Large carrying vehicle driving safety monitoring method, system and device and storage medium

Abstract

The invention discloses a driving safety monitoring method and system for a large carrying vehicle. The driving safety monitoring method comprises the steps of recording an initial total gravity center of a compartment after loading of transported goods is completed; the carriage is divided into n areas, and the initial component gravity centers of the n areas after loading are recorded respectively; in the transportation process, the real-time total gravity center of the compartment after loading is dynamically recorded; comparing the change rates of the initial total gravity center and the real-time total gravity center to start a driving safety monitoring mode; the driving safety monitoring mode comprises the following steps: respectively acquiring real-time sub-gravity centers of the n areas after loading; and respectively comparing the real-time sub-gravity centers of the n areas with the initial sub-gravity center to calculate a three-dimensional total offset delta Li of the ith area, and when the delta Li exceeds a preset stable three-dimensional offset value delta L0, starting an alarm. In the actual transportation process, the change condition of the gravity center of the cargo in the compartment is dynamically analyzed, the deviation condition of the cargo is analyzed regionally to judge whether the safety risk exists or not, accurate risk positioning and alarming are achieved, and the running safety of the truck is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of driving safety monitoring, and in particular to a large carrying vehicle driving safety monitoring method, system, device and storage medium. BACKGROUND

[0002] With the sustained development of China's economy and society, the transportation industry is developing more rapidly, and highway freight transportation is very important in the comprehensive freight transportation system in China. In the highway freight transportation market, truck transportation has a pivotal position in the market due to its large capacity and fast speed, and is an important part of the freight transportation industry. At present, the freight market is developing towards large-scale and heavy loading, and the number of large trucks is increasing. In recent years, the number of traffic accidents involving trucks has been increasing year by year, not only disrupting the order of the highway transportation market, but also causing immeasurable harm to people's life and property safety. Therefore, it is necessary to effectively monitor the driving safety of large carrying vehicles. SUMMARY

[0003] To solve the technical problems in the background art, the present application provides a large carrying vehicle driving safety monitoring method, system, device and storage medium.

[0004] The large carrying vehicle driving safety monitoring method provided by the present application comprises: After the transportation of goods is completed, the initial total center of gravity (X0, Y0, Z0) of the carriage after loading is recorded; The carriage is divided into n regions, and the initial partial center of gravity of each of the n regions after loading is recorded; During transportation, the real-time total center of gravity (X0', Y0', Z0') of the carriage after loading is dynamically recorded; The change rate of the initial total center of gravity and the real-time total center of gravity is compared 、 When and / or exceeds the preset stable change value , the driving safety monitoring mode is started; wherein, , ; The driving safety monitoring mode comprises: The real-time partial center of gravity of each of the n regions after loading is acquired; The three-dimensional total offset amount ALi of the i-th region is calculated by comparing the real-time partial center of gravity and the initial partial center of gravity of each of the n regions i When ALi i exceeds the preset stable three-dimensional offset value AL0, an alarm is started; Wherein, 1≤i≤n.

[0005] Optionally, after the transported goods are loaded, the initial total center of gravity (X0, Y0, Z0) of the carriage after loading is recorded, specifically including: Once the cargo is loaded and the vehicle is stationary on a level surface, establish a three-dimensional coordinate system. The origin is taken as the vertical projection of the geometric center of the bottom of the carriage onto the ground. The x-axis is along the direction the truck is traveling, with the front of the truck pointing in the positive direction. The y-axis is perpendicular to the direction of the truck's travel, with the passenger side of the truck being the positive direction. The z-axis is perpendicular to the ground, with upward being the positive direction.

[0006] Optionally, the step of comparing the real-time centroids of n regions with the initial centroids to calculate the total three-dimensional offset ΔL of the i-th region is performed. i Specifically, it includes: Obtain the real-time centroid (x) of the i-th region. i1 ,y i1 ,z i1 ) and the initial centroid (x) i0 ,y i0 ,z i0 ); ; .

[0007] Optionally, activating the driving safety monitoring mode further includes: During transportation, the current weather conditions are obtained in real time. When rain and / or fog and / or snow and / or strong wind and / or hail occur, the driving safety monitoring mode is activated. During transportation, the vehicle's driving status is monitored in real time. When there is sudden braking and / or sudden acceleration and / or high-speed turning and / or high-speed lane change, the driving safety monitoring mode is activated. During transportation, road condition information is acquired in real time, and the driving safety monitoring mode is activated when bumpy roads and / or curves and / or slopes are encountered.

