An automatic operation method of a trackless rubber-tyred vehicle in an underground mine

Abstract

The application discloses an automatic operation method of a trackless rubber-tyred vehicle in an underground mine, and relates to the technical field of mine vehicles. A plurality of distance measuring sensors are installed in the front, side and rear directions of the vehicle to perceive the environment around the vehicle, and a PID control algorithm is combined to realize automatic steering and collision avoidance, realize all-around perception of the environment around the vehicle, realize identification of different types of intersections by using distance changes detected by the distance measuring sensors at the intersections and combining specific identification logic, guide the vehicle to correctly execute a turning command, ensure the stability and robustness of the vehicle by using the PID control algorithm, and optimize the turning path of the vehicle on a transportation route by using a counting variable, so that the vehicle can turn according to a preset path planning in an automatic driving process, and thus can autonomously drive according to a set route planning.

Description

Technical Field

[0001] This invention relates to the field of mining vehicle technology, specifically to an automatic operation method for trackless rubber-tired vehicles in underground mines. Background Technology

[0002] Underground mines are mineral resource extraction sites located deep underground. They extract mineral resources through excavation and construction of tunnels and shafts. Underground mines can extract various types of mineral resources. Underground mining requires various mining engineering technologies and equipment, such as tunneling machines, mine hoisting equipment, and ventilation systems, to ensure miner safety and efficient ore extraction. The depth and complexity of underground mines depend on the type and distribution of mineral resources.

[0003] Automated operation methods for mining vehicles refer to the use of automation technology and intelligent control systems within mines to enable mining vehicles to autonomously complete transportation and operational tasks without human intervention. Typically, vehicles are equipped with Global Positioning System (GPS) receivers, which determine the vehicle's position and target location by receiving satellite signals, thereby achieving automatic navigation and path planning. Laser sensors are used to measure the distance between the vehicle and its surrounding environment, thereby avoiding collisions with obstacles and staying in designated lanes. By adopting these automated operation methods, mining vehicles can achieve higher production efficiency, safer operation, and reduce the risks associated with human intervention.

[0004] Underground transport tunnels operate within fixed, enclosed areas, where vehicles cycle between loading and unloading points to complete transport tasks. Each round of transport involves repeating the same path, requiring identical turning maneuvers. Unlike open roads, underground transport tunnels enclose vehicles within a closed plane perpendicular to the ground, allowing for automated driving control using various distance sensors. However, traditional underground mines typically use rail-guided vehicles, which are costly and difficult to change routes. The few available trackless vehicles rely on sensors and pre-set routes, operating while monitoring mileage. This pre-planning of mileage necessitates simultaneous adjustments when different vehicle sizes are used or routes are changed. Therefore, a more economical, trackless rubber-tired vehicle automation method for underground mines, eliminating the need for mileage monitoring, is urgently needed to address these issues. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] To address the shortcomings of existing technologies, this invention provides an automatic operation method for trackless rubber-tired vehicles in underground mines. This method solves the problems of high costs and difficulty in changing routes when using rail vehicles for transportation, as well as the need to adjust mileage synchronously when using different specifications of trackless vehicles or when changing routes.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the present invention provides a method for the automatic operation of trackless rubber-tired vehicles in underground mines, comprising:

[0009] Sensor installation and perception: The vehicle has an in-vehicle microprocessor for receiving and filtering collected data and determining data confidence. At the same time, multiple types of ranging sensors, including lidar, infrared sensors, and ultrasonic sensors, are installed in the front, sides, and rear of the vehicle to perceive the environment and obstacles around the vehicle and obtain the distance and position information of obstacles to the vehicle in real time.

[0010] The intersection recognition state machine is deployed. The state machine includes three states: straight-ahead state, left-turn state, and right-turn state. The state machine automatically switches to different states according to the vehicle's status and sensor data, and executes the corresponding turning command.

[0011] The counting variable optimizes the driving route. In the intersection recognition state machine, a path table is pre-set to record the turning instructions when the vehicle passes through the intersection each time.

[0012] Flexible path planning with built-in counting commands allows for real-time selection of appropriate turning commands based on the counting command instructions and the current vehicle status.

