A vehicle proximity awareness system in a mine, including: a magnetic field transmitter on a first vehicle for transmitting a transmit magnetic field, the magnetic field transmitter including an anti-collision capability for reducing a likelihood of the transmit magnetic field being affected by a magnetic field from a different source; a magnetic field receiver on a second vehicle for receiving the transmit magnetic field from the first vehicle to provide a receive signal; and a processor on the second vehicle for processing the receive signal, and for providing an indication to an operator of the second vehicle when the first vehicle is within a proximity of the second vehicle.