should drive backward in the future and the driving parameters specify that the vehicle (1) should drive backward, be stationary, or drive forward at a speed lower than a specified speed; - the driving request specifies that the vehicle (1) should be stationary in the future and the driving parameters specify that the vehicle (1) should drive backward.

Description

[0001] The present invention relates to a collision avoidance method and means for implementing such a method. background

[0002] Vehicles can be equipped to carry out collision avoidance procedures that can be based, for example, on camera, ultrasound, radar or lidar technology.

[0003] Collision avoidance systems are particularly well known in the field of passenger cars. However, with appropriate adaptations, they can also be used in mobile machinery. The designs proposed here can apply to both areas of application. Overview

[0004] A collision avoidance method and means for its implementation are proposed with the features of the independent patent claims. Advantageous embodiments are the subject of the dependent patent claims and the following description.

[0005] The proposed collision avoidance method comprises detecting driving parameters of a vehicle which indicate whether and at what speed the vehicle is currently moving forward or backward, detecting a driving request for the vehicle which specifies that the vehicle should move forward, move backward or standstill in the future, in particular using an FNR signal (for the definition see below), specifying one or more forward-oriented environment sensors or one or more rearward-oriented environment sensors of the vehicle depending on the driving parameters and the driving request, and using the specified sensors to detect objects in an environment of the vehicle.

[0006] As explained in detail below, particularly in vehicles operating using an FNR signal, and especially during reversing operation, it may happen that a desired direction of travel and the current direction of movement of the vehicle at the time of a corresponding request do not match. Thus, in this state, the system no longer reacts to critical objects in the direction of movement. The present invention overcomes this disadvantage and, in particular, solves the sub-problems also discussed below.

[0007] In one embodiment, the collision avoidance method comprises specifying the forward-oriented environmental sensor(s) whenever at least one of the following conditions is present: (1) The driving request specifies that the vehicle should move forward in the future and the driving parameters specify that the vehicle is currently moving forward, stationary, or reversing at no more than a predetermined speed, (2) the driving request specifies that the vehicle should move backward in the future and the driving parameters specify that the vehicle is currently moving forward at more than a predetermined speed, or (3) the driving request specifies that the vehicle should move stationary in the future and the driving parameters specify that the vehicle is currently stationary or moving forward. Corresponding embodiments make it possible to detect the vehicle's forward environment and reliably avoid collisions.

[0008] In one embodiment of the invention, the collision avoidance method comprises specifying the rearward-oriented environment sensor(s) whenever at least one of the following conditions is present: (1) The driving request specifies that the vehicle should drive forward in the future and the driving parameters specify that the vehicle will reverse at more than a predetermined speed, (2) the driving request specifies that the vehicle should drive backward in the future and the driving parameters specify that the vehicle will reverse, be stationary, or move forward at less than a predetermined speed, or (3) the driving request specifies that the vehicle should be stationary in the future and the driving parameters specify that the vehicle will reverse. A corresponding embodiment makes it possible to detect the environment behind the vehicle and reliably avoid collisions there.

[0009] In one embodiment of the collision avoidance method, the driving request is specified by a vehicle driver or an autonomous vehicle control system using a forward-neutral-reverse (FNR) control unit, and / or the vehicle is configured for reversing operation. As already mentioned and further explained below, specific problems may occur, particularly in such vehicles, which embodiments of the present invention successfully overcome.

[0010] In one embodiment of the invention, the collision avoidance method is implemented in a mobile work machine, such as the vehicle. Mobile work machines, in particular, can be at risk of collisions, for example, due to equipment such as shovels, forks, etc., located in the line of sight, and such collisions can have particularly adverse effects. Embodiments of the present invention offer particular advantages in this regard.

[0011] In embodiments of the proposed collision avoidance method, the forward-oriented environmental sensor(s) and / or the rearward-oriented environmental sensor(s) may comprise one or more identical or different sensors selected from infrared sensors, radar sensors, ultrasonic sensors, camera sensors, and lidar sensors, or combinations thereof. The invention may employ particularly advantageous sensors and / or combinations thereof in corresponding embodiments.

