Method and apparatus for mixed-operation, and unmanned vehicle

Abstract

Abstract A method and apparatus for mixed-operation, and an unmanned vehicle are provided in the present disclosure. The method includes the following steps. An unmanned vehicle located in a mixed-operation area performs real-time detection on driving information of manned vehicles within a detection range. It is determined, according to the driving information of the manned vehicles, whether at least one manned vehicle that satisfies a mixed-operation entry condition exists in the detection range. In response to the at least one manned vehicle that satisfies the mixed- operation entry condition existing in the detection range, the unmanned vehicle is controlled to enter a mixed-operation mode. In response to the driving information of the manned vehicles within the detection range of the unmanned vehicle indicating that all the manned vehicles satisfy a mixed-operation exit condition, the unmanned vehicle is controlled to exit the mixed-operation mode. Abstract mode. 20 26 22 32 32 26 A ug 2 02 6 A b s t r a c t 2 0 2 6 2 2 3 2 3 2 2 6 2 0 2 6 A u g m o d e . A b s t r a c t 2 0 2 6 2 2 3 2 3 2 2 6 2 0 2 6 A u g m o d e . 1 / 4 An unmanned vehicle located in a mixed-operation area performs real- time detection on driving information of manned vehicles within a detection range S101 It is determined, according to the driving information of the manned vehicles, whether at least one manned vehicle that satisfies a mixed- operation entry condition exists in the detection range S102 In response to the at least one manned vehicle that satisfies the mixed- operation entry condition existing in the detection range, the unmanned vehicle is controlled to enter a mixed-operation mode S103 In response to the driving information of the manned vehicles within the detection range of the unmanned vehicle indicating that all the manned vehicles satisfy a mixed-operation exit condition, the unmanned vehicle is controlled to exit the mixed-operation mode S104 FIG. 1 1 / 4 S102 S103 FIG. 1 20 26 22 32 32 26 A ug 2 02 6 1 / 4 2 0 2 6 2 2 3 2 3 2 2 6 A u g 2 0 2 6 S 1 0 2 S 1 0 3 F I G . 1 1 / 4 2 0 2 6 2 2 3 2 3 2 2 6 A u g 2 0 2 6 S 1 0 3 F I G . 1

