Safe driving early warning method and system and aerial work platform

Abstract

The invention discloses a safe driving early warning method and system and an aerial work platform. The safe driving early warning method comprises the steps that the driving track of the aerial work platform is obtained; planning a driving area of the aerial work platform according to the driving track; in the driving process, front road surface information in the driving area is obtained in real time; judging the type of the front pavement according to the front pavement information; judging whether the aerial work platform can safely run along the running track or not according to the type of the front road surface; under the condition that the aerial work platform cannot safely run along the running track, an alarm is given. According to the safe driving early warning method, whether the aerial work platform can safely drive along the driving track or not is judged according to the type of the front road surface, and an alarm is given in time when the aerial work platform cannot safely drive, so that the safety and the working efficiency of a working site can be enhanced; and an intelligent solution is provided for improving safe driving of the aerial work platform.

Description

Technical Field

[0001] The present application belongs to the technical field of aerial work, and specifically relates to a safe driving warning method, system and aerial work platform. Background Art

[0002] When the aerial work platform is driving along the road surface in the driving area, the road surface material and the potholes on the road surface will have a certain impact on the driving of the aerial work platform, especially when the potholes are large, there will be safety hazards. Therefore, it is necessary to detect the driving road surface during the driving of the aerial work platform to timely discover the risks. In the prior art, a camera is usually used to shoot the road surface material. When there are potholes, a laser radar is usually used for identification. However, due to the limitation of the camera's viewing angle (120°), the detection of the road surface material may not be able to obtain the road surface material information in the driving area in front of the aerial work platform; and in the case of being unable to drive safely along the driving trajectory, it is impossible to make a warning response in time, which poses certain safety hazards. Therefore, there is an urgent need for a warning identification method to improve the safety of the aerial work platform. Summary of the invention

[0003] The purpose of this application is to provide a safe driving warning method, system and aerial work platform to achieve safe driving of the aerial work platform.

[0004] In order to achieve the above-mentioned purpose, the present application provides a safe driving warning method on the one hand, and the safe driving warning method comprises the steps of:

[0005] Obtain the driving trajectory of the aerial work platform;

[0006] Planning a driving area of ​​the aerial work platform according to the driving trajectory;

[0007] Acquiring front road surface information in the driving area in real time during driving;

[0008] determining the type of the road ahead according to the road ahead information;

[0009] Determining whether the aerial work platform can safely travel along the driving trajectory according to the type of the road ahead;

[0010] In the case where the aerial work platform cannot travel safely along the travel trajectory, an alarm is issued.

[0011] In some embodiments, the step of determining whether the aerial work platform can safely travel along the driving trajectory according to the type of the road ahead includes:

[0012] When the road ahead is of the first type, it is determined that the aerial work platform can travel safely;

[0013] Wherein, the first type of road surface is a hardened road surface or a paved road surface.

[0014] In some embodiments, the step of determining whether the aerial work platform can safely travel along the driving trajectory according to the type of the road ahead includes:

[0015] When the road ahead is of the second type, it is determined that the aerial work platform cannot travel safely;

[0016] The second type of road surface is one of a puddle, a dust net or a muddy road.

[0017] In some embodiments, the step of determining whether the aerial work platform can safely travel along the driving trajectory according to the type of the road ahead includes:

[0018] When the road ahead is of the third type, obtain the safety material weight of the road;

[0019] When the safety material weight is less than a preset threshold, it is determined that there is danger on the road ahead;

[0020] When the safety material weight is greater than or equal to a preset threshold, it is determined that the road ahead is safe for the aerial work platform to travel;

[0021] The third type of road surface is a mixed road surface or a road surface whose material is difficult to clearly define.

[0022] In some embodiments, when the road ahead is a first type of road, the safe driving warning method further includes:

[0023] Acquire the road depression size information on the driving track in real time during the driving of the aerial work platform;

[0024] When the road depression size information is greater than a preset size, identifying the driving area as a pothole;

[0025] Whether the aerial work platform can be driven safely is determined based on the size information of the pothole.

