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Aiming at the problems that the cleaning vehicle on the market is easy to collide with the roadside due to the negligence of the driver, accelerate the damage of the cleaning plate, the watering operation is easy to affect passers-by, the suction cup working close to the ground is easy to collide with the deceleration belt, resulting in losses, and the cleaning power can not be automatically adjusted according to the amount of garbage, an intelligent monitoring and control system for the cleaning vehicle is proposed. The system uses ultrasonic ranging module to avoid collision, uses YOLOv4 algorithm to detect pedestrians and speed bumps, uses VGG16 network to quantify garbage and adjust cleaning power, and realizes real-time control of cleaning vehicle equipment through Controller Area Network (CAN) communication module. The driving experiment shows that the overall running speed of the system is 6-7 frames per second, which meets the real-time performance. The accuracy of roadside distance detection and obstacle avoidance algorithm is 96%, the accuracy of garbage quantification algorithm is 90%, and the accuracy of pedestrian and deceleration belt algorithm is 96.25%. The accuracy is high, which can effectively improve the cleaning efficiency, reduce equipment loss and improve driving safety.