Zone passage control in worksite

An apparatus for zone passage control in an underground worksite including a plurality of operation zones for autonomously operating mobile vehicle operations, the apparatus comprising a processor and memory, the memory comprising instructions which, when executed by the processor, configure the apparatus to:

• receive position information of at least one autonomously operating mobile vehicle in a fusion zone merged of at least a first zone and a second zone, the first zone and the second zone being separated by a first passage control unit, the first passage control unit being associated with both the first zone and the second zone, the first passage control unit being inactive;
• and
• in response to receiving a signal about a detection of a mobile object by a second passage control unit associated with the first zone:
• check a position of the at least one autonomously operating mobile vehicle;
• in response to the at least one autonomously operating mobile vehicle being positioned in the second zone, prevent a control command to stop the at least one autonomously operating mobile vehicle in the second zone;
• demerge the first zone and the second zone;
• and
• activate the first passage control unit.