[0026] In some embodiments, the step of determining whether the aerial work platform can travel safely based on the size information of the pothole includes:

[0027] Obtaining the current depth and current radius of the pit;

[0028] When the current depth is greater than a preset depth and the current radius is greater than a preset radius, determining whether the pothole is located on the driving track;

[0029] When the pothole is located on the driving track, an alarm is issued.

[0030] In some embodiments, the preset depth is obtained by the following calculation formula:

[0031] d_safe=K safe d

[0032]

[0033] Among them, K safe is the safety factor of the aerial work platform, G truck is the weight of the vehicle chassis, DistP is the distance from the center of gravity of the vehicle chassis to the tipping edge, G total is the weight of the vehicle, DistQ is the distance from the center of gravity of the vehicle to the tipping edge; d_safe is the preset depth.

[0034] In some embodiments, the step of obtaining the driving trajectory of the aerial work platform includes:

[0035] Obtaining the turning radius of the aerial work platform;

[0036] An arc profile is drawn according to the starting point, the end point and the turning radius of the aerial work platform, and the arc profile is the driving track.

[0037] A second aspect of the present application provides a safe driving warning system, which is implemented by using the safe driving warning method as described above, and the safe driving warning system comprises:

[0038] An acquisition module is used to acquire the driving area of ​​the aerial work platform and acquire the front road surface information in the driving area in real time during the driving process;

[0039] A judgment module, electrically connected to the acquisition module, the judgment module is used to judge the type of the road ahead according to the road ahead information, and judge whether the aerial work platform can safely travel along the driving trajectory according to the road ahead type;

[0040] An alarm module is electrically connected to the judgment module, and is used to give an alarm when the aerial work platform cannot travel safely along the travel trajectory.

[0041] A third aspect of the present application provides an aerial work platform, including the safe driving warning system as described above.

[0042] Through the above technical solutions, the safe driving warning method, system and aerial work platform provided by the embodiments of the present application have the following beneficial effects:

[0043] When the aerial work platform is operating, first obtain the driving trajectory of the aerial work platform; plan the driving area of ​​the aerial work platform according to the driving trajectory; obtain the road surface information in the driving area in real time during the driving process; determine the type of the road surface ahead according to the road surface information; determine whether the aerial work platform can safely drive along the driving trajectory according to the type of the road surface ahead; and issue an alarm if the aerial work platform cannot drive safely along the driving trajectory. This application determines whether the aerial work platform can drive safely along the driving trajectory by the type of the road surface ahead, and issues an alarm in time if it cannot drive safely, which can enhance the safety and work efficiency of the work site and provide an intelligent solution for improving the safe driving of the aerial work platform.

[0044] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0046] Figure 1 A flowchart of the safe driving warning method of the present application;

[0047] Figure 2 This is a schematic diagram of the prediction process of the driving trajectory of the aerial work platform in one embodiment of the present application;

[0048] Figure 3 This is a schematic diagram of the driving trajectory of the aerial work platform in one embodiment of the present application. DETAILED DESCRIPTION

[0049] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0050] The following describes the safe driving warning method, system and aerial work platform according to the present application with reference to the accompanying drawings.

[0051] like Figure 1 As shown, the present application provides a safe driving warning method, which includes the steps of:

[0052] S10: Obtaining the driving trajectory of the aerial work platform;

[0053] S20: planning a driving area of ​​the aerial work platform according to the driving trajectory;

[0054] S30: acquiring front road surface information in the driving area in real time during driving;

[0055] S40: determining the type of the road ahead according to the road ahead information;

[0056] S50: judging whether the aerial work platform can safely travel along the driving trajectory according to the type of the road ahead;

[0057] S60: When the aerial work platform cannot travel safely along the driving trajectory, an alarm is issued.