Description

The present disclosure claims priority of Chinese Patent Application No. 202511386274.3, filed to China National Intellectual Property Administration on September 26, 2025 and 5      titled “Method and Apparatus for Mixed-operation, and Unmanned Vehicle”, the content of which is hereby incorporated by reference in its entirety. TECHNICAL FIELD The present disclosure relates to the technical field of smart mines, unmanned driving, and vehicle control, and in particular, to a method and apparatus for mixed-operation, and an 10      unmanned vehicle. BACKGROUND OF THE INVENTION With the rapid growth of unmanned driving business in mining areas, it is impractical to allocate independent operating sites for unmanned vehicles in mining areas. Moreover, most mining areas adopt a gradual deployment mode for the unmanned vehicles, and the 15      unmanned vehicles cannot replace all manned vehicles at once. Therefore, mixed-operation of the unmanned vehicles and the manned vehicles has become an inevitable trend in the unmanned transformation of the mining areas. In a traditional mixed-operation mode, dedicated vehicle-mounted terminals with positioning functions are usually installed on the manned vehicles, and combined with a cloud-based intelligent dispatch system, the manned 20      vehicles and the unmanned vehicles are uniformly dispatched to achieve mixed-operation. However, this mode is difficult to be applied on a large scale due to problems such as additional terminal costs, terminals may not be able to be used normally due to factors such as failures, offline, and network fluctuations, and it is difficult to manage since drivers completely operate according to terminal instructions. 25 SUMMARY OF THE INVENTION Some embodiments of the present disclosure provide a method and apparatus for mixed-operation, and an unmanned vehicle, to solve the problems of high cost, poor stability, and high management difficulty caused by the need to install a dedicated vehicle-mounted terminal in an existing mixed-operation mode. 2026223232   26 Aug 2026 Based on the above problems, in a first aspect, some embodiments of the present disclosure provide a method for mixed-operation, including: performing, by an unmanned vehicle located in a mixed-operation area, real-time detection on driving information of manned vehicles within a detection range; 5       determining, according to the driving information of the manned vehicles, whether at least one manned vehicle that satisfies a mixed-operation entry condition exists in the detection range; controlling, in response to the at least one manned vehicle that satisfies the mixed-operation entry condition existing in the detection range, the unmanned vehicle to enter a mixed- 10      operation mode; and controlling, in response to the driving information of the manned vehicles within the detection range of the unmanned vehicle indicating that all the manned vehicles satisfy a mixed-operation exit condition, the unmanned vehicle to exit the mixed-operation mode. Compared with the first aspect, in some embodiments, determining, according to the driving 15       information of the manned vehicles, whether at least one manned vehicle that satisfies a mixed-operation entry condition exists in the detection range includes: acquiring status information of the manned vehicles, where the status information includes a moving state or a stationary state; determining target indicator information corresponding to the status information of the 20       manned vehicles as the driving information; determining, according to the driving information of the manned vehicles, whether the at least one manned vehicle satisfies the mixed-operation entry condition. Compared with the first aspect, in some embodiments, the target indicator information includes at least one of: position information, travel speed, or travel direction. 25       Compared with the first aspect, in some embodiments, determining the target indicator information corresponding to the status information of the manned vehicles as the driving information includes: in response to the status information of the manned vehicles indicating that the manned vehicles are in the stationary state, determining position information of the manned vehicles 30       as the driving information; or 2026223232   26 Aug 2026 in response to the status information of the manned vehicles indicating that the manned vehicles are in the moving state, determining the position information, travel speed, and travel direction of the manned vehicles as the driving information. Compared with the first aspect, in some embodiments, determining, according to the driving 5       information of the manned vehicles, whether the at least one manned vehicle satisfies the mixed-operation entry condition includes: in response to the status information of the manned vehicles indicating that the manned vehicles are in the stationary state, and the position information of the at least one manned vehicle indicating that the at least one manned vehicle is located on a planned trajectory of 10      the unmanned vehicle, to cause the unmanned vehicle to be unable to proceed to a next task point according to the planned trajectory, determining that the at least one manned vehicle satisfies the mixed-operation entry condition; or in response to the status information of the manned vehicles indicating that the manned vehicles are in the stationary state, the position information of the at least one manned 15       vehicle indicating that the at least one manned vehicle is located on the planned trajectory of the unmanned vehicle or an extension line of the planned trajectory, and a distance to an end point of the planned trajectory of the unmanned vehicle is less than a first preset value, determining that the at least one manned vehicle satisfies the mixed-operation entry condition. 20       Compared with the first aspect, in some embodiments, determining, according to the driving information of the manned vehicles, whether the at least one manned vehicle satisfies the mixed-operation entry condition includes: in response to the status information of the manned vehicles indicating that the manned vehicles are in the moving state, predicting a travel trajectory of each manned vehicle 25       according to the position information, travel speed, and travel direction of the manned vehicles to obtain a predicted trajectory of each manned vehicle; and determining, according to a positional relationship between the predicted trajectory and the planned trajectory of the unmanned vehicle, and the position information and the travel speed of the manned vehicles, whether the at least one manned vehicle satisfies the mixed-30       operation entry condition. 2026223232   26 Aug 2026 Compared with the first aspect, in some embodiments, determining, according to the positional relationship between the predicted trajectory and the planned trajectory of the unmanned vehicle, and the position information and the travel speed of the manned vehicles, whether the at least one manned vehicle satisfies the mixed-operation entry 5       condition includes: in response to the position information of the manned vehicles indicating that the manned vehicles are not on the planned trajectory of the unmanned vehicle, determining, according to the position information and the travel speed of the manned vehicles, whether the at least one manned vehicle arrives at a trajectory intersection point earlier than the unmanned 10       vehicle; and in response to the at least one manned vehicle arriving at the trajectory intersection point earlier than the unmanned vehicle, and an angle formed by travel direction vectors respectively corresponding to the predicted trajectory and the planned trajectory of the unmanned vehicle at the trajectory intersection point being less than a first preset angle, 15       determining that the at least one manned vehicle satisfies the mixed-operation entry condition. Compared with the first aspect, in some embodiments, the method further includes: in response to the at least one manned vehicle arriving at the trajectory intersection point earlier than the unmanned vehicle, and the angle formed by the travel direction vectors 20       respectively corresponding to the predicted trajectory and the planned trajectory of the unmanned vehicle at the trajectory intersection point being greater than or equal to a first preset angle, controlling the unmanned vehicle to perform deceleration braking for avoidance. Compared with the first aspect, in some embodiments, controlling, in response to the at least 25       one manned vehicle that satisfies the mixed-operation entry condition existing in the detection range, the unmanned vehicle to enter the mixed-operation mode includes: in response to the at least one manned vehicle that satisfies the mixed-operation entry condition existing in the detection range, and the unmanned vehicle being in the stationary state, controlling the unmanned vehicle to continue to maintain the stationary state; and 30       in response to the at least one manned vehicle that satisfies the mixed-operation entry condition existing in the detection range, and the unmanned vehicle is in the moving state, 2026223232   26 Aug 2026 controlling the unmanned vehicle to perform deceleration braking until reaching the stationary state. Compared with the first aspect, in some embodiments, controlling, in response to the driving information of the manned vehicles within the detection range of the unmanned vehicle 5       indicating that all the manned vehicles satisfy the mixed-operation exit condition, the unmanned vehicle to exit the mixed-operation mode includes: in response to determining, according to the driving information of the manned vehicles, that all the manned vehicles within the detection range of the unmanned vehicle do not satisfy the mixed-operation entry condition, controlling the unmanned vehicle to exit the 10      mixed-operation mode and start moving to continue operation. Compared with the first aspect, in some embodiments, performing, by the unmanned vehicle located in the mixed-operation area, real-time detection on the driving information of the manned vehicles within the detection range includes: in response to the unmanned vehicle entering a first task state corresponding to a mixed-operation task point in the 15       mixed-operation area, triggering the unmanned vehicle to turn on a mixed-operation function switch to perform real-time detection on the driving information of the manned vehicles within the detection range; or, the method further includes: in response to the unmanned vehicle entering a second task state corresponding to a mixed-operation task point in the mixed-operation area, triggering 20       the unmanned vehicle to turn off a mixed-operation function switch to stop performing real time detection on the driving information of the manned vehicles within the detection range, and exit the mixed-operation mode. Compared with the first aspect, in some embodiments, the method further includes: performing structural processing on a map of the mixed-operation area in advance to 25       determine mixed-operation task points; where the mixed-operation area includes at least one of: a loading area or an unloading area, the loading area is structured into at least one of the following task points: a loading area entrance, a turning completion point, a position to be loaded, or a loading position; the unloading area is structured into at least one of the following task points: an unloading area 30       entrance, a position to be unloaded, or an unloading position; and the mixed-operation task points include: the position to be loaded and the loading position in the loading area, and 2026223232   26 Aug 2026 the unloading area entrance, the position to be unloaded, and the unloading position in the unloading area. Compared with the first aspect, in some embodiments, for a loading area, the first task state includes: entering a position to be loaded, waiting at the position to be loaded, and entering 5       a loading position; and for an unloading area, the first task state includes: entering an unloading area entrance, waiting at a position to be unloaded, and entering an unloading position; and / or, for a loading area, the second task state includes: performing loading operation at a loading position; and for an unloading area, the second task state includes: performing unloading 10       operation at an unloading position. Compared with the first aspect, in some embodiments, the method further includes: in response to the unmanned vehicle entering the mixed-operation mode and the unmanned vehicle is in the stationary state, sending prompt information to a control terminal, where the prompt information indicates that the unmanned vehicle is stationary due to the mixed- 15      operation mode; and after receiving an instruction to exit the mixed-operation mode sent by the control terminal, controlling the unmanned vehicle to exit the mixed-operation mode. In a second aspect, some embodiments of the present disclosure provide an apparatus for mixed-operation, including: 20      a manned vehicle detection module, configured to perform, by an unmanned vehicle located in a mixed-operation area, real-time detection on driving information of manned vehicles within a detection range; a manned vehicle mixed-operation entry determination module, configured to determine, according to the driving information of the manned vehicles, whether at least one manned 25       vehicle that satisfies a mixed-operation entry condition exists in the detection range; and a mixed-operation module, configured to control, in response to the at least one manned vehicle that satisfies the mixed-operation entry condition existing in the detection range, the unmanned vehicle to enter a mixed-operation mode; and control, in response to the driving information of the manned vehicles within the detection range of the unmanned vehicle 2026223232   26 Aug 2026 indicating that all the manned vehicles satisfy a mixed-operation exit condition, the unmanned vehicle to exit the mixed-operation mode. In a third aspect, an unmanned vehicle is provided, including: the apparatus for mixed-operation according to the second aspect. 