KR101878427B1 - Traffic radar device, traffic management server, traffic management system, and method of tracking object move traces - Google Patents

Abstract

The present invention relates to a traffic radar device, a traffic management server, a traffic management system, and a method for tracking object movement traces based on a radar, and more particularly, to a traffic radar device, a traffic management server, a traffic management system, and a method for tracking object movement traces based on a radar, capable of accurately sensing a plurality of lanes by one device without requiring high specification hardware and a high resolution camera, and performing continuous and accurate sensing. The traffic radar device includes a transmitting unit for transmitting a transmission signal, a receiving unit for receiving a reception signal, and a processor for generating movement trace data for each track identifier.

Description

TECHNICAL FIELD [0001] The present invention relates to a radar device, a traffic management server, a traffic management system, and a radar-based object tracking method.

The present invention relates to a traffic radar device, a traffic management server, a traffic management system, and a radar-based object track tracking method.

Various camera-based traffic applications are currently being applied to identify traffic conditions on the road and to monitor vehicle conditions on the road.

In the conventional case, one camera is installed per lane, and traffic situation and vehicle condition are monitored based on the camera image. In this case, the monitoring range through the camera is limited.

Therefore, in recent years, there has been a demand for a technique of processing multi-lane lines with a single camera, which requires a high-resolution camera.

In the case of using a high-resolution camera, there is a disadvantage that high-specification hardware is required to store and process high-resolution image data.

In view of the foregoing, it is an object of the embodiments of the present invention to provide a traffic radar device, a traffic management server, a traffic management system, and a traffic management system, which can accurately detect a lane even if only one unit is required without requiring a high- And to provide a radar-based tracking method for moving object traces.

It is another object of the present embodiments to provide a traffic radar device, a traffic management server, a traffic management system, and a radar-based object movement trace that enable continuous and accurate detection without requiring a high-resolution camera and high- Tracking method.

Another object of the present invention is to provide a traffic radar device, a traffic management server, a traffic management system, and a radar-based tracking method of object movement traces capable of tracking radar-based object movement traces.

The embodiments of the present invention may include: a transmission unit for transmitting a transmission signal; A reception unit for receiving a reception signal in which a transmission signal is reflected in the surroundings; And a processor for recognizing a track corresponding to one tracked object by using a result of analyzing the received signal and assigning a track identifier to the track and generating motion trace data for each track identifier, .

The processor of the traffic radar device extracts and collects characteristic information including azimuth information and velocity information for each of a plurality of objects based on a result of analyzing the received signal, Classifying and grouping objects, recognizing two or more grouped objects as tracks corresponding to a single tracked object, assigning track identifiers to the respective tracks, and storing characteristic information on each of two or more grouped objects included in each track It is possible to generate motion trace data for each track identifier.

The present embodiments are installed in a traffic infrastructure located at a traffic management point, and recognize a track corresponding to one tracked object by using a result of analyzing a received signal reflected from a surrounding area by transmitting a transmission signal A traffic radar device for assigning a track identifier, generating and transmitting moving trace data for each track identifier; And a traffic management server for generating traffic management information for the traffic management point based on the movement trace data for each track identifier.

The traffic radar device can further transmit the image linked with the movement trace data for each track identifier to the traffic management server.

The present invention provides a communication system comprising: a communication unit for communicating with a traffic radar device installed in a traffic infrastructure located at a traffic management point, for receiving a track identifier list and movement trace data for each track identifier from a traffic radar device; And a management processor for generating traffic management information for the traffic management point based on the track identifier list and the movement trace data for each track identifier.

The movement trace data for each track identifier is data generated by a traffic radar device and associated with each track identifier. The transmission signal transmitted from the traffic radar device is reflected by the surroundings, And a motion trace for a track (Track) recognized as a track.

