Early warning method and system for toppling risk of goods transported by vehicle

Abstract

The invention provides an early warning method and system for the toppling risk of goods transported by a vehicle, and the method comprises the steps: obtaining the driving state of a first vehicle and / or the road state of the first vehicle; according to the running state of the first vehicle and / or the road state of the first vehicle, a first running mode of the first vehicle is determined, and the running modes of the vehicle comprise one or more of a starting and accelerating mode, a braking mode, a bumping mode, an uphill and downhill mode, a turning mode and a constant speed mode; determining a first cargo type to which the cargo transported by the first vehicle belongs, and determining a first dumping risk early warning model corresponding to the first operation mode under the first cargo type; and performing early warning on the driving state of the vehicle by using the first toppling risk early warning model. According to the invention, goods can be effectively prevented from toppling over, and dangerous driving behaviors of a driver are reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicle transportation safety technology, and in particular to an early warning method and system for the risk of dumping of goods in vehicle transportation. Background Art

[0002] When transporting goods, the goods are usually placed on a support surface in the carriage or on the body of the vehicle. If the goods tip over during transportation, it will affect the safety of road traffic on the one hand, and on the other hand, it will cause the loss of goods, resulting in economic losses and contract losses. For example, when a daily sales freight company was transporting yogurt bottles, the driver's bad driving behavior, such as sudden acceleration and deceleration, caused the yogurt bottles to tip over, resulting in losses such as bottle damage.

[0003] In order to prevent the goods from tipping over during transportation, the current practice is mostly to rely on the driver to control the driving behavior by himself to improve the safety of cargo transportation. Therefore, the vehicle driver needs to pay attention to controlling the state or posture of the vehicle at all times, which undoubtedly increases the difficulty of driving. In addition, since it relies on the driver's personal experience to control the driving behavior, different drivers have different driving habits and driving experience, so the above method is difficult to ensure the safety of cargo transportation.

[0004] The prior art provides a forklift capable of preventing cargo from tipping over, the forklift comprises a body, a fork frame connecting the body and the fork legs, the fork legs comprise a movable leg at the front end and a fixed leg at the rear end, the two being connected by a movable shaft and controlled by a rotating motor, wherein the fixed leg comprises a functional cavity inside, an electric telescopic device is arranged inside the functional cavity, the electric telescopic device is connected to the lock head of the electromagnetic lock, and a lock plate matching the lock head is arranged on the surface of the movable leg. The above scheme prevents cargo from tipping over by mechanical means.

[0005] The above solution requires the installation of a mechanical device on the vehicle, and is not applicable to vehicles that cannot be installed with a mechanical device. In addition, since an additional mechanical device needs to be added, this also results in disadvantages such as high implementation costs.

[0006] Therefore, there is an urgent need for a solution to prevent cargo dumping that can be widely applied to different vehicles, which can reduce the risk of cargo dumping while reducing the implementation cost of the solution and improving the practicality of the solution. Summary of the invention

[0007] At least one embodiment of the present application provides a method and system for early warning of the risk of dumping of cargo transported by vehicles, thereby reducing the implementation cost of a solution to prevent cargo dumping and improving the practicality of the solution.

[0008] According to one aspect of the present application, at least one embodiment provides an early warning method for dumping risk of cargo transported by a vehicle, comprising:

[0009] Acquire a driving state of a first vehicle and / or a road state of the first vehicle, wherein the driving state includes a three-axis acceleration and a speed, and the road state of the first vehicle includes a horizontal slope and / or a turning radius of a road position where the first vehicle is located;

[0010] Determining a first operating mode of the first vehicle according to the driving state of the first vehicle and / or the road state of the first vehicle, wherein the operating mode of the vehicle includes: one or more of a starting and acceleration mode, a braking mode, a bumpy mode, an uphill and downhill mode, a turning mode, and a constant speed mode;

[0011] Determine a first cargo category to which the cargo transported by the first vehicle belongs, and determine a first tipping risk warning model corresponding to the first operating mode under the first cargo category, wherein each operating mode under each cargo category has a corresponding tipping risk warning model, and the tipping risk warning model is used to indicate a critical indicator when the cargo begins to tilt, and the critical indicator includes a vehicle speed and / or acceleration;

[0012] The first tipping risk warning model is used to warn the driving state of the vehicle.

[0013] Optionally, a tipping risk warning model corresponding to various operation modes is established in advance for each type of cargo; wherein cargo of the same type has the same shape parameters and center of gravity height.

[0014] Optionally, a dumping risk warning model corresponding to each operation mode is established in advance for each type of cargo, including:

[0015] For each type of cargo, a critical indicator is determined when the cargo begins to tilt in each operating mode, wherein the critical indicator is a function of at least one of the following parameters: shape parameters of the cargo, center of gravity height, horizontal slope of the road where the vehicle is located, and turning radius of the road where the vehicle is located.

[0016] Optionally, the using the first dumping risk warning model to warn the driving state of the vehicle specifically includes:

[0017] Calculate a warning threshold of a critical indicator indicated by the first dumping risk warning model according to at least one of a driving state of the first vehicle, a horizontal slope of a road where the first vehicle is located, and a turning radius of a road where the first vehicle is located;

[0018] When the driving state of the first vehicle reaches the warning threshold of the critical indicator, a first level warning is generated.

[0019] Optionally, a dumping risk warning model corresponding to each operation mode is established in advance for each type of cargo, including:

[0020] For each type of cargo, the maximum angular displacement of the cargo when it tilts to the critical point of tipping in each operating mode is determined, and the maximum angular displacement is a function of at least one of the following parameters: the shape parameters of the cargo, the center of gravity height, the horizontal slope of the road where the vehicle is located, and the turning radius of the road where the vehicle is located.

[0021] Optionally, the using the first dumping risk warning model to warn the driving state of the vehicle further includes:

[0022] Calculate a warning threshold of a maximum angular displacement indicated by the first dumping risk warning model according to at least one of a driving state of the first vehicle, a horizontal slope of a road where the first vehicle is located, and a turning radius of the road where the first vehicle is located;

[0023] The angular displacement of the cargo after tilting is calculated according to the driving state of the first vehicle, and a second level warning is generated when the angular displacement reaches a warning threshold of the maximum angular displacement.

