A method for zone passage control in an underground worksite having a plurality of operation zones for autonomously operating mobile vehicle operations includes the steps of receiving 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 associated with a first passage control unit, and in response to detecting a mobile object by a second passage control unit associated with the first zone, performing: checking position of the at least one autonomously operating mobile vehicle, in response to an autonomously operating mobile vehicle being positioned in the second zone, preventing a control command to stop the autonomously operating mobile vehicle in the second zone, and demerging the first zone and the second zone.