[0058] When the aerial work platform is driving, the driving track of the aerial work platform is first obtained through the acquisition module, and the left and right end points along the horizontal direction and the upper and lower end points along the vertical direction of the driving track are connected to form a quadrilateral box area, and the quadrilateral box area is the driving area of ​​the aerial work platform. During the driving process of the aerial work platform, it is necessary to obtain the front road surface information in the driving area in real time. After the front road surface information data is collected, the type of the front road surface is determined according to the front road surface information data, and whether the aerial work platform can drive safely along the driving track is determined according to the type of each front road surface. When the aerial work platform can drive safely along the driving track, it means that the road surface of this driving area is a safe road surface and can be safely driven by the aerial work platform; when the aerial work platform cannot drive safely along the driving track, the system alarm is issued to remind the operator that there is danger on the road surface ahead. The technical solution of the present application integrates a dynamic trajectory prediction algorithm with instant decision-making logic, collects the motion status of the aerial work platform and the surrounding environment data in real time, realizes efficient trajectory prediction, predicts the road risks that may be encountered on the future driving path, greatly enhances the safety and work efficiency of the work site, and provides an intelligent solution for the safe driving of the aerial work platform.

[0059] In some embodiments, the step of determining whether the aerial work platform can safely travel along the driving trajectory according to the type of the road ahead includes:

[0060] When the road ahead is of the first type, it is determined that the aerial work platform can travel safely;

[0061] Among them, the first type of road surface is a hardened road surface or a paved road surface.

[0062] When the road surface in the driving area is hardened and paved, this type of road surface will not cause bumps to the aerial work platform, so there is no driving risk. At this time, it is preliminarily determined that the aerial work platform driving on this type of road surface can pass safely and no system alarm will be issued. In this way, it is preliminarily predicted that the operator can drive safely on this type of road surface. In order to further improve the accuracy of the prediction, it is necessary to monitor the driving area of ​​this type of road surface to see if there are sunken parts, and determine whether it is a pothole based on the size of the sunken part. When the pothole is detected on the driving trajectory, an alarm is issued. The whole process improves the accuracy of safety prediction.

[0063] In some embodiments, the step of determining whether the aerial work platform can safely travel along the driving trajectory according to the type of the road ahead includes:

[0064] When the road ahead is of the second type, it is determined that the aerial work platform cannot travel safely;

[0065] The second type of road surface is one of a puddle, a dust net or a muddy road.

[0066] In this embodiment, when the road surface in the driving area is one of a puddle, a dust net or a muddy road, it means that this type of road surface already has bumps or driving risks, and the system alarm is directly issued.

[0067] In some embodiments, the step of determining whether the aerial work platform can safely travel along the driving trajectory according to the type of the road ahead includes:

[0068] When the road ahead is of the third type, obtain the safety material weight of the road;

[0069] When the safety material weight is less than the preset threshold, it is determined that there is danger on the road ahead;

[0070] When the safety material weight is greater than or equal to the preset threshold, it is determined that the road ahead is safe for the aerial work platform to drive;

[0071] Among them, the third type of road surface is a mixed road surface or a road surface whose material is difficult to clearly define.

[0072] When an aerial work platform (such as a straight-arm aerial work vehicle) is traveling on a complex road surface, such as a mixed road surface (hardened road surface, paved road surface, puddles, dust nets, and muddy roads coexist) or a road surface material that is difficult to clearly define, the system will initiate a complex evaluation process, the core of which is the consideration of the "safe material weight (w_safe)". First, a camera is used to take a photo of the road surface and collect relevant road surface data. The results of the road surface material segmentation and recognition are judged based on the collected road surface data. After calculation, w_safe can be set to the value of hardened road surface + paved road surface, and the value of the entire picture is 1. When the proportion of hardened road surface + paved road surface in the entire picture is <0.7, it is determined that the road ahead is dangerous. When the proportion of hardened road surface + paved road surface in the entire picture is ≥0.7, it is determined that the road ahead can be safely driven through. The safe material weight introduces a quantitative evaluation of driving safety, aiming to comprehensively judge whether the current environment of the aerial work platform allows safe passage through a series of sensor data and mechanical analysis. The safety material weight (w_safe) is a threshold value that has been carefully calculated and verified by actual measurements. It reflects the probability that the aerial work platform can drive safely under specific road conditions. This weight takes into account the load-bearing capacity of the aerial work platform itself, the stability of the suspension system, the grip of the tires, and the driving experience under similar road conditions in the past. It mainly refers to the quantitative evaluation of the proportion of the road surface material in the safety considerations of the aerial work platform during driving. Specifically, the safety material weight is related to the load-bearing capacity of the chassis of the aerial work platform, the steering ability of the steering mechanism, the driving speed of the walking mechanism, and other related parameters. In short, w_safe is a scale to measure the impact of road surface material on driving safety. It can more accurately judge the risks when driving on complex roads and improve the safety of aerial work platform driving.