[0012] The proposed collision avoidance system comprises means for detecting driving parameters of a vehicle which indicate whether and at what speed the vehicle is moving forward or backward, means for detecting a driving request for the vehicle which specifies that the vehicle should move forward, move backward or standstill in the future, means for specifying one or more forward-oriented environmental sensors or one or more rearward-oriented environmental sensors of the vehicle depending on the driving parameters and the driving request and means for subsequently using the specified sensors to detect objects in an environment of the vehicle.

[0013] For further features and advantages of a corresponding collision avoidance system and different embodiments thereof, reference is expressly made to the above explanations concerning the proposed collision avoidance method and its embodiments, since these apply equally to this.

[0014] The proposed computing unit comprises a processor configured to execute the proposed method, in particular according to any of the embodiments explained above and below. This unit thus also benefits from the explained advantages of the proposed method and its embodiments.

[0015] The same applies to the proposed computer program, which comprises instructions which, when the computer program is executed by a computer, cause the computer to carry out a collision avoidance method as previously explained in different embodiments.

[0016] Essentially the same applies to the proposed computer-readable data carrier on which a corresponding computer program is stored.

[0017] The implementation of the proposed method or its embodiments in the form of a computer program or computer program product with program code for carrying out all method steps is particularly advantageous since this causes particularly low costs, in particular if an executing control unit is also used for other tasks and is therefore already present.

[0018] Suitable data storage media for providing the computer program include, in particular, magnetic, optical and electrical storage devices, such as hard disks, flash memories, EEPROMs, DVDs, etc. It is also possible to download a program via suitable computer networks (Internet, intranet, cloud, etc.).

[0019] Previously described and further embodiments are explained further below with reference to the attached figures. Character description Fig. 1 illustrates a vehicle with a collision avoidance system. Fig. 2A and Fig. 2B illustrate principles of embodiments of the invention. Fig. Figure 3 shows aspects of a collision avoidance system in a simplified representation. Fig. Figure 4 shows a collision avoidance procedure in a simplified representation. Embodiments

[0020] The embodiments described below are described solely for the purpose of assisting the reader in understanding the claimed and previously discussed features. They are merely representative examples and are not intended to be exhaustive and / or limiting with regard to the features of proposed embodiments.

[0021] It is to be understood that the advantages, embodiments, examples, functions, features, structures and / or other aspects described above and below are not to be considered limitations on the scope of the invention as defined in the claims or limitations on equivalents to the claims, and that other embodiments may be utilized and changes may be made without departing from the scope of the claimed invention.

[0022] Different embodiments may include, have, consist of, or consist essentially of other useful combinations of the described elements, components, features, parts, steps, means, etc., even if such combinations are not specifically described herein. Furthermore, the disclosure may encompass other inventions that are not currently claimed but that may be claimed in the future, particularly if they are encompassed within the scope of the independent claims.

[0023] Explanations relating to devices, apparatus, arrangements, systems, etc. according to the embodiments proposed here may also apply to methods, processes, methods, etc. according to the embodiments proposed here, and vice versa. Identical, functionally equivalent, structurally identical, or comparably constructed elements, as well as process steps, etc., may be identified in the drawings with identical reference numerals.

[0024] It will now initially focus on Fig. 1, which shows a vehicle 1, here a mobile work machine in the form of a wheel loader. In the example discussed here, vehicle 1 is intended to be configured for reversing operation and for providing or processing a so-called FNR signal.

[0025] The FNR signal, where FNR stands for "Forward-Neutral-Reverse," is an essential concept, especially in the context of work machines such as excavators, wheel loaders, forklifts, and many other machines used in the construction, mining, or agricultural industries. Different signal states exist to request corresponding operating modes: Forward: In forward mode, the machine or vehicle 1 is operated in the normal working direction. This is typically the main operating direction of a corresponding vehicle, for example, for earthmoving, loading materials, or similar activities.

