Abstract: In view of the limited positioning area and low calculation efficiency of the existing human-vehicle anti-collision system, an underground human-vehicle anti-collision safety early warning system based on UWB technology is proposed, which is calculated by both underground and vehicle calculation modules.The overall hardware architecture and software work flow of the system are proposed.The trilateral centroid positioning method is adopted, and three base station modules are used to determine the position of one tag module in the two-dimensional plane.The methods of personnel intrusion alarm and braking area delimitation are studied, and the alarm and braking area delimitation method based on vehicle speed is put forward.The test results show that the human-vehicle anti-collision safety early warning method can give an early alarm and emergency brake to the personnel in the alarm and braking area, ensuring the safety of the underground personnel.In addition, the results show that the faster the speed is, the lower the positioning accuracy is, and the closer it is to the relative position of the personnel when alarming or braking.The study of system architecture and early warning method in this paper can provide reference for the development of human-vehicle anti-collision safety early warning system in coal mine.