Method for dealing with obstacles in an industrial truck during driving operation thereof

An industrial truck comprising:

• a vehicle body with at least three wheels provided thereon;
• a load handling device;
• at least one sensor unit which is configured to detect objects and determine respective lateral distances thereof to the industrial truck in a direction perpendicular to a main locomotion direction when laterally passed by the industrial truck;
• a routing unit;
• a steering angle sensor for detecting a traveled path of the industrial truck;
• and
• a control unit which is operationally coupled to the at least one sensor unit, the routing unit and the steering angle sensor and to which a storage unit is assigned,
• wherein, upon detection of each object, the control unit:
• stores the lateral distance of the object in the storage unit and at least one piece of information about a position or a position region of the object relative to the traveled path;
• determines a respective admissible maximum steering angle to at least a part of the object and previously detected objects on the basis of their respective stored lateral distances and a predetermined movement model of the industrial truck;
• selects a smallest of the admissible maximum steering angles as a critical steering angle;
• and
• compares the critical steering angle with a current steering angle of the industrial truck which is determined by means of a steering angle sensor, and
• if the current steering angle of the industrial truck is larger than the critical steering angle, triggers at least one predetermined measure.