5       The beneficial effects of some embodiments of the present disclosure include: The method and apparatus for mixed-operation, and the unmanned vehicle provided in the present disclosure include the following steps. The unmanned vehicle located in the mixed-operation area performs real-time detection on driving information of manned vehicles within the detection range. It is determined, according to the driving information of the 10       manned vehicles, whether the at least one manned vehicle that satisfies the mixed-operation entry condition exists in the detection range. In response to the at least one manned vehicle that satisfies the mixed-operation entry condition existing in the detection range, the unmanned vehicle is controlled to enter the mixed-operation mode. In response to the driving information of the manned vehicles within the detection range of the unmanned 15       vehicle indicates that all the manned vehicles satisfy the mixed-operation exit condition, the unmanned vehicle is controlled to exit the mixed-operation mode. The method for mixed-operation provided in some embodiments of the present disclosure does not require installing dedicated vehicle-mounted terminals on the manned vehicles, and can achieve mixed-operation relying on the detection capability of the unmanned vehicle. This 20       effectively avoids additional costs generated by device procurement and maintenance in traditional modes, eliminates the management step of requiring manned vehicle drivers to operate according to terminal instructions, significantly lowers the threshold for implementation, and facilitates large-scale promotion of the mixed-operation mode. Through acquiring the driving information of the manned vehicles in real time, the mixed- 25       operation entry condition and the mixed-operation exit condition are accurately determined, which avoids unreasonable driving behaviors of the unmanned vehicle caused by information lag. This reduces the risks of collision and operation interference throughout the entire process of manned vehicle entry, mixed-operation coordination, and exit, can be adapted to the full scenarios of “mining, transportation, and discharging” in mining areas, 30       and fully ensures operation safety. In addition, the operation intrusion intention of the manned vehicles can be accurately identified, and the switching of the mixed-operation mode of the unmanned vehicle can be automatically completed without manual 2026223232   26 Aug 2026 intervention. The operation strategy is dynamically adjusted according to the actual driving information of the manned vehicles, which perfectly adapts to the characteristics of gradual deployment of the unmanned vehicle and diverse operation scenarios in the mining areas, thereby improving the flexibility of mixed-operation and further enhancing the overall 5       operation efficiency. BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a first flowchart of a method for mixed-operation according to some embodiments of the present disclosure. FIG. 2 is a second flowchart of a method for mixed-operation according to some 10       embodiments of the present disclosure. FIG. 3 is a third flowchart of a method for mixed-operation according to some embodiments of the present disclosure. FIG. 4 is a schematic diagram of a mixed-operation task point according to some embodiments of the present disclosure. 15       FIG. 5 is a structural diagram of an apparatus for mixed-operation according to some embodiments of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION Some embodiments of the present disclosure provide a method and apparatus for mixed-operation, and an unmanned vehicle. The exemplary embodiments of the present disclosure 20      will be described below with reference to the accompanying drawings. It should be understood that the exemplary embodiments described herein are used for illustrating and explaining the present disclosure, and are not intended to limit the present disclosure. In addition, the embodiments and the features in the embodiments in the present disclosure are combined with each other in a case of no conflict. 25       Some embodiments of the present disclosure provide a method for mixed-operation. As shown in FIG. 1, the method includes the following steps. In step S101, an unmanned vehicle located in a mixed-operation area performs real-time detection on driving information of manned vehicles within a detection range. 2026223232   26 Aug 2026 In step S102, it is determined, according to the driving information of the manned vehicles, whether at least one manned vehicle that satisfies a mixed-operation entry condition exists in the detection range. In step S103, in response to the at least one manned vehicle that satisfies the mixed-5       operation entry condition existing in the detection range, the unmanned vehicle is controlled to enter a mixed-operation mode. In step S104, in response to the driving information of the manned vehicles within the detection range of the unmanned vehicle indicating that all the manned vehicles satisfy a mixed-operation exit condition, the unmanned vehicle is controlled to exit the mixed-10      operation mode. In the embodiments of the present disclosure, with the rapid expansion of the unmanned driving business in mining areas, the mode of requiring mining areas to divide independent operation sites exclusively for unmanned vehicles has gradually shown impractical limitations. On the one hand, when promoting unmanned transformation, most mining areas 15       adopt a strategy of gradually deploying unmanned vehicles, making it difficult to achieve a one-time replacement of all manned vehicles. On the other hand, the planning and construction of independent sites not only require high cost investment but may also be limited by the existing terrain and facility layout of the mining areas, making it difficult to promote on a large scale. In this context, achieving mixed operation of unmanned vehicles 20      and manned vehicles has become an inevitable trend in promoting the unmanned transformation of mining areas. Therefore, in traditional methods, a mixed-operation mode for manned vehicles with dedicated vehicle-mounted terminals is proposed. In this mode, dedicated vehicle-mounted terminals with positioning functions are uniformly installed on the manned vehicles participating in the mixed operation, and then the manned vehicles and 25       the unmanned vehicles are uniformly dispatched through a cloud-based intelligent dispatch system to achieve mixed operation. However, this mode has the following obvious disadvantages, making it difficult to be applied on a large scale: 1. High cost: Installing vehicle-mounted terminals for all manned vehicles participating in the mixed operation will generate additional costs for equipment procurement, installation, 30       and maintenance, posing pressure on the operation budget of the mining areas; 2. Poor stability: The normal operation of the dedicated vehicle-mounted terminals relies on a plurality of factors such as the performance of the devices and network signals. Once 2026223232   26 Aug 2026 device failures, signal offline, or network fluctuations occur, the dedicated vehicle-mounted terminals will be unable to normally transmit data, directly affecting the accuracy of the intelligent dispatch system, thereby interfering with the operation process; 3. Difficult management: The drivers of the manned vehicles need to completely execute 5       the operation according to the terminal instructions. However, in actual operation, the drivers find it difficult to strictly follow the instructions due to factors such as operation habits and determinations of unexpected situations, which increases the complexity of onsite management and may also cause operation coordination problems. Therefore, achieving efficient mixed operation of manned vehicles and unmanned vehicles 10       in mining area operation scenarios is still a key problem that the current industry urgently needs to solve. In the embodiments of the present disclosure, the unmanned vehicle is an unmanned mining truck, which is usually installed with a dedicated vehicle-mounted terminal. Through Vehicle-to-Vehicle Communication (V2V), the unmanned vehicle communicates with 15      other unmanned vehicles within the detection range or communication range of the unmanned vehicle to acquire driving information of the other unmanned vehicles. The manned vehicles cover common vehicle types in mining areas, for example: production command vehicles (pickup trucks or SUVs), bulldozers, graders, water trucks, fuel trucks, excavators, and manned mining trucks. These vehicles are not installed with dedicated 20      vehicle-mounted terminals. When the dedicated vehicle-mounted terminals are not installed, these vehicles cannot communicate with the unmanned vehicle to acquire the driving information of the manned vehicles and the unmanned vehicle. The unmanned vehicle is configured with a combined navigation device as a positioning module to acquire current position information. In addition, various types of sensing devices are also 25       configured, for example: cameras, lidar, millimeter-wave radar, and ultrasonic radar, to perform real-time detection on obstacles. The obstacles include the manned vehicles. For example, the unmanned vehicle utilizes various types of sensing devices to perform realtime detection on the driving information of the manned vehicles. The mixed-operation area is an area in the mining area where both the manned vehicles and the unmanned vehicle 30       perform operations, for example, a loading area, an unloading area, and a transportation road. The unmanned vehicle located in the mixed-operation area perform real-time detection on the driving information of the manned vehicles within the detection range to 2026223232   26 Aug 2026 ensure operation safety. According to the driving information of the manned vehicles, it is determined one by one whether the manned vehicles within the detection range meet mixed-operation requirements by comparing with preset mixed-operation entry conditions. The mixed-operation entry conditions are designed for identifying whether the manned vehicles 5       have an intention to intrude into the planned trajectory of the unmanned vehicle. Further, when the at least one manned vehicle satisfying the mixed-operation entry condition is determined, the unmanned vehicle is controlled to enter the mixed-operation mode. After entering the mixed-operation mode, the unmanned vehicle optimizes an operation logic of this unmanned vehicle in a targeted manner to ensure driving safety. For 10       example, the safe distance is increased, dynamic tracking of the at least one manned vehicle is enhanced, and operation priorities are adjusted (the at least one manned vehicle satisfying the mixed-operation entry condition is preferentially avoided to avoid position grabbing conflict), and coordinated operation with the at least one manned vehicle is enabled (for example, the intention of the unmanned vehicle is prompted to the at least one manned 15       vehicle through signals such as lights and horns to assist drivers in determination). The core purpose of the mixed-operation mode is to enable the unmanned vehicle to quickly adapt to mixed-operation scenarios. Through adjusting the operation logic, safe and efficient coordination with the at least one manned vehicle satisfying the mixed-operation entry condition is achieved to complete operation tasks such as mining, transportation, and 20      discharging. The unmanned vehicle continuously performs real-time detection on the driving information of the at least one manned vehicle within the detection range. When it is determined that all the manned vehicles within the detection range satisfy the mixed-operation exit condition, the unmanned vehicle exits the mixed-operation mode and restores the efficient operation parameters of the unmanned vehicle (such as increasing the travel 25       speed and shortening the safe distance), thereby improving the operation efficiency of the unmanned vehicle and avoiding resource waste. In the embodiments of the present application, without relying on the manned vehicles to install dedicated vehicle-mounted terminals, the mixed operation can be achieved through the self-detection of the unmanned vehicle, avoiding the device costs, maintenance costs, 30       and driver management difficulties of the traditional methods, and facilitating the large- scale implementation of the mixed-operation schemes. Through performing real-time detection on the driving information of the manned vehicles and determining the mixed-operation entry condition and the mixed-operation exit condition, unreasonable driving 2026223232   26 Aug 2026 behaviors of the unmanned vehicle caused by information lag are reduced, and the risks of collision and interference of the manned vehicles during the processes of entering the mixed operation, mixed operation, and exiting the mixed operation are reduced. This mode is applicable to full scenarios and ensures operation safety. Through accurately determining 5       the intrusion intention of the manned vehicles, manual intervention in the switching of the mixed-operation mode of the unmanned vehicle is not required. Dynamic adjustments are made according to the actual conditions of the manned vehicles, adapting to the characteristics of the gradual deployment of unmanned vehicle in mining areas and the changing operation scenarios, thereby improving the operation efficiency and enhancing 10       the flexibility of the mixed operation. In some embodiments, in the step S102, an operation of determining, according to the driving information of the manned vehicles, whether at least one manned vehicle that satisfies a mixed-operation entry condition exists in the detection range includes the following steps. 15       In step 1, status information of the manned vehicles is acquired, where the status information includes a moving state or a stationary state. In step 2, target indicator information corresponding to the status information of the manned vehicles is determined as the driving information. In step 3, it is determined, according to the driving information of the manned vehicles, 20       whether the at least one manned vehicle satisfies the mixed-operation entry condition. In the embodiments of the present disclosure, the status information of the manned vehicles is clarified, and the target indicator information is determined for the moving state and the stationary state to determine whether the at least one manned vehicle satisfies the mixed-operation entry condition. Regarding the step 1, the unmanned vehicle detects whether the 25       at least one manned vehicle is in the moving state or the stationary state through a sensing device, for example, determining the change in the position of the at least one manned vehicle through point cloud data. When the position coordinates of the at least one manned vehicle do not have obvious changes within a plurality of consecutive detection cycles, the status information of the at least one manned vehicle is clarified as the stationary state. 