针对煤矿井下环境复杂、大型车辆驾驶员视野受限等问题，导致小型和大型无轨胶轮车在行驶中容易发生碰擦事故；提出了一种基于精确定位技术的煤矿井下小型车避让预警方法。首先，采用基于当前车辆位置的空间检索，筛选出可疑对象；然后，利用车辆行进时的惯性特性，进一步筛选出潜在目标；再次，在A*算法中引入权重函数，得到改进后的估价函数，通过执行全局路径规划算法，求解当前车辆至目标对象间的轨迹路径；最后，通过比较轨迹路径距离与预警阈值，判断是否需要避让预警提醒。在某矿对该方法进的试验结果表明：该方法的各项功能运行正常，逻辑响应时间约为26 ms。

In view of the complex underground environment of coal mine and the limited vision of large vehicle drivers, small and large trackless rubber-tyred vehicles are prone to collision accidents during driving; an avoidance early warning method for small vehicles in underground coal mines based on precise positioning technology is proposed. Firstly, a spatial retrieval based on the current vehicle location is used to screen out suspicious objects. Then, the inertial characteristics of the vehicle are used to further screen out the potential targets. Thirdly, the weight function is introduced into the A * algorithm to obtain the improved evaluation function. By executing the global path planning algorithm, the trajectory path between the current vehicle and the target object is solved. Finally, by comparing the trajectory path distance and the warning threshold, it is judged whether it is necessary to avoid the warning reminder. The experimental results of this method in a certain mine show that the functions of the method are running normally, and the logical response time is about 26 ms.