[0013] The present invention is further configured such that: in the sensor installation and sensing step, the number of sensors is selected according to the length of the controlled vehicle;

[0014] Once the vehicle receives the start signal, the distance sensor begins to collect the distance between the vehicle and obstructions around the vehicle, and starts the engine or electric motor to drive the vehicle forward.

[0015] After the processor collects data from the distance sensors in each direction, it determines the vehicle's position based on the different intervals where the data collected by the distance sensors in each direction are located, and executes different commands on the steering system.

[0016] The data collected by the distance sensor on the side of the vehicle is processed by the microprocessor PID calculation and outputs a corresponding control value to the steering system.

[0017] The steering gear controls the vehicle's direction, ensuring that the vehicle maintains a safe distance from the rock wall of the tunnel at all times during its journey.

[0018] The present invention is further configured such that the control formula of the PID algorithm in the sensor installation and sensing step is:

[0019]

[0020] In the formula, e(t) = r(t) - c(t), K p T is the proportionality coefficient, T1 is the integral time constant, and T D The differential time constant;

[0021] The present invention is further configured such that the specific steps of arranging the intersection identification state machine include:

[0022] Three states are defined: straight ahead, left turn, and right turn. Each state represents a different direction of travel for the vehicle at the intersection. The straight ahead state indicates that the vehicle will continue to go straight, the left turn state indicates that the vehicle will turn left, and the right turn state indicates that the vehicle will turn right.

[0023] In the intersection recognition state machine, the steering gears at the same position output the same angle, that is, the steering angles are the same;

[0024] The intersection recognition state machine determines the transition conditions between states based on the vehicle's driving status at the intersection and sensor data;

[0025] The present invention is further configured such that the transition conditions between the determined states are specifically:

[0026] Let the width of the tunnel be D, the ranging value of the ranging sensor installed at the front of the vehicle be L1, the ranging value of the ranging sensor installed on the left side of the vehicle be L2, and the ranging value of the ranging sensor installed on the right side of the vehicle be L3. What is the minimum safe value for each sensor?

[0027] Intersection type determination:

[0028] Left turn only:

[0029]

[0030] Turn right only:

[0031]

[0032] T-junctions where you can go straight and turn left:

[0033]

[0034] T-junctions where you can go straight and turn right:

[0035]

[0036] T-junctions where right and left turns are permitted:

[0037]

[0038] crossroads:

[0039]

[0040] During operation, when any sensor reading is below the minimum safety value D A If the drive motor responsible for moving the vehicle forward stops running, it will stop for 10 seconds.

[0041] If the sensor ranging value changes after 10 seconds, and is greater than D A If the vehicle motor starts, the vehicle will continue to move forward; otherwise, it will remain stationary for 10 seconds.

[0042] The present invention is further configured such that: in the flexible path planning step, when the vehicle has not yet reached the intersection of the lane, the vehicle drives forward along the lane without collision by using the PID control steering device; when the vehicle reaches a section of road where there is only one path to choose from and a turn is required, the system selects the correct turning command to pass through the intersection based on the ranging value type of the ranging sensor.

[0043] The present invention is further configured such that: in the flexible path planning step, when the vehicle reaches an intersection or a junction of lanes with multiple driving paths, it executes a turning command according to a counting command; specifically:

[0044] The counting command controls the vehicle to execute pre-set turning instructions each time it passes through an intersection of this type of alleyway on the current driving route.

[0045] Suppose a driving route requires passing through two crossroads-shaped alleyways. Go straight at the first crossroads and turn left at the second crossroads.

[0046] When a vehicle arrives at the first intersection, the intersection counter command variable is assigned a value of "1" based on the distance measurement values ​​of the distance sensors in each direction. When the variable is "1", the vehicle executes the commands to turn left or right.

[0047] (III) Beneficial Effects

[0048] This invention provides a method for the automatic operation of trackless rubber-tired vehicles in underground mines. It has the following beneficial effects:

[0049] This invention provides an automatic operation method for trackless rubber-tired vehicles in underground mines. Multiple distance sensors are installed in the front, sides, and rear of the vehicle to perceive its surrounding environment. A PID control algorithm is then used to achieve automatic steering and collision avoidance. This method utilizes multiple types of sensors in four directions to achieve comprehensive perception of the vehicle's surroundings. The fusion of different sensor types enhances the accuracy and robustness of perception, effectively addressing the complex and varied geological environment of underground mines. Furthermore, by utilizing distance changes detected by the distance sensors at intersections, combined with specific recognition logic, different types of intersections can be identified, guiding the vehicle to correctly execute turning commands. The application of the PID control algorithm ensures the vehicle's stability and robustness, particularly in underground mines where there are diverse types of mining cars and steering systems, allowing for better adaptation to different vehicle models. By using counting variables to optimize the vehicle's turning path on a transport route, automated driving can be achieved by performing turning operations according to a preset path plan, enabling the vehicle to autonomously travel along the planned route.