[0024] Optionally, the above method further includes:

[0025] Counting the number of warnings during the driving of the first vehicle;

[0026] The driving behavior of the driver of the first vehicle is scored according to the number of warnings.

[0027] Optionally, the starting and accelerating mode is an operating mode in which the acceleration and speed of the vehicle on a horizontal straight road have the same direction and the absolute value of the acceleration is greater than 0;

[0028] The braking mode is an operating mode in which the acceleration and speed of the vehicle on a horizontal straight road are opposite in direction and the absolute value of the acceleration is greater than 0;

[0029] The bump mode is an operating mode in which the frequency of change of the acceleration component of the vehicle in the vertical direction is greater than a preset threshold;

[0030] The uphill and downhill mode is an operation mode of the vehicle on a road with a horizontal slope;

[0031] The turning mode is the operating mode of the vehicle on a horizontal curved road;

[0032] The uniform speed mode is an operating mode in which the absolute value of acceleration is 0 on a horizontal straight road.

[0033] According to another aspect of the present application, at least one embodiment provides an early warning system for dumping risk of cargo transported by a vehicle, comprising:

[0034] A first acquisition module is used to acquire a driving state of a first vehicle and / or a road state of the first vehicle, wherein the driving state includes a three-axis acceleration and a speed, and the road state of the first vehicle includes a horizontal slope and / or a turning radius of a road position where the first vehicle is located;

[0035] a first determining module, configured to determine a first operating mode of the first vehicle according to the driving state of the first vehicle and / or the road state of the first vehicle, wherein the operating mode of the vehicle includes one or more of: a starting and acceleration mode, a braking mode, a bumping mode, an uphill and downhill mode, a turning mode, and a constant speed mode;

[0036] A second determination module is used to determine a first cargo type to which the cargo transported by the first vehicle belongs, and to determine a first dumping risk warning model corresponding to the first operating mode under the first cargo type, wherein each operating mode under each cargo type has a corresponding dumping risk warning model, and the dumping risk warning model is used to indicate a critical index when the cargo begins to tilt, and the critical index includes a vehicle speed and / or acceleration;

[0037] The early warning module is used to use the first dumping risk early warning model to warn the driving state of the vehicle.

[0038] Optionally, the above system further includes:

[0039] A module is established for establishing a dumping risk warning model corresponding to various operation modes for each type of cargo in advance; wherein cargo of the same type has the same shape parameters and center of gravity height.

[0040] Optionally, the establishment module is further used to:

[0041] For each type of cargo, a critical indicator is determined when the cargo begins to tilt in each operating mode, wherein the critical indicator is a function of at least one of the following parameters: shape parameters of the cargo, center of gravity height, horizontal slope of the road where the vehicle is located, and turning radius of the road where the vehicle is located.

[0042] Optionally, the early warning module is further used to:

[0043] Calculate a warning threshold of a critical indicator indicated by the first dumping risk warning model according to at least one of a driving state of the first vehicle, a horizontal slope of a road where the first vehicle is located, and a turning radius of a road where the first vehicle is located;

[0044] When the driving state of the first vehicle reaches the warning threshold of the critical indicator, a first level warning is generated.

[0045] Optionally, the establishment module is further used to:

[0046] For each type of cargo, the maximum angular displacement of the cargo when it tilts to the critical point of tipping in each operating mode is determined, and the maximum angular displacement is a function of at least one of the following parameters: the shape parameters of the cargo, the center of gravity height, the horizontal slope of the road where the vehicle is located, and the turning radius of the road where the vehicle is located.

[0047] Optionally, the early warning module is further used to:

[0048] Calculate a warning threshold of a maximum angular displacement indicated by the first dumping risk warning model according to at least one of a driving state of the first vehicle, a horizontal slope of a road where the first vehicle is located, and a turning radius of the road where the first vehicle is located;

[0049] The angular displacement of the cargo after tilting is calculated according to the driving state of the first vehicle, and a second level warning is generated when the angular displacement reaches a warning threshold of the maximum angular displacement.

[0050] Optionally, the above system further includes:

[0051] The scoring module is used to count the number of warnings during the driving of the first vehicle; and score the driving behavior of the driver of the first vehicle according to the number of warnings.

[0052] According to another aspect of the present application, at least one embodiment provides a computer-readable storage medium, on which a program is stored. When the program is executed by a processor, the steps of the method described above are implemented.

[0053] Compared with the prior art, the early warning method and system for the risk of dumping of goods transported by vehicles provided in the embodiments of the present application, by modeling the transported goods and operation modes of the vehicle, and calculating the dumping risk early warning model under different operation modes of the vehicle and the types of goods, can generate an early warning when the goods begin to leave the support surface, for example, send an alarm to the driver, which can effectively prevent the dumping of goods and reduce the driver's dangerous driving behavior. At the same time, the embodiments of the present application can also count the number of early warnings issued by the driver during driving, providing strong data support for judging driving behavior. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0055] Figure 1A schematic flow chart of a method for early warning of dumping risk of goods transported by vehicles according to an embodiment of the present application;

[0056] Figure 2 An example process for establishing a dumping risk warning model for an embodiment of the present application;

[0057] Figure 3 to Figure 8 The following are example diagrams of cargo force analysis in respective motion modes;

[0058] Fig. 9 An example diagram of an early warning system for the risk of dumping of goods transported by vehicles according to an embodiment of the present application;

[0059] Fig.10 An exemplary diagram of a method for early warning of dumping risk of goods transported by vehicles according to an embodiment of the present application;

[0060] Fig.11 Another structural schematic diagram of the early warning system for the risk of dumping of goods transported by vehicles according to an embodiment of the present application;

[0061] Fig.12 This is another structural schematic diagram of the early warning system for the risk of dumping of goods transported by vehicles according to an embodiment of the present application. DETAILED DESCRIPTION

[0062] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0063] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in one embodiment" appearing throughout the specification may not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. "And / or" in the specification and claims represents at least one of the connected objects.