The embodiments of the present invention can be applied to a traffic light radar apparatus installed in a traffic management point, which transmits a transmission signal and receives a reception signal in which a transmission signal is reflected in the surroundings; Recognizing a track (Track) corresponding to one tracked object using the result of analyzing the received signal by the traffic radar device and assigning the track identifier; The traffic radar device generating movement trace data for each track identifier; And the traffic management server generates traffic management information for the traffic management point based on the movement trace data for each track identifier.

As described above, according to the embodiments described above, a traffic radar device, a traffic management server, a traffic management system, and a traffic management system can accurately detect multiple lanes without requiring a high-resolution camera and high- It is possible to provide a radar-based tracking method for moving object traces.

In addition, according to the embodiments of the present invention, it is possible to provide a transportation radar device, a traffic management server, a traffic management system, and a radar-based object movement device which enable continuous and accurate detection without requiring a high- A trace tracking method can be provided.

In addition, according to the present embodiments, there is provided a traffic radar device, a traffic management server, a traffic management system, and a radar-based tracking method of object movement traces capable of tracking radar-based object movement traces.

1 is a block diagram of a traffic radar device according to the present embodiments.
2 is a diagram illustrating a method in which a traffic radar device according to the present embodiments recognizes tracks to be tracked based on a radar.
FIGS. 3A and 3B are diagrams for explaining moving trace data for tracks recognized according to track recognition results of the traffic-light radar device according to the present embodiments.
4 is a view for explaining movement trace data for a track according to the track tracking of the traffic light radar device according to the present embodiments.
5 is another block diagram of a traffic radar device according to the present embodiments.
6 is a diagram exemplarily showing track recognition on the road when the traffic light radar device according to the present embodiments is installed in a traffic infrastructure.
FIG. 7 is a diagram showing moving trace data for each track ID according to track recognition in FIG. 6;
8 is a block diagram of a traffic management server according to the present embodiments.
9 and 10 are diagrams illustrating a traffic management function according to the present embodiments.
11 is a view showing a traffic management system according to the present embodiments.
FIG. 12 is a flowchart of a radar-based tracking method for moving object traces according to the present embodiments.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In the drawings, like reference numerals are used to denote like elements throughout the drawings, even if they are shown on different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the components from other components, and the terms do not limit the nature, order, order, or number of the components. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; intervening "or that each component may be" connected, "" coupled, "or " connected" through other components.

 FIG. 1 is a block diagram of a traffic radar apparatus 100 according to the present embodiments.

1, the traffic light radar apparatus 100 according to the present embodiment includes a transmitter 110 for transmitting a transmission signal (a radar signal), a receiver 110 for receiving a transmission signal transmitted from the transmitter 110, And a track identifier (hereinafter referred to as a "track ") on the track by recognizing a" track "corresponding to one tracked object, using the result of analyzing the received signal received by the receiver 120, Quot; Track ID "), and a processor 130 for generating moving trace data for each track ID, and the like.

The processor 130 extracts characteristic information including orientation information (position information, coordinate information) and velocity information for each of a plurality of objects based on a result of analyzing the received signal received by the receiving unit 120 And classifies and groups the plurality of objects based on the characteristic information (bearing information and speed information) of each of the plurality of objects to recognize two or more grouped objects as tracks corresponding to one tracking target, Track track data can be generated for each track ID on the basis of characteristic information for each of two or more grouped objects included in each track.

FIG. 2 is a view showing a method in which the traffic radar device 100 according to the present embodiments recognizes a track to be tracked based on a radar, and FIGS. FIG. 4 is a view for explaining the track recognition result of the traffic light radar apparatus 100, the track ID assigned to the recognized track, and the movement trace data for the recognized track. FIG. 8 is a view for explaining movement trace data for a track according to a tracking; FIG.

The traffic radar apparatus 100 detects a plurality of objects through radar detection.

Here, the object refers to a front point where one characteristic information (azimuth information, velocity information) is obtained through radar detection.

