Mining vehicle autonomous driving control

According to an example aspect of the present disclosure, there is provided a method comprising: detecting (310) a trigger of a speed rating setting of a vehicle (20) for autonomously operating at an underground worksite (1) and executing a driving command; defining (320) a speed level of a vehicle at the worksite based on a traffic flow of the vehicle; sending (330) a speed level control message to the vehicle during execution of the driving command, the speed level control message comprising a speed level information element indicative of the speed level; and in response to detecting (340) a trigger to a speed level cancellation based on the updated traffic flow information, sending (350) a speed level cancellation control message to the vehicle executing the driving command, where the speed level cancellation control message indicates cancellation of the speed level. 根据本发明的示例方面，提供了一种方法，包括：检测(310)用于在地下工地(1)处自主操作并执行驾驶命令的车辆(20)的速度等级设定的触发；基于所述工地处的车辆的交通流量定义(320)所述车辆的速度等级；在执行所述驾驶命令期间向所述车辆发送(330)速度等级控制消息，所述速度等级控制