[0008] This invention proposes a large-scale vehicle driving safety monitoring system, comprising: The initial state planning unit is used to record the initial total center of gravity (X0, Y0, Z0) of the carriage after the goods are loaded; the carriage is divided into n regions, and the initial sub-centers of gravity of the n regions after loading are recorded respectively; The real-time status update unit is used to dynamically record the real-time total center of gravity (X0′, Y0′, Z0′) of the carriage after loading during transportation. The state change analysis unit is used to compare the rate of change between the initial total centroid and the real-time total centroid. , ,when and / or When the value of change exceeds the preset stable value, the driving safety monitoring unit is instructed to start working. in, , ; The driving safety monitoring unit is used to activate the driving safety monitoring mode according to the settings defined by the state change analysis unit. The real-time center of gravity of each of the n regions after loading is obtained; Calculate the total 3D offset ΔL of region i by comparing the real-time centroids of n regions with the initial centroids. i When ΔL i An alarm is triggered when the preset stable three-dimensional offset value ΔL0 is exceeded. Where 1≤i≤n.

[0009] Optionally, the initial state planning unit records the initial total center of gravity of the carriage after loading of the transport goods, specifically including: Once the cargo is loaded and the vehicle is stationary on a level surface, establish a three-dimensional coordinate system. The origin is taken as the vertical projection of the geometric center of the bottom of the carriage onto the ground. The x-axis is along the direction the truck is traveling, with the front of the truck pointing in the positive direction. The y-axis is perpendicular to the direction of the truck's travel, with the passenger side of the truck being the positive direction. The z-axis is perpendicular to the ground, with upward being the positive direction.

[0010] Optionally, the state change analysis unit compares the real-time centroids of the n regions with the initial centroids to calculate the total three-dimensional offset ΔL of the i-th region. i Specifically, it includes: Obtain the real-time centroid (x) of the i-th region. i1 ,y i1 ,z i1 ) and the initial centroid (x) i0 ,y i0 ,z i0 ); ; .

[0011] Optionally, the driving safety monitoring unit is further configured to: During transportation, the current weather conditions are obtained in real time. When rain and / or fog and / or snow and / or strong wind and / or hail occur, the driving safety monitoring mode is activated. During transportation, the vehicle's driving status is monitored in real time. When there is sudden braking and / or sudden acceleration and / or high-speed turning and / or high-speed lane change, the driving safety monitoring mode is activated. During transportation, road condition information is acquired in real time, and the driving safety monitoring mode is activated when bumpy roads and / or curves and / or slopes are encountered.

[0012] The present invention proposes a large transport vehicle driving safety monitoring device, comprising: a memory and a processor, wherein the memory is used to store information including program instructions, and the processor is used to control the execution of the program instructions, wherein the program instructions are loaded and executed by the processor to realize the large transport vehicle driving safety monitoring method.

[0013] The present invention proposes a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the aforementioned method for monitoring the driving safety of large transport vehicles.

[0014] As can be seen from the above solutions, the method and system for monitoring the driving safety of large transport vehicles provided in this application have at least the following advantages compared with the prior art: After the cargo is loaded, the overall center of gravity of the truck bed and cargo is determined. During actual transportation, the changes in the overall center of gravity of the cargo in the truck bed are dynamically recorded and analyzed. Based on the rate of change of the overall center of gravity, it is analyzed whether the cargo has shifted, been unbalanced, or experienced other dangerous situations during transportation. If any signs of danger are detected, the driving safety monitoring mode is immediately activated. This involves detailed analysis of the cargo in the truck bed by area, increasing detection accuracy by reducing the area size. This also facilitates accurate location and alarm when cargo shifts, reminding relevant personnel to handle the situation promptly and further improving the safety of truck driving. Specifically, in the first step of analyzing whether there is cargo shifting in the entire truck bed, this application uses the change in the x-axis coordinate of the overall center of gravity of the truck bed to calculate the longitudinal position of the overall center of gravity, in order to determine whether it affects the vehicle's braking stability (e.g., a forward-leaning overall center of gravity can easily lead to overloading of the front wheels). Additionally, the change in the y-axis coordinate of the overall center of gravity of the truck bed is used to calculate the lateral position of the overall center of gravity, in order to determine whether the vehicle is at risk of rollover. In the second step of detailed analysis, the entire truck body is first divided into independent small areas. Then, the offset of each coordinate axis in multiple independent small areas is calculated to obtain the total three-dimensional offset of each independent small area. When the total three-dimensional offset exceeds the safety value, an alarm is triggered. This comprehensively and accurately optimizes the safety monitoring methods during the truck's operation, which is conducive to improving driving stability and safety. Attached Figure Description

[0015] Figure 1 A flowchart of a method for monitoring the driving safety of large transport vehicles; Figure 2 This is a module diagram of a large-scale vehicle driving safety monitoring system. Detailed Implementation

[0016] likeFigure 1 As shown, Figure 1 This is a flowchart of a method for monitoring the driving safety of large transport vehicles proposed in this invention.