[0064] In the various embodiments of the present application, it should be understood that the size of the serial numbers of the following processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0065] The following description provides examples and does not limit the scope, applicability, or configuration set forth in the claims. Changes may be made to the functions and arrangements of the elements discussed without departing from the spirit and scope of the present disclosure. Various examples may appropriately omit, replace, or add various procedures or components. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.

[0066] Please refer to Figure 1 The method for early warning of the risk of dumping of goods transported by a vehicle provided in an embodiment of the present application is applied to a first vehicle, where the first vehicle is a vehicle that transports goods and needs to be warned of the risk of dumping of goods. The method includes:

[0067] Step 11, obtaining the driving state of the first vehicle and / or the road state of the first vehicle, the driving state includes three-axis acceleration and speed, and the road state of the first vehicle includes the horizontal slope and / or turning radius of the road position of the first vehicle.

[0068] Here, the embodiment of the present application can obtain the real-time driving status of the vehicle by reading the data of the on-board diagnostic system (OBD). OBD data generally includes the pressure data of the vehicle's accelerator pedal (gas pedal), the pressure data of the brake pedal, the speed and three-axis acceleration data. Of course, the above-mentioned driving status can also be obtained in other ways, for example, through a sensor fixed on the vehicle or a terminal containing a sensor (such as the driver's smart phone, etc.), to obtain data such as the speed and acceleration of the vehicle. The road state of the first vehicle is used to reflect the horizontal slope and turning radius of the road position where the first vehicle is currently located. One way to obtain the road state can be to query the map information according to the current position point of the vehicle to obtain the above-mentioned road state. Another way to obtain the road state can also be to interact with the roadside equipment installed on the roadside to obtain the horizontal slope and turning radius corresponding to the current position.

[0069] In addition, in the embodiment of the present application, the z-axis acceleration (also referred to as the z-axis acceleration) in the three-axis acceleration refers to the acceleration in the vertical direction, the x-axis acceleration (also referred to as the x-axis acceleration) and the y-axis acceleration (also referred to as the y-axis acceleration) are both perpendicular to the z-axis acceleration, and the x-axis acceleration is also perpendicular to the vehicle speed direction.

[0070] Step 12, determining the first operating mode of the first vehicle according to the driving state of the first vehicle and / or the road state of the first vehicle, wherein the vehicle operating mode includes: one or more of starting and acceleration mode, braking mode, bumpy mode, uphill and downhill mode, turning mode, and constant speed mode.

[0071] Here, the first operating mode refers to the current operating mode of the first vehicle determined in step 12, and the first operating mode may be one of a plurality of pre-established vehicle operating modes. The embodiment of the present application pre-establishes a plurality of operating modes for the vehicle according to the typical operating environment of the vehicle. These operating modes may include one or more of a starting and acceleration mode, a braking mode, a bumpy mode, an uphill and downhill mode, a turning mode, and a constant speed mode. Specifically:

[0072] (a) The starting and accelerating mode is an operating mode in which the acceleration and speed of the vehicle on a horizontal straight road (horizontal slope is 0, turning radius is infinite) are in the same direction, and the absolute value of the acceleration is greater than 0.

[0073] (b) The braking mode is an operating mode in which the acceleration and speed of the vehicle on a horizontal straight road are opposite in direction and the absolute value of the acceleration is greater than 0.

[0074] (c) The bump mode is an operating mode in which the frequency of change of the acceleration component of the vehicle in the vertical direction is greater than a preset threshold.

[0075] (d) The uphill and downhill mode is a mode in which the vehicle is operated on a road with a horizontal slope. Here, a road with a horizontal slope refers to a road with a horizontal slope greater than 0 degrees.

[0076] (e) The turning mode is the running mode of the vehicle on a horizontal curved road. Here, the horizontal curved road refers to a road with a horizontal slope of 0 degrees and a certain curvature.

[0077] (f) The uniform speed mode is an operating mode in which the absolute value of acceleration is 0 on a horizontal straight road.

[0078] In addition, in order to reduce the types of operation modes, when establishing the operation mode, parameters with small numerical differences or belonging to the same numerical range can be regarded as parameters with the same value. For example, roads with a horizontal slope between -5 degrees and +5 degrees are all approximately regarded as horizontal roads with a horizontal slope of 0 degrees. For another example, acceleration absolute values ​​less than 2m / S 2 The acceleration of is regarded as the acceleration with an absolute value of 0.

[0079] It should also be noted that since there are many types of roads for vehicles to travel on and types of driving conditions of vehicles, the embodiments of the present application do not require covering all operating modes of the vehicle. It only needs to include some typical operating modes to achieve the effect of reducing the risk of cargo dumping to a certain extent.

[0080] In this way, in step 12, the embodiment of the present application can match the current driving state of the first vehicle and / or the road state of the first vehicle with various pre-established operating modes, and determine the current operating mode of the first vehicle (for the convenience of description, referred to as the first operating mode here) according to the matched operating modes.

[0081] In addition, in the embodiment of the present application, the judgment of the running mode of the first vehicle can also be judged by obtaining the OBD data of the first vehicle. For example, when the accelerator pedal pressure in the OBD data increases, it indicates that the vehicle is accelerating, and at this time, it can be considered that the first vehicle is in the starting and acceleration mode; for another example, when the brake plate pressure in the OBD data increases, it can be judged that the first vehicle is in the braking mode; when the z-axis acceleration in the OBD data frequently fluctuates between positive and negative values, it is judged that the first vehicle is in the bumping mode; when the z-axis acceleration in the OBD data is a positive or negative value maintained for a period of time, it is judged that the first vehicle is in the uphill and downhill mode, where the positive value corresponds to the uphill and the negative value corresponds to the downhill; when the change amplitude of the x-axis acceleration in the OBD data exceeds the preset threshold, it is judged that the first vehicle is in the turning mode; when the acceleration in the OBD data is 0 and the speed remains basically unchanged, it is judged that the first vehicle is in the uniform speed mode, and so on. In order to improve the accuracy of the running mode judgment, after making a preliminary judgment on the above OBD data, the embodiment of the present application can also correct the judgment result again through the acceleration characteristics under different running modes.

