Avoidance warning method for small vehicles in coal mine based on precise positioning technology

In view of the complex underground environment of coal mine and the limited vision of large vehicle drivers, small and large trackless rubber-tyred vehicles are prone to collision accidents during driving; an avoidance early warning method for small vehicles in underground coal mines based on precise positioning technology is proposed. Firstly, a spatial retrieval based on the current vehicle location is used to screen out suspicious objects. Then, the inertial characteristics of the vehicle are used to further screen out the potential targets. Thirdly, the weight function is introduced into the A * algorithm to obtain the improved evaluation function. By executing the global path planning algorithm, the trajectory path between the current vehicle and the target object is solved. Finally, by comparing the trajectory path distance and the warning threshold, it is judged whether it is necessary to avoid the warning reminder. The experimental results of this method in a certain mine show that the functions of the method are running normally, and the logical response time is about 26 ms.