[0050] The automatic operation method of trackless rubber-tired vehicles in underground mines adopted in this invention relies only on a few ranging sensors as sensing devices, and makes limited unmanned modifications to the vehicle's steering mechanism and power unit. Within a fixed route, the vehicle is controlled to run automatically in a cycle, and the vehicle can autonomously avoid obstacles and drive without a driver. This achieves low-cost automatic autonomous operation of underground trackless rubber-tired transport vehicles.

[0051] This solves the problems of existing technology centers where rail vehicles are used for transportation, which are costly and difficult to change routes, while different types of trackless vehicles or changes to routes require simultaneous mileage adjustments. Attached Figure Description

[0052] Figure 1 A flowchart of the automatic operation method for trackless rubber-tired vehicles in underground mines according to the present invention;

[0053] Figure 2 This is a flowchart of the actuator steering determination process for the automatic vehicle operation method of the present invention.

[0054] Figure 3 This is a control principle diagram of the PID algorithm in the vehicle automatic operation method of the present invention;

[0055] Figure 4 This is a diagram showing the actuator steering output of the present invention;

[0056] Figure 5 This is a schematic diagram of intersection T in the automatic vehicle operation method of the present invention;

[0057] Figure 6 This is a schematic diagram of a crossroads in the automatic vehicle operation method of the present invention. Detailed Implementation

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0059] Example

[0060] Please see Figures 1-6 This invention provides a method for the automatic operation of trackless rubber-tired vehicles in underground mines, comprising the following steps:

[0061] S1. Sensor installation and perception: The vehicle has a built-in microprocessor for receiving and filtering collected data and determining the confidence level of the data. At the same time, multiple types of ranging sensors, including lidar, infrared sensors and ultrasonic sensors, are installed in the front, sides and rear of the vehicle to perceive the environment and obstacles around the vehicle and obtain the distance and position information of obstacles to the vehicle in real time.

[0062] The number of sensors is selected based on the length of the vehicle being controlled; the more sensors there are, the better the collision avoidance effect.

[0063] Once the vehicle receives the start signal, the distance sensor begins to collect the distance between the vehicle and obstructions around the vehicle, and starts the engine or electric motor to drive the vehicle forward.

[0064] After the processor collects data from the distance sensors in each direction, it determines the vehicle's position based on the different intervals where the data collected by the distance sensors in each direction are located, and executes different commands on the steering system.

[0065] The process is as follows Figure 2 As shown, the data collected by the distance sensor on the side of the vehicle is processed by the microprocessor PID calculation and outputs a corresponding control value to the steering gear.

[0066] The steering gear controls the vehicle's direction, ensuring that the vehicle maintains a safe distance from the rock wall of the tunnel during its journey, preventing collisions and enabling it to travel along the wall.

[0067] The PID control algorithm has a simple structure, is stable and easy to operate in establishing error and disturbance models, and ensures the stability and robustness of the vehicle. Especially in the case of diverse types of mining trucks and steering systems in underground mines, it can adapt well to the control of different vehicle models. The PID algorithm is more suitable for mining truck scenarios.

[0068] The control formula for the PID algorithm in the sensor installation and sensing steps is:

[0069]

[0070] In the formula, e(t) = r(t) - c(t), K p T is the proportionality coefficient, T1 is the integral time constant, and T D The differential time constant is used; the specific control principle is as follows: Figure 3 As shown;

[0071] S2. Intersection recognition state machine deployment: Deploy an intersection recognition state machine. The state machine includes three states: straight-ahead state, left-turn state, and right-turn state. The state machine automatically switches to different states based on the vehicle's status and sensor data, and executes the corresponding turning command.