[0082] Step 13, determine the first cargo type to which the cargo transported by the first vehicle belongs, and determine a first dumping risk warning model corresponding to the first operating mode under the first cargo type, wherein various operating modes under each cargo type have corresponding dumping risk warning models, and the dumping risk warning model is used to indicate a critical indicator when the cargo begins to tilt, and the critical indicator includes vehicle speed and / or acceleration.

[0083] The embodiment of the present application establishes dumping risk warning models corresponding to various operation modes for different types of goods in advance for the goods of the same type; wherein the same type of goods has the same or similar external contour and center of gravity height. For example, the goods that the vehicle needs to transport can be divided into different types in advance according to the shape parameters and center of gravity height of all the goods that the vehicle needs to transport. In order to reduce the number of types of goods, goods with similar shape parameters and similar center of gravity heights can be classified as the same type of goods. Then, for each type of goods, a dumping risk warning model corresponding to different vehicle operation modes under the type of goods is established. In this way, in step 13, the type of goods to which the vehicle currently transports the goods can be first determined (here, for the convenience of description, referred to as the first type of goods), and then the dumping risk warning model corresponding to the first operation mode of the vehicle current under the first type of goods is determined (here, for the convenience of description, referred to as the first dumping risk warning model).

[0084] Step 14: Use the first tipping risk warning model to warn the driving state of the vehicle.

[0085] Here, in step 14, the embodiment of the present application uses the first dumping risk warning model to warn the driving state of the vehicle. For example, when the driving state of the vehicle reaches a certain warning threshold of the first dumping risk warning model, a corresponding warning is generated. The warning can be in the form of voice, image, short message, etc., for example, playing "The current speed / acceleration of the vehicle has a risk of cargo dumping, please reduce the vehicle speed / acceleration", etc., and the embodiment of the present application does not specifically limit this.

[0086] Through the above method, the embodiment of the present application can provide timely warning of the risk of dumping of goods during transportation based on the pre-established dumping risk warning model, thereby effectively preventing the dumping of goods and reducing the driver's dangerous driving behavior.

[0087] Before step 11, the embodiment of the present application can establish a dumping risk warning model corresponding to various operation modes for each type of cargo in advance; wherein cargo of the same type has the same appearance parameters and center of gravity height.

[0088] Specifically, for each type of cargo, a critical indicator (such as vehicle speed and / or acceleration) when the cargo begins to tilt in each operating mode can be determined through a mechanical analysis of the cargo in each operating mode, wherein the critical indicator is a function of at least one of the following parameters: the cargo's shape parameters, the height of the center of gravity, the horizontal slope of the road where the vehicle is located, and the turning radius of the road where the vehicle is located.

[0089] Then, in step 14, the embodiment of the present application can calculate the warning threshold of the critical index indicated by the first dumping risk warning model according to at least one of the driving state of the first vehicle, the horizontal slope of the road where the first vehicle is located, and the turning radius of the road where the first vehicle is located. For example, the value of the calculated critical index can be directly used as the warning threshold, or the product of the calculated critical index value and a preset ratio value (such as 90%) can be used as the warning threshold. Then, follow up the warning threshold to judge the real-time driving state of the first vehicle. When the driving state of the first vehicle reaches the warning threshold of the critical index, a first-level warning is generated to indicate to the driver of the first vehicle that the cargo transported by the first vehicle may have tilted, thereby reminding the driver to reduce the vehicle speed and / or acceleration to reduce the risk of cargo dumping.

[0090] Furthermore, when establishing the dumping risk warning model corresponding to various operation modes, the embodiment of the present application can further determine the maximum angular displacement of each type of cargo when the cargo tilts to the tipping critical point in each operation mode, and the maximum angular displacement is a function of at least one of the following parameters: the shape parameters of the cargo, the height of the center of gravity, the horizontal slope of the road where the vehicle is located, and the turning radius of the road where the vehicle is located. Here, the maximum angular displacement is the angular displacement of the cargo when the first intersection moves out of the support surface, and the first intersection is the intersection of the vertical line passing through the center of gravity of the cargo and the support surface, and the support surface is the surface surrounded by the edge contact points of the cargo and the support surface.

[0091] Thus, in step 14, the warning threshold of the maximum angular displacement indicated by the first tipping risk warning model is calculated based on at least one of the driving state of the first vehicle, the horizontal slope of the road where the first vehicle is located, and the turning radius of the road where the first vehicle is located. Here, the numerical value of the calculated maximum angular displacement can be directly used as the warning threshold, or the product of the numerical value of the calculated maximum angular displacement and another preset ratio value (such as 80%) can be used as the warning threshold. In this way, the embodiment of the present application can calculate the angular displacement of the cargo after tilting according to the driving state of the first vehicle, and generate a second level warning (red tipping warning) when the angular displacement reaches the warning threshold of the maximum angular displacement to prompt the driver to reduce the vehicle speed or acceleration as soon as possible.

[0092] It can be seen that the second-level warning indicates that the cargo is about to tip over, and the first-level warning indicates that the cargo is tilted. Therefore, the severity of the second-level warning is higher than that of the first-level warning.

[0093] The following is a specific description of an implementation method for establishing a dumping risk warning model. It should be pointed out that in the following implementation method, the external contour of the cargo is a rectangular parallelepiped, and the center of gravity is located at the center point of the cargo contour. For different external contours, mechanical analysis can be used to determine the vehicle speed / acceleration and other information when the cargo leaves the support surface in each operating mode. The embodiment of this application only takes the rectangular parallelepiped as an example for description, and other contours are not described one by one.

[0094] Figure 2 An example process for establishing a dumping risk warning model is provided. By reading the cargo information registry of the vehicle, the external contour and center of gravity information of all cargo that the vehicle may transport are obtained. Based on the obtained information, cargo with the same or similar external contour information and the same or similar center of gravity information are classified into the same category, thereby completing the classification of cargo. Table 1 shows a classification result after cargo classification.