[0026] Neutral: In neutral or freewheel mode, the drive is placed in an inactive state, keeping the machine or vehicle 1 stationary but the engine running. This is particularly useful when the operator wants to take a break without turning off the engine or when other machine functions need to operate without movement.

[0027] Reverse: In reverse mode, the machine or vehicle 1 can be operated in forward mode, opposite to its normal working direction. This is particularly useful for maneuvering in confined spaces or for specific tasks that require a change of direction, such as reversing a wheel loader after unloading material.

[0028] In many modern work machines or vehicles 1, the operator selects operating modes via an easy-to-use lever or electronic switch, which is not illustrated separately here due to its general familiarity. Some machines are also equipped with advanced control systems that enable automatic direction changes based on sensor data or preprogrammed patterns. Switching between these modes quickly and efficiently, particularly in machines used in dynamic or confined work environments, can increase productivity and enhance the safety of such vehicles 1.

[0029] Reversing operation, often referred to as reversing function, is an essential feature of many work machines or vehicles 1 and refers to the ability of the machine or vehicle 1 to change its direction of movement or working direction, in particular without interrupting or switching off the engine.

[0030] On many machines, reversing operation allows switching between forward and reverse travel or movement. For example, a wheel loader, as an example of Vehicle 1, can drive forward to a drop-off location after picking up material and then reverse back without delay by activating reversing mode. In hydraulically operated systems, such as those found in many off-highway machines, the direction of movement of cylinders or motors can be changed by reversing the direction of hydraulic oil flow. In electrical drive systems, such as electric motors, reversing operation can be achieved by changing the polarity or phase sequence, causing the motor to rotate in the opposite direction.

[0031] Reversing operation enables corresponding vehicles 1 to maneuver efficiently in confined spaces without having to constantly stop and restart. Especially in scenarios where frequent changes of direction are required, reversing operation enables significant time savings and thus an increase in working speed. Reversing operation can also be used for safety reasons, for example, to quickly escape from a dangerous situation.

[0032] Examples of applications in construction machinery include excavators that dig forward and then have to reverse out of the excavation area. In agricultural machinery, reversing operation can be used, for example, in a tractor or farm tractor that needs to switch between forward and reverse travel during plowing or other field work. Embodiments of the present invention are suitable for any such vehicles.

[0033] Overall, reversing operation increases the flexibility and versatility of work machines and helps to improve their efficiency and safety in a wide variety of application scenarios.

[0034] In particular, collisions between vehicles 1 designed as mobile work machines pose a significant risk to both humans and machines. Particularly in conditions of restricted visibility (caused, for example, by a loaded bucket on a wheel loader or a loaded trough on a dump truck), serious accidents can occur. Systems for avoiding or mitigating such collisions are known and can include, for example, reversing cameras and bird's-eye view cameras for improved all-round visibility, as well as collision warning and avoidance systems based on camera, ultrasound, radar, or lidar technology. These can increase the safety of machine operation as assistance systems.

[0035] In systems based on environmental sensors (e.g. radar), the sensor system detects an obstacle (e.g. person, vehicle or wall).

[0036] Hydrostatic drive systems are primarily used in vehicles 1 in the construction and agricultural machinery sectors. A hydraulic drive pump is fluidly connected to one or more hydrostatic motors in a hydraulic system. The hydraulic fluid supplied by the drive pump drives the hydrostatic motors. These motors are also referred to as hydraulic motors.

[0037] Particularly in construction machinery with hydrostatic drives, the driver specifies the desired direction of travel via the FNR signal, as previously explained in more detail. This leads to a mismatch between the desired direction of travel and the vehicle's current direction of travel at the time of a corresponding request. In this state, the system no longer reacts to critical objects in the direction of travel. Therefore, it is not possible to use the FNR signal alone when selecting the sensors to be processed.