Such an object may be a point at which a transmission signal transmitted from the traffic radar apparatus 100 is reflected. That is, the object may be a point on the surface of an object (e.g., a vehicle, a pedestrian, a road surrounding structure, various objects, etc.) reflecting the transmission signal transmitted from the traffic radar apparatus 100.

The traffic radar apparatus 100 can extract and collect characteristic information (azimuth information, velocity information) for each of a plurality of objects through radar detection.

The traffic radar device 100 may analyze the association between the characteristic information (bearing information and velocity information) for each of a plurality of objects, and may group the objects of the related characteristic information into one track.

Several objects of the same object may have the same or similar velocity information, and the distance between the azimuth information is within a certain distance (for example, when the object is a vehicle, the vehicle length or the vehicle width), and the distance between azimuth information is kept constant Or may vary within a certain range.

Therefore, if the distance between the azimuth information is within a certain distance (e.g., the vehicle length or the vehicle width when the object is a vehicle) with the same speed information, and the distance between the azimuth information remains constant or changes within a certain range Objects can be regarded as objects that are related or related to each other (that is, objects belonging to the same object).

The traffic radar apparatus 100 can group and group a plurality of objects through association analysis to group objects corresponding to the same object.

The traffic radar device 100 recognizes the grouped objects OB_1, OB_2 and OB_3 as points on the surface of one object 200 and recognizes them as one track corresponding to one tracked object.

That is, the traffic radar device 100 classifies and groups a plurality of objects based on the property information of each of the plurality of objects, and outputs the grouped two or more objects OB_1, OB_2, and OB_3 as tracks .

The traffic radar device 100 assigns a track ID (e.g., TR01) for each track and stores characteristic information (bearing information, velocity information) for each of two or more grouped objects (e.g., OB_1, OB_2, OB_3) (E.g., TR01) on the basis of the track trace data (e.g., TR01).

The processor 130 of the traffic radar apparatus 100 may determine that two or more grouped objects (e.g., OB_1, OB_2, OB_3) are recognized when the grouped objects , OB_2, OB_3) can be recognized as a track corresponding to one tracked object.

3A, when the track corresponding to the track ID is recognized more than a predetermined number of times or is recognized for a predetermined time or longer, the processor 130 of the traffic radar apparatus 100 sets the track ID The corresponding track can be maintained as a valid track to generate moving trace data.

Here, the movement trace data for the track ID may include time-specific orientation information and velocity information, for example, as shown in Fig.

The time-specific rate information in the moving trace data for the track ID may be one of the speed information at the corresponding time for each of two or more objects included in the track, or may be an average value.

The time-based orientation information in the motion-track data for the track ID may be either one of the orientation information at the corresponding time for each of two or more objects included in the track, or one of the two or more objects included in the track And may be the central position information of the azimuth information (which may be an average value arithmetically).

3B, if the track corresponding to the track ID is not recognized for a predetermined number of times or more or is not recognized for a predetermined time or more after the track ID is given, the processor 130 of the traffic radar apparatus 100 transmits the track The track corresponding to the ID can be managed as an invalid track or the track ID can be deleted, and no moving trace data is generated.

FIG. 5 is another block diagram of the traffic radar apparatus 100 according to the present embodiment. FIG. 6 is a block diagram of the traffic radar apparatus 100 according to the present embodiment, FIG. 7 is a diagram showing movement trace data for each track ID according to the track recognition in FIG. 6; FIG.

The traffic radar apparatus 100 according to the present embodiments may further include a camera 510 for photographing a surrounding image.

The processor 130 of the traffic radar apparatus 100 can generate a moving trace pattern image using the moving trace data for each track ID.

The processor 130 of the traffic radar apparatus 100 may generate a moving trace pattern image in association with the image photographed by the camera 510. [

The traffic radar apparatus 100 according to the present embodiment may further include a communication unit 520 for communicating with the traffic management server 500.

