KR102182756B1 - Method and apparatus for sensing multi-lane speed using frequency modulation continuous wave radar - Google Patents

Abstract

According to one embodiment of the present invention, provided is a method for measuring the multi-lane speed in a device provided with a frequency modulated continuous wave radar, which comprises the steps of: detecting an object based on a signal received through a radar antenna; detecting an event of entering a speed measurement section of the detected object; detecting an event of advancing the speed measurement section of the detected object; driving a corresponding hardware counter in accordance with the entering event and stopping driving of the hardware counter in accordance with the entering event to obtain a counter value; and calculating the speed of the detected object based on the obtained counter value. Therefore, the method of the present invention has the advantage of being able to more accurately measure the multi-lane speed.

Description

Variable speed detection method and device for multi-lane detection section using frequency modulated continuous wave radar {METHOD AND APPARATUS FOR SENSING MULTI-LANE SPEED USING FREQUENCY MODULATION CONTINUOUS WAVE RADAR}

The present invention relates to a vehicle speed detection method, and more particularly, a technology for detecting a multi-lane speed using a frequency modulated continuous wave radar.

In the conventional vehicle speed detection on the road, the presence of the vehicle is detected through the magnetic field change of the first loop coil built in the first position of the road surface, and the second roof coil located at the second position of the road surface. By measuring the magnetic field change time difference (Δt) of the two roof coils when the magnetic field changes, the vehicle speed in the corresponding driving section was detected.

However, in order to install the roof coil for vehicle speed detection on the road surface, damage to the lane is inevitable, and the roof coil is frequently damaged due to frequent driving of the vehicle, which makes maintenance difficult.

It is possible to use the Doppler principle used in Speed Gun (Radar Based Speed Measurement Devices) as a means to measure vehicle speed without using a roof coil that causes road damage to the road surface, but speed measurement using the Doppler principle is possible. It has the disadvantage of being vulnerable to weather changes-for example snow, rain, fog, etc.

An embodiment of the present invention is to provide a method and apparatus for detecting a multi-lane speed using a frequency modulated continuous wave radar.

Another embodiment of the present invention is provided with a vehicle trajectory detection function by determining a point in a 3D virtual space and detecting a continuous point, and a virtual point designation function according to a road condition, thereby quantitatively automatically calculating the vehicle speed. It is to provide a method and apparatus for detecting multi-lane speed using a frequency modulated continuous wave radar.

Another embodiment of the present invention is a multi-lane speed detection using a frequency-modulated continuous wave radar in which a vehicle driving trajectory is automatically taught by learning without regard to the perspective according to the installation location in point designation. It is intended to provide a method and an apparatus for varying a section detecting speed.

Another embodiment of the present invention is a multi-lane speed using a frequency-modulated continuous wave radar capable of measuring real-time speed and securing precision by calculating the entry/exit time of the vehicle to the speed measurement section using a hardware counter provided for each lane. It is intended to provide a detection method and a device that changes a section for detecting speed.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned will be clearly understood by those skilled in the art from the following description.

A method for measuring multi-lane speed in a device equipped with a frequency modulated continuous wave radar antenna according to an embodiment of the present invention includes the steps of detecting an object based on a signal received through the radar antenna and a speed measurement section of the detected object. Detecting an entry event and detecting an entry event of the speed measurement section of the detected object, driving a corresponding hardware counter according to the entry event, and stopping driving of the hardware counter according to the entry event And calculating the detected speed of the object based on the obtained counter value.

As an embodiment, the method further includes determining the size of the detected object and determining whether the object is a vehicle based on the determined size, and as a result of the determination, when the detected object is a vehicle, The speed calculation may be performed on the detected object.

In an embodiment, the hardware counter may be provided equal to the number of lanes on a road to be measured for speed.

In an embodiment, an operation of the hardware counter may be controlled by triggering a predetermined interrupt signal corresponding to each of the entry event and the exit event.

As an example, the method further includes setting an entry point, an exit point, and a length of the speed measurement section, wherein the detected speed V (unit: Km/Hour) is the length D ( Unit: m) and the time taken to pass through the speed measurement section Δt (unit: ms) based on the following equation:

V = 3600 * D / △t

Can be calculated by

In an embodiment, the method includes identifying a lane in which the detected object is located, determining whether the detected object deviates from a driving trajectory within the speed measurement section, and as a result of the determination, when the driving trajectory is deviated. , By ignoring the entry event, the speed measurement of the detected object may be stopped.