[0095] Table 1

[0096] Types of goods Length*Width*Height Center of gravity height Fragile or not Yogurt bottle 10*20*30 10 yes refrigerator 500*500*1200 800 no block … … … … … … …

[0097] Assume that the height of the cargo's outer contour is 2H and the width is 2L. Here, the height refers to the length of the side of the outer contour parallel to the vertical direction of the cargo support surface, and the width refers to the length of the side of the outer contour parallel to the length direction of the vehicle speed. In order to simplify the processing, it is assumed that the cargo is placed flat on the vehicle, that is, the bottom surface of the cargo is in contact with the vehicle, and the surface of the vehicle supporting the cargo is called the support surface. The following examples illustrate the establishment of the dumping risk warning model corresponding to the above-mentioned various operating modes.

[0098] (1) Starting and acceleration mode, braking mode

[0099] The load states of the cargo in the starting and acceleration mode and the braking mode are similar. Figure 3 It can be seen that the forces on the cargo include: the vertical downward gravity G through the center of gravity, and the vertical upward support force N of the vehicle on the cargo. The above two forces are equal in magnitude but opposite in direction, and are a pair of balanced forces. In this case, the cargo remains in a balanced state and relatively stationary with the vehicle. However, when the vehicle suddenly moves to the left with an acceleration a until the cargo is about to tilt, the bottom of the cargo remains relatively stationary with the vehicle, but the force situation has changed: static friction f is generated between the cargo and the vehicle. This friction exists on the contact surface between the cargo and the vehicle and increases with the increase of acceleration. The maximum static friction can increase to f = μmg, and with the increase of acceleration, the friction is no longer evenly distributed on the contact surface between the cargo and the vehicle, but is concentrated on the contact surface between the rear edge of the cargo and the vehicle. Here, μ represents the friction coefficient, m represents the mass of the cargo, and g represents the weight acceleration. On the other hand, with the increase of acceleration, the position of the support force also changes. Although the support force is also upward, its position of action is translated to the rear edge of the cargo. At this time, for the center of gravity of the cargo, the support force and the friction force generate a rotational torque around the center of gravity.

[0100] like Figure 4 As shown, assuming that the cargo can just reach a critical state of tilting at this time (such as Figure 4 The cargo state shown in the rectangle on the left of the figure can no longer be analyzed using the translation of a particle. Instead, the cargo should be analyzed as a rotation of a rigid body. Now let's analyze it using the ground as an inertial reference system. Since the cargo and the vehicle remain relatively stationary, the cargo will also receive an acceleration a. This acceleration is provided by the friction force f, so the friction force f = ma, and the supporting force is N = mg. Assuming that the cargo height is 2H and the horizontal width is 2L, the counterclockwise rotation torque generated by the friction force is M f =maH, the torque generated by the supporting force is M N= mgL. At this time, the goods have not tilted (rotated), so maH = mgL, and thus a = gL / H. When the acceleration is greater than the threshold gL / H, the goods begin to separate from the support surface and tilt. Therefore, gL / H can be used as the warning threshold for the first-level warning of the acceleration in the starting and acceleration modes and the braking mode. Here, a y represents gL / H.

[0101] As Figure 4 shown, when the acceleration is greater than the threshold gL / H, the goods begin to separate from the support surface, and the tilt begins to accumulate until the center of gravity and the fulcrum are on a straight line (as shown by the rectangle in the right part of Figure 4 ), reaching the critical point of falling or not falling. During this process, the angular displacement of the goods is à, where the maximum angular displacement à corresponds to tan à = L / H. Thus, the range of values of the angular displacement can be determined as: 0 < à < arc tan(L / H). When the angular displacement is greater than arc tan(L / H), the goods will tip over. Therefore, the product of the maximum angular displacement arc tan(L / H) and a preset ratio (such as 80%) can be calculated to obtain the first angular displacement, and the first angular displacement is used as the warning threshold for the second-level warning of the angular displacement in the starting and acceleration modes and the braking mode.

[0102] (2) Uphill and downhill modes

[0103] Assume the height of the goods is 2H, the horizontal width is 2L, and the road slope is β. During the vehicle's accelerating uphill process, the force analysis is as shown in Figure 5 :

[0104] m * a * H > mg Cosβ * L

[0105] When a > (L * Cosβ * g) / H, the goods begin to tilt.

[0106] Here, the traction force F = the frictional force f plus or minus mg(sinβ). For the sake of convenience, we uniformly use F = ma.

[0107] Similarly, as shown in Figure 6 , when the vehicle decelerates uphill and the braking acceleration a > (L * Cosβ * g) / H, the goods will tilt.

[0108] Similarly, when the vehicle accelerates downhill and decelerates downhill, when a > (L * Cosβ * g) / H, the goods will tilt.

[0109] Therefore, on the slope, during the accelerating uphill, accelerating downhill, and emergency braking processes, the acceleration a needs to be less than a y * Cosβ. Here, a y = gL / H. Therefore, a y*Cosβ is used as the warning threshold for the first-level warning of acceleration in the uphill / downhill mode.

[0110] When the acceleration a is greater than a y , the goods start to tilt until the center of gravity of the goods and the rotation point are on a straight line, reaching the tipping critical point. Therefore, for the angular displacement à of the goods rotation, the maximum value corresponds to tan(à + β) = L / H.

[0111] Therefore, the range of the angular displacement à of the goods in the uphill / downhill mode is:

[0112] 0 < à < arctan(L / H) - β

[0113] Therefore, the product of the maximum angular displacement arctan(L / H) - β and a preset ratio (such as 80%) can be calculated to obtain a second angular displacement, and the second angular displacement is used as the warning threshold for the second-level warning of the angular displacement in the uphill / downhill mode.

[0114] (3) Turning mode

[0115] As Figure 7 shown, during the vehicle turning process, assuming the turning radius is r and the vehicle speed is v, the acceleration a can be decomposed into a lateral acceleration x and a longitudinal acceleration y, then the goods and the vehicle maintain the same parameters. The centripetal force acting on the goods is mv 2 / r, the acting point is at the center of gravity, and the direction is outward from the center of the circle. So the goods may tilt outward. When the goods just start to tilt, the moment of the centrifugal force on the outer fulcrum is balanced with the moment of the gravity on the fulcrum:

[0116] mv 2 / r * H = mg * L

[0117] v 2 = gLr / H

[0118]

[0119] a y * Cosβ can be used as the warning threshold for the first-level warning of speed in the turning mode.