[0038] An alternative selection of the sensors to be processed based on the direction of speed would, however, result in only one of the two directions (forward or reverse) being evaluated at a standstill, regardless of the driver's desired direction of travel. This would initially allow the vehicle to accelerate at a standstill, even if a critical object is located on that side. The selection of the currently relevant sensors must therefore be based on a combination of the desired direction of travel (according to the FNR signal) and the direction of the vehicle's speed.

[0039] Therefore, two sub-problems must be solved. (1) When stationary, a reaction to critical objects in the monitored area must occur on the side corresponding to the desired direction of travel, and (2) When moving, a reaction to critical objects in the monitored area must occur on the side corresponding to the direction of the vehicle's speed. Contributions of embodiments of the present invention will be explained in more detail below. First, however, further fundamental principles will be explained here.

[0040] In the example presented here, the vehicle 1 has forward-oriented environment sensors 11 and rearward-oriented environment sensors 12, which are each illustrated here with dashed lines and are not limited in any way with regard to their structural design. Fig. 1 only one forward-oriented environment sensor 11 and one rearward-oriented environment sensor 12 are shown on the vehicle, further sensors distributed in any manner on the vehicle 1 and one or more decentralized, distributed, or centralized evaluation units can be provided. A correspondingly formed detection arrangement can, in particular, comprise video, radar, lidar, ultrasonic, or infrared sensors of any type, combination, and interconnection as forward-oriented environment sensors 11 and rearward-oriented environment sensors 12 and / or be configured for communication with other vehicles.

[0041] In the example shown, the forward-oriented environment sensor(s) 11 are directed towards a forward environment, shown here in reduced size and schematically designated by 2, and the rearward-oriented environment sensor(s) 12 are directed towards a rearward environment, shown here in reduced size and schematically designated by 3, in order to detect an object 21 or 31, respectively.

[0042] A corresponding detection arrangement, of which a control unit 15 may in particular be a part, can in particular be set up to assign the object 21 or 31 to object classes. In this way, the object 21 or 31 can be recognized, for example, as a less critical object 21 or 31, for example an inanimate object 21 or 31, or as a more critical object 21 or 31, for example a human. In this context, one can speak of a "collision-relevant" object 21 or 31, which can be distinguished from another, i.e. in particular a non-collision-relevant object, for example simply by the fact that it is located in the forward or rearward environment 2 or 3.

[0043] A collision-relevant object 21 or 31 can differ from another object in that a collision with it results in undesirable effects, for example damage to the vehicle 1 or the object 21 or 31. A non-collision-relevant object can, for example, be characterized by the fact that it is too small or is made of a material that is not expected to have any negative effects in the event of a collision. Examples of non-collision-relevant objects are pebbles, leaves, sand, or paper in the path of travel. An object 21 or 31 can, for example, be characterized by a user definition or specification as a collision-relevant object 21 or 31, i.e., for example, be classified accordingly.

[0044] The detection of collision-relevant or less critical objects 21 or 31 can be carried out depending on the detection by different sensor systems. Depending on whether an object 21 or 31 can be detected by a radar, lidar, or video sensor 11 or 12, or by a combination thereof, the objects 21 or 31 can be assigned to the object classes. The assignment of the objects 21 or 31 to corresponding object classes can advantageously be carried out depending on measurement data from one or more sensors based on the object extent measured by lidar and / or radar sensors or based on the grayscale pattern determined by video sensors. For example, a pedestrian is more easily recognizable using a video sensor, although a radar sensor may allow less reliable detection in this case. The assignment of the objects 21 or 31 to corresponding object classes can be carried out depending on an object speed.By means of such an object classification, the detected objects 21 and 31 can be classified, for example, into stationary, stopped, slow-moving, or fast-moving objects 21 and 31, respectively. Based on this classification, it is possible to predict an estimate of the future, maximum possible acceleration of the objects as well as the directions of acceleration.