[0072] S3. Optimize driving routes using counting variables. In the intersection recognition state machine, a path table is pre-set to record the turning instructions when the driving route passes through an intersection. For example, for a driving route that passes through two crossroads, the first intersection in the path table corresponds to a straight-ahead instruction, and the second intersection corresponds to a left-turn instruction.

[0073] Three states are defined: straight ahead, left turn, and right turn. Each state represents a different direction of travel for the vehicle at the intersection. The straight ahead state indicates that the vehicle will continue to go straight, the left turn state indicates that the vehicle will turn left, and the right turn state indicates that the vehicle will turn right.

[0074] In the intersection recognition state machine, the steering gears at the same position output the same angle, that is, the steering angles are the same;

[0075] The intersection recognition state machine determines the transition conditions between states based on the vehicle's driving status at the intersection and sensor data;

[0076] Within the driving lane, the lane angle is fixed. The angle and duration of the steering gear turn required for a vehicle to pass through the same intersection are almost identical each time. Even with slight deviations, the error will be corrected when the system switches to PID control after the turn. The turning radius of the controlled vehicle is fixed, and the lane angle at the same location is fixed, so the steering angle required from the steering gear at the same location is the same. At lane intersections, the steering gear will execute three types of commands: left turn, right turn, and straight ahead. The microprocessor determines the type of intersection the vehicle is at based on the characteristics of the interval where the data from the distance measuring sensors at different locations are located, and issues the corresponding steering command to the steering gear.

[0077] The specific conditions for transitions between states are as follows:

[0078] Let the width of the tunnel be D, the ranging value of the ranging sensor installed at the front of the vehicle be L1, the ranging value of the ranging sensor installed on the left side of the vehicle be L2, and the ranging value of the ranging sensor installed on the right side of the vehicle be L3. What is the minimum safe value for each sensor?

[0079] When a vehicle is traveling in a lane and has not yet passed the lane intersection, the distance values ​​measured by the L2 and L3 sensors located on both sides of the vehicle are calculated by the PID algorithm inside the controller and output to control the steering gear, so as to keep the vehicle traveling stably along the lane direction and avoid colliding with the lane walls on both sides.

[0080] Intersection type determination:

[0081] Left turn only:

[0082]

[0083] Turn right only:

[0084]

[0085] T-junctions where you can go straight and turn left:

[0086]

[0087] T-junctions where you can go straight and turn right:

[0088]

[0089] T-junctions where right and left turns are permitted:

[0090]

[0091] crossroads:

[0092]

[0093] During operation, when any sensor reading is below the minimum safety value D A If the drive motor responsible for moving the vehicle forward stops running, it will stop for 10 seconds.

[0094] If the sensor ranging value changes after 10 seconds, and is greater than D A If the vehicle motor starts, the vehicle continues to move forward; otherwise, it remains stationary for 10 seconds. This setting is used to avoid pedestrians and other vehicles or to prevent collisions.

[0095] The logic for identifying intersections:

[0096] As the vehicle travels through the tunnel, which has a limited width, distance sensors installed on both sides of the vehicle continuously detect the distance between the vehicle and the tunnel wall. Since the tunnel width is constant, the data transmitted by the distance sensors will not exceed the tunnel width and will be continuous and relatively stable. When the vehicle travels to the intersection, the lateral space perpendicular to the vehicle's direction of travel will rapidly expand, and this spatial change will be directly reflected in the values ​​detected by the distance sensors.

[0097] like Figure 5 As shown, when the vehicle continues to move forward, the distance value detected by the distance sensor installed on the left side of the vehicle will suddenly increase from D1 (less than the width of the alley) to D2 (greater than the width of the alley) when the vehicle just enters the intersection. However, the distance value detected by the distance sensor installed on the right side of the vehicle will not change so significantly compared to when the vehicle has not passed the intersection. The distance value detected by the distance sensor installed in front of the vehicle will still be large, indicating that there is still a large open space ahead. In this case, it is determined that the vehicle is passing through an intersection where it can turn left and forward. If the vehicle is at an intersection where it can only turn left, the distance detected by the distance sensor in front of the vehicle will be less than a certain value, indicating that the intersection can only be turned left.