The communication unit 520 of the traffic radar apparatus 100 can transmit the moving trace data for each track ID to the traffic management server 500 under the control of the processor 130. [

The communication unit 520 of the traffic radar apparatus 100 can transmit the image to the traffic management server 500 together with the moving trace data for each track ID under the control of the processor 130. [

The traffic radar apparatus 100 stores the track ID list including one or more track IDs and the track trace data for each track ID by the processor 130 and stores the track trace information in the internal storage unit 530 To the traffic management server (500).

Alternatively, the traffic radar apparatus 100 is moved to the traffic management server 500 whenever a single track ID is assigned by the processor 130 and movement trace data for the track ID is generated and updated The trace data can be transmitted.

6, the traffic radar apparatus 100 according to the present embodiment may be installed in a traffic infrastructure 600 located at a traffic management point for traffic situation monitoring, traffic regulation violation, and the like.

6, when three vehicles are traveling on the road with the transportation infrastructure 600 equipped with the traffic-light radar device 100, the traffic-light radar device 100 performs the forward detection to the above- Accordingly, three vehicles are recognized as three tracks, and three track IDs (TR01, TR02, and TR03) are generated and managed.

It is assumed that three vehicles move in front of the traffic radar device 100 along movement traces 610, 620, and 630 indicated by dotted lines.

In this situation, as shown in Fig. 7, the traffic radar apparatus 100 performs a movement trace (corresponding to the movement traces 610, 620, and 630 assumed in Fig. 6) for three tracks corresponding to three vehicles ), And generates and updates moving trace data for each of the three track IDs (TR01, TR02, and TR03).

The motion trace data for each of the three track IDs (TR01, TR02, and TR03) may include time-based orientation information and velocity information.

The traffic radar apparatus 100 or the traffic management server 500 may also use the moving trace data for each of the three track IDs TR01, TR02 and TR03 to generate a moving trace pattern image 710, 720, 730).

FIG. 8 is a block diagram of the traffic management server 500 according to the present embodiments, and FIGS. 9 and 10 are diagrams illustrating a traffic management function according to the present embodiments.

8, the traffic management server 500 according to the present embodiment communicates with a traffic radar device 100 installed in a traffic infrastructure 600 located at a traffic management point, A management unit 820 for generating traffic management information for the traffic management point based on the track ID list and the movement trace data for each track ID, .

The movement trace data for each track ID is data generated by the traffic radar device 100 and linked for each track ID.

The movement trace data for each track ID is generated based on the movement trace for the track recognized as one track object in accordance with the analysis result of the received signal reflected from the surroundings of the transmission signal transmitted from the traffic radar apparatus 100 Lt; / RTI >

The traffic management server 500 can generate traffic management information by analyzing traffic volume at a traffic management point where the traffic radar device 100 is installed based on the moving trace data for each track ID as shown in FIG. .

10, the traffic management server 500 may determine whether the traffic regulations of the vehicle corresponding to each track are violated based on the movement trace data for each track ID, and generate the determination result as the traffic management information have.

The traffic management server 500 grasps the vehicle state including the moving direction and the moving speed of the vehicle corresponding to each track at the traffic management point based on the moving trace data for each track ID, It is possible to judge whether the traffic regulations of the vehicle corresponding to each track are violated or not based on the information or the traffic signal information and the detected vehicle condition.

The traffic management server 500 can read the vehicle number of the vehicle judged to be in violation of the traffic regulations from the image.

As described above, when the traffic management server 500 determines whether the traffic regulations of the vehicle corresponding to each track are violated based on the track trace data for each track ID and generates a result of the traffic regulation violation determination as traffic management information, The traffic control point may be, for example, one of a lane change impossibility point, a speed interrupting point, a reverse driving intervention point, a parking interception point, a shoulder interception point, an intersection point, or a combination of two or more.

For example, the traffic radar device 100 can be installed at a lane change impossibility point to determine a moving trail of a lane-changed vehicle.

As another example, the traffic radar device 100 may be installed around the overspeed interception point to determine the position of the vehicle traveling while avoiding overspeed control.

