In mining, deposits are divided into blocks, forming the basis for open-pit mine planning, covering production and haulage route planning. Current studies often stage optimization and lack the consideration of road capacity, leading to suboptimal solutions. A novel approach integrates production scheduling and haulage route planning through a bilevel optimization model. The upper-level model integrates ore mining constraints to establish a mixed-integer production scheduling model, minimizing haulage costs. Spatiotemporal correlation constraints for block mining are determined using a two-stage algorithm. The lower-level model incorporates road capacity, forming a haulage route optimization model based on multicommodity network flow. A solution algorithm with a distance penalty strategy facilitates feedback between the upper and lower levels, achieving optimal solutions. Tested on a real open-pit coal mine with over 5 million blocks, this approach reduces haulage costs by 10.06% compared to stage optimization. Additionally, this approach allows for adjusting haulage demand in both temporal and spatial dimensions, effectively preventing road congestion. This study advances rational mining processes and enhances the efficiency of open-pit mining haulage systems.

Efficient truck–shovel allocation is essential for optimizing open-pit mining operations, but the integration of heterogeneous diesel and electric fleets introduces complex scheduling challenges, including charging requirements, range limitations, and equipment capacity constraints. This study proposes an integrated allocation framework tailored to heterogeneous fleets, formulating a multi-objective optimization model that minimizes transportation cost and waiting time under realistic constraints. An enhanced multi-objective particle swarm optimization algorithm with adaptive penalty mechanisms is developed, providing superior convergence and computational efficiency compared to traditional methods. A case study demonstrates that heterogeneous fleets achieve a better trade-off, with a balanced fleet configuration reducing transportation cost by 26.1% and waiting time by 19.2% compared to pure diesel and electric fleets, respectively. Sensitivity analyses reveal that fluctuations in fuel and electricity prices reshape the trade-off, while faster charging enhances electric truck competitiveness but increases diesel idle time. These findings offer practical insights for configuring heterogeneous fleets and adapting scheduling strategies in dynamic energy and technology environments, supporting sustainable mining operations.

Nonlinear Model Predictive Control (NMPC) is an effective approach for motion planning in autonomous vehicles that need to satisfy multiple driving demands. Within the realm of planner design, current strategies inadequately address the issues related to redundancy and conflicts among these diverse demands. This shortcoming leads to low efficiency and suboptimal performance, particularly when faced with a high volume of demands. In response to this challenge, this paper introduces the Hierarchical and Multi-Domain (HMD) strategy as a solution for designing a multi-objective NMPC planner. This strategy enables the dynamic adjustment of the integration method for demand indicators based on their priority. To evaluate the risk of breaching driving demands, several risk functions are established. The constraints and objective function of the planner are meticulously designed in accordance with the HMD strategy and evaluation functions. Simulation results attest to the advantages of the HMD-based planner, which, compared to planners based on traditional multi-objective (TMO) strategies, exhibits a 68.5% improvement in solution efficiency and the simultaneous enhancement of driving safety. Additionally, the HMD approach reduces the maximum jerk by 58.8%.