Aiming　at　the　transportation　scheduling　problem　of　unmanned　trucks　in　open-pit　mines,　an　optimization　model　for　transportation　scheduling　of　unmanned　trucks　in　open-pit　mines　is　established,　taking　the　minimum　sum　of　fuel　cost,　fixed　start-up　cost,　fault　maintenance　cost　and　network　base　station　construction　and　maintenance　cost　as　the　objective　function,　and　taking　mining　amount,　crushing　amount　in　crushing　field,　truck　number　and　truck　transportation　work　as　the　bundle　reduction　conditions.　By　adjusting　the　position　of　the　encapsulated　individual　and　the　optimal　encapsulated　individual　through　the　parameter　position　adaptive　updating　mechanism,　the　search　range　of　the　solution　space　can　be　enlarged,　so　that　the　algorithm　can　jump　out　of　the　local　optimum.　This　paper　analyzes　the　influence　of　vehicle　clearance　on　coordinated　traffic　at　intersections　under　clearance　theory,　and　puts　forward　the　minimum　vehicle　clearance　to　meet　coordinated　traffic.　Generate　trajectories　with　behavioral　semantics　through　hierarchical　online　selection　of　primitives;　Based　on　the　model　predictive　control　algorithm,　the　motion　control　module　fully　considers　the　execution　ability,　tracking　deviation　and　control　stability　of　the　platform　drive　motor,　and　updates　the　weight　coefficient　of　the　control　objective　function　in　real　time　with　the　help　of　the　semantic　attributes　of　the　behavioral　motion　primitives　given　by　the　motion　planning,　so　as　to　reduce　the　lateral　error,　heading　error　and　speed　error　of　the　trajectory　tracking.　Finally,　a　real　vehicle　is　verified　by　a　medium-sized　hybrid　unmanned　crawler　platform,　which　proves　that　the　proposed　intersection　coordinated　traffic　model　is　feasible　in　theory,　reflecting　that　the　traffic　density　is　a　factor　that　affects　the　transportation　efficiency.　Under　the　condition　of　meeting　the　production　requirements,　reduce　the　intersection　conflict　and　improve　the　traffic　capacity　of　the　intersection　by　adopting　large-load　unmanned　mine　trucks　as　much　as　possible,　reducing　the　number　of　unmanned　mine　trucks　and　the　interference　between　equipment.