[0045] Known collision avoidance systems, which can be implemented, for example, using the control unit 15 of the vehicle 1, can estimate or determine a time to collision (TTC) based on the transmitted distance to the object 21 or 31 and its relative speed, as well as a distance below which a warning should be issued (there is still enough time for the driver to manually apply the brakes), or a distance below which braking or deceleration should be automatically applied. Such systems are already known from the automotive sector and, with appropriate adaptations, are also used in the field of mobile machinery.

[0046] Embodiments of the present invention solve the above-mentioned problems with the proposed collision avoidance method or system. These problems, and the solution according to aspects of the invention, are again described with reference to the Fig. 2A and Fig. 2B explains, where again a vehicle 1 in the form of a wheel loader and an object 31 are shown in a rear environment. A direction of travel is shown in Fig. 2A with an arrow 13, a direction specification by an FNR signal is indicated with an arrow 14. It is understood that embodiments of the present invention may include further situations that are Fig. 2A and Fig. 2B are not illustrated.

[0047] In the Fig. In the situation illustrated in Figure 2A, vehicle 1 is traveling backward, and object 31 would therefore subsequently collide with vehicle 1. However, the FNR signal indicates forward travel, so the collision is no longer relevant after reversing. Therefore, in embodiments of the invention, forward-oriented sensors 11 are now selected if further conditions, explained below, exist.

[0048] In the Fig. In the situation illustrated in Figure 2B, the vehicle is stationary. Therefore, the vehicle cannot collide with object 31 if the stationary state continues. However, the FNR signal indicates reverse travel, so the risk of collision becomes acute after the approach. Therefore, in embodiments of the invention, rearward-oriented sensors 12 are selected here, particularly if further conditions, explained below, exist.

[0049] Table 1 illustrates the respective procedures, where v_Thd represents a speed threshold for forward travel and -v_Thd represents a speed threshold for reverse travel. An unsigned speed indicates a forward travel speed, while a negative sign indicates a reverse travel speed.

[0050] Therefore, if the unsigned speed v is above the forward speed threshold v_Thd, the vehicle moves forward. If it is below this value, into the negative range, the vehicle can still move forward, but can also stand still or move backward. If the speed v or -v, which is then in the negative range, is below the reverse speed threshold -v_Thd, the vehicle moves backward. If it is above this value, the vehicle can still move backward, but can also stand still or move forward.

[0051] stDrvDirDem specifies the FNR signal, where -1 indicates a requested reverse drive, 1 a requested forward drive, and 0 a requested standstill. As mentioned, the signal can be specified via a control unit by a user or in any other way. The respective forward- or reverse-oriented sensors used are, as shown in Fig. 1, indicated with 11 and 12 respectively. Table 1 stDrvDirDem -1 stDrvDirDem 0 stDrvDirDem 1 v ≥ v_Thd 11 v ≥ 0 11 v ≥ -v_Thd 11 v < v_Thd 12 v < 0 12 v < -v_Thd 12

[0052] Embodiments of the proposed collision avoidance method include the detection of driving parameters of a vehicle 1, which indicate whether and at what speed the vehicle is moving forward or backward, i.e. whether a speed v is present without or with a negative sign or with the value zero.

[0053] Likewise, a driving request for vehicle 1 is detected, which specifies that vehicle 1 should drive forward, reverse, or standstill in the future, expressed in Table 1 with a corresponding value for the parameter stDrvDirDem of -1, 0, or 1. On this basis, one or more forward-oriented environment sensors 11 or one or more rearward-oriented environment sensors 11 are specified, and these are subsequently used to detect objects 21 or 31 in the environment of vehicle 1.