As another example, the traffic radar apparatus 100 may be installed at a reverse travel intermission point to determine a moving trail of a reverse driving vehicle.

As another example, the traffic radar apparatus 100 can grasp a situation in which the vehicle suddenly stops.

As another example, the traffic radar device 100 can detect a moving object, a pedestrian, or the like at a stop or a low speed.

11 is a view showing a traffic management system according to the present embodiments.

11, the traffic management system according to the present embodiment includes a traffic light radar device 100 installed in one or more traffic management points P1, P2, and P3, And a traffic management server 500 interlocked with each other.

The traffic radar device 100 is installed in a traffic infrastructure 600 located at the corresponding traffic management point P1, P2 or P3 and transmits a transmission signal, A track ID corresponding to one tracked object is recognized and a track ID list and movement trace data for each track ID are generated and transmitted to the traffic management server 500. [

The traffic management server 500 receives a track ID list and moving trace data for each track ID from the traffic radar device 100 and generates traffic management information for the traffic management point based on the track trace data for each track ID Can be generated.

Here, the traffic management information may be the traffic volume information of the corresponding traffic management point, the vehicle number or track ID information of the vehicle that violates the traffic regulation at the traffic management point, and information on the violation of the traffic regulation Location, violation content, etc.).

Meanwhile, the traffic radar device 100 may further transmit an image linked with the movement trace data for each track ID to the traffic management server 500. [

The traffic management server 500 can generate the traffic management information for the image more finely.

The traffic management server 500 may extract only a partial image having a vehicle with respect to a desired track ID through image analysis, and analyze the extracted partial image more accurately so as to grasp the vehicle number and the like.

On the other hand, the traffic management server 500 may determine whether the traffic regulations of the vehicle corresponding to each track are violated based on the track trace data for each track ID. However, the traffic radar device 100 may detect the track trace data for each track ID It is possible to judge whether the vehicle corresponding to each track is in violation of the traffic regulations.

If it is determined that the traffic regulation violation has occurred, the traffic radar apparatus 100 may transmit the moving trace data for each track ID corresponding to the traffic regulation violation to the traffic management server 500 together with the corresponding image.

The traffic radar device 100 may extract only a partial image of the track ID corresponding to the traffic regulation violation through the image analysis and transmit the extracted partial image to the traffic management server 500. [

FIG. 12 is a flowchart of a radar-based tracking method for moving object traces according to the present embodiments.

Referring to FIG. 12, in the radar-based object movement trace tracking method according to the present embodiments, a traffic light radar device 100 installed at a traffic management point transmits a transmission signal, A step S1220 of recognizing a track corresponding to one tracked object and giving a track ID using the result of analyzing the received signal by the traffic radar device 100, (S1230) in which the radar device 100 generates and transmits moving trace data for each track ID; and a traffic management server 500 generates traffic management information at a traffic management point on the basis of the track trace data for each track ID (S1240), and so on.

According to the above-described embodiments, the traffic radar device 100, the traffic management server 500, the traffic information management server 500, and the traffic information management server 500 can accurately detect multiple lanes even without using a high- ), A traffic management system, and a radar-based tracking method for moving object traces.

In addition, according to the present embodiments, there are provided a traffic radar apparatus 100, a traffic management server 500, a traffic management system 500, and a traffic management system 500, which enable continuous and accurate detection without requiring a high- And a radar-based object movement trace tracking method.