[0073] Furthermore, a road surface whose material is difficult to clearly define refers to a road surface whose material cannot be identified in a photo of the road surface taken by a camera or a material that cannot be detected by specific testing equipment.

[0074] In some embodiments, when the road ahead is a first type of road, the safe driving warning method further includes:

[0075] Acquire the road depression size information on the driving track in real time during the driving of the aerial work platform;

[0076] When the road depression size information is larger than the preset size, the driving area is identified as a pothole;

[0077] Determine whether the aerial work platform can be driven safely based on the size information of the pothole.

[0078] Specifically, during the driving process of the aerial work platform, the laser radar is used to identify the depression of the first type of road surface. When a depression is detected on the driving track, it indicates that there may be a pothole on the road surface at this time; then the size information of the depression is obtained. When the road surface depression size information is larger than the preset size, the road surface depression is identified as a pothole, and finally the aerial work platform is judged to be safe to drive based on the size information of the pothole. Since a pothole that is too large will cause certain driving risks, it is necessary to alarm when the pothole is too large; when the pothole is too small, it can be determined that the aerial work platform can drive through safely and no alarm is needed.

[0079] In some embodiments, the step of determining whether the aerial work platform can travel safely based on the size information of the pothole is as follows:

[0080] Get the current depth and radius of the pit;

[0081] When the current depth is greater than the preset depth and the current radius is greater than the preset radius, determining whether the pothole is located on the driving track;

[0082] When a pothole is on the driving track, an alarm is issued.

[0083] Since the identification of potholes is completed by laser radar, the flat road surface is calibrated as depth = 0. When the laser radar detects that the length and width of an area exceeds 10×10cm and the depth is <-10cm, this area will be identified as a pothole. When the aerial work platform is traveling on the first type of ground, when it is detected that the pothole ahead is threatening and is located on the driving trajectory, it means that there will be safety hazards when the aerial work platform travels along the driving trajectory, and the system alarm is issued. In this embodiment, by identifying potholes on the first type of road surface, all safety hazards on the first type of road surface that are initially determined to be safe can be identified, thereby improving the accuracy of safety prediction of the driving area.

[0084] In some embodiments, the preset depth is obtained by the following calculation formula:

[0085] d_safe=K safe d

[0086]

[0087] Among them, K safe is the safety factor of the aerial work platform, G truck is the weight of the vehicle chassis, DistP is the distance from the center of gravity of the vehicle chassis to the tipping edge, G total is the weight of the vehicle, DistQ is the distance from the center of gravity of the vehicle to the tipping edge; d_safe is the preset depth.

[0088] Since DistQ is related to the current boom state and load condition of the straight boom aerial work vehicle, the pothole depth d_safe is set in the early warning decision system as K safe d is the alarm threshold. d is the deepest pothole that a telescopic boom aerial work vehicle can pass through during a stability test when the vehicle is fully retracted and has zero load. This value is related to the tire size of different models. It is set to a depth that can cause the center of gravity of the aerial work platform to change by 10 cm = d_safe. On this basis, it is calculated that the contour radius of the pothole must not exceed r_safe = K safe r tire ,r tire is the tire radius. Since potholes are not necessarily round, the circumscribed circle of the pothole is calculated based on the length and width of the pothole in the visual information as the envelope of the original pothole. The reason for this is that the data transmitted by the lidar can only be square after processing. The envelope is the circumscribed circle of the square pothole. The advantage of this treatment is that it can simplify the classification of potholes, and the measurement indicators are changed from length and width to radius.

[0089] In summary, the alarm decision algorithm based on road material and the alarm decision algorithm based on pothole information run independently, but both follow the OR logic. When the driving area is a complex road, it is determined whether the weight of the safety material is greater than w_safe. If it exceeds w_safe, it can be considered to be a safe driving situation. In the above embodiment, by executing different prediction measures for different types of road surfaces, the risks that may exist on the road surface can be fed back more timely, effectively and accurately, thereby improving the safety of aerial work platform driving.

