# Open-Pit Map: An HD Map Data Model for Open-Pit Mines
## 3 OpenPit-Map Data Model  
The HD map data model of an open-pit mine is defined according to the requirements of the application scenarios. The map data model adopts the format of the Google Protocol Buffer (ProtoBuf), which is convenient for reading and extending files in different types of programming languages and terminal applications. In this paper, part of the content is shown in the form of a UML class diagram, and its basic elements are shown in Figure 4. The definitions and naming of each basic element are described in detail below. * \"Header\". This section is used to describe version and date information in the HD map for open-pit mines. * \"PointENU\". This data structure is utilized to describe geometric points. A single point is used to represent key information in the HD map, such as the map's center point and position points for various areas. Points are combined to create key line information, which can describe features like road centerlines, boundaries, and terraces in an open-pit mine. Additionally, points are used to form polygons to describe the shape of area positions, such as blasting stockpile boundaries, parking areas, and alert zones. * \"Map\". This section is used to describe and store the geometric and topological structure of the road network. It can be divided into five main parts. The first part consists of road elements, including roads, which are composed of one or more road sections. Each road section is made up of one or more lanes with different speed limits and travel directions. Each lane has left and right road boundaries. Lanes are formed by the road centerline, lane left and right boundaries, and lane sample association lines. Lane attributes include length, weight and weight limit, type, direction, turning, slope, name, lane closure status (default open), and topological relationships such  
Figure 3: Production scheduling and path planning scenarios. as predecessors and successors, left and right adjacency. The second part consists of intersection elements, including junctions, which are represented by polygons that define their boundary ranges. The third part includes traffic signal elements, which consist of signal signs represented by boundary lines and stop lines, as well as other signal signs like stop signals and yield signs. The fourth part is about area information elements, including pedestrian areas, no-parking areas, speed bump areas, and parking areas. There are also marking lines used to mark important road elements in the open-pit mine scene, such as obstacles, gantries, and waiting lines. Marking polygons are used to describe free areas on uphill or downhill sections or areas where vehicles cannot follow lane paths. The fifth part consists of logical relationship elements, overlapping areas used to establish hierarchical or spatial connections between elements like roads, objects, and regions. * \"ElementDef\". It is used to describe the information of various elements produced by open-pit mines, such as the description of CaCO\({}_{3}\), MgO, CaO, and other elements. * \"MaterialDef\". The information used to describe the material produced by open-pit mines is divided into two types: WASTE and ORE. Attributes contain one or more element information and ore grade ranges. The description of the material determines the ore blending method and mining scheduling plan of the open-pit mine. * \"Blast\". Used to describe the blasting range of ore in open-pit mines. It is represented by a polygon outlining its geometric scope. Blast is composed of one or more components of the blasting stockpile (Composites). Material is used to provide information about the materials produced by the blasting stockpile, including attributes such as average grade and bulk density. The definition of blasting stockpile information is crucial for the workflow of open-pit mining, as it is often associated with loading areas. * \"WarningLine\". This is used to describe alert zones during blasting and construction. It is represented by a polygon outlining its geometric range.