Abstract: A sorting system includes a plurality of vehicles configured to move along trajectories in the sorting system. The sorting system includes a calculator configured to calculate a third number of trajectories between a first number of start points and a second number of end points, wherein a speed specification for a vehicle along the trajectories is allocated to each trajectory. The sorting system includes a coordinator configured to transmit drive requests to the plurality of vehicles, wherein each drive request includes a drive from one of the start points to one of the end points along one of the trajectories. Further, the sorting system includes a collision avoidance unit to amend the speed specification allocated to the trajectory based on the collision information to obtain an amended speed specification and to prevent the possible collision.