[0090] In some embodiments, the step of obtaining the driving trajectory of the aerial work platform includes:

[0091] Get the turning radius of the aerial work platform;

[0092] An arc outline is drawn according to the starting point, end point and turning radius of the aerial work platform, and the arc outline is the driving trajectory.

[0093] Since the straight arm aerial work vehicle is in a low-speed operation state during driving, such as Figure 2 As shown, the average value of the left and right wheel turning angles δ can be used as input to calculate the turning radius R of the aerial work platform in trajectory prediction. The calculation formula of δ is as follows:

[0094] δ=(δ in +δ out ) / 2

[0095]

[0096] Where: l is the wheelbase of the aerial work platform, and R is the turning radius.

[0097] Due to the manufacturing tolerance, aging or slight differences in the performance of the motors themselves, the four wheel-side motors used in the straight-arm aerial work vehicle may have slight differences in output torque and speed even for motors of the same model. The electronic control system of the aerial work platform may also have time delays, signal interference or inaccurate control algorithms when processing motor drive signals, resulting in inconsistent execution of control instructions for the motors. Although the wheel-side motors directly drive the wheels to reduce the errors caused by traditional transmission devices, there may still be factors such as uneven wear of the hubs and tires that affect the consistency of wheel rotation. Moreover, during driving, the aerial work platform may encounter uneven ground, resulting in different loads on the four wheels. The wheels with heavier loads may slow down due to increased friction, while the wheels with lighter loads may accelerate, further exacerbating the phenomenon of asynchrony. Therefore, in order to improve the accuracy of trajectory prediction, a dynamic model of the aerial work platform is established during trajectory prediction, and the factors of wheel asynchrony are taken into account in the model. While predicting the future trajectory, possible deviations are estimated and compensated. The calculation formula for the sideslip angle α caused by asynchrony in the dynamics of the aerial work platform is as follows:

[0098]

[0099] v c =v y cosδ-v x sinδ

[0100] v l =v y sinδ+v x cosδ

[0101] Where: v c 、v l are the lateral and longitudinal speeds of the tire, v x 、v y It is the speed of the wheel in the positive X and Y directions in the aerial work platform coordinate system.

[0102] The calculation formula for correcting the turning radius of the aerial work platform is as follows:

[0103]

[0104] On this basis, calculate the turning radius R of the left front wheel l_front , turning radius R of the right front wheel r_front , Turning radius R of the left rear wheel l_back , turning radius R of the right rear wheel r_back , the calculation formula is as follows:

[0105]

[0106] Where: d is the wheelbase, orien represents the direction of rotation, when turning left = 1, when turning right = -1.

[0107] Taking the left turn as an example, the turning radius can be obtained through the above calculation results. Taking the turning radius as the basis and referring to the starting point and the end point of the aerial work platform to draw the driving trajectory, the following can be obtained: Figure 3 The predicted driving trajectory is shown.

[0108] A second aspect of the present application provides a safe driving warning system, which adopts the above safe driving warning method. The safe driving warning system includes:

[0109] An acquisition module is used to acquire the driving area of ​​the aerial work platform and acquire the front road surface information in the driving area in real time during driving;

[0110] A judgment module, electrically connected to the acquisition module, for judging the type of the road ahead according to the road ahead information, and judging whether the aerial work platform can safely travel along the driving track according to the road ahead type;

[0111] The alarm module is electrically connected to the judgment module, and is used to give an alarm when the aerial work platform cannot travel safely along the driving trajectory.

[0112] During the driving process of the aerial work platform, the driving area of ​​the aerial work platform and the road surface information in front of the driving area are obtained through the acquisition module, and then the acquired road surface information signal is sent to the judgment module. After receiving the road surface information signal, the judgment module judges the type of the road surface in front according to the road surface information signal, and then judges whether the aerial work platform can drive safely along the driving trajectory according to the type of the road surface in front, and finally sends the judgment result to the alarm module; after receiving the judgment result, the alarm module alarms or sends a safety signal according to the judgment result. In this embodiment, by predicting the road surface risks on the future driving path, the safety of the work site can be increased, providing more effective protection for the safe driving of the aerial work platform.

