BOPI 11 BR/2023 REPERTOIRE NUMERIQUE 26 Fig. 2 Consulter le mémoire ________________________________________ (11) 21254 (51) G05D 1/02 (2018.01) (21) 1202300114 - PCT/EP2021/076211 (22) 23/09/2021 (30) EP n° 20198251.9 du 24/09/2020 (54) Underground vehicle monitoring system field. (72) PUURA, Jussi (FI); HYYPPÄ, Samuel (FI) et SIIVONEN, Lauri (FI) (73) SANDVIK MINING AND CONSTRUCTION OY, Pihtisulunkatu 9, 33330 TAMPERE (FI) (74) S.C.P AKKUM, AKKUM & Associates, n° 1777, Rue 6.261, Auditorium Jean Paul II, Quartier Mbankolo, B.P. 4966, YAOUNDE (CM). (57) According to an example aspect of the present invention, there is provided a method, comprising: obtaining route plan information, indicative of a set of route points for a tunnel system of an underground worksite for at least partially autonomous driving of a vehicle, further comprising performing for at least some of route points in the set: detecting space information indicative of spaces required by the vehicle at associated route points, generating a set of envelopes on the basis of the space information, wherein an envelope is indicative of space required by the vehicle at an associated route point, and controlling visualization of the set of envelopes in a tunnel model to represent planned route trace of the vehicle when driving via the route points. Fig. 3a & 3b Consulter le mémoire ________________________________________ (11) 21255 (51) A61F 13/15 (2018.01) (21) 1202300144 (22) 31/03/2023
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