A multi-lane speed measuring apparatus according to another embodiment of the present invention detects an object based on a frequency modulated continuous wave radar antenna unit and a signal received through the radar antenna, and responds to the entry and exit events of the detected object's velocity measurement section. Accordingly, a detection and coordinate calculation unit that triggers a predetermined interrupt signal, a speed detection counter including a plurality of hardware counters controlled according to the interrupt signal, and a counter from the register of the corresponding hardware counter when the detected object enters the speed measurement section It may include a main control unit that reads a value and calculates the speed of the detected object based on the read counter value.

In an embodiment, the sensing and coordinate calculation unit determines the size of the detected object, determines whether the object is a vehicle based on the determined size, and as a result of the determination, when the detected object is a vehicle, the main control unit The speed for the sensed object may be calculated.

For example, the plurality of hardware counters may be provided equal to the number of lanes of a road to be measured for speed.

In an embodiment, the detection and coordinate calculation unit triggers a clear counter interrupt signal corresponding to a driving lane of the detected object according to the entry event to initialize and drive a hardware counter corresponding to the driving lane, and to the exit event. Accordingly, a means for triggering a latch counter interrupt signal corresponding to the driving lane of the detected object to stop driving of the hardware counter corresponding to the driving lane may be included.

In an embodiment, the device further includes an external communication unit for communication with an external device, and the main control unit sets an entry point, an exit point, and a length of the speed measurement section based on setting information received through the external communication unit. , Based on the length D (unit: m) of the speed measurement section and the time taken to pass the speed measurement section Δt (unit: ms), the following equation:

V = 3600 * D / △t

The velocity V (unit: Km/Hour) of the detected object can be calculated by.

In an embodiment, the detection and coordinate calculation unit includes a means for identifying a lane in which the detected object is located, a means for determining whether the detected object deviates from a driving trajectory within the speed measurement section, and a result of the determination, the driving trajectory. In case of departure, a means for transmitting a predetermined driving trajectory departure signal to the main control unit may be included, and the main control unit may stop measuring the speed of the detected object according to the driving trajectory departure signal.

The technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned will be clearly understood by those of ordinary skill in the technical field to which the present invention belongs from the following description. I will be able to.

The present invention has an advantage of providing a method and apparatus for detecting a multi-lane speed using a frequency modulated continuous wave radar.

In addition, the present invention is equipped with a vehicle trajectory detection function by determining a point in a 3D virtual space and detecting a continuous point, and a virtual point designation function according to road conditions, so that it is possible to quantitatively and automatically calculate the vehicle speed. There is an advantage of providing a method and apparatus for detecting a multi-lane speed using a frequency modulated continuous wave radar.

In addition, the present invention is a multi-lane speed detection method and apparatus using a frequency-modulated continuous wave radar in which the vehicle driving trajectory is automatically taught by learning without regard to the perspective according to the installation location in point designation. There is an advantage to provide.

In addition, the present invention is a multi-lane speed detection method using a frequency modulated continuous wave radar capable of ensuring real-time speed measurement and precision by calculating the entry/exit time of the vehicle into the speed measurement section using a hardware counter provided for each lane, and I want to provide a device.

In addition, the present invention has the advantage of providing a multi-lane speed detection method and apparatus capable of more accurate vehicle speed measurement by minimizing an increase in processor multitasking load due to an increase in a target lane for speed measurement.

In addition, the present invention has the advantage of being able to provide a vehicle speed measurement system that is robust against weather changes, has no road surface damage, and can minimize maintenance costs.

In addition to this, various effects that are directly or indirectly identified through this document can be provided.

1 is a block diagram illustrating a structure of a multi-lane speed sensing apparatus according to an embodiment of the present invention.
2 is a view for explaining the operation of the multi-lane speed sensing device according to an embodiment of the present invention.
FIG. 3 is a diagram illustrating a mapping table for speed versus count values ((Δt) for each distance of a P1-P2 section according to an embodiment of the present invention.
4 is a diagram illustrating interrupt handling according to an embodiment of the present invention.
5 is a circuit diagram of a hardware counter for speed detection according to an exemplary embodiment of the present invention.
6 is a flowchart illustrating a multi-lane speed sensing method according to an embodiment of the present invention.
7 is a flowchart illustrating a method of detecting a multi-lane speed according to another embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to elements of each drawing, it should be noted that the same elements are assigned the same numerals as possible even if they are indicated on different drawings. In addition, in describing an embodiment of the present invention, when it is determined that a detailed description of a related known configuration or function interferes with an understanding of the embodiment of the present invention, the detailed description thereof will be omitted.