30       Otherwise, the status information of the at least one manned vehicle is the moving state. In the mining area operation, the state of the at least one manned vehicle changes frequently, such as parking on the side of the road, changing lanes, and turning. Through identifying 2026223232   26 Aug 2026 the moving state and the stationary state, the state changes of the at least one manned vehicle are comprehensively covered. Regarding the step 2, the target indicator information is determined for the moving state and the stationary state, respectively, as the driving information. For example, the moving state focuses on the position, the speed, and the travel 5       direction, while the stationary state focuses on the parking position and the duration. Regarding the step 3, it is determined whether the at least one manned vehicle satisfies the mixed-operation entry condition according to the driving information of the manned vehicles. Through distinguishing the moving state or the stationary state of the at least one manned vehicle, differentiated mixed-operation entry conditions can be formulated, and 10       then the target indicator information is determined in a targeted manner as the driving information, thereby ensuring that the at least one manned vehicle that truly has the basis for coordination can enter the mixed operation, further reducing the mixed-operation risk. In some embodiments, the target indicator information includes at least one of: position information, travel speed, or travel direction. 15       In the embodiments of the present disclosure, the position information can help the unmanned vehicle determine a relative distance from the at least one manned vehicle, thereby ensuring a safe distance and avoiding collision risks. The travel speed can ensure that the unmanned vehicle is within a speed range that can be coordinated by the at least one manned vehicle, avoiding over-speed driving. The combination of the position 20       information, the travel speed, and the travel direction can prevent operation conflicts caused by crossing paths, allowing the unmanned vehicle to take measures in advance, such as entering the mixed-operation mode or planning a new path. Through detecting the position information, the travel speed, and the travel direction of the at least one manned vehicle, the determination of the mixed-operation entry condition can be completed, thereby 25      reducing the complexity of data processing and improving the system response speed. In some embodiments, in the step 2, an operation of determining the target indicator information corresponding to the status information of the manned vehicles as the driving information includes the following steps: in step one, in response to the status information of the manned vehicles indicating that the 30       manned vehicles are in the stationary state, position information of the manned vehicles is determined as the driving information; or 2026223232   26 Aug 2026 in step two, in response to the status information of the manned vehicles indicating that the manned vehicles are in the moving state, the position information, travel speed, and travel direction of the manned vehicles are determined as the driving information. In the embodiments of the present disclosure, the position information of the at least one 5       manned vehicle is determined when the at least one manned vehicle is in the stationary state, and the position information, the travel speed, and the travel direction of the at least one manned vehicle are determined when the at least one manned vehicle is in the moving state. Through the manner of determining on demand, accurate and efficient driving information support is provided for the subsequent determination of the mixed-operation entry 10       condition. Regarding the step one, when the unmanned vehicle determines that the at least one manned vehicle is in the stationary state through a sensing device, the position information of the at least one manned vehicle is taken as the driving information. The unmanned vehicle determines the position information of the at least one manned vehicle to avoid the at least one manned vehicle hindering the operation route of the unmanned 15       vehicle. Regarding the step two, when the at least one manned vehicle is in the moving state, the position information, the travel speed, and the travel direction of the at least one manned vehicle are taken as the driving information. Through the position information, the travel speed, and the travel direction, the travel trajectory of the at least one manned vehicle is identified, and a safe distance is maintained in combination with the planned trajectory 20       of the unmanned vehicle, thereby avoiding rear-end collisions or scratches. The driving information is determined separately for the stationary state and the moving state, reducing the processing amount of the sensing device of the unmanned vehicle and the system computing load, making the data processing more focused on core target indicator information, and improving the determination response speed. The actual state of the at least 25      one manned vehicle in the mixed operation in the mining area is accurately matched, the key dimensions required for the coordination determination are comprehensively covered, the real operation scenarios are better adapted, and the integrity and accuracy of the subsequent mixed-operation entry condition determination are ensured. In some embodiments, in the step 3, an operation of determining, according to the driving 30       information of the manned vehicles, whether the at least one manned vehicle satisfies the mixed-operation entry condition includes the following steps: 2026223232   26 Aug 2026 in step one, in response to the status information of the manned vehicles indicating that the manned vehicles are in the stationary state, and the position information of the at least one manned vehicle indicating that the at least one manned vehicle is located on a planned trajectory of the unmanned vehicle, to cause the unmanned vehicle to be unable to proceed 5       to a next task point according to the planned trajectory, determining that the at least one manned vehicle satisfies the mixed-operation entry condition; or, in step two, in response to the status information of the manned vehicles indicating that the manned vehicles are in the stationary state, the position information of the at least one manned vehicle indicating that the at least one manned vehicle is located on the planned 10       trajectory of the unmanned vehicle or an extension line of the planned trajectory, and a distance to an end point of the planned trajectory of the unmanned vehicle is less than a first preset value, determining that the at least one manned vehicle satisfies the mixed-operation entry condition. In the embodiments of the present disclosure, taking whether the position information of 15       the at least one manned vehicle affects the planned trajectory of the unmanned vehicle as a core criterion, it is determined whether the at least one manned vehicle has an intention to intrude into the planned trajectory of the unmanned vehicle, ensuring that the unmanned vehicle can coordinate the operation relationship with the at least one manned vehicle in the stationary state through the mixed-operation mode. Regarding the step one, in the process 20       of traveling to various task points to execute operation tasks, the unmanned vehicle generates the planned trajectory, and travels according to the planned trajectory to reach the various task points to complete the operation tasks. Through a positioning module and a sensing device, the unmanned vehicle compares the position information, such as position coordinates, of the at least one manned vehicle in the stationary state with the planned 25       trajectory to determine whether the at least one manned vehicle is located on the planned trajectory. When it is confirmed that the at least one manned vehicle is located on the planned trajectory and causes the unmanned vehicle to be unable to proceed to the next task point according to the planned trajectory, for example, the planned trajectory of the unmanned vehicle is traveling in a straight line to a loading position at 500 meters, and the 30       at least one manned vehicle is stopped on the planned trajectory at 200 meters, causing the task of the unmanned vehicle to be blocked, it is determined that the at least one manned vehicle in the stationary state satisfies the mixed-operation entry condition. The unmanned vehicle needs to enter the mixed-operation mode to avoid the risk. Regarding the step two, 2026223232   26 Aug 2026 in the stationary state of the at least one manned vehicle, although the planned trajectory of the unmanned vehicle is not directly hindered, when the position information is close to the end point of the planned trajectory of the unmanned vehicle, the unmanned vehicle and the at least one manned vehicle need to perform coordinated operation. The unmanned vehicle 5       first compares the relationship between the position information of the at least one manned vehicle in the stationary state and the planned trajectory to determine whether the at least one manned vehicle is located on the planned trajectory or on the extension line of the planned trajectory. When the above conditions are satisfied, and the distance between the at least one manned vehicle and the end point of the planned trajectory of the unmanned 10       vehicle is calculated through the position information and compared with the first preset value. When the distance is less than the first preset value, it is determined that the at least one manned vehicle in the stationary state satisfies the mixed-operation entry condition. The magnitude of the first preset value is related to the type of the unmanned vehicle, and the type of the unmanned vehicle is related to the body length of the unmanned vehicle. The 15       setting of the first preset value needs to ensure that a safe distance is maintained between the unmanned vehicle and the at least one manned vehicle. For example, the end point of the planned trajectory of the unmanned vehicle is located at an unloading position, and the manned vehicle in the stationary state is at a distance of 5 meters from the unloading position, possibly waiting for unloading or waiting to drive away after completing the 20       unloading. When this distance is less than the first preset value, it is determined that the at least one manned vehicle in the stationary state satisfies the mixed-operation entry condition, and the unmanned vehicle needs to enter the mixed-operation mode to avoid the risk. When the at least one manned vehicle is in the stationary state, through determining through clear position information whether the at least one manned vehicle has an intention 25       to intrude into the planned trajectory of the unmanned vehicle, it is further determined whether the unmanned vehicle enters the mixed-operation mode, thereby avoiding the unmanned vehicle blindly changing the planned trajectory when encountering the at least one manned vehicle in the stationary state, reducing on-site conflicts such as collisions and route blockages, and ensuring operation safety. 30       In some embodiments, in the step 3, an operation of determining, according to the driving information of the manned vehicles, whether the at least one manned vehicle satisfies the mixed-operation entry condition includes the following steps. 2026223232   26 Aug 2026 In step one, in response to the status information of the manned vehicles indicating that the manned vehicles are in the moving state, a travel trajectory of each manned vehicle is predicted according to the position information, travel speed, and travel direction of the manned vehicles to obtain a predicted trajectory of each manned vehicle. 5       In step two, it is determined, according to a positional relationship between the predicted trajectory and the planned trajectory of the unmanned vehicle, and the position information and the travel speed of the manned vehicles, whether the at least one manned vehicle satisfies the mixed-operation entry condition. In the embodiments of the present disclosure, through performing comparative analysis on 10       the predicted trajectory of the at least one manned vehicle in the future and the planned trajectory of the unmanned vehicle, it is determined whether the at least one manned vehicle has an intention to intrude into the planned trajectory of the unmanned vehicle, and a comprehensive evaluation is made on whether there is a potential coordination requirement or conflict risk between the at least one manned vehicle and the unmanned vehicle. 