Abstract: A method for controlling the positioning of a vehicle at a worksite including an underground tunnel system includes the steps of defining first confidence level information for position information by a satellite based first positioning source of the vehicle, defining second confidence level information for position information by a second positioning source configured to position the vehicle based on environment scanning, selecting a positioning correction source for the vehicle on the basis of the first confidence level information and the second confidence level information, and applying the selected positioning correction source for correcting dead-reckoning based positioning for the vehicle.

Abstract: According to an example aspect of the present disclosure, there is provided a method, including the steps of receiving a tunnel model of an underground tunnel system of a worksite, receiving a route point entry indicative of a route point position for a mine vehicle in the tunnel system, defining, for controlling obstacle detection for the mine vehicle, at least one lateral safety margin parameter on the basis of vehicle dimension data and processing the tunnel model in respect to the route point position, and associating the at least one lateral safety margin parameter with the route point position.