Autonomous driving plays a crucial role in the
development of intelligent mines. However, the complex environ_x005f ment in mines presents many challenges for the application of autonomous driving compared with urban scenes. Especially, in underground mines, the environment such as dust, water mist, narrow roads, and sharp turnings bring additional difficulties for
autonomous driving. In response to these issues, a framework
of autonomous driving in underground mines based on parallel
driving operation systems was proposed. It consists of the
intelligent scheduling and management platform, autonomous
trackless rubber-tyred vehicle, V2X cooperative perception sys tem, and assisted operation terminal. Field test experiments were
conducted in two real mines to validate the effectiveness of
the solution. The experiments demonstrate that our proposed
solution boosts the automation level of transportation operations,
ensuring operational efficiency and enhancing the safety of
transportation processes in underground mines.