# 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
When a mining truck enters an unloading area, coordination is required between the vehicles and auxiliary equipment. The scenario is described as follows: transport trucks enter the unloading area and wait in a designated zone for unloading, the truck receives the signal to unload, moves into the unloading bay, unloads, and then departs. Loading and unloading locations typically lack precise road infrastructure. In HD maps, it is necessary to accurately define the blasting stockpile area, loading and unloading areas, mining truck loading and unloading positions, and waiting zones. This involves setting electronic fences and defining driving and exchange rules so that vehicles can autonomously trigger actions according to the positions. Figure 1 shows scenarios of collaboration in operations and shift. Figure 1: Collaboration in operations and shift scenarios. (**a**) Blasting stockpile loading. (**b**) Unloading at the crushing station. (**c**) Dumpsite unloading. (**d**) Stockyard unloading. Unmanned transportation and safety traffic management scenarios, which refer to scenarios in which mining trucks engage in activities such as platooning, obstacle avoidance, encounters, passing, and collision prevention. * Vehicle platooning. Vehicles and equipment traveling on roads will continuously collect real-time information about the leading vehicle's status, speed, and the distance between vehicles. Information is used to determine a safe following distance and guide the vehicle to either slow down or maintain its current speed. * Vehicle obstacle avoidance. In addition to regular platooning in open-pit mining, real-time road conditions may involve overtaking actions by different types of operational equipment, detours around equipment undergoing maintenance, and obstacle avoidance in situations where large rocks and soil are scattered on the road. Vehicles and equipment must make real-time decisions and plan suitable routes in these scenarios. * Intersection encounter and collision prevention. When multiple vehicles travel toward each other or encounter each other at intersections, real-time encounter information (vehicle type, speed, distance, etc.) is transmitted to each vehicle. Each vehicle, based on encounter rules (priority for heavy vehicles, priority for unmanned vehicles, etc. ), will either stop or slow down to ensure smooth traffic flow at intersections. With knowledge of the drivable areas, vehicles can follow designated paths. Additionally, the precise three-dimensional positioning of vehicles within the scenario effectively prevents equipment collisions. HD maps need to provide detailed descriptions of roads and lanes in open-pit mines, along with establishing prior scene information. By combining accurate vehicle and equipment positioning with real-time perception, vehicles and equipment can make timely decisions to prevent accidents in hazardous situations. Selected scenario illustrations are shown in Figure 2.  
3. Production scheduling and path planning scenarios. Production scheduling is crucial for ensuring orderly operations and optimal efficiency in a mining operation. Mining trucks shuttle between loading and unloading points based on ore allocation instructions. After each loading or unloading, the next optimal loading or unloading point and the best route are continuously evaluated. Additionally, equipment conditions such as fueling (charging) and maintenance needs are considered in real-time. * Path planning. Based on scheduling directives, HD map generates a global planning path between the starting point and destination. Mining trucks are then driven following this path. In the process of driving, local path planning is carried out according to vehicle working conditions and real-time road conditions. When  
Figure 2: Unmanned transportation and safe traffic management scenarios. (**a**) Platooning. (**b**) Obstacle avoidance. (**c**) Narrowing of lanes. (**d**) Passing bay. (**e**) Intersection.