In addition, according to the embodiments, it is possible to provide a traffic radar apparatus 100, a traffic management server 500, a traffic management system, and a radar-based object movement tracking method capable of tracking radar-based object movement traces have.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the inventions. , Separation, substitution, and alteration of the invention will be apparent to those skilled in the art. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100: Traffic radar device
110:
120: Receiver
130: Processor
510: camera
520:
530:
500: Traffic management server
600: Transportation infrastructure
810:
820:

Claims (16)

In a traffic radar device,
A transmission unit for transmitting a transmission signal;
A reception unit for receiving a reception signal in which the transmission signal is reflected in the surroundings; And
And a processor for recognizing a track corresponding to one tracked object by using a result of analyzing the received signal, assigning a track identifier to the track, and generating move trace data for each track identifier,
Wherein the traffic radar device is installed in a traffic infrastructure across the plurality of lanes so as to sense vehicles traveling in a plurality of lanes and detects a front surface of the vehicles traveling in the plurality of lanes,
Wherein the traffic radar device communicates with the traffic management server through the traffic infrastructure,
The processor comprising:
The characteristic information including the azimuth information and the velocity information for each of a plurality of objects corresponding to the plurality of points on which the transmission signal is reflected from the result of analyzing the reception signal reflected from the front surface of the vehicles traveling in the plurality of lanes, Respectively,
The method of claim 1, wherein, for each of the plurality of objects, based on the extracted characteristic information, three or more objects corresponding to the characteristic information including the same velocity information and the distance kept constant or varying within a certain range, It is regarded that the objects corresponding to the front points of the vehicle are grouped into one,
The method of claim 1, further comprising: recognizing the grouped three or more objects as tracks corresponding to one vehicle to be tracked, assigning track identifiers to the respective tracks, Generates trace data,
Wherein each of the time-based orientation information for each track identifier is one of three or more grouped orientations of the at least one of the grouped three or more objects, or the average value of the orientation information at the corresponding time for each of the grouped three or more objects Wherein each of the velocity information for each track identifier is velocity information of a selected one of the three or more grouped objects or an average value of velocity information at a corresponding time for each of the grouped three or more objects,
The processor comprising:
And generates a track trace pattern image in which track images composed of the grouped three or more objects are successively displayed in accordance with a time flow, using the movement trace data. delete The method according to claim 1,
The processor comprising:
When the grouped three or more objects are recognized for a predetermined number of times or more or for a predetermined time or longer,
And recognizes the group of the grouped three or more objects as a track corresponding to one tracked object. The method according to claim 1,
The processor comprising:
After assigning the track identifier,
When a track corresponding to the track identifier is recognized more than a predetermined number of times or is recognized for a predetermined time or more, a track corresponding to the track identifier is maintained as a valid track,
Wherein the track corresponding to the track identifier is managed as an invalid track or the track identifier is deleted when a track corresponding to the track identifier is not recognized for a predetermined number of times or more or is not recognized for a predetermined time or longer. The method according to claim 1,
Further comprising a camera for photographing a surrounding image,
The processor comprising:
And generates the moving trace pattern image in association with the image by using the track data for each track identifier. The method according to claim 1,
And a communication unit for providing the track data for each track identifier to the traffic management server. A track is provided to a traffic infrastructure located at a traffic management point, and a track corresponding to one tracking object is recognized using a result of analyzing a received signal reflected from a surrounding area by transmitting a transmission signal, A traffic radar device for generating and transmitting moving trace data for each track identifier; And
And a traffic management server for generating traffic management information for the traffic management point based on the movement trace data for each track identifier,
The traffic radar device includes:
A plurality of lanes each of which is installed in a traffic infrastructure across the plurality of lanes so as to detect vehicles traveling in a plurality of lanes,
The characteristic information including the azimuth information and the velocity information for each of a plurality of objects corresponding to the plurality of points on which the transmission signal is reflected from the result of analyzing the reception signal reflected from the front surface of the vehicles traveling in the plurality of lanes, Respectively,
Based on the characteristic information extracted for each of the plurality of objects, three or more objects corresponding to the characteristic information including the same velocity information and the distance kept constant or changing within a certain range, It is regarded that the objects corresponding to the front points of the vehicle are grouped into one,
