In rainy days, foggy days, at night or in the case of strong light glare, visibility is low and the driver cannot normal identify oncoming pedestrians and vehicles with the naked eye, which may lead to safety accidents. Engineering equipment usually operates in an open-air environment, and conditions such as flying dust or extreme rainstorms often occur. In order to improve the mining progress, the operation time usually lasts until late at night. When dealing with these situations, it is no longer possible to predict safety risks in advance using traditional driving methods.