[0054] More specifically, in embodiments of the present invention, the forward-oriented environment sensor(s) 11 are specified whenever at least one of the following conditions 1 to 3 is present: 1. The driving request specifies that vehicle 1 should drive forward in the future and the driving parameters specify that vehicle 1 drives forward, stands still, or drives backward at no more than a specified speed, i.e. stDrvDirDem > 0 and v ≥ -v_Thd according to table columns 5 and 6, penultimate row of Table 1. 2. The driving request specifies that vehicle 1 should drive backward in the future and the driving parameters specify that vehicle 1 drives forward at more than a specified speed, i.e. stDrvDirDem < 0 and v ≥ v_Thd according to table columns 1 and 2, penultimate row of Table 1. 3. The driving request specifies that vehicle 1 should be stationary in the future, and the driving parameters specify that vehicle 1 is stationary or moving forward, i.e. stDrvDirDem = 0 and v ≥ 0 according to table columns 3 and 4, penultimate row of Table 1.

[0055] The specification of the rearward-oriented environmental sensor(s) 12 in embodiments of the present invention always when at least one of the following conditions 3 to 5 is present, the numbering being for the purpose of distinction only: 4. The driving request specifies that vehicle 1 should drive forward in the future and the driving parameters specify that vehicle 1 should drive backward at more than a specified speed, i.e. stDrvDirDem > 0 and v < -v_Thd according to table columns 5 and 6, last row of Table 1. 5. The driving request specifies that vehicle 1 should drive backwards in the future and the driving parameters specify that vehicle 1 drives backwards, is stationary, or drives forwards at less than a specified speed, i.e. stDrvDirDem < 0 and v < v_Thd according to table columns 1 and 2, last row of Table 1. 6. The driving request specifies that vehicle 1 should remain stationary in the future, and the driving parameters specify that vehicle 1 should drive backward, i.e. stDrvDirDem = 0 and v < 0 according to table columns 3 and 4, last row of Table 1.

[0056] With embodiments of the invention, a reaction to critical objects in the monitored area can thus occur during movement on the side corresponding to the direction of the vehicle's speed. During reversing, the selection of sensors 11 or 12 enables a reaction to an object 21 or 31 in critical areas 2 or 3. During a standstill, a corresponding selection of sensors 11 or 12 enables a reaction to an object 21 or 31 in critical areas 2 or 3 after the vehicle has started moving.

[0057] In Fig. 3 illustrates a method according to one embodiment and is designated overall by 300. Initially, designated by 310, the vehicle is moving or stationary without an FNR request being registered. In a step 320, driving parameters of a vehicle 1 are detected 320, which indicate whether and at what speed the vehicle (1) is moving forward or backward. In a step 330, a driving request for the vehicle 1 is detected 330, which specifies that the vehicle 1 should move forward, reverse, or remain stationary in the future, i.e., an FNR signal. Steps 320 and 330 can be interchanged or performed in parallel.

[0058] A step 340 comprises selecting one or more forward-oriented environment sensors 11 or one or more rearward-oriented environment sensors 11 of the vehicle 1 depending on the driving parameters acquired in steps 320 and 330, respectively, and the driving requirement. In step 350, the specified sensors 11 and 12 are subsequently used to detect objects 21 and 31 in a forward or rearward environment 2 and 3 of the vehicle 1, respectively, as explained above.

[0059] Embodiments of the present invention can increase the availability of the collision avoidance system, particularly during reversing operation. Furthermore, a reduction in collisions, particularly during reversing operation, can be enabled. Early validation of critical objects from a standstill is enabled by taking the desired direction of travel into account.

[0060] Embodiments of the present invention can be implemented in a corresponding vehicle without additional sensor technology using the available information, in particular Fig. 4, which illustrates aspects of a collision avoidance system in a simplified representation in the form of a block diagram not specifically identified.

[0061] A parameterization 410 specifies, as illustrated by 411, suitable parameters such as the aforementioned speed threshold values ​​v_Thd and -v_Thd, respectively. By means of a provision 420, for example via a CAN bus, signals or values ​​421 and 422 are provided, respectively, which represent the aforementioned driving parameters of vehicle 1, which indicate whether and at what speed vehicle 1 is moving forward or backward, and the driving request for vehicle 1, which specifies that vehicle 1 should move forward, reverse, or remain stationary in the future, and are or have been detected accordingly.