The method of claim 1, further comprising: recognizing the grouped three or more objects as tracks corresponding to one vehicle to be tracked, assigning track identifiers to the respective tracks, Generates trace data,
Wherein each of the time-direction orientation information for each track identifier in the movement trace data is orientation information of a selected one of the three or more grouped objects or arithmetic of orientation information at the corresponding time in each of the grouped three or more objects Wherein each of the velocity information for each track identifier is velocity information of a selected one of the three or more grouped objects or an average value of velocity information at a corresponding time for each of the grouped three or more objects,
And generates a moving trace pattern image in which track images composed of the grouped three or more objects are continuously displayed in accordance with a time flow using the moving trace data. 8. The method of claim 7,
Wherein the traffic radar device further transmits an image linked to movement trace data for each track identifier to the traffic management server. 9. The method of claim 8,
The traffic radar device includes:
Determining whether a traffic regulation violation of the vehicle corresponding to each track is violated based on the track trace data for each track identifier, and if it is determined that a traffic regulation violation has occurred, moving trace data for each track identifier is transmitted to the traffic management server Based traffic management system. 9. The method of claim 8,
The traffic management server includes:
Based on the track trace data for each track identifier, whether the traffic regulations of the vehicle corresponding to the respective tracks are violated or not, and generates the determination result as the traffic management information. 11. The method of claim 10,
The traffic management server includes:
A traffic radar - based traffic management system that reads vehicle numbers of vehicles that are judged to be in violation of traffic regulations from images. 11. The method of claim 10,
The traffic management server includes:
And determining a vehicle state including a moving direction and a moving speed of the vehicle corresponding to each track at the traffic management point based on the moving trace data for each track identifier,
Traffic regulation information or traffic signal information associated with the traffic management point,
And determining whether a traffic regulation of the vehicle corresponding to each of the tracks is violated. 13. The method of claim 12,
Wherein the traffic management point comprises:
A traffic-based radar-based traffic management system that is a point where a lane-changeable point, a speed limit stop point, a reverse run stop point, a parking stop point, a shoulder stop point, or an intersection point, or a combination of two or more. 8. The method of claim 7,
The traffic management server includes:
And the traffic management information is generated by analyzing traffic volume at the traffic management point where the traffic light radar device is installed based on the moving trace data for each track identifier. delete A traffic radar installed in a transportation infrastructure across the plurality of lanes so as to detect vehicles traveling in a plurality of lanes and sensing a front surface of the vehicles traveling in the plurality of lanes and communicating with a traffic management server through the transportation infrastructure, The apparatus transmitting a transmit signal and receiving the receive signal reflected from the surroundings;
Recognizing a track corresponding to one tracked object using the result of analyzing the received signal by the traffic light radar device and providing a track identifier;
Wherein the traffic radar device generates moving trace data for each track identifier,
In the providing step, the traffic light radar device includes:
The characteristic information including the azimuth information and the velocity information for each of a plurality of objects corresponding to the plurality of points on which the transmission signal is reflected from the result of analyzing the reception signal reflected from the front surface of the vehicles traveling in the plurality of lanes, Respectively,
The method of claim 1, wherein, for each of the plurality of objects, based on the extracted characteristic information, three or more objects corresponding to the characteristic information including the same velocity information and the distance kept constant or varying within a certain range, It is regarded that the objects corresponding to the front points of the vehicle are grouped into one,
Recognizing the grouped three or more objects as tracks corresponding to one vehicle to be tracked, assigning track identifiers to the respective tracks,
In the generating step, the traffic radar device includes:
Generating moving trace data including time-specific orientation information and time-specific velocity information for each track identifier,
Wherein each of the time-direction orientation information for each track identifier in the movement trace data is orientation information of a selected one of the three or more grouped objects or arithmetic of orientation information at the corresponding time in each of the grouped three or more objects Wherein the velocity information for each track identifier is a velocity information of a selected one of the three or more grouped objects or an average value of velocity information for each of the grouped three or more objects at a corresponding time,
And generating a moving trace pattern image in which a track image composed of the grouped three or more objects is continuously displayed in accordance with a time flow, using the moving trace data.

Images