[0098] When the vehicle travels to such a place Figure 6 At the intersection shown, the distance values ​​measured by the distance sensors on both sides of the vehicle will simultaneously jump from a distance value D that is less than the width of the alley to a value that is greater than the width of the alley. The distance sensor in front of the vehicle will detect that there is still a lot of space ahead. The system uses this sensor distance value characteristic to determine that the vehicle has reached an intersection.

[0099] S4. Flexible path planning with built-in counting commands. Based on the instructions of the counting commands and the current status of the vehicle, the corresponding turning command is selected in real time.

[0100] When the vehicle has not yet reached the intersection of the lanes, it moves forward along the lanes without collision by using the PID control steering system. When the vehicle reaches a section of road where there is only one path to choose from and a turn is required, the system selects the correct turn command to pass through the intersection based on the distance measurement value type of the distance sensor.

[0101] When a vehicle approaches an intersection or a junction with multiple driving paths, it executes a turn according to a counting command. Specifically:

[0102] The counting command controls the vehicle to execute pre-set turning instructions each time it passes through an intersection of this type of alleyway on the current driving route.

[0103] Suppose a driving route requires passing through two crossroads-shaped alleyways. Go straight at the first crossroads and turn left at the second crossroads.

[0104] When the vehicle arrives at the first intersection, the intersection counter command variable is assigned a value of "1" based on the distance measurement values ​​of the distance sensors in each direction. When the vehicle is at an intersection, the vehicle executes the commands to turn left or right.

[0105] Driving route: When a vehicle travels back and forth on a transport route, the types and number of intersections it passes through in each cycle are the same. When the vehicle has not reached an intersection, it travels forward along the road without collision by using the PID control steering system. When the vehicle reaches a section of road where there is only one path to choose from and a turn is required, such as a left or right turn intersection, the system selects the correct turning command to pass through the intersection based on the distance measurement value of the distance sensor.

[0106] When a vehicle approaches an intersection or a junction with multiple driving paths, the program uses a counting command to control the vehicle to execute pre-set turning commands each time it passes this type of junction on the current driving route. For example, if a driving route requires passing through two intersection-type junctions, going straight at the first intersection and turning left at the second, when the vehicle arrives at the first intersection, based on the distance measurement values ​​from the distance sensors in various directions, the program assigns a value of "1" to the variable representing the intersection used for the counting command. The program is set to execute the straight-going command when this variable is "1", thus completing the straight-going at the first intersection. Similarly, it completes the left turn at the second intersection. In a program for a route, the number of such counting variables is set for the number of intersections with multiple driving path options on the route, and then the corresponding turning commands are set for the values ​​of these variables according to the requirements of the driving route.

[0107] In summary, in this application:

[0108] This invention provides an automatic operation method for trackless rubber-tired vehicles in underground mines. Multiple distance sensors are installed in the front, sides, and rear of the vehicle to perceive its surrounding environment. A PID control algorithm is then used to achieve automatic steering and collision avoidance. This method utilizes multiple types of sensors in four directions to achieve comprehensive perception of the vehicle's surroundings. The fusion of different sensor types enhances the accuracy and robustness of perception, effectively addressing the complex and varied geological environment of underground mines. Furthermore, by utilizing distance changes detected by the distance sensors at intersections, combined with specific recognition logic, different types of intersections can be identified, guiding the vehicle to correctly execute turning commands. The application of the PID control algorithm ensures the vehicle's stability and robustness, particularly in underground mines where there are diverse types of mining cars and steering systems, allowing for better adaptation to different vehicle models. By using counting variables to optimize the vehicle's turning path on a transport route, automated driving can be achieved by performing turning operations according to a preset path plan, enabling the vehicle to autonomously travel along the planned route.

[0109] The automatic operation method of trackless rubber-tired vehicles in underground mines adopted in this invention relies only on a few ranging sensors as sensing devices, and makes limited unmanned modifications to the vehicle's steering mechanism and power unit. Within a fixed route, the vehicle is controlled to run automatically in a cycle, and the vehicle can autonomously avoid obstacles and drive without a driver. This achieves low-cost automatic autonomous operation of underground trackless rubber-tired transport vehicles.