15       Regarding the step 1, when the at least one manned vehicle is in the moving state, based on the current position information, the travel speed, and the travel direction of the at least one manned vehicle, and combined with road network constraint conditions in a mining area, a trajectory prediction algorithm, such as Kalman filtering or polynomial prediction, is used to generate the predicted trajectory of the at least one manned vehicle for a future time 20       period, for example, 5-10 seconds. The information of the current instantaneous state of the at least one manned vehicle is transformed into a prediction of future behavior, providing a time advance for the subsequent coordination determination, so that the unmanned vehicle has sufficient time to make decisions and adjustments. Regarding the step 2, it is determined whether the at least one manned vehicle satisfies the mixed-operation entry condition 25       according to the positional relationship between the predicted trajectory and the planned trajectory of the unmanned vehicle, and the position information and the travel speed of the at least one manned vehicle. For example, it is determined whether the trajectory intersection point exists between the predicted trajectory and the planned trajectory of the unmanned vehicle, and the collision risk of the at least one manned vehicle and the 30       unmanned vehicle at the trajectory intersection point is evaluated according to the position information and the travel speed of the at least one manned vehicle, thereby determining whether the at least one manned vehicle satisfies the mixed-operation entry condition, and whether the unmanned vehicle needs to enter the mixed-operation mode to avoid the risk. 2026223232   26 Aug 2026 Through trajectory prediction, the at least one manned vehicle in the moving state that intersects with the unmanned vehicle is identified in advance, avoiding operation confusion caused by temporarily finding the need for coordination. High-risk scenarios such as potential trajectory intersection points and rear-end collisions are identified in a timely 5       manner, and the mixed-operation mode is entered in advance to reduce the collision risk. Therefore, the speed matching is performed on the at least one manned vehicle traveling in the same direction, and vehicles are timely incorporated into the mixed-operation to form an orderly fleet. Early warning is provided for the vehicles with conflicts to avoid traffic congestion. 10       In some embodiments, in the step two, an operation of determining, according to the positional relationship between the predicted trajectory and the planned trajectory of the unmanned vehicle, and the position information and the travel speed of the manned vehicles, whether the at least one manned vehicle satisfies the mixed-operation entry condition includes the following steps. 15       In step one, in response to the position information of the manned vehicles indicating that the manned vehicles are not on the planned trajectory of the unmanned vehicle, it is determined, according to the position information and the travel speed of the manned vehicles, whether the at least one manned vehicle arrives at a trajectory intersection point earlier than the unmanned vehicle. 20       In step two, in response to the at least one manned vehicle arriving at the trajectory intersection point earlier than the unmanned vehicle, and an angle formed by travel direction vectors respectively corresponding to the predicted trajectory and the planned trajectory of the unmanned vehicle at the trajectory intersection point being less than a first preset angle, it is determined that the at least one manned vehicle satisfies the mixed-operation entry 25       condition. In the embodiments of the present disclosure, in a scenario where the at least one manned vehicle in the moving state is not on the planned trajectory of the unmanned vehicle, it is determined whether the at least one manned vehicle arrives at the trajectory intersection point earlier than the unmanned vehicle according to the position information and the travel 30       speed, and then it is verified whether an included angle formed by travel direction vectors respectively corresponding to the predicted trajectory and the planned trajectory of the unmanned vehicle at the trajectory intersection point is less than the first preset angle, so as 2026223232   26 Aug 2026 to determine whether the at least one manned vehicle satisfies the mixed-operation entry condition, thereby ensuring that the entry determination takes into account both the timesequence safety and the directional coordination. Regarding the step one, for the at least one manned vehicle in the moving state, when the position information of the manned vehicle 5       indicates that the manned vehicle is on the planned trajectory of the at least one unmanned vehicle, the at least one manned vehicle does not satisfy the mixed-operation entry condition, and the unmanned vehicle needs to travel while maintaining a safe distance from the preceding vehicle without entering the mixed-operation mode, thereby improving transportation efficiency. When the position information of the at least one manned vehicle 10       indicates that the at least one manned vehicle is not on the planned trajectory of the unmanned vehicle, it is determined whether the at least one manned vehicle arrives at the trajectory intersection point earlier than the unmanned vehicle according to the position information and the travel speed of the at least one manned vehicle, so as to determine whether the at least one manned vehicle has an intrusion intention on the planned trajectory 15      of the unmanned vehicle. Regarding the step two, when the unmanned vehicle arrives at the trajectory intersection point earlier than the at least one manned vehicle, the at least one manned vehicle does not satisfy the mixed-operation entry condition, and the unmanned vehicle needs to continue traveling while maintaining the planned trajectory and the travel speed without a collision risk. When the at least one manned vehicle arrives at the trajectory 20       intersection point earlier than the unmanned vehicle, there is a collision risk at this time, and the included angle formed by travel direction vectors respectively corresponding to the predicted trajectory and the planned trajectory of the unmanned vehicle at the trajectory intersection point is further analyzed to determine whether transverse insertion, overtaking insertion, or reverse insertion is performed by the at least one manned vehicle. When the 25       included angle is less than the first preset angle, for example, the first preset angle is 60 degrees, the above cases are satisfied, and it is determined that the at least one manned vehicle satisfies the mixed-operation entry condition. The determination of “arriving earlier” avoids congestion or collision caused by the two vehicles arriving at the intersection point simultaneously, and the included angle formed by the travel direction vectors excludes 30       directional conflicts, such as high-risk cases of driving in opposite directions, which conforms to the cases where the at least one manned vehicle performs the mixed-operation entry, and can satisfy scenarios such as intersection points in mining areas, multi-branch roads, transverse insertion, overtaking insertion, and reverse insertion, thereby accurately 2026223232   26 Aug 2026 determining the coordination requirements of the manned vehicles in the moving state on different trajectories, and improving the adaptability to complex scenarios. In some embodiments, the method further includes the following step. In step 1, in response to the at least one manned vehicle arriving at the trajectory intersection 5       point earlier than the unmanned vehicle, and the angle formed by the travel direction vectors respectively corresponding to the predicted trajectory and the planned trajectory of the unmanned vehicle at the trajectory intersection point being greater than or equal to a first preset angle, the unmanned vehicle is controlled to perform deceleration braking for avoidance. 10       In the embodiments of the present disclosure, although the at least one manned vehicle arrives at the trajectory intersection point earlier than the unmanned vehicle, when the at least one manned vehicle does not satisfy the mixed-operation entry condition due to a large deviation in a travel direction and cannot perform mixed-operation coordination, the unmanned vehicle is directly controlled to perform the deceleration braking operation to 15       avoid the at least one manned vehicle, thereby avoiding operation conflicts or safety risks at the intersection point. Regarding the step 1, the at least one manned vehicle in the moving state arrives at the trajectory intersection point earlier than the unmanned vehicle. The included angle formed by travel direction vectors respectively corresponding to the predicted trajectory and the planned trajectory of the unmanned vehicle at the trajectory 20       intersection point is greater than or equal to the first preset angle. For example, the predicted trajectory of the manned vehicle and the planned trajectory of the unmanned vehicle are in opposite directions, and the unmanned vehicle determines that the at least one manned vehicle is in a state of driving away, then the at least one manned vehicle does not satisfy the mixed-operation entry condition. As another example, the at least one manned vehicle 25       borrows a lane in front of the unmanned vehicle to cross, and the at least one manned vehicle does not merge into the predicted trajectory of the unmanned vehicle, then the at least one manned vehicle does not satisfy the mixed-operation entry condition. The unmanned vehicle starts the deceleration braking according to a formulated deceleration strategy to perform the avoidance. Meanwhile, a change in position information of the at least one 30       manned vehicle is continuously detected through a sensing device. When the at least one manned vehicle passes through the trajectory intersection point earlier, the unmanned vehicle can end the deceleration braking earlier and resume traveling at an original planned 2026223232   26 Aug 2026 speed. When the at least one manned vehicle stays for a long time, the unmanned vehicle can maintain a low speed or stop briefly until the at least one manned vehicle leaves a safety area of the intersection point. Through determining a scenario where the at least one manned vehicle does not satisfy the mixed-operation entry condition, autonomous and smooth 5       deceleration braking of the unmanned vehicle is controlled, providing space and time for the at least one manned vehicle to safely pass through the trajectory intersection point, while ensuring safety and controllability of the operation of the unmanned vehicle, balancing operation safety and process efficiency. In some embodiments, in the step S103, an operation of controlling, in response to the at 10       least one manned vehicle that satisfies the mixed-operation entry condition existing in the detection range, the unmanned vehicle to enter the mixed-operation mode includes the following steps. In step 1, in response to the at least one manned vehicle that satisfies the mixed-operation entry condition existing in the detection range, and the unmanned vehicle being in the 15       stationary state, the unmanned vehicle is controlled to continue to maintain the stationary state. In step 2, in response to the at least one manned vehicle that satisfies the mixed-operation entry condition existing in the detection range, and the unmanned vehicle is in the moving state, the unmanned vehicle is controlled to perform deceleration braking until reaching the 20        stationary state. In the embodiments of the present disclosure, when the at least one manned vehicle satisfying the mixed-operation entry condition is detected, the unmanned vehicle will take corresponding measures according to the current state of the unmanned vehicle, and ultimately enter the stationary state. Regarding the step 1, when the at least one manned 25       vehicle satisfying the mixed-operation entry condition is detected, for example, when the at least one manned vehicle parked on the planned trajectory of the unmanned vehicle, or for example, when the at least one manned vehicle performs a lane change to merge into the planned trajectory of the unmanned vehicle, and the unmanned vehicle is in the stationary state, the unmanned vehicle is controlled to continue to maintain the stationary state, thereby 30       avoiding starting and colliding with the at least one manned vehicle. Regarding the step 2, when the unmanned vehicle is in the moving state, the unmanned vehicle is controlled to perform deceleration braking until reaching the stationary state, stopping to yield, thereby 2026223232   26 Aug 2026 avoiding interfering with the operation of the driver of the manned vehicle, and reducing the collision risk. For example, under the premise of ensuring safety, deceleration and parking are started with a deceleration of -1m / s2, and after parking, the N gear is engaged and the handbrake is pulled up to maintain the parking state. As shown in FIG. 2, FIG. 2 is 5       a second flowchart of the mixed-operation method, including the following steps. In step S201, obstacle information is processed one by one. When the obstacle is in the stationary state, step S205 is proceeded. When the obstacle is in the moving state, S202 is proceeded. In step S202, each predicted trajectory is processed one by one. 10       In step S203, it is determined whether the predicted trajectory has an intrusion intention. When the predicted trajectory has the intrusion intention, step S204 is proceeded. When the predicted trajectory does not have the intrusion intention, step S205 is proceeded. In step S204, the intrusion intention is identified. In step S205, a mixed-operation behavior decision is performed to determine whether to 15      enter the mixed-operation mode. In step S206, a mixed-operation behavior decision result is executed; and the process ends. In some embodiments, in the step S104, an operation of controlling, in response to the driving information of the manned vehicles within the detection range of the unmanned vehicle indicating that all the manned vehicles satisfy the mixed-operation exit condition, 20       the unmanned vehicle to exit the mixed-operation mode includes the following step. In step 1, in response to determining, according to the driving information of the manned vehicles, that all the manned vehicles within the detection range of the unmanned vehicle do not satisfy the mixed-operation entry condition, the unmanned vehicle is controlled to exit the mixed-operation mode and start moving to continue operation. 