[0113] The third aspect of the present application provides an aerial work platform, including the safe driving warning system as described above. Among them, since the aerial work platform adopts all the embodiments of the safe driving warning system as described above, it has all the beneficial effects brought by the safe driving warning system as described above. By integrating the safe driving warning system into the aerial work platform, it is possible to analyze the driving direction and chassis status of the aerial work platform, predict the road risks that may be encountered on the future driving path, greatly enhance the safety and work efficiency of the work site, and provide an intelligent solution for the safe driving of the aerial work platform.

[0114] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0115] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0116] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0117] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A safe driving warning method, characterized in that: The safe driving warning method comprises the steps of: Obtain the driving trajectory of the aerial work platform; Planning a driving area of ​​the aerial work platform according to the driving trajectory; Acquiring front road surface information in the driving area in real time during driving; determining the type of the road ahead according to the road ahead information; Determining whether the aerial work platform can safely travel along the driving trajectory according to the type of the road ahead; In the case where the aerial work platform cannot travel safely along the travel trajectory, an alarm is issued.

2. The safe driving warning method according to claim 1, characterized in that: The step of judging whether the aerial work platform can safely travel along the driving trajectory according to the type of the road ahead includes: When the road ahead is of the first type, it is determined that the aerial work platform can travel safely; Wherein, the first type of road surface is a hardened road surface or a paved road surface.

3. The safe driving warning method according to claim 1, characterized in that: The step of judging whether the aerial work platform can safely travel along the driving trajectory according to the type of the road ahead includes: When the road ahead is of the second type, it is determined that the aerial work platform cannot travel safely; The second type of road surface is one of a puddle, a dust net or a muddy road.

4. The safe driving warning method according to claim 1, characterized in that: The step of judging whether the aerial work platform can safely travel along the driving trajectory according to the type of the road ahead includes: When the road ahead is of the third type, obtain the safety material weight of the road; When the safety material weight is less than a preset threshold, it is determined that there is danger on the road ahead; When the safety material weight is greater than or equal to a preset threshold, it is determined that the road ahead is safe for the aerial work platform to travel; The third type of road surface is a mixed road surface or a road surface whose material is difficult to clearly define.

5. The safe driving warning method according to claim 2, characterized in that: When the road ahead is a first type of road, the safe driving warning method further includes: Acquire the road depression size information on the driving track in real time during the driving of the aerial work platform; When the road depression size information is greater than a preset size, identifying the driving area as a pothole; Whether the aerial work platform can be driven safely is determined based on the size information of the pothole.

6. The safe driving warning method according to claim 5, characterized in that: The step of judging whether the aerial work platform can travel safely according to the size information of the pothole comprises: Obtaining the current depth and current radius of the pit; When the current depth is greater than a preset depth and the current radius is greater than a preset radius, determining whether the pothole is located on the driving track; When the pothole is located on the driving track, an alarm is issued.

7. The safe driving warning method according to claim 6, characterized in that: The preset depth is obtained by the following calculation formula: d_safe=K safe d Among them, K safe is the safety factor of the aerial work platform, G truck is the weight of the vehicle chassis, DistP is the distance from the center of gravity of the vehicle chassis to the tipping edge, G total is the weight of the vehicle, DistQ is the distance from the center of gravity of the vehicle to the tipping edge; d_safe is the preset depth.

8. The safe driving warning method according to claim 1, characterized in that: The step of obtaining the driving trajectory of the aerial work platform comprises: Obtaining the turning radius of the aerial work platform; An arc profile is drawn according to the starting point, the end point and the turning radius of the aerial work platform, and the arc profile is the driving track.

9. A safe driving warning system, characterized in that: The safe driving warning system comprises: An acquisition module is used to acquire the driving area of ​​the aerial work platform and acquire the front road surface information in the driving area in real time during the driving process; A judgment module, electrically connected to the acquisition module, the judgment module is used to judge the type of the road ahead according to the road ahead information, and judge whether the aerial work platform can safely travel along the driving trajectory according to the road ahead type; An alarm module is electrically connected to the judgment module, and is used to give an alarm when the aerial work platform cannot travel safely along the travel trajectory.

10. An aerial work platform, characterized in that: Comprising the safe driving warning system according to claim 9.

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