[0062] On this basis, a sensor selection 430 is carried out in embodiments of the present invention in the manner already mentioned several times, wherein a corresponding selection or specification signal 431 can be output.

Claims

[1] Collision avoidance procedure (300), which includes: Detecting (320) driving parameters of a vehicle (1) which indicate whether and at what speed the vehicle (1) is driving forward or backward; Detecting (330) a driving request for the vehicle (1) which specifies that the vehicle (1) should drive forward, reverse or stand still in the future; Presetting (340) one or more forward-oriented environment sensors (11) or one or more rearward-oriented environment sensors (11) of the vehicle (1) depending on the driving parameters and the driving requirement; and Subsequent use (350) of the predetermined sensors (11, 12) to detect objects (21, 31) in an environment of the vehicle (1). [2] A collision avoidance method (300) according to claim 1, comprising: Presetting (340) the forward-oriented environmental sensor(s) (11) whenever at least one of the following conditions is present: - the driving request specifies that the vehicle (1) should drive forward in the future and the driving parameters specify that the vehicle (1) drives forward, is stationary, or drives backward at no more than a specified speed; - the driving request specifies that the vehicle (1) should drive backwards in the future and the driving parameters specify that the vehicle (1) should drive forwards at more than a specified speed; - the driving request specifies that the vehicle (1) should be stationary in the future, and the driving parameters specify that the vehicle (1) is stationary or moving forward. [3] Collision avoidance method (300) according to claim 1 or 2, comprising: Presetting (340) the rearward-oriented environmental sensor(s) (12) whenever at least one of the following conditions is present: - the driving request specifies that the vehicle (1) should drive forward in the future and the driving parameters specify that the vehicle (1) should drive backward at more than a specified speed; - the driving request specifies that the vehicle (1) should drive backwards in the future and the driving parameters specify that the vehicle (1) drives backwards, is stationary, or drives forwards at less than a specified speed; - the driving request specifies that the vehicle (1) should be stationary in the future, and the driving parameters specify that the vehicle (1) should drive backwards. [4] Collision avoidance method (300) according to one of the preceding claims, wherein the driving request is specified by means of a forward-neutral-reverse operating unit by a driver of the vehicle (1) or an autonomous vehicle control system and / or wherein the vehicle (1) is set up for reversing operation. [5] Collision avoidance method (300) according to one of the preceding claims, which is carried out in a mobile work machine as the vehicle (1). [6] Collision avoidance method (300) according to one of the preceding claims, wherein the forward-oriented environmental sensor(s) (11) and / or the rearward-oriented environmental sensor(s) (12) comprise one or more identical or different sensors selected from infrared sensors, radar sensors, ultrasonic sensors, camera sensors and lidar sensors or combinations thereof. [7] Collision avoidance system comprising: Means for detecting (320) driving parameters of a vehicle (1) which indicate whether and at what speed the vehicle (1) is driving forward or backward; Means for detecting (330) a driving request for the vehicle (1) which specifies that the vehicle (1) should drive forward, reverse or stand still in the future; Means for specifying (340) one or more forward-oriented environmental sensors (11) or one or more rearward-oriented environmental sensors (11) of the vehicle (1) as a function of the driving parameters and the driving requirement; and Means for subsequently using (350) the predetermined sensors (11, 12) to detect objects (2) in an environment of the vehicle (1). [8] Computing unit, in particular control unit (15) of a vehicle (1), comprising a processor configured to execute the collision avoidance method (300) according to one of claims 1 to 6. [9] A computer program comprising instructions which, when the computer program is executed by a computer, cause the computer to execute the collision avoidance method (300) according to any one of claims 1 to 6. [10] A computer-readable data carrier on which the computer program according to claim 9 is stored.

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