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how automatic obstacle avoidance system for mine locomotive work?

The automatic obstacle avoidance system plays a important role in unmmanned control mine locomotive, but how is this function realized?
The system is applied in anti-collision of mining locomotives in coal mines. When the system detects a pedestrian in front, it can use voice alarm to remind the driver; after the voice warning, the driver does not take any measures, the system will automatically stop;
and after few months hard-working development, we test it in successfully.
Please see the below video for more details.