[0017] Reference Figure 1 The present invention proposes a method for monitoring the driving safety of large transport vehicles, comprising: After the cargo is loaded, record the initial total center of gravity (X0, Y0, Z0) of the carriage. Divide the carriage into n regions and record the initial center of gravity of each of the n regions after loading. During transportation, the real-time total center of gravity (X0′, Y0′, Z0′) of the carriage after loading is dynamically recorded. Compare the rate of change of the initial total center of gravity with the real-time total center of gravity. , ,when and / or Exceeding the preset stable change value At that time, the driving safety monitoring mode is activated; among them, , ; The driving safety monitoring modes include: The real-time center of gravity of each of the n regions after loading is obtained; Calculate the total 3D offset ΔL of region i by comparing the real-time centroids of n regions with the initial centroids. i When ΔL i An alarm is triggered when the preset stable three-dimensional offset value ΔL0 is exceeded. Where 1≤i≤n.

[0018] In this embodiment, after the cargo is loaded, the total center of gravity of the carriage and the cargo is determined. During the actual transportation process, the changes in the total center of gravity of the cargo in the carriage are dynamically recorded and analyzed. Based on the rate of change of the total center of gravity, it is analyzed whether the cargo has shifted, been unbalanced, or other dangerous situations during transportation. If any signs of danger are detected, the driving safety monitoring mode is immediately activated. This mode performs detailed analysis of the cargo in the carriage by area, increasing detection accuracy by reducing the area size. It also facilitates accurate location and alarm when cargo shifts, reminding relevant personnel to handle the situation in a timely manner, and further improving the safety of truck driving.

[0019] In a further embodiment, after the transported goods are loaded, the initial total center of gravity (X0, Y0, Z0) of the carriage after loading is recorded, specifically including: Once the cargo is loaded and the vehicle is stationary on a level surface, establish a three-dimensional coordinate system. The origin is taken as the vertical projection of the geometric center of the bottom of the carriage onto the ground. The x-axis is along the direction of the truck's travel, with the front of the truck as the positive direction; changes in the value of this coordinate axis affect braking distance and front and rear axle load distribution (e.g., a forward center of gravity can easily lead to overloading of the front wheels). The y-axis is perpendicular to the direction of the truck's travel, with the passenger side of the truck being the positive direction; changes in the value of this coordinate axis affect the risk of rollover (the greater the lateral offset, the higher the probability of rollover). The z-axis is perpendicular to the ground, with upward as the positive direction; changes in the value of this coordinate axis affect overall stability (the higher the center of gravity, the greater the risk of tipping over during dynamic shifts).

[0020] In a further embodiment, the three-dimensional total offset ΔL of the i-th region is calculated by comparing the real-time centroids of the n regions with the initial centroids. i Specifically, it includes: Obtain the real-time centroid (x) of the i-th region. i1 ,y i1 ,z i1 ) and the initial centroid (x) i0 ,y i0 ,z i0 ); ; ; The offset is divided into three sub-direction offsets: longitudinal, lateral, and vertical, and a total three-dimensional offset. The sub-direction offsets directly correspond to the risk dimensions. The x-axis represents the longitudinal offset (Δx = positive, indicating the center of gravity is forward; Δx = negative, indicating the center of gravity is backward); the y-axis represents the lateral offset (Δy = positive, indicating the center of gravity is to the right; Δy = negative, indicating the center of gravity is to the left); and the z-axis represents the vertical offset (Δz = positive, indicating the center of gravity is rising; Δz = negative, indicating the center of gravity is falling). The total three-dimensional offset represents the change in overall spatial position and is used for comprehensive stability assessment, i.e., the straight-line distance between the real-time center of gravity and the initial center of gravity in three-dimensional space. The calculation dimension can be selected according to actual needs (e.g., rollover risk assessment focuses on lateral offset, while axle load compliance focuses on longitudinal offset).