25       In the embodiments of the present disclosure, when all the manned vehicles within the detection range of the unmanned vehicle do not satisfy the mixed-operation entry condition, the unmanned vehicle is controlled to exit the mixed-operation mode. Regarding the step 1, exemplarily, when the manned vehicles in the stationary state are not located on the planned trajectory of the unmanned vehicle, the manned vehicles do not satisfy the mixed-operation 30       entry condition. When the manned vehicles in the stationary state are located on the planned 2026223232   26 Aug 2026 trajectory of the unmanned vehicle but does not hinder the operation task of the unmanned vehicle during the stationary state, for example, the unmanned vehicle can proceed to the next task point according to the planned trajectory, the manned vehicles do not satisfy the mixed-operation entry condition. When the manned vehicles in the moving state are located 5       on the planned trajectory of the unmanned vehicle, the manned vehicles do not satisfy the mixed-operation entry condition, and the unmanned vehicle can perform the operation while maintaining a safe distance from the preceding vehicle. After the unmanned vehicle enters the mixed-operation mode, the predicted trajectory, the position information, the travel speed, and the travel direction of the manned vehicles participating in the mixed operation 10       are determined in real time, and it is determined according to the behavior of the manned vehicles whether the unmanned vehicle is no longer in the mixed-operation mode. For example, the unmanned vehicle determines that the driving information of all the manned vehicles within the detection range continuously does not satisfy the mixed-operation entry condition for a plurality of consecutive frames, and the manned vehicles exit the mixed- 15       operation. After the manned vehicles exit the mixed-operation, the unmanned vehicle is controlled to exit the mixed-operation mode, and the unmanned vehicle starts moving to continue the operation, thereby avoiding the situation where the unmanned vehicle still remains in the mixed-operation mode when there are no manned vehicles requiring coordination. Through timely exiting the mixed-operation mode and resuming the 20       operation, the travel speed and operation efficiency of the unmanned vehicle are improved, and invalid time consumption is reduced, ensuring that the operation mode of the unmanned vehicle is always matched with the actual scenario requirements. In some embodiments, in the step S101, an operation of performing, by the unmanned vehicle located in the mixed-operation area, real-time detection on the driving information 25       of the manned vehicles within the detection range includes the following step. In step 1, in response to the unmanned vehicle entering a first task state corresponding to a mixed-operation task point in the mixed-operation area, the unmanned vehicle is triggered to turn on a mixed-operation function switch to perform real-time detection on the driving information of the manned vehicles within the detection range; or, 30       the method further includes the following step. In step 2, in response to the unmanned vehicle entering a second task state corresponding to a mixed-operation task point in the mixed-operation area, the unmanned vehicle is 2026223232   26 Aug 2026 triggered to turn off a mixed-operation function switch to stop performing real-time detection on the driving information of the manned vehicles within the detection range, and exit the mixed-operation mode. In the embodiments of the present disclosure, when the unmanned vehicle is in the first task 5       state, the mixed-operation function switch is turned on to perform real-time detection on the driving information of the manned vehicles. When the unmanned vehicle is in the second task state, the mixed-operation function switch is turned off to stop detection and exit the mixed-operation mode, thereby achieving precise matching between the mixed-operation function and the task state. Regarding the step 1, the operation area is also divided 10       into a plurality of mixed-operation task points. For example, the loading area is divided into the position to be loaded and the loading position, and the unmanned vehicle performs various tasks at the corresponding mixed-operation task points, such as waiting at the position to be loaded. When the unmanned vehicle is in the first task state, the mixed-operation function switch is turned on. For example, the unmanned vehicle travels at a 15       mixed-operation task point densely shared by the manned vehicles, preparing to participate in a multi-vehicle coordinated transportation task. Under the first task state, the dynamics of the manned vehicles need to be mastered in real time to ensure coordination safety. Regarding the step 2, when the unmanned vehicle enters the second task state corresponding to the mixed-operation task point in the operation area, the unmanned vehicle is triggered 20       to turn off the mixed-operation function switch. For example, the second task state is completing parking at the loading position, and the unmanned vehicle needs to perform loading of materials without entering the mixed-operation mode, and the real-time detection on the driving information of the manned vehicles within the detection range can be stopped. The mixed-operation function switch is turned on in the first task state that requires 25       mixed operation, thereby avoiding resource waste in the second task state that does not require mixed operation, and ensuring that the turning on of the mixed-operation function switch is highly consistent with the task requirements. In the second task state, the mixed-operation function switch is turned off, and the unmanned vehicle does not need to continuously process manned vehicle detection data, thereby reducing the consumption of 30      sensor operation, data transmission, and computing power, and reducing hardware wear and system operation pressure. As shown in FIG. 3, FIG. 3 is a third flowchart of the mixed-operation method, including the following steps. 2026223232   26 Aug 2026 In step S301, the unmanned vehicle triggers, according to a current scenario of the unmanned vehicle, the mixed-operation function switch. In step S302, entering the mixed operation: the unmanned vehicle identifies an intrusion intention of the at least one manned vehicle, and determines whether the mixed-operation 5        entry condition is satisfied. In step S303, mixed operation: in response to the at least one manned vehicle satisfying the mixed-operation entry condition, the unmanned vehicle enters the mixed-operation mode. In step S304, exiting the mixed operation: the unmanned vehicle identifies an intention of the manned vehicles to exit the mixed operation, exits the mixed-operation mode, starts a 10       moving action, and enters a next task point; and the process ends. In some embodiments, the method further includes the following step. In step 1, structural processing is performed on a map of the mixed-operation area in advance to determine mixed-operation task points; where the mixed-operation area includes at least one of: a loading area or an unloading area, 15       the loading area is structured into at least one of the following task points: a loading area entrance, a turning completion point, a position to be loaded, or a loading position; the unloading area is structured into at least one of the following task points: an unloading area entrance, a position to be unloaded, or an unloading position; and the mixed-operation task points include: the position to be loaded and the loading position in the loading area, and 20       the unloading area entrance, the position to be unloaded, and the unloading position in the unloading area. In the embodiments of the present disclosure, structural processing is performed on the map of the operation area to determine the mixed-operation task points. As shown in FIG. 4, regarding the step 1, the structural processing is performed on the map of the operation area 25       in advance to determine the mixed-operation task points, where the operation area is divided into the loading area 401 and the unloading area 402. Since the loading and unloading scenarios involve numerous business interactions, when the operation intention of the manned vehicles cannot be accurately determined, the unmanned vehicle may generate unreasonable driving behaviors that affect the normal operation of the manned vehicles. 30       There are still challenges in achieving the mixed operation of unmanned vehicles and 2026223232   26 Aug 2026 manned vehicles in the full scenarios of mining, transportation, and discharging. Therefore, the task points in the loading area 401 and the unloading area 402 are structurally processed. The loading area 401 is used to complete the loading task, and the unloading area 402 is used to complete the unloading task. 5       The loading area 401 is structured by dividing the loading area into one or more standard task points, including: the loading area entrance 4011: a starting position where a vehicle enters a loading operation process; the turning completion point 4012: a confirmation point where the vehicle completes a U-10       turn and adjusts to a direction ready to enter the position to be loaded; the position to be loaded 4013: a designated area where the vehicle queues and waits to enter the loading position; and the loading position 4014: a precise position where the vehicle performs an actual loading operation. 15       The unloading area 402 is structured by dividing the unloading area into one or more standard task points, including: the unloading area entrance 4021: a starting position where a vehicle enters an unloading operation process; the position to be unloaded 4022: a designated area where the vehicle queues and waits to 20       enter the unloading position; and the unloading position 4023: a precise position where the vehicle performs an actual unloading operation. From the task points, points where interaction between the unmanned vehicle and the manned vehicle is most likely to occur and which require coordinated operation are 25       screened out as the mixed-operation task points. The mixed-operation task points include: the position to be loaded 4013 and the loading position 4014 in the loading area 401, and the unloading area entrance 4021, the position to be unloaded 4022, and the unloading position 4023 in the unloading area 402. Through the map structuring, a complex physical environment is transformed into a node network that is understandable and computable by 2026223232   26 Aug 2026 accurately and automatically trigger the mixed-operation function switch when entering these key areas, thereby laying a solid foundation for the intelligence and safety of the entire mixed-operation process. In some embodiments, for a loading area, the first task state includes: entering a position to 5       be loaded, waiting at the position to be loaded, and entering a loading position; and for an unloading area, the first task state includes: entering an unloading area entrance, waiting at a position to be unloaded, and entering an unloading position; and / or, for a loading area, the second task state includes: performing loading operation at a loading position; and for an unloading area, the second task state includes: performing unloading 10       operation at an unloading position. In the embodiments of the present disclosure, task states in the loading area and the unloading area are divided into the first task state and the second task state according to whether an operation stage requires coordination with the at least one manned vehicle. As shown in FIG. 4, when operating in the loading area 401, the unmanned vehicle a travels 15      along an x direction. The unmanned vehicle a turns on the mixed-operation function switch after completing a direction change, and maintains following and queuing before the direction change. Therefore, the first task state includes: entering the position to be loaded 411, waiting at the position to be loaded 412, and entering the loading position 413. When operating in the unloading area 402, the unmanned vehicle a travels along the x direction. 20      Since the unloading area 402 has a small space and fixed operation positions, the unmanned vehicle a turns on the mixed-operation function switch after entering the unloading area 402. Therefore, the first task state includes: entering the unloading area entrance 421, waiting at the position to be unloaded 422, and entering the unloading position 423. When performing the loading operation 414 at the loading position and performing the unloading 25       operation 424 at the unloading position, no interference is caused to the operation of the manned vehicles. Therefore, for the loading area 401, the second task state includes: performing the loading operation 414 at the loading position; and for the unloading area 402, the second task state includes: performing the unloading operation 424 at the unloading position. Through clearly dividing the operation stage requiring coordination and the 30       operation stage not requiring coordination, the mixed-operation function switch is prevented from being turned on in the second task state that does not require mixed operation, thereby reducing resource waste. Meanwhile, the mixed-operation function 2026223232   26 Aug 2026 switch is ensured to be turned on in the first task state, ensuring coordination safety. The first task state and the second task state are closely bound to the operation stages. The first task state focuses on high-frequency interaction scenarios such as vehicle intersection and queuing waiting, and turning on the mixed-operation function switch in a targeted manner 5       can reduce the risks of collision and position grabbing. The second task state focuses on independent operation scenarios, and turning off the mixed-operation function switch allows the unmanned vehicle to focus on completing loading and unloading, thereby improving operation efficiency. The division of the task states is consistent with on-site operation habits, thereby reducing the difficulty of system implementation and improving 10       practicability. In some embodiments, the method further includes the following steps. In step 1, in response to the unmanned vehicle entering the mixed-operation mode and the unmanned vehicle is in the stationary state, prompt information is sent to a control terminal, where the prompt information indicates that the unmanned vehicle is stationary due to the 15      mixed-operation mode. In step 2, after receiving an instruction to exit the mixed-operation mode sent by the control terminal, the unmanned vehicle is controlled to exit the mixed-operation mode. In the embodiments of the present disclosure, when the unmanned vehicle enters the mixed-operation mode and is in the stationary state, the unmanned vehicle actively sends the 20       prompt information to the control terminal, thereby ensuring that the control terminal can master vehicle status in real time. And, the unmanned vehicle responds to an