In describing the constituent elements of an embodiment of the present invention, terms such as first, second, A, B, (a), (b), and the like may be used. These terms are only used to distinguish the component from other components, and the nature, order, or order of the component is not limited by the term. In addition, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted as an ideal or excessively formal meaning unless explicitly defined in this application. Does not.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to FIGS. 1 to 7.

Prior to the description of the present invention, a brief description will be given of a frequency modulated continuous wave radar provided in the multi-lane speed sensing apparatus of the present invention.

A continuous wave (CW) radar is a radar that transmits and receives a sine wave without using pulse modulation (PM) by using a duplexer that uses the same antenna as a transmitter and a receiver at the same time. Since the measurement capability is very insufficient, repeated frequency modulation is often applied, and this method is called a frequency modulation continuous wave (FMCW) radar.

A frequency modulated continuous wave (FMCW) radar measures the distance between the target and the radar by measuring the beat frequency by mixing an echo signal reflected from the target and a part of the transmission frequency after emitting an electromagnetic wave to a target.

FMCW radars are commonly used for tide gauges and water gauges in aircraft altimeter tanks.

In this case, the FMCW radar transmits a signal by periodically changing the frequency of the signal output from the antenna, and the received echo frequency has a value different from the frequency of the radio wave emitted by the transmitter at that time.

The FMCW radar can measure the distance to the target based on the information on the rate at which the frequency changes over time and the frequency difference between the transmitted and received signals.

1 is a block diagram illustrating a structure of a multi-lane speed sensing apparatus according to an embodiment of the present invention.

Referring to FIG. 1, a multi-lane speed detection apparatus 100 according to an embodiment includes a radar antenna unit 110, a frequency modulation continuous wave (FMCW) processing unit 120, a detection and coordinate calculation unit 130, and a speed detection counter. It may be configured to include the unit 140, the external camera trigger unit 150, the external communication unit 160 and the main control unit 150.

Hereinafter, for convenience of description, the multi-lane speed sensing device 100 will be simply used in combination with the speed sensing device 100 or the device 100.

The FMCW processing unit 120 may generate an FMCW signal and output it through the radar antenna unit 110, and receive a signal reflected from an object and received through the radar antenna unit 110.

The radar antenna unit 110 may radiate the FMCW signal to a plurality of lanes according to the azimuth of the main lobe.

The main control unit 150 may dynamically adjust the azimuth of the main lobe of the radar antenna unit 110 according to an external control signal.

That is, the user transmits a predetermined setting signal to the main control unit 150 through the external communication unit 160 and remotely adjusts the azimuth of the main lobe of the radar antenna unit 110, thereby driving a vehicle in a desired lane. The speed of the device can be monitored in real time.

As an example, the external communication unit 160 may perform communication with an external device through a wired network such as Ethernet, but this is only one embodiment, and another embodiment is a wireless communication network-for example, 4G Long Term (LTE). Evolution) communication network, 5G NR (New Radio) communication network, including Wi-Fi communication network-it is possible to perform communication with an external device.

The detection and coordinate calculation unit 130 may interlock with the FMCW processing unit 120 to detect an object entering the coverage of the radar antenna, and detect an entry/exit event within the speed measurement section of the detected object. Here, the speed measurement section may be set in an arbitrary section within the radar antenna coverage, and may include an entry point P1 and an exit point P2.

As an example, the user may adjust the speed measurement section through the external communication unit 160. For example, the distance of the speed measurement section may be set to 10m or 15m, but this is only one implementation, and the distance of the speed measurement section may be set differently according to the design of a person skilled in the art.

As an example, the distance of the speed measurement section may be automatically adjusted according to the output coverage of the radar antenna unit 110. That is, the distance of the speed measurement section may increase in proportion to the output coverage of the radar antenna unit 110.

The detection and coordinate calculation unit 130 may generate an event signal corresponding to the input/exit of the vehicle in the speed measurement section, for example, an interrupt signal.

