Method for dealing with obstacles in an industrial truck

A method for dealing with obstacles in an industrial truck that comprises at least one sensor unit arranged in a main direction of travel of the industrial truck and configured to detect obstacles in a predetermined angular range, the method comprising:

• detecting a current speed using a speed sensor of the industrial truck and a current steering angle of at least one steered wheel of the industrial truck using a steering angle sensor of the industrial truck;
• calculating, by a control unit, a protection zone based on the current steering angle and a known vehicle outline, wherein the protection zone corresponds to an area to be traversed by the known vehicle outline in a predetermined time period;
• evaluating, by the control unit, data supplied by the at least one sensor unit in response to detecting an obstacle within the protection zone of the industrial truck;
• and
• responsive to detecting the obstacle in the protection zone:
• calculating a right side steering angle difference representing a difference in the current steering angle and an angle required to avoid a collision with the obstacle on a right side of the industrial truck;
• calculating a left side steering angle difference representing a difference in the current steering angle and an angle required to avoid a collision with the obstacle on a left side of the industrial truck;
• classifying a current degree of difficulty in avoiding obstacles based at least on the current speed, and either of the right side steering angle difference and the left side steering angle difference exceeding a steering angle difference limit value, wherein the current degree of difficulty distinguishes between an intentional and an unintentional violation of the protection zone by a human driver of the industrial truck;
• and
• performing a predetermined action based on determining that the current degree of difficulty in avoiding the collision exceeds a predetermined degree of difficulty, wherein the predetermined action comprises one or more of:
• automatically braking the industrial truck;
• limiting a maximum speed of the industrial truck;
• or
• temporarily generating a warning which is presented to an operator of the industrial truck until the obstacle is no longer in the protection zone.