instruction to exit the mixed-operation mode sent by the control terminal, and flexibly exits the mixed-operation mode, which not only achieves transparent feedback of a mixed-operation state, but also retains a flexible space for manual intervention, balancing automation and 25       controllability. Regarding the step 1, the unmanned vehicle has entered the mixed-operation mode, and is triggered by the mixed-operation entry condition, such as when the at least one manned vehicle satisfying the mixed-operation entry condition is detected. Consequently, the unmanned vehicle is in the stationary state, for example, maintaining an original stationary state, or decelerating and braking to the stationary state after movement, 30       and needs to synchronize current status information to the control terminal. The control terminal is a cloud control platform or a dispatcher. Regarding the step 2, after receiving the instruction to exit the mixed-operation mode sent by the control terminal, the unmanned 2026223232   26 Aug 2026 vehicle exits the mixed-operation mode. For example, the unmanned vehicle is in the mixed-operation mode, but due to special circumstances, such as the control terminal finding that all manned vehicles have driven away, the unmanned vehicle needing to preferentially execute an emergency transportation task, or an abnormality occurring in 5       mixed-operation coordination, the control terminal issues the instruction to exit the mixed- operation mode, and the unmanned vehicle needs to respond to the instruction to exit the mixed-operation mode. Through responding to the instruction from the control terminal, a channel for manual intervention is provided for the mixed-operation process. When an automated process cannot cope with special scenarios, rapid adjustment can be made 10       through the control terminal, thereby ensuring the flexibility and reliability of the operation, and avoiding operation stagnation or risks caused by automation limitations. Based on the same inventive concept, some embodiments of the present disclosure further provide an apparatus for mixed-operation. Since the principles of these apparatuses and the problems to be solved are similar to those of the method for mixed-operation, the 15       implementation of the apparatus refers to the implementation of the method for mixed- operation, and details are not described herein again. Some embodiments of the present disclosure further provide an apparatus for mixed-operation. As shown in FIG. 5, the apparatus includes: a manned vehicle detection module 501, configured to perform, by an unmanned vehicle 20       located in a mixed-operation area, real-time detection on driving information of manned vehicles within a detection range; a manned vehicle mixed-operation entry determination module 502, configured to determine, according to the driving information of the manned vehicles, whether at least one manned vehicle that satisfies a mixed-operation entry condition exists in the detection 25      range; and a mixed-operation module 503, configured to control, in response to the at least one manned vehicle that satisfies the mixed-operation entry condition existing in the detection range, the unmanned vehicle to enter a mixed-operation mode; and control, in response to the driving information of the manned vehicles within the detection range of the unmanned vehicle 30       indicating that all the manned vehicles satisfy a mixed-operation exit condition, the unmanned vehicle to exit the mixed-operation mode. 2026223232   26 Aug 2026 In some embodiments, the manned vehicle mixed-operation entry determination module 502 is configured to: acquire status information of the manned vehicles, where the status information includes a moving state or a stationary state; 5       determine target indicator information corresponding to the status information of the manned vehicles as the driving information; and determine, according to the driving information of the manned vehicles, whether the at least one manned vehicle satisfies the mixed-operation entry condition. In some embodiments, the target indicator information includes at least one of: position 10       information, travel speed, or travel direction. In some embodiments, the manned vehicle mixed-operation entry determination module 502 is configured to: in response to the status information of the manned vehicles indicating that the manned vehicles are in the stationary state, determine position information of the manned vehicles 15       as the driving information; or in response to the status information of the manned vehicles indicating that the manned vehicles are in the moving state, determine the position information, travel speed, and travel direction of the manned vehicles as the driving information. In some embodiments, the manned vehicle mixed-operation entry determination module 20       502 is configured to: in response to the status information of the manned vehicles indicating that the manned vehicles are in the stationary state, and the position information of the at least one manned vehicle indicating that the at least one manned vehicle is located on a planned trajectory of the unmanned vehicle, to cause the unmanned vehicle to be unable to proceed to a next task 25       point according to the planned trajectory, determine that the at least one manned vehicle satisfies the mixed-operation entry condition; or in response to the status information of the manned vehicles indicating that the manned vehicles are in the stationary state, the position information of the at least one manned vehicle indicating that the at least one manned vehicle is located on the planned trajectory 30       of the unmanned vehicle or an extension line of the planned trajectory, and a distance to an 2026223232   26 Aug 2026 end point of the planned trajectory of the unmanned vehicle is less than a first preset value, determine that the at least one manned vehicle satisfies the mixed-operation entry condition. In some embodiments, the manned vehicle mixed-operation entry determination module 502 is configured to: 5       in response to the status information of the manned vehicles indicating that the manned vehicles are in the moving state, predict a travel trajectory of each manned vehicle according to the position information, travel speed, and travel direction of the manned vehicles to obtain a predicted trajectory of each manned vehicle; and determine, according to a positional relationship between the predicted trajectory and the 10       planned trajectory of the unmanned vehicle, and the position information and the travel speed of the manned vehicles, whether the at least one manned vehicle satisfies the mixed-operation entry condition. In some embodiments, the manned vehicle mixed-operation entry determination module 502 is configured to: 15       in response to the position information of the manned vehicles indicating that the manned vehicles are not on the planned trajectory of the unmanned vehicle, determine, according to the position information and the travel speed of the manned vehicles, whether the at least one manned vehicle arrives at a trajectory intersection point earlier than the unmanned vehicle; and 20       in response to the at least one manned vehicle arriving at the trajectory intersection point earlier than the unmanned vehicle, and an angle formed by travel direction vectors respectively corresponding to the predicted trajectory and the planned trajectory of the unmanned vehicle at the trajectory intersection point being less than a first preset angle, determine that the at least one manned vehicle satisfies the mixed-operation entry condition. 25      In some embodiments, the mixed-operation module 503 is further configured to: in response to the at least one manned vehicle arriving at the trajectory intersection point earlier than the unmanned vehicle, and the angle formed by the travel direction vectors respectively corresponding to the predicted trajectory and the planned trajectory of the unmanned vehicle at the trajectory intersection point being greater than or equal to a first 30       preset angle, control the unmanned vehicle to perform deceleration braking for avoidance. 2026223232   26 Aug 2026 In some embodiments, the mixed-operation module 503 is further configured to: in response to the at least one manned vehicle that satisfies the mixed-operation entry condition existing in the detection range, and the unmanned vehicle being in the stationary state, control the unmanned vehicle to continue to maintain the stationary state; and 5       in response to the at least one manned vehicle that satisfies the mixed-operation entry condition existing in the detection range, and the unmanned vehicle is in the moving state, control the unmanned vehicle to perform deceleration braking until reaching the stationary state. In some embodiments, the mixed-operation module 503 is further configured to: 10       in response to determining, according to the driving information of the manned vehicles, that all the manned vehicles within the detection range of the unmanned vehicle do not satisfy the mixed-operation entry condition, control the unmanned vehicle to exit the mixed-operation mode and start moving to continue operation. In some embodiments, the manned vehicle detection module 501 is further configured to in 15       response to the unmanned vehicle entering a first task state corresponding to a mixed- operation task point in the mixed-operation area, trigger the unmanned vehicle to turn on a mixed-operation function switch to perform real-time detection on the driving information of the manned vehicles within the detection range; or, the manned vehicle detection module 501 is further configured to: in response to the 20      unmanned vehicle entering a second task state corresponding to a mixed-operation task point in the mixed-operation area, trigger the unmanned vehicle to turn off a mixed-operation function switch to stop performing real-time detection on the driving information of the manned vehicles within the detection range, and exit the mixed-operation mode. In some embodiments, the manned vehicle detection module 501 is further configured to: 25       perform structural processing on a map of the mixed-operation area in advance to determine mixed-operation task points; where the mixed-operation area includes at least one of: a loading area or an unloading area, the loading area is structured into at least one of the following task points: a loading area entrance, a turning completion point, a position to be loaded, or a loading position; the 30       unloading area is structured into at least one of the following task points: an unloading area 2026223232   26 Aug 2026 entrance, a position to be unloaded, or an unloading position; and the mixed-operation task points include: the position to be loaded and the loading position in the loading area, and the unloading area entrance, the position to be unloaded, and the unloading position in the unloading area. 5       In some embodiments, for a loading area, the first task state includes: entering a position to be loaded, waiting at the position to be loaded, and entering a loading position; and for an unloading area, the first task state includes: entering an unloading area entrance, waiting at a position to be unloaded, and entering an unloading position; and / or, for a loading area, the second task state includes: performing loading operation at a loading 10       position; and for an unloading area, the second task state includes: performing unloading operation at an unloading position. In some embodiments, the mixed-operation module 503 is further configured to: in response to the unmanned vehicle entering the mixed-operation mode and the unmanned vehicle is in the stationary state, sending prompt information to a control terminal, where 15       the prompt information indicates that the unmanned vehicle is stationary due to the mixed- operation mode; and after receiving an instruction to exit the mixed-operation mode sent by the control terminal, controlling the unmanned vehicle to exit the mixed-operation mode. Based on the same inventive concept, some embodiments of the present disclosure further 20      provide an unmanned vehicle. Since the principle of the problem to be solved by the unmanned vehicle is similar to that of the method for mixed-operation, the implementation of the unmanned vehicle refers to the implementation of the method for mixed-operation, and details are not described herein again. Through the description of the above implementation modes, a person having ordinary skill 25       in the art can clearly understand that some embodiments of the present disclosure are implemented by hardware, or are implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of some embodiments of the present disclosure is embodied in the form of a software product, which is stored in a non-transitory storage medium (which may be a CD-ROM, a U disk, a mobile 30       hard disk, etc.), including a plurality of instructions to enable a computer device (which is 2026223232   26 Aug 2026 a personal computer, a server, or a network device, etc.) to execute the method described in some embodiments of the present disclosure. A person having ordinary skill in the art can understand that the accompanying drawings are schematic diagrams of one exemplary embodiment, and the modules or processes in the 5      accompanying drawings are not necessarily required for implementing the present disclosure. A person having ordinary skill in the art can understand that the modules in the apparatus in the embodiments are distributed in the apparatus of the embodiments as described in the embodiments, or are correspondingly changed and located in one or more apparatuses 10      different from this embodiment. The modules in the above embodiments are combined into one module, or are further split into a plurality of sub-modules. The sequence numbers of the above embodiments of the present disclosure are for the purpose of description and do not represent the advantages or disadvantages of the embodiments. 15       Obviously, a person having ordinary skill in the art can make various changes and modifications to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, when these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalent technologies, the present disclosure is also intended to include these changes and 20       modifications.