[0120] Similarly, as Figure 8 shown, if the speed does not decrease, the tilt starts to accumulate until the center of gravity and the fulcrum are on a straight line, reaching the critical point of falling or not falling. The maximum value of the angular displacement à corresponds to tan à = L / H, that is: 0 < à < arctan(L / H). Therefore, the product of the maximum angular displacement arctan(L / H) and a preset ratio (such as 80%) can be calculated to obtain a third angular displacement, and the third angular displacement is used as the warning threshold for the second-level warning of the angular displacement in the turning mode.

[0121] For the uniform speed mode, the risk of cargo tipping is very small, so when establishing the tipping risk warning model, there is no need to set the warning threshold or set the warning threshold to infinity. For the bumpy mode, if the vertical acceleration (Z direction) is too large, it may cause the cargo to collide during the bumpy process, resulting in cargo damage. Therefore, the corresponding Z-direction acceleration warning threshold can be set according to the cargo weight.

[0122] In the above manner, the embodiment of the present application can establish a dumping risk warning model under different operation modes for each type of cargo, and a possible dumping risk warning model under different operation modes is shown in Table 2. As an example, the dumping risk warning model shown in Table 2 includes a first-level warning indicator when the cargo begins to leave the support surface, and can also include a maximum tilt angle of the cargo (the maximum angular displacement when the cargo reaches the tipping critical point), based on which a second-level warning indicator that the cargo is about to tip can be calculated.

[0123] Table 2

[0124]

[0125]

[0126] Fig. 9 An exemplary structure of an early warning system for the risk of dumping of goods transported by vehicles according to an embodiment of the present application is provided. Fig.10 This is an example process of the early warning method for the dumping risk of goods transported by vehicles according to an embodiment of the present application. In this example process, the number of early warnings during the driving of the first vehicle can also be counted, and then the driving behavior of the driver of the first vehicle can be scored according to the number of early warnings. For example, the number of first-level early warnings and the number of second-level early warnings are counted respectively, and after the trip, the driving behavior of the driver is scored according to the number of first-level early warnings and the number of second-level early warnings, providing strong data support for judging driving behavior.

[0127] It can be seen from the above embodiments that the present application can effectively prevent the risk of cargo dumping during cargo transportation without adding mechanical devices, regulate the driver's driving behavior, and reduce losses during transportation.

[0128] Please refer to Fig.11 Another structure of the early warning system for the risk of dumping of goods transported by vehicles provided in the embodiment of the present application includes:

[0129] A first acquisition module 111 is used to acquire a driving state of a first vehicle and / or a road state of the first vehicle, wherein the driving state includes a three-axis acceleration and a speed, and the road state of the first vehicle includes a horizontal slope and / or a turning radius of a road position where the first vehicle is located;

[0130] A first determining module 112 is used to determine a first operating mode of the first vehicle according to the driving state of the first vehicle and / or the road state of the first vehicle, wherein the operating mode of the vehicle includes: one or more of a starting and acceleration mode, a braking mode, a bumping mode, an uphill and downhill mode, a turning mode, and a constant speed mode;

[0131] A second determination module 113 is used to determine a first cargo type to which the cargo transported by the first vehicle belongs, and to determine a first dumping risk warning model corresponding to the first operating mode under the first cargo type, wherein each operating mode under each cargo type has a corresponding dumping risk warning model, and the dumping risk warning model is used to indicate a critical indicator when the cargo begins to tilt, and the critical indicator includes a vehicle speed and / or acceleration;

[0132] The early warning module 114 is used to use the first dumping risk early warning model to issue an early warning on the driving state of the vehicle.

[0133] Through the above modules, the embodiments of the present application can effectively prevent the dumping of goods and reduce the dangerous driving behavior of the driver.

[0134] Optionally, the above system further includes:

[0135] A module is established for establishing a dumping risk warning model corresponding to various operation modes for each type of cargo in advance; wherein cargo of the same type has the same shape parameters and center of gravity height.

[0136] Optionally, the establishment module is further used to:

[0137] For each type of cargo, a critical indicator is determined when the cargo begins to tilt in each operating mode, wherein the critical indicator is a function of at least one of the following parameters: shape parameters of the cargo, center of gravity height, horizontal slope of the road where the vehicle is located, and turning radius of the road where the vehicle is located.

[0138] Optionally, the early warning module is further used to:

[0139] Calculate a warning threshold of a critical indicator indicated by the first dumping risk warning model according to at least one of a driving state of the first vehicle, a horizontal slope of a road where the first vehicle is located, and a turning radius of a road where the first vehicle is located;

[0140] When the driving state of the first vehicle reaches the warning threshold of the critical indicator, a first level warning is generated.

[0141] Optionally, the establishment module is further used to:

[0142] For each type of cargo, the maximum angular displacement of the cargo when it tilts to the critical point of tipping in each operating mode is determined, and the maximum angular displacement is a function of at least one of the following parameters: the shape parameters of the cargo, the center of gravity height, the horizontal slope of the road where the vehicle is located, and the turning radius of the road where the vehicle is located.

[0143] Optionally, the early warning module is further used to:

[0144] Calculate a warning threshold of a maximum angular displacement indicated by the first dumping risk warning model according to at least one of a driving state of the first vehicle, a horizontal slope of a road where the first vehicle is located, and a turning radius of the road where the first vehicle is located;

[0145] The angular displacement of the cargo after tilting is calculated according to the driving state of the first vehicle, and a second level warning is generated when the angular displacement reaches a warning threshold of the maximum angular displacement.

[0146] Optionally, the above system further includes:

[0147] The scoring module is used to count the number of warnings during the driving process of the first vehicle; and score the driving behavior of the driver of the first vehicle according to the number of warnings.

