Abstract: A supervisory safety-control system is implemented by dividing a mine's territory into zones of free operation (“permission zones”) wherein a vehicle is allowed to move according to predetermined permission parameters but unhindered by other system constraints. Traffic of autonomous vehicles in each permission zone is controlled by the supervisory system in conjunction with and in addition to conventional safety constraints associated with the guidance system that effects the vehicle's tracking of predetermined trajectories. Permission zones are assigned and activated using criteria that ensure the vehicle will remain entirely within active zones so long as the vehicle acts within such predetermined permission parameters. Each permission zone is also associated with a maximum velocity profile that overrides guidance-system safety controls, if necessary, and ensures stoppage of the vehicle at the end of the permission zone.

Abstract: A supervisory safety-control system is implemented by dividing a mine's territory into zones of free operation (“permission zones”) wherein a vehicle is allowed to move according to predetermined permission parameters but unhindered by other system constraints. Traffic of autonomous vehicles in each permission zone is controlled by the supervisory system in conjunction with and in addition to conventional safety constraints associated with the guidance system that effects the vehicle's tracking of predetermined trajectories. Permission zones are assigned and activated using criteria that ensure the vehicle will remain entirely within active zones so long as the vehicle acts within such predetermined permission parameters. Each permission zone is also associated with a maximum velocity profile that overrides guidance-system safety controls, if necessary, and ensures stoppage of the vehicle at the end of the permission zone.

Abstract: In a vehicle traffic system, the predetermined nominal trajectory for an autonomous vehicle is varied periodically within acceptable boundaries which define a permitted travel corridor. The corridor's boundaries ensure the continued safe and controlled operation of the vehicle within the system. In an embodiment of the invention, alternative trajectories are selected randomly; in another, they are parallel to one another. In yet another, preferred embodiment, judiciously-selected, alternative trajectories are repeated periodically according to a predetermined schedule designed to avoid repetitive travel over the same precise path, and possibly also selected for optimal results under different terrain, environmental, and/or operational conditions. According to another aspect of the invention, the shape and size of the corridor defining the boundaries for safe operation are varied in response to changed conditions to increase operational flexibility.

Abstract: The function of each autonomous vehicle in a surface mine is performed according to a predetermined trajectory related to its particular task and implemented by a guidance system through on-board GPS and two-way communication hardware. The current position of the vehicle is continuously monitored and correlated to the position of potential hazards along its path, so that corrective action can be taken by implementing appropriate, predetermined control strategies. Each vehicle is assigned a safety envelope that accounts for the vehicle's physical presence and operating tolerances. The safety envelope is characteristic of each vehicle and is defined by a variable space surrounding the vehicle wherein it may be physically present as it travels along its intended trajectory. The shape and size of the safety envelope is dynamically varied to meet safety requirements for current trajectory conditions facing the vehicle as it performs its autonomous function along its predetermined path.

Abstract: In a vehicle traffic system, the predetermined nominal trajectory for an autonomous vehicle is varied periodically within acceptable boundaries which define a permitted travel corridor. The corridor's boundaries ensure the continued safe and controlled operation of the vehicle within the system. In an embodiment of the invention, alternative trajectories are selected randomly; in another, they are parallel to one another. In yet another, preferred embodiment, judiciously-selected, alternative trajectories are repeated periodically according to a predetermined schedule designed to avoid repetitive travel over the same precise path, and possibly also selected for optimal results under different terrain, environmental, and/or operational conditions. According to another aspect of the invention, the shape and size of the corridor defining the boundaries for safe operation are varied in response to changed conditions to increase operational flexibility.