Claims

1. A method for mixed-operation, comprising:performing, by an unmanned vehicle located in a mixed-operation area, real-time detection on driving information of manned vehicles within a detection range;determining, according to the driving information of the manned vehicles, whether at least one manned vehicle that satisfies a mixed-operation entry condition exists in the detection range;controlling, in response to the at least one manned vehicle that satisfies the mixed-operation entry condition existing in the detection range, the unmanned vehicle to enter a mixed-operation mode; andcontrolling, in response to the driving information of the manned vehicles within the detection range of the unmanned vehicle indicating that all the manned vehicles satisfy a mixed-operation exit condition, the unmanned vehicle to exit the mixed-operation mode.

2. The method according to claim 1, wherein determining, according to the driving information of the manned vehicles, whether the at least one manned vehicle that satisfies the mixed-operation entry condition exists in the detection range comprises:acquiring status information of the manned vehicles, wherein the status information comprises a moving state or a stationary state;determining target indicator information corresponding to the status information of the manned vehicles as the driving information;determining, according to the driving information of the manned vehicles, whether the at least one manned vehicle satisfies the mixed-operation entry condition.

3. The method according to claim 2, wherein the target indicator information comprises at least one of: position information, travel speed, or travel direction.

4. The method according to claim 2, wherein determining the target indicator information corresponding to the status information of the manned vehicles as the driving information comprises:in response to the status information of the manned vehicles indicating that the manned vehicles are in the stationary state, determining position information of the manned vehicles as the driving information; orin response to the status information of the manned vehicles indicating that the manned vehicles are in the moving state, determining the position information, travel speed, and travel direction of the manned vehicles as the driving information.2026223232   26 Aug 20265. The method according to claim 4, wherein determining, according to the driving information of the manned vehicles, whether the at least one manned vehicle satisfies the mixed-operation entry condition comprises:in response to the status information of the manned vehicles indicating that the manned vehicles are in the stationary state, and the position information of the at least one manned vehicle indicating that the at least one manned vehicle is located on a planned trajectory of the unmanned vehicle, to cause the unmanned vehicle to be unable to proceed to a next task point according to the planned trajectory, determining that the at least one manned vehicle satisfies the mixed-operation entry condition; orin response to the status information of the manned vehicles indicating that the manned vehicles are in the stationary state, the position information of the at least one manned vehicle indicating that the at least one manned vehicle is located on the planned trajectory of the unmanned vehicle or an extension line of the planned trajectory, and a distance to an end point of the planned trajectory of the unmanned vehicle is less than a first preset value, determining that the at least one manned vehicle satisfies the mixed-operation entry condition.

6. The method according to claim 4, wherein determining, according to the driving information of the manned vehicles, whether the at least one manned vehicle satisfies the mixed-operation entry condition comprises:in response to the status information of the manned vehicles indicating that the manned vehicles are in the moving state, predicting a travel trajectory of each manned vehicle according to the position information, travel speed, and travel direction of the manned vehicles to obtain a predicted trajectory of each manned vehicle; anddetermining, according to a positional relationship between the predicted trajectory and the planned trajectory of the unmanned vehicle, and the position information and the travel speed of the manned vehicles, whether the at least one manned vehicle satisfies the mixed-operation entry condition.

7. The method according to claim 6, wherein determining, according to the positional relationship between the predicted trajectory and the planned trajectory of the unmanned vehicle, and the position information and the travel speed of the manned vehicles, whether the at least one manned vehicle satisfies the mixed-operation entry condition comprises: in response to the position information of the manned vehicles indicating that the manned vehicles are not on the planned trajectory of the unmanned vehicle, determining, according2026223232   26 Aug 2026to the position information and the travel speed of the manned vehicles, whether the at least one manned vehicle arrives at a trajectory intersection point earlier than the unmanned vehicle; andin response to the at least one manned vehicle arriving at the trajectory intersection point earlier than the unmanned vehicle, and an angle formed by travel direction vectors respectively corresponding to the predicted trajectory and the planned trajectory of the unmanned vehicle at the trajectory intersection point being less than a first preset angle, determining that the at least one manned vehicle satisfies the mixed-operation entry condition.

8. The method according to claim 6, further comprising:in response to the at least one manned vehicle arriving at the trajectory intersection point earlier than the unmanned vehicle, and the angle formed by the travel direction vectors respectively corresponding to the predicted trajectory and the planned trajectory of the unmanned vehicle at the trajectory intersection point being greater than or equal to a first preset angle, controlling the unmanned vehicle to perform deceleration braking for avoidance.

9. The method according to claim 1, wherein controlling, in response to the at least one manned vehicle that satisfies the mixed-operation entry condition existing in the detection range, the unmanned vehicle to enter the mixed-operation mode comprises:in response to the at least one manned vehicle that satisfies the mixed-operation entry condition existing in the detection range, and the unmanned vehicle being in the stationary state, controlling the unmanned vehicle to continue to maintain the stationary state; and in response to the at least one manned vehicle that satisfies the mixed-operation entry condition existing in the detection range, and the unmanned vehicle is in the moving state, controlling the unmanned vehicle to perform deceleration braking until reaching the stationary state.

10. The method according to claim 1, wherein controlling, in response to the driving information of the manned vehicles within the detection range of the unmanned vehicle indicating that all the manned vehicles satisfy the mixed-operation exit condition, the unmanned vehicle to exit the mixed-operation mode comprises:in response to determining, according to the driving information of the manned vehicles, that all the manned vehicles within the detection range of the unmanned vehicle do not2026223232   26 Aug 2026satisfy the mixed-operation entry condition, controlling the unmanned vehicle to exit the mixed-operation mode and start moving to continue operation.

11. The method according to claim 1, wherein performing, by the unmanned vehicle located in the mixed-operation area, real-time detection on the driving information of the manned vehicles within the detection range comprises: in response to the unmanned vehicle entering a first task state corresponding to a mixed-operation task point in the mixed-operation area, triggering the unmanned vehicle to turn on a mixed-operation function switch to perform real-time detection on the driving information of the manned vehicles within the detection range.

12. The method according to claim 1, further comprising:in response to the unmanned vehicle entering a second task state corresponding to a mixed-operation task point in the mixed-operation area, triggering the unmanned vehicle to turn off a mixed-operation function switch to stop performing real-time detection on the driving information of the manned vehicles within the detection range, and exit the mixed-operation mode.

13. The method according to claim 11, further comprising:performing structural processing on a map of the mixed-operation area in advance to determine mixed-operation task points, wherein the mixed-operation area comprises at least one of: a loading area or an unloading area, the loading area is structured into at least one of the following task points: a loading area entrance, a turning completion point, a position to be loaded, or a loading position; the unloading area is structured into at least one of the following task points: an unloading area entrance, a position to be unloaded, or an unloading position; and the mixed-operation task points comprise: the position to be loaded and the loading position in the loading area, and the unloading area entrance, the position to be unloaded, and the unloading position in the unloading area.

14. The method according to any one of claims 11-13, wherein for a loading area, the first task state comprises: entering a position to be loaded, waiting at the position to be loaded, and entering a loading position; and for an unloading area, the first task state comprises: entering an unloading area entrance, waiting at a position to be unloaded, and entering an unloading position.

15. The method according to any one of claims 11-13, wherein for a loading area, the second task state comprises: performing loading operation at a loading position; and for an2026223232   26 Aug 2026unloading area, the second task state comprises: performing unloading operation at an unloading position.

16. The method according to claim 1, further comprising:in response to the unmanned vehicle entering the mixed-operation mode and the unmanned vehicle being in the stationary state, sending prompt information to a control terminal, wherein the prompt information indicates that the unmanned vehicle is stationary due to the mixed-operation mode; andafter receiving an instruction to exit the mixed-operation mode sent by the control terminal, controlling the unmanned vehicle to exit the mixed-operation mode.

17. The method according to claim 1, wherein the unmanned vehicle is an unmanned mining truck, and the unmanned vehicle is installed with a dedicated vehicle-mounted terminal.

18. The method according to claim 2, wherein the unmanned vehicle is configured with a combined navigation device as a positioning module to acquire the position information, and various types of sensing devices are configured in the unmanned vehicle to perform real-time detection on obstacles, wherein the obstacles comprise the manned vehicles.

19. An apparatus for mixed-operation, comprising:a manned vehicle detection module, configured to perform, by an unmanned vehicle located in a mixed-operation area, real-time detection on driving information of manned vehicles within a detection range;a manned vehicle mixed-operation entry determination module, configured to determine, according to the driving information of the manned vehicles, whether at least one manned vehicle that satisfies a mixed-operation entry condition exists in the detection range comprising:acquiring status information of the manned vehicles, wherein the status information comprises a moving state or a stationary state;determining target indicator information corresponding to the status information of the manned vehicles as the driving information;determining, according to the driving information of the manned vehicles, whether the at least one manned vehicle satisfies the mixed-operation entry condition; anda mixed-operation module, configured to control, in response to the at least one manned vehicle that satisfies the mixed-operation entry condition existing in the detection range, the unmanned vehicle to enter a mixed-operation mode; and control, in response to the driving information of the manned vehicles within the detection range of the unmanned2026223232   26 Aug 2026vehicle indicating that all the manned vehicles satisfy a mixed-operation exit condition, the unmanned vehicle to exit the mixed-operation mode.

20. An unmanned vehicle, comprising the apparatus for mixed-operation as claimed in claim 19.

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