The sensing and coordinate calculation unit 130 may calculate the size of the detected object and determine whether the detected object is a vehicle based on the calculated size of the object. For example, the sensing and coordinate calculating unit 130 may determine that the detected object is a vehicle only when the detected object is larger than a predetermined size.

The detection and coordinate calculation unit 130 according to an embodiment may detect an entry/exit event within a speed measurement section of the vehicle and generate a corresponding interrupt signal only when the detected object is a vehicle.

When the detected object is a vehicle, the detection and coordinate calculation unit 130 may calculate a driving trajectory of the vehicle.

When the vehicle deviates from a predetermined driving trajectory, the detection and coordinate calculation unit 130 may output a predetermined control signal so that the speed measurement for the vehicle is not performed.

The detection and coordinate calculation unit 130 may calculate coordinates of the detected vehicle and determine in which lane the vehicle is traveling based on the calculated coordinates.

The speed detection counter 140 may be provided with first to Nth counters.

As an example, the number of counters provided in the speed detection counter 140 may be the same as the number of lanes on the road on which the device 100 is disposed, but this is only one embodiment, and other embodiments are designed by those skilled in the art. It may be provided with more or less than that according to.

In an embodiment, the speed detection counter 140 may be designed so that one hardware counter is mapped for each lane of a target road.

The detection and coordinate calculation unit 130 may identify a lane in which the detected vehicle is traveling, generate a predetermined event signal corresponding to the identified lane-for example, an interrupt signal-to drive a counter for detecting the speed. have.

For example, when a road to be measured for speed is composed of three lanes, the speed detection counter 140 may include first to third counters. In this case, the first lane may be pre-mapped to the first counter, the second lane to the second counter, and the third lane to the third counter.

When the detected vehicle passes the entry point P1, the detection and coordinate calculation unit 130 controls the corresponding counter to be driven by generating a first interrupt signal-for example, a Clear Counter Interupt signal, and the detected vehicle When passing through the advance point P2, a second interrupt signal-for example, a Latch Counter Interupt signal-is generated to stop the counter operation and control the main controller 150 to read the counter value.

The main control unit 150 may control the overall operation of the device 100 and control input/output to an external device.

As an example, the main control unit 150 may be a microprocessor equipped with a Linux-based computing system, but is not limited thereto.

The main control unit 150 reads the counter value from the hardware counter provided in the speed detection counter unit 140 according to a predetermined interrupt signal-for example, a latch counter interrupt signal-and the time required to move from point P1 to point P2 (Δt) may be calculated, and the driving speed in the section P1-P2 of the vehicle may be calculated based on Δt.

The main control unit 150 may transmit a predetermined control signal to the external camera trigger unit 170 according to the calculated driving speed to command a camera photographing of a vehicle driving in a corresponding lane.

As an example, the camera may be provided with one per lane, and the external camera trigger unit 170 may generate a trigger signal so that the corresponding camera performs photographing according to a control signal from the main control unit 150. At this time, the photographed information is transferred to the main control unit 150 through the external camera trigger unit 170 again, and then transmitted to a predetermined server (not shown) through the external communication unit 160-for example, a traffic penalty server. Can be.

The main control unit 150 may receive a radar antenna setting signal from a user through the external communication unit 160.

The main control unit 150 may control the radar antenna unit 110 according to the radar antenna setting signal to adjust the azimuth angle of the radar main lobe and the intensity of the radar signal. At this time, the length of the horizontal axis of the radar main lobe can be dynamically changed through the adjustment of the azimuth and intensity of the main lobe of the radar, and accordingly, the number of lanes capable of simultaneous speed measurement can be dynamically adjusted.

The apparatus 100 according to an embodiment of the present invention should be provided with a hardware counter for detecting the speed as much as the number of lanes on the road to be measured.

However, the main control unit 150 can read the hardware counter value of the speed detection counter unit 140 in a common method-for example, a bus method, and thus provided in the main control unit 150 There is an advantage of minimizing the consumption of hardware resources of the processor.

2 is a view for explaining the operation of the multi-lane speed sensing device according to an embodiment of the present invention.

Referring to FIG. 2, the device 100 sets entry points (P1, 210) and exit points (P2, 220) in a virtual space, and passes through the P1-P2 section 230-that is, the speed measurement section. You can measure the speed of the vehicle.

