公开(公告)号：US20230376040A1

公开(公告)日：2023-11-23

申请号：US18027471

申请日：2021-09-23

Applicant: SANDVIK MINING AND CONSTRUCTION OY

Inventor： Jussi PUURA ,  Samuel HYYPPA ,  Lauri SIIVONEN

IPC: G05D1/02 ,  G08G1/0968

CPC classification number: G05D1/0214 ,  G05D1/0274 ,  G05D1/0291 ,  G08G1/096855 ,  G05D2201/021

Abstract: According to an example aspect, there is provided a method, comprising the steps of obtaining route plan information indicative of a set of route points for a tunnel system of an underground worksite for at least partially autonomous driving of a vehicle, performing for at least some of route points in the set: detecting space information indicative of spaces required by the vehicle at associated route points, generating a set of envelopes on the basis of the space information, wherein an envelope is indicative of space required by the vehicle at an associated route point, and controlling visualization of the set of envelopes in a tunnel model to represent planned route trace of the vehicle when driving via the route points.