A method for avoiding a mobile zone by a vehicle. A vehicle laterally avoids a mobile zone using periodically supplied information relating to the zone to be avoided starting from an initially planned route. The envelope of the zone to be avoided is periodically defined and a circumscribed circle about...http://www.google.de/patents/US6097996?utm_source=gb-gplus-sharePatent US6097996 - Method for the lateral avoidance of a mobile zone by a vehicle
