Identification method of intersection and curve of trackless rubber-tyred vehicle in underground coal mine

In view of the complex transportation route of coal mine, there are many forks and corners in the roadway, which is easy to bring hidden dangers to the safety of underground transportation. In this paper, a method for identifying the intersection and curve of trackless rubber-tyred vehicle in coal mine is designed. Firstly, the method structured the midline points to form a roadway map. Secondly, the direction of travel is determined by using the vehicle position relationship at adjacent moments. Thirdly, combined with the structural attributes of the roadway map, it is determined whether there is a fork or curve in front of the vehicle. Then, the Dijkstra algorithm is used to solve the shortest path from the current position of the vehicle to the suspected target, and then determine whether it is the opposite target. Finally, with the help of the vehicle terminal, the driver is provided with a safe voice prompt. The method is tested in a mine. The results show that the functions are running normally, and the logical response time is about 32 ms.