[0021] In a further embodiment, activating the driving safety monitoring mode further includes: During transportation, the current weather conditions are obtained in real time. When rain and / or fog and / or snow and / or strong wind and / or hail occur, the driving safety monitoring mode is activated. During transportation, the vehicle's driving status is monitored in real time. When there is sudden braking and / or sudden acceleration and / or high-speed turning and / or high-speed lane change, the driving safety monitoring mode is activated. During transportation, real-time road condition information is obtained, and the driving safety monitoring mode is activated when bumpy roads and / or curves and / or slopes are encountered. The criteria for activating the driving safety monitoring mode include various factors such as severe weather (heavy rain, fog, snow, etc., which reduce visibility and affect the driver's vision), dangerous driving behavior, and complex road conditions (mountain roads, curves, steep slopes, etc., which make driving more difficult). This comprehensively considers the safety issues faced by large trucks during transportation, reduces potential safety hazards and problems, and improves transportation safety and efficiency in a targeted manner.

[0022] Reference Figure 2 The present invention proposes a large-scale vehicle driving safety monitoring system, comprising: The initial state planning unit is used to record the initial total center of gravity (X0, Y0, Z0) of the carriage after loading of transported goods. The carriage is divided into n regions, and the initial sub-centers of gravity of each region after loading are recorded. (This implementation breaks through the conventional thinking of analyzing the carriage as a whole, and further divides it into multiple small regions. The center of gravity offset value of each small region during transportation is calculated and analyzed in detail to analyze whether there is a problem of cargo offset in a single small region. When there is a potential risk, an alarm is triggered in time. It can not only accurately locate the specific location of cargo offset, but also quickly notify relevant personnel to make adjustments to prevent the further deterioration of dangerous situations and comprehensively improve the safety and stability of the transport vehicle during the driving process.) The real-time status update unit is used to dynamically record the real-time total center of gravity (X0′, Y0′, Z0′) of the cargo after it is loaded in the vehicle during transportation. During transportation, the cargo may dynamically shift due to bumps or braking. In cases where the static calculation cannot cover situations such as the sliding of bulk cargo, it is necessary to combine sensors (such as gyroscopes and weight sensors) to monitor the changes in the center of gravity in real time, or to simulate the dynamic offset through vehicle dynamics software (such as TruckSim and ADAMS). The state change analysis unit is used to compare the rate of change between the initial total centroid and the real-time total centroid. , ,when and / or Exceeding the preset stable change value At that time, the vehicle safety monitoring unit is instructed to start working; the preset stable change value The offset needs to be dynamically adjusted according to different parameters such as vehicle type and length. For example, the lateral offset usually needs to be less than "1 / 3 of half the width of the carriage" to avoid rollover; the longitudinal offset needs to meet the axle load limit, such as the front axle load not exceeding 110% of the rated axle load, in order to ensure the reliability of the offset value. in, , ; The driving safety monitoring unit is used to activate the driving safety monitoring mode according to the settings defined by the state change analysis unit. The real-time center of gravity of each of the n regions after loading is obtained; Calculate the total 3D offset ΔL of region i by comparing the real-time centroids of n regions with the initial centroids. i When ΔL i When the preset stable three-dimensional offset value ΔL0 is exceeded, an alarm is triggered; the total three-dimensional offset of goods in multiple areas is calculated (i.e., the sum of the offsets of goods in the x-axis-longitudinal, y-axis-lateral, and z-axis-vertical directions in space). The core purpose is to provide a scientific basis for transportation safety, compliant operation, cargo protection, and vehicle management by quantifying the risk of dynamic displacement of goods. Where 1≤i≤n.

[0023] In a further embodiment, the initial state planning unit records the initial total center of gravity of the carriage after loading of the transport goods, specifically including: Once the cargo is loaded and the vehicle is stationary on a level surface, establish a three-dimensional coordinate system. The origin is taken as the vertical projection of the geometric center of the bottom of the carriage onto the ground. The x-axis is along the direction the truck is traveling, with the front of the truck pointing in the positive direction. The y-axis is perpendicular to the direction of the truck's travel, with the passenger side of the truck being the positive direction. The z-axis is perpendicular to the ground, with upward being the positive direction.

