Method for collision detection and autonomous system

A method for detecting an imminent collision between an object and a component of an autonomous system in a real environment comprising at least one real, decentralized autonomous component, whereby of at least a part of the autonomous system a virtual image is available, emulating at least one aspect of the autonomous system, the method comprising:

• a) transferring data to the virtual image of the autonomous system, the data comprising:
• component data providing information in relation to a movement of the at least one real autonomous component and object data providing information in relation to a movement of the object;
• b) generating, in the virtual image, a corpus around the virtual image of the object based on a spatial position of the object from a wearable detector attached to the object, which defines a volume that cannot be entered by the virtual image of the at least one autonomous component wherein the object is a human being and the corpus around the virtual image of the human being is formed by more than one parallelepiped box to model a body and arms of the human, each by one separate parallelepiped box;
• c) processing the component data and the object data in the virtual image and generating feedback data providing information about movements of the virtual images of the object and the autonomous component;
• and
• d) transferring feedback data from the virtual image of the autonomous system to the real autonomous component for use by the autonomous component when deciding about a further movement.