[0148] Optionally, the starting and accelerating mode is an operating mode in which the acceleration and speed of the vehicle on a horizontal straight road have the same direction and the absolute value of the acceleration is greater than 0;

[0149] The braking mode is an operating mode in which the acceleration and speed of the vehicle on a horizontal straight road are opposite in direction and the absolute value of the acceleration is greater than 0;

[0150] The bump mode is an operating mode in which the frequency of change of the acceleration component of the vehicle in the vertical direction is greater than a preset threshold;

[0151] The uphill and downhill mode is an operation mode of the vehicle on a road with a horizontal slope;

[0152] The turning mode is the operating mode of the vehicle on a horizontal curved road;

[0153] The uniform speed mode is an operating mode in which the absolute value of acceleration is 0 on a horizontal straight road.

[0154] It should be noted that the various systems provided in the above embodiments are devices corresponding to the above-mentioned vehicle transport cargo dumping risk warning method, and the implementation methods in the above-mentioned embodiments are applicable to the embodiments of the device, and can also achieve the same technical effects. The above-mentioned device provided in the embodiment of the present application can implement all the method steps implemented in the above-mentioned method embodiment, and can achieve the same technical effects. The parts and beneficial effects that are the same as those in the method embodiment in this embodiment will not be specifically described here.

[0155] Please refer to Fig.12 , a schematic diagram of the structure of another early warning system for the risk of dumping of goods transported by vehicles provided in an embodiment of the present application, the device includes: a processor 1201, a transceiver 1202, a memory 1203, a user interface 1204 and a bus interface.

[0156] In the embodiment of the present application, the device also includes: a program stored in the memory 1203 and executable on the processor 1201 .

[0157] The transceiver 1202 is used to send and receive data under the control of the processor;

[0158] The processor 1201 is configured to read the computer program in the memory and perform the following operations:

[0159] Acquire a driving state of a first vehicle and / or a road state of the first vehicle, wherein the driving state includes a three-axis acceleration and a speed, and the road state of the first vehicle includes a horizontal slope and / or a turning radius of a road position where the first vehicle is located;

[0160] Determining a first operating mode of the first vehicle according to the driving state of the first vehicle and / or the road state of the first vehicle, wherein the operating mode of the vehicle includes: one or more of a starting and acceleration mode, a braking mode, a bumping mode, an uphill and downhill mode, a turning mode, and a constant speed mode;

[0161] Determine a first cargo category to which the cargo transported by the first vehicle belongs, and determine a first tipping risk warning model corresponding to the first operating mode under the first cargo category, wherein each operating mode under each cargo category has a corresponding tipping risk warning model, and the tipping risk warning model is used to indicate a critical indicator when the cargo begins to tilt, and the critical indicator includes a vehicle speed and / or acceleration;

[0162] The first tipping risk warning model is used to warn the driving state of the vehicle.

[0163] It can be understood that in the embodiment of the present application, when the computer program is executed by the processor 1201, each process of the above-mentioned vehicle transport cargo dumping risk warning method embodiment can be implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0164] exist Fig.12In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 1201 and various circuits of memory represented by memory 1203 are linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1202 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium. For different user devices, the user interface 1204 may also be an interface capable of externally and internally connecting required devices, and the connected devices include but are not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like.

[0165] The processor 1201 is responsible for managing the bus architecture and general processing, and the memory 1203 can store data used by the processor 1201 when performing operations.

[0166] It should be noted that the device in this embodiment is a device corresponding to the above-mentioned vehicle transport cargo dumping risk warning method, and the implementation methods in the above-mentioned embodiments are all applicable to the embodiments of the device, and can also achieve the same technical effect. In the device, the transceiver 1202 and the memory 1203, as well as the transceiver 1202 and the processor 1201 can be connected through the bus interface communication, the function of the processor 1201 can also be implemented by the transceiver 1202, and the function of the transceiver 1202 can also be implemented by the processor 1201. It should be noted that the above-mentioned device provided in the embodiment of the present application can implement all the method steps implemented in the above-mentioned method embodiment, and can achieve the same technical effect, and the parts and beneficial effects that are the same as the method embodiment in this embodiment will not be specifically repeated here.

[0167] In some embodiments of the present application, a computer-readable storage medium is further provided, on which a program is stored, and when the program is executed by a processor, the following steps are implemented:

[0168] Acquire a driving state of a first vehicle and / or a road state of the first vehicle, wherein the driving state includes a three-axis acceleration and a speed, and the road state of the first vehicle includes a horizontal slope and / or a turning radius of a road position where the first vehicle is located;

[0169] Determining a first operating mode of the first vehicle according to the driving state of the first vehicle and / or the road state of the first vehicle, wherein the operating mode of the vehicle includes: one or more of a starting and acceleration mode, a braking mode, a bumping mode, an uphill and downhill mode, a turning mode, and a constant speed mode;

[0170] Determine a first cargo category to which the cargo transported by the first vehicle belongs, and determine a first tipping risk warning model corresponding to the first operating mode under the first cargo category, wherein each operating mode under each cargo category has a corresponding tipping risk warning model, and the tipping risk warning model is used to indicate a critical indicator when the cargo begins to tilt, and the critical indicator includes a vehicle speed and / or acceleration;

[0171] The first tipping risk warning model is used to warn the driving state of the vehicle.

[0172] When the program is executed by the processor, it can implement all the implementation methods in the above-mentioned vehicle transport cargo dumping risk warning method and achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0173] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0174] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0175] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0176] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0177] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0178] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0179] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for early warning of the risk of dumping of goods transported by vehicles, characterized in that: include: Acquire a driving state of a first vehicle and / or a road state of the first vehicle, wherein the driving state includes a three-axis acceleration and a speed, and the road state of the first vehicle includes a horizontal slope and / or a turning radius of a road position where the first vehicle is located; Determining a first operating mode of the first vehicle according to the driving state of the first vehicle and / or the road state of the first vehicle, wherein the operating mode of the vehicle includes: one or more of a starting and acceleration mode, a braking mode, a bumpy mode, an uphill and downhill mode, a turning mode, and a constant speed mode; Determine a first cargo category to which the cargo transported by the first vehicle belongs, and determine a first tipping risk warning model corresponding to the first operating mode under the first cargo category, wherein each operating mode under each cargo category has a corresponding tipping risk warning model, and the tipping risk warning model is used to indicate a critical indicator when the cargo begins to tilt, and the critical indicator includes a vehicle speed and / or acceleration; The first tipping risk warning model is used to warn the driving state of the vehicle.