[0024] Optionally, the state change analysis unit compares the real-time centroids of the n regions with the initial centroids to calculate the total three-dimensional offset ΔL of the i-th region. i Specifically, it includes: Obtain the real-time centroid (x) of the i-th region. i1 ,y i1 ,z i1 ) and the initial centroid (x) i0 ,y i0 ,z i0 ); ; Judging the x-axis longitudinal offset can ensure braking and climbing safety. For example, sliding forward during emergency braking and piling backward during climbing will cause the vehicle's center of gravity to shift along the direction of travel. Forward offset will increase the load on the front wheels, which may lead to longer braking distance and heavier steering. Reverse offset will reduce the grip of the front wheels, which may easily cause "wheeling" when climbing or loss of braking control when going downhill. Calculating the longitudinal offset can provide early warning of such risks and avoid operational failures caused by imbalance of the center of gravity.

[0025] Judging the y-axis lateral offset can prevent rollover accidents; most truck rollover accidents are related to the lateral offset of the cargo causing the center of gravity to exceed the vehicle's stability limit (such as when driving on a curve or making an emergency maneuver); by calculating the lateral offset of multiple areas, it can be determined whether the cargo is gathering on one side, avoiding the center of gravity from crossing the lateral boundary and reducing the probability of rollover.

[0026] Judging the vertical offset of the z-axis can prevent the center of gravity from being too high, which would lead to a decrease in stability. Vertical offset of goods (such as stacked goods moving upwards or upper layer goods tipping over) will raise the center of gravity of the vehicle and directly reduce the lateral stability coefficient of the vehicle (the higher the center of gravity, the greater the risk of rollover under the same lateral force). For example, if the vertical offset of the goods in the upper area increases, the height of the vehicle's center of gravity may exceed the design limit. Even if the lateral offset is not large, it is easy to rollover when turning slightly.

[0027] .

[0028] In a further embodiment, the driving safety monitoring unit is also used for: During transportation, the current weather conditions are obtained in real time. When rain and / or fog and / or snow and / or strong wind and / or hail occur, the driving safety monitoring mode is activated. During transportation, the vehicle's driving status is monitored in real time. When there is sudden braking and / or sudden acceleration and / or high-speed turning and / or high-speed lane change, the driving safety monitoring mode is activated. During transportation, real-time road condition information is obtained, and the driving safety monitoring mode is activated when bumpy roads and / or curves and / or slopes are encountered. Under extreme conditions such as severe weather (heavy rain, snow) and complex road conditions (mountain curves, steep slopes), the handling stability of trucks decreases, and the risk of cargo deviation increases significantly, making the calculation of the total three-dimensional offset even more important. On icy and snowy roads, vehicle braking distance is extended. If the cargo's x-axis offset is large, it is easy for the cargo to break through the fixing device and hit the cab forward during emergency braking, causing injury or death. By calculating the offset, the load can be reduced or the fixing can be strengthened in advance to avoid amplifying the risk under extreme working conditions. In mountainous transportation, the combination of continuous curves and steep slopes can easily cause cargo to shift both laterally and longitudinally. The total three-dimensional offset can be used to comprehensively judge the risk level and promptly notify relevant personnel to temporarily stop and adjust the cargo to avoid overturning on subsequent curves.

[0029] In a further embodiment, the present invention provides a large transport vehicle driving safety monitoring device, comprising: a memory and a processor, wherein the memory is used to store information including program instructions, and the processor is used to control the execution of the program instructions, wherein the program instructions are loaded and executed by the processor to implement the large transport vehicle driving safety monitoring method.

[0030] In a further embodiment, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the aforementioned method for monitoring the driving safety of large transport vehicles.

[0031] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A method for monitoring the driving safety of large transport vehicles, characterized in that, include: After the cargo is loaded, record the initial total center of gravity (X0, Y0, Z0) of the carriage. Divide the carriage into n regions and record the initial center of gravity of each of the n regions after loading. During transportation, the real-time total center of gravity (X0′, Y0′, Z0′) of the carriage after loading is dynamically recorded. Compare the rate of change of the initial total center of gravity with the real-time total center of gravity. , ,when and / or Exceeding the preset stable change value At that time, the driving safety monitoring mode is activated; among them, , ; The driving safety monitoring modes include: The real-time center of gravity of each of the n regions after loading is obtained; Calculate the total 3D offset ΔL of region i by comparing the real-time centroids of n regions with the initial centroids. i When ΔL i An alarm is triggered when the preset stable three-dimensional offset value ΔL0 is exceeded. Where 1≤i≤n.