The device 100 according to the embodiment may acquire the time difference at which the object-that is, the vehicle-at the entry point 210 and the exit point 220 is detected, through a hardware counter for speed detection, and the acquired time difference. Based on, the speed of the object in the P1-P2 section 230 may be measured.

For example, the counting unit of the hardware counter may be 1 millisecond (ms). If the read counter value is 300, this may mean that 300 ms has been taken to pass the P1-P2 section 230.

If the length of the P1-P2 section 230 is 10 meters (m), the speed of the object in the P1-P2 section 230 is calculated as 120 km/H per hour according to Table 1 of FIG. 3, and P1 If the length of the -P2 section 230 is 15 meters (m), the speed of the object may be calculated as 180 km/H per hour according to Table 2 of FIG. 3.

For example, when a memory (not shown) is provided in the device 100, the speed versus count value ((Δt) mapping table for each distance P1-P2 may be recorded and maintained in the memory.

As another example, the device 100 may calculate the speed according to Equation 1 below without a separate memory reference.

Speed (Km/H) = 3600 * D / △t <Equation 1>

Here, D is the length of the section P1-P2 in meters (m), and Δt is the count value in units of 1 ms.

Depending on the condition of the lane, the distance between the P1 210 and the P2 220 can be set freely, and accordingly, the speed can be calculated by inputting the corresponding D value in the unit of m in Equation 1 above.

When the device 100 detects the first vehicle 240 at the position P1 210 of the first lane, the device 100 may drive a speed detection hardware counter corresponding to the first lane.

When the device 100 detects the first vehicle 240 at the position P2 220 of the first lane, the device 100 stops driving the speed detection hardware counter corresponding to the first lane, reads the counter value, and reads the first vehicle. You can calculate the speed of 240.

The device 100 may set a plurality of virtual transit points between the P1 210 and P2 220.

The apparatus 100 may monitor whether a vehicle entering the position P1 210 has passed a transit point of a corresponding lane and determine whether the vehicle deviates from a driving trajectory for speed measurement.

The device 100 may not perform speed measurement on a vehicle that deviates from the driving trajectory.

For example, the main control unit 150 may be notified of the passing of the position of the P1 210 detected by the detection and coordinate calculation unit 130 by means of an interrupt, and wait for the notification of the P2 220. If it is confirmed that the vehicle has deviated from the driving trajectory, the main control unit 150 may ignore an interrupt corresponding to the passage of the position P1 210.

The device 100 may control photographing of a camera 260 provided for each lane based on the calculated speed. A description of a series of processes for obtaining a still image through a strobe in the camera 260 is a prior art and will be omitted from the description of the present invention.

3 is a diagram illustrating a mapping table of speed versus count values ((Δt) for each distance of a P2-P1 section according to an embodiment of the present invention.

Referring to FIG. 3, Table 1 shows the vehicle speed corresponding to the time required for P1-P2 based on a hardware counter value when the distance from P1 to P2 is 10m. Reference numeral 320 shows the vehicle speed corresponding to the time required for P1-P2 based on the hardware counter value when the distance from P1 to P2 is 15m.

4 is a diagram illustrating interrupt handling according to an embodiment of the present invention.

Referring to FIG. 4, when detecting an object entering the radar coverage (S1, 410), the device 100 calculates the size of the detected object, and determines whether the object is a vehicle based on the calculated size of the object. Can be identified (S401).

When the device 100 detects the vehicle 410 identified at P1 420, which is the starting point of the speed measurement section D, 440, it triggers a clear counter interrupt signal to detect a speed. Can be driven (S402).

When the device 100 detects the vehicle 410 identified at P2 430, which is the end point of the speed measurement section D, 440, it triggers a latch counter interrupt signal to detect a speed. It is possible to calculate the speed of the identified vehicle 410 by ending the drive and reading the counter value (S403).

5 is a circuit diagram of a hardware counter for speed detection according to an exemplary embodiment of the present invention.

5, the hardware counter 500 according to the embodiment includes two 8-bit binary counters 510 and 520 and an oscillator 530 connected to a 16-bit common bus (D, 540) and having a storage register. It can be configured.

The binary counters 510 and 520 may have three interrupt ports for receiving external interrupt signals, as shown by reference numeral 550.

The three interrupt ports include a clear counter port (PIN 10) that receives an interrupt signal to start driving the counter, a latch counter port (PIN 13) that receives an interrupt signal to stop the driven counter, and a counter value from the storage register. It can be configured with a read counter port (PIN 14) that receives an interrupt signal for reading.