[0110] In the description of the embodiments of the present invention, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for the automatic operation of trackless rubber-tired vehicles in underground mines, characterized in that, The method includes: Sensor installation and perception: The vehicle has an in-vehicle microprocessor for receiving and filtering collected data and determining data confidence. At the same time, multiple types of ranging sensors, including lidar, infrared sensors, and ultrasonic sensors, are installed in the front, sides, and rear of the vehicle to perceive the environment and obstacles around the vehicle and obtain the distance and position information of obstacles to the vehicle in real time. A state machine for intersection recognition is deployed. The state machine includes three states: the state machine automatically switches to different states based on the vehicle's current state and sensor data, and executes the corresponding turning command. The counting variable optimizes the driving route. In the intersection recognition state machine, a path table is pre-set to record the turning instructions when the vehicle passes through the intersection each time. Flexible path planning with built-in counting commands; based on the instructions of the counting commands and the current status of the vehicle, the corresponding turning command is selected in real time. The specific steps for arranging the intersection identification state machine include: Three states are defined: going straight, turning left, and turning right. Each state represents a different direction of travel for a vehicle at an intersection. In the intersection recognition state machine, the steering gears at the same position output the same angle, that is, the steering angles are the same; The intersection recognition state machine determines the transition conditions between states based on the vehicle's driving status at the intersection and sensor data; specifically, the determination of the transition conditions between states is as follows: Let the width of the alley be The distance measured by the distance sensor mounted at the front of the vehicle The distance measured by the distance sensor installed on the left side of the vehicle The distance measured by the distance sensor mounted on the right side of the vehicle The minimum safety value for each sensor is ; Intersection type determination: Left turn only: ; Turn right only: ; T-junctions where you can go straight and turn left: ; T-junctions where you can go straight and turn right: ; T-junctions where right and left turns are permitted: ; crossroads: ; During operation, when any sensor value is below the minimum safe value If the drive motor responsible for moving the vehicle forward stops operating, it will remain idle for 10 seconds. If the sensor distance reading changes after 10 seconds, and the change is greater than... If the vehicle motor starts, the vehicle will continue to move forward; otherwise, it will remain stationary for 10 seconds. In the flexible path planning step, when the vehicle approaches an intersection or a junction with multiple driving paths, it executes a turn according to a counting command. Specifically: The counting command controls the vehicle to execute pre-set turning instructions each time it passes through an intersection of this type of alleyway on the current driving route. Suppose a driving route requires passing through two crossroads-shaped alleyways. Go straight at the first crossroads and turn left at the second crossroads. When a vehicle arrives at the first intersection, the system determines that the vehicle is at an intersection based on the distance measurement values ​​from the distance sensors in each direction. At this point, the intersection count command variable is set to "1". When the variable is "1", the vehicle executes the command to go straight, thus completing the vehicle's straight-ahead maneuver at the first intersection. Similarly, the vehicle completes the left turn at the second intersection.

2. The automatic operation method for trackless rubber-tired vehicles in underground mines according to claim 1, characterized in that, In the sensor installation and sensing steps, the number of sensors is selected according to the length of the controlled vehicle; Once the vehicle receives the start signal, the distance sensor begins to collect the distance between the vehicle and obstructions around the vehicle, and starts the engine or electric motor to drive the vehicle forward. After the processor collects data from the distance sensors in each direction, it determines the vehicle's position based on the different intervals where the data collected by the distance sensors in each direction are located, and executes different commands on the steering system. The data collected by the distance sensor on the side of the vehicle is processed by the microprocessor PID calculation and outputs a corresponding control value to the steering system. The steering gear controls the vehicle's direction, ensuring that the vehicle maintains a safe distance from the rock walls of the tunnel throughout its journey.

3. The automatic operation method for trackless rubber-tired vehicles in underground mines according to claim 2, characterized in that, The control formula for the PID algorithm in the sensor installation and sensing steps is: ； In the formula, , This is the proportionality coefficient. The integral time constant is... is the differential time constant.

4. The automatic operation method for trackless rubber-tired vehicles in underground mines according to claim 1, characterized in that, In the flexible path planning step, when the vehicle has not yet reached the intersection of the lanes, the vehicle drives forward along the lanes without collision by using the PID control steering system. When the vehicle reaches a section of road where there is only one path to choose from and a turn is required, the system selects the correct turning command to pass through the intersection based on the distance measurement value type of the distance measurement sensor.

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