# Open-Pit Map: An HD Map Data Model for Open-Pit Mines
## 2 Application Scenario of HD Maps for Open-Pit Mines
### Application Scenarios of HD Maps in Open-Pit Mining  
The mining industry is currently undergoing significant development towards automation, which includes the implementation of smart equipment and facilities, unmanned operational processes, and data-driven management methods. Among these advancements in automation, the fastest-growing sector is the autonomous driving system, which plays a pivotal role throughout the entire production management process [19]. Different open-pit mines may feature varying extraction environments and operational processes, but their mining methods and production activities share similarities. For instance, in the production operation zones, autonomous vehicles are required to autonomously locate themselves, follow designated paths, actively avoid collisions, co \begin{table}
\begin{tabular}{c c c c} \hline  & **NDS** & **Lanelets** & **OpenDRIVE** \\ \hline Version & 2.5.4 & lanelet2 & 1.7.0 \\ \hline Application object & Embedded navigation system & Highly autonomous driving system & Driving and traffic simulation \\ \hline Road geometry construction & A set of shape points constitutes a multi-segment line representing a road route & Without road modeling & Builds roads along reference lines \\ \hline Lane geometry & Consists of lane center line and lane boundary & The left and right borders form small lanes & Established by the offset to the road reference line \\ \hline Establishment of topological relationship & Represented by route links & Represented by a lanelet’s back-to-back connection and left-right adjacency relation & The topological relationship between the road and lane is described by the front and back inherited connections in links \\ \hline Data organization structure & Level and tile & Modular structure & Hierarchical structure \\ \hline Coordinate system & WGS84(x, y) & ETS89(x, y) & WGS84(x, y, z) \\  & EGM96(z) & EGM96(x) & Local coordinate system \\ \hline Data storage format & SQLite & XML-based & XML schemata \\ \hline \end{tabular}
\end{table} 
Table 1: Comparison of NDS, Lanelets, and OpenDRIVE. ordinate loading and unloading tasks, and perform other functions. Maintenance areas within the mine must facilitate routine equipment maintenance and immediate fault repairs. The control center plays a critical role in tasks such as path planning, real-time monitoring, and data recording [20]. Diverse operational needs, including unmanned transport, shovel-truck coordination, queue management, and scheduling optimization, place greater demands on the elements and attribute representation within HD maps. This necessitates the categorization, definition, and organization of multidimensional data within open-pit mining scenarios [21; 22; 23]. In order to understand the creation concept of this data model, the typical application scenarios of HD maps in open-pit mines are described in detail. 1. Production operation coordination and exchange scenarios, including scenarios where mining trucks and shovels cooperate during loading operations, mining trucks coordinate with auxiliary vehicles during unloading operations, and mining trucks queue for exchange during loading and unloading operations. 2. Loading operation coordination. Taking the example of coordination between mining trucks and shovels, in the loading area near the blasting stockpile, shovels excavate overburden and ore, loading them into transport trucks. During this process, the trucks and shovels must work together to determine the route for the trucks to enter the loading area. The scenario is described as follows: empty mining trucks enter the loading area and queue up in a designated zone, waiting for loading. The trucks receive information about the shovel's position and their own loading bay. Upon receiving the instruction to enter the loading bay, the mining trucks move in, are loaded, and then depart. 3. Unloading operation coordination. Mining trucks typically have three types of unloading points: dumpsites, crushing stations, and stockyards.