2. The method for monitoring the driving safety of large transport vehicles according to claim 1, characterized in that, After the transported goods are loaded, the initial total center of gravity (X0, Y0, Z0) of the carriage after loading is recorded, specifically including: Once the cargo is loaded and the vehicle is stationary on a level surface, establish a three-dimensional coordinate system. The origin is taken as the vertical projection of the geometric center of the bottom of the carriage onto the ground. The x-axis is along the direction the truck is traveling, with the front of the truck pointing in the positive direction. The y-axis is perpendicular to the direction of the truck's travel, with the passenger side of the truck being the positive direction. The z-axis is perpendicular to the ground, with upward being the positive direction.

3. The method for monitoring the driving safety of large transport vehicles according to claim 1, characterized in that, The three-dimensional total offset ΔL of the i-th region is calculated by comparing the real-time centroids of the n regions with the initial centroids. i Specifically, it includes: Obtain the real-time centroid (x) of the i-th region. i1 ,y i1 ,z i1 ) and the initial centroid (x) i0 ,y i0 ,z i0 ); ； 。 4. The method for monitoring the driving safety of large transport vehicles according to claim 1, characterized in that, The activation of the driving safety monitoring mode also includes: During transportation, the current weather conditions are obtained in real time. When rain and / or fog and / or snow and / or strong wind and / or hail occur, the driving safety monitoring mode is activated. During transportation, the vehicle's driving status is monitored in real time. When there is sudden braking and / or sudden acceleration and / or high-speed turning and / or high-speed lane change, the driving safety monitoring mode is activated. During transportation, road condition information is acquired in real time, and the driving safety monitoring mode is activated when bumpy roads and / or curves and / or slopes are encountered.

5. A large transport vehicle driving safety monitoring system, characterized in that, include: The initial state planning unit is used to record the initial total center of gravity (X0, Y0, Z0) of the carriage after the goods are loaded; the carriage is divided into n regions, and the initial sub-centers of gravity of the n regions after loading are recorded respectively; The real-time status update unit is used to dynamically record the real-time total center of gravity (X0′, Y0′, Z0′) of the carriage after loading during transportation. The state change analysis unit is used to compare the rate of change between the initial total centroid and the real-time total centroid. , ,when and / or Exceeding the preset stable change value At that time, the vehicle safety monitoring unit is instructed to start working; in, , ; The driving safety monitoring unit is used to activate the driving safety monitoring mode according to the settings defined by the state change analysis unit. The real-time center of gravity of each of the n regions after loading is obtained; Calculate the total 3D offset ΔL of region i by comparing the real-time centroids of n regions with the initial centroids. i When ΔL i An alarm is triggered when the preset stable three-dimensional offset value ΔL0 is exceeded. Where 1≤i≤n.

6. The large transport vehicle driving safety monitoring system according to claim 5, characterized in that, The initial state planning unit records the initial total center of gravity of the carriage after loading of the transported goods, specifically including: Once the cargo is loaded and the vehicle is stationary on a level surface, establish a three-dimensional coordinate system. The origin is taken as the vertical projection of the geometric center of the bottom of the carriage onto the ground. The x-axis is along the direction the truck is traveling, with the front of the truck pointing in the positive direction. The y-axis is perpendicular to the direction of the truck's travel, with the passenger side of the truck being the positive direction. The z-axis is perpendicular to the ground, with upward being the positive direction.

7. The large transport vehicle driving safety monitoring system according to claim 5, characterized in that, The state change analysis unit compares the real-time centroids of n regions with their initial centroids to calculate the total three-dimensional offset ΔL of the i-th region. i Specifically, it includes: Obtain the real-time centroid (x) of the i-th region. i1 ,y i1 ,z i1 ) and the initial centroid (x) i0 ,y i0 ,z i0 ); ； 。 8. The large transport vehicle driving safety monitoring system according to claim 5, characterized in that, The driving safety monitoring unit is also used for: During transportation, the current weather conditions are obtained in real time. When rain and / or fog and / or snow and / or strong wind and / or hail occur, the driving safety monitoring mode is activated. During transportation, the vehicle's driving status is monitored in real time. When there is sudden braking and / or sudden acceleration and / or high-speed turning and / or high-speed lane change, the driving safety monitoring mode is activated. During transportation, road condition information is acquired in real time, and the driving safety monitoring mode is activated when bumpy roads and / or curves and / or slopes are encountered.

9. A vehicle safety monitoring device for large transport vehicles, comprising: A memory and a processor, wherein the memory is used to store information including program instructions, and the processor is used to control the execution of the program instructions, characterized in that: when the program instructions are loaded and executed by the processor, they implement the large transport vehicle driving safety monitoring method according to any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method for monitoring the driving safety of large transport vehicles as described in any one of claims 1 to 5.

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