Half-Duplex Communications Over Serial Connection

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I'm trying to setup an interface between two devices without losing data due to bit errors. Currently, I have two raspberry pi's which are each connected to a USB/RS485 converter. The two converter's are connected with a 3-wire cable, TX/RX/GND.

Because it is half duplex, if I write to either of the /dev/ttyUSB0 serial ports at the same time, it will cause bit errors. What is the best way to setup this system to avoid this issue? enter image description here

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