Abstract: As a core equipment of modern mining technology, intelligent mining haulage vehicles are rapidly advancing toward automation, intelligence, environmental sustainability, and high efficiency. This paper aims to explore the advantages of bidirectional intelligent mining vehicles in structural design, path planning, and efficiency optimization, analyzing their application potential in smart mines. It reviews the research status and development trends of intelligent mining haulage vehicles both domestically and internationally, with a focus on key technologies such as autonomous driving, new energy propulsion, and novel intelligent mining transport vehicles. Furthermore, based on the MATLAB/Simulink and TruckSim co-simulation platform, a dynamic model of a bidirectional distributed-drive haulage vehicle is established, and its performance is evaluated and analyzed under typical cyclic operating conditions. The research results demonstrate that bidirectional mining vehicles, leveraging their structural symmetry, all-wheel steering design, and distributed drive technology, significantly enhance path planning flexibility and transport efficiency. Compared to traditional unidirectional mining trucks, they can reduce ineffective travel distance, lower energy consumption costs, and improve safety in complex environments. Additionally, the deep integration of intelligent connected technology and new energy propulsion further advances the mining transportation industry toward the goal of "zero emissions, zero accidents, and zero failures" contributing to the global transition toward greener and smarter mining practices.

Key words: intelligent mining haulage vehicles; autonomous driving; bidirectional intelligent mining vehicles; distributed drive

摘要： 智能矿山运输车辆作为现代矿业技术的核心装备，正在向自动化、智能化、环保化和 高效化方向快速发展。文章旨在探讨双向行驶智能矿车在结构设计、路径规划及效率优化方 面的优势，分析其在智能矿山中的应用潜力。综述了国内外智能矿山运输车辆的研究现状与 发展趋势，重点探讨了自动驾驶、新能源驱动、新型智能矿用运输车辆的关键技术。同时， 基于 MATLAB/Simulink 和 TruckSim 联合仿真平台，建立了双向行驶分布式驱动运输车辆的 动力学模型，并针对典型循环工况进行了性能评价与分析。研究结果表明，双向行驶矿车凭 借结构对称性、全轮转向设计及分布式驱动技术，显著提升了路径规划的灵活性和运输效率， 与传统单向矿车相比，可减少无效行驶里程，降低能耗成本，并增强复杂环境下的安全性。 此外，智能网联技术与新能源驱动的深度融合，进一步推动矿山运输向“零排放、零事故、 零故障”目标迈进，助力全球矿业绿色化与智能化转型。

关键词: 智能矿山运输车辆；自动驾驶；双向行驶矿车；分布式驱动