2. The method according to claim 1, characterized in that For each type of cargo, a dumping risk warning model corresponding to various operating modes is established in advance; among them, cargo of the same type has the same appearance parameters and center of gravity height.

3. The method according to claim 2, characterized in that For each type of cargo, a dumping risk warning model corresponding to each operation mode is established in advance, including: For each type of cargo, a critical indicator is determined when the cargo begins to tilt in each operating mode, wherein the critical indicator is a function of at least one of the following parameters: shape parameters of the cargo, center of gravity height, horizontal slope of the road where the vehicle is located, and turning radius of the road where the vehicle is located.

4. The method according to claim 3, characterized in that The using the first dumping risk warning model to warn the driving state of the vehicle specifically includes: Calculate a warning threshold of a critical indicator indicated by the first dumping risk warning model according to at least one of a driving state of the first vehicle, a horizontal slope of a road where the first vehicle is located, and a turning radius of a road where the first vehicle is located; When the driving state of the first vehicle reaches the warning threshold of the critical indicator, a first level warning is generated.

5. The method according to claim 4, characterized in that For each type of cargo, a dumping risk warning model corresponding to each operation mode is established in advance, including: For each type of cargo, the maximum angular displacement of the cargo when it tilts to the critical point of tipping in each operating mode is determined, and the maximum angular displacement is a function of at least one of the following parameters: the shape parameters of the cargo, the center of gravity height, the horizontal slope of the road where the vehicle is located, and the turning radius of the road where the vehicle is located.

6. The method according to claim 5, characterized in that The using the first dumping risk warning model to warn the driving state of the vehicle also includes: Calculate a warning threshold of a maximum angular displacement indicated by the first dumping risk warning model according to at least one of a driving state of the first vehicle, a horizontal slope of a road where the first vehicle is located, and a turning radius of the road where the first vehicle is located; The angular displacement of the cargo after tilting is calculated according to the driving state of the first vehicle, and a second level warning is generated when the angular displacement reaches a warning threshold of the maximum angular displacement.

7. The method according to claim 1, characterized in that Also includes: Counting the number of warnings during the driving of the first vehicle; The driving behavior of the driver of the first vehicle is scored according to the number of warnings.

8. The method according to any one of claims 1 to 7, characterized in that The starting and accelerating mode is an operating mode in which the acceleration and speed of the vehicle on a horizontal straight road are in the same direction and the absolute value of the acceleration is greater than 0; The braking mode is an operating mode in which the acceleration and speed of the vehicle on a horizontal straight road are opposite in direction and the absolute value of the acceleration is greater than 0; The bump mode is an operating mode in which the frequency of change of the acceleration component of the vehicle in the vertical direction is greater than a preset threshold; The uphill and downhill mode is an operation mode of the vehicle on a road with a horizontal slope; The turning mode is the operating mode of the vehicle on a horizontal curved road; The uniform speed mode is an operating mode in which the absolute value of acceleration is 0 on a horizontal straight road.

9. An early warning system for the risk of dumping of goods transported by vehicles, characterized in that: include: A first acquisition module is used to acquire a driving state of a first vehicle and / or a road state of the first vehicle, wherein the driving state includes a three-axis acceleration and a speed, and the road state of the first vehicle includes a horizontal slope and / or a turning radius of a road position where the first vehicle is located; a first determining module, configured to determine a first operating mode of the first vehicle according to the driving state of the first vehicle and / or the road state of the first vehicle, wherein the operating mode of the vehicle includes one or more of: a starting and acceleration mode, a braking mode, a bumping mode, an uphill and downhill mode, a turning mode, and a constant speed mode; A second determination module is used to determine a first cargo type to which the cargo transported by the first vehicle belongs, and to determine a first dumping risk warning model corresponding to the first operating mode under the first cargo type, wherein each operating mode under each cargo type has a corresponding dumping risk warning model, and the dumping risk warning model is used to indicate a critical index when the cargo begins to tilt, and the critical index includes a vehicle speed and / or acceleration; The early warning module is used to use the first dumping risk early warning model to warn the driving state of the vehicle.

10. The system according to claim 9, characterized in that Also includes: A module is established for establishing a dumping risk warning model corresponding to various operation modes for each type of cargo in advance; wherein cargo of the same type has the same shape parameters and center of gravity height.

11. The system according to claim 10, characterized in that The establishment module is also used for: For each type of cargo, a critical indicator is determined when the cargo begins to tilt in each operating mode, wherein the critical indicator is a function of at least one of the following parameters: shape parameters of the cargo, center of gravity height, horizontal slope of the road where the vehicle is located, and turning radius of the road where the vehicle is located.

12. The system according to claim 11, characterized in that The early warning module is also used for: Calculate a warning threshold of a critical indicator indicated by the first dumping risk warning model according to at least one of a driving state of the first vehicle, a horizontal slope of a road where the first vehicle is located, and a turning radius of a road where the first vehicle is located; When the driving state of the first vehicle reaches the warning threshold of the critical indicator, a first level warning is generated.

13. The system of claim 12, wherein: The establishment module is also used for: For each type of cargo, the maximum angular displacement of the cargo when it tilts to the critical point of tipping in each operating mode is determined, and the maximum angular displacement is a function of at least one of the following parameters: the shape parameters of the cargo, the center of gravity height, the horizontal slope of the road where the vehicle is located, and the turning radius of the road where the vehicle is located.

14. The system of claim 13, wherein: The early warning module is also used for: Calculate a warning threshold of a maximum angular displacement indicated by the first dumping risk warning model according to at least one of a driving state of the first vehicle, a horizontal slope of a road where the first vehicle is located, and a turning radius of the road where the first vehicle is located; The angular displacement of the cargo after tilting is calculated according to the driving state of the first vehicle, and a second level warning is generated when the angular displacement reaches a warning threshold of the maximum angular displacement.

15. The system of claim 9, wherein: Also includes: A scoring module, used to count the number of warnings during the driving process of the first vehicle; The driving behavior of the driver of the first vehicle is scored according to the number of warnings.

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