## 1 Introduction  
With the development of industry and society, explosives are widely used in social production and require transportation. Explosives are classified as a first-category dangerous good, which can produce gases with a certain temperature, pressure, and speed that can cause serious damage to surrounding objects through chemical reactions under external effects (such as heat, pressure, impact, etc.) [1]. Due to the fast destruction speed and wide range of explosion, explosives transport vehicles have high potential danger. If an accident occurs, it will cause serious casualties and property damage [2, 3]. The _Regulations on the Management of Road Transport of Dangerous Goods_ of China clearly emphasizes the importance of road specialized vehicles transporting dangerous chemicals, fireworks, and civilian explosives [4]. Due to the uniqueness of explosives transport vehicles, reducing the probability of traffic accidents involving explosives transport vehicles is a top priority in ensuring road transportation safety. For example, on 13 June 2020, a liquefied petroleum gas tank truck overturned and exploded due to the high speed during a bend. The resulting impact caused the tank truck to crash into a factory. The accident resulted in 20 deathsand 172 injuries, and the surrounding buildings at the explosion site were damaged to varying degrees [5]. Explosives transport vehicles may face various risks due to objective factors during the transportation of explosives. For example, when transporting explosives under adverse weather conditions, the visibility of the road and the driving stability of the transport vehicle can be affected by the driver, which can easily cause traffic accidents [6]. Therefore, the driving speed should be adjusted appropriately to maintain a safe front and rear distance. In crowded road sections, if the distance between vehicles is too close, accidents may occur and lead to additional casualties and property losses. Therefore, it is necessary to maintain a safe distance from the surrounding vehicles. If the transport vehicle is too close to other vehicles, measures must be taken in time to prevent an accident. To ensure the safety of explosives transport vehicles during operation and provide early warnings of environmental risks, an intelligent vehicle driving monitoring system has been developed. It is a core component of modern automotive safety technology, utilizing advanced sensors, controllers, actuators, and communication modules to monitor and analyze driving states in real time, thereby enhancing safety and efficiency. Key technologies include vehicle-mounted cameras, radars, LiDAR, and ultrasonic sensors, which collectively enable comprehensive environmental perception around the vehicle [7]. While intelligent monitoring systems are widely implemented in newer transport vehicles, older explosives transport vehicles may encounter significant cost challenges in adopting such systems. While LiDAR demonstrates excellent performance in terms of ranging accuracy and real-time capability, its high cost and sensitivity to lighting and weather conditions limit its applicability in complex environments [8]. Ultrasonic radar has certain advantages in short-range detection but performs poorly in dynamic scenarios and is highly sensitive to changes in temperature and humidity [9]. In contrast, IP cameras, though less accurate in range than LiDAR, offer a wide detection range, high real-time performance, and low cost. Moreover, their strong environmental adaptability makes them better suited for real-time monitoring in the complex driving environments of explosives transport vehicles [10]. The comparison of each sensor is shown in Table 1.  
In order to develop an economical and efficient intelligent monitoring system for the driving environment of explosives transport vehicles, integrating machine learning and computer vision technology has been planned.