Abstract: In response to the frequent collision accidents of non-railroad wheeled vehicles in coal mines in complex tunnels，the high false alarm rate of traditional collision prevention systems，and the lag⁃ ging response time，a three-level intelligent collision prevention system integrating UWB positioning，mil⁃ limeter-wave radar，and automatic sensing anti-vehicle devices is proposed. This system realizes compre⁃ hensive real-time perception of vehicle spacing，speed，and environment through multi-technology integra⁃ tion，and builds a closed-loop active protection mechanism from the first-level audible and visual warning， the second-level radar automatic braking to the third-level flexible interception. The on-site application of this system in Tashan Coal Mine for 8 months indicates that the system successfully resolved 10 cases of out-of-control dangers，shortened the collision risk identification and response time to within 150 ms，re⁃ duced the false alarm rate to less than 1.5%，and significantly reduced the monthly average maintenance cost. The system significantly improves the safety and efficiency of auxiliary transportation in underground mines，possesses high automation and reliability，and provides effective technical support for the construc⁃ tion of intelligent mines.

Key words: non-railroad wheeled vehicle, collision prevention system, multi-technology integration