6 is a flowchart illustrating a multi-lane speed sensing method according to an embodiment of the present invention.

Referring to FIG. 6, the device 100 may determine whether the vehicle has entered a preset speed detection section (S610).

The apparatus 100 may calculate the detected coordinates of the vehicle and identify the lane in which the vehicle is driving (S620).

The apparatus 100 may generate a first event (P1_event) signal corresponding to the identified driving lane when the detected vehicle passes through a preset P1 point (starting point of a speed measurement section) in the identified driving lane. (S630). For example, the first event signal may be a clear counter interrupt signal for driving a hardware counter corresponding to the identified driving lane.

The device 100 may start counting by initializing a hardware counter corresponding to the identified driving lane according to the first event signal (Clear and Start Counter, S640).

The device 100 may determine whether the vehicle has passed the end point P2 of the speed detection section (S650).

As a result of the determination, when the vehicle has passed the point P2, the device 100 may stop driving the hardware counter by generating a second event signal corresponding to the identified driving lane (Latch Count, S660). As an example, the second event signal may be a latch counter interrupt signal for stopping a hardware counter driven corresponding to the identified driving lane.

The device 100 may read a counter value from a register of a hardware counter whose driving is stopped (Read Counter, 670).

The device 100 may calculate the detected vehicle speed based on the read counter value (S680).

As a result of the determination in step 650, if the vehicle has not yet passed the point P2 of the speed detection section, the apparatus 100 may determine whether the detected vehicle has deviated from the driving track (S690).

As a result of the determination, when the driving track is deviated, the apparatus 100 may ignore the first event signal and terminate the speed measurement of the detected vehicle.

7 is a flowchart illustrating a method of detecting a multi-lane speed according to another embodiment of the present invention.

In detail, FIG. 7 is a flowchart illustrating a method of detecting a multi-lane speed in the main control unit 150 of FIG. 1.

Referring to FIG. 7, the main control unit 150 may receive a second event signal indicating that the vehicle has passed the end point P2 of the speed detection section from the detection and coordinate calculation unit 130 (S710 ).

The main control unit 150 may read a corresponding hardware counter value according to the second event signal P2_event (S720).

The main control unit 150 may calculate the detected driving speed of the vehicle based on the read counter value (S730).

The main control unit 150 may determine whether the calculated driving speed exceeds a preset speed limit (S740).

As a result of the determination, when the speed limit is exceeded, the main control unit 150 may transmit a control signal for triggering photographing of a camera provided in a corresponding lane to the external camera trigger unit 170.

If, without the aid of a hardware counter, fast task management is required to simultaneously measure the speeds of vehicles running on a multi-lane road with a microprocessor alone, an expensive high-end processor is required. In particular, when an OS (Operating System, operating system) such as Linux is mounted on the processor, it is difficult to manage tasks for multi-lane speed detection and to ensure real-time processing.

However, the apparatus 100 according to an embodiment of the present invention has an advantage of having a hardware counter for each lane for speed detection, so that a multi-lane speed can be measured more quickly and accurately without having a high-spec processor.

If the multi-lane speed is processed only by software installed in the processor (main control unit 150) provided in the device 100, a problem may occur in real-time measurement. That is, the multi-lane speed processing method using only pure software may cause an incorrect speed measurement result due to task scheduling delay or the like.

However, the present invention has an advantage of providing more precise and reliable multi-lane speed measurement results because a plurality of hardware counters interlocked with the processor are utilized.

The steps of the method or algorithm described in connection with the embodiments disclosed herein may be directly implemented in hardware executed by a processor, a software module, or a combination of the two. The software module may reside in a storage medium (ie, memory and/or storage) such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, register, hard disk, removable disk, and CD-ROM.

An exemplary storage medium is coupled to a processor, which processor is capable of reading information from and writing information to the storage medium. Alternatively, the storage medium may be integral with the processor. The processor and storage media may reside within an application specific integrated circuit (ASIC). The ASIC may reside within the user terminal. Alternatively, the processor and storage medium may reside as separate components within the user terminal.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains will be able to make various modifications and variations without departing from the essential characteristics of the present invention.

Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain the technical idea, 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 interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be interpreted as being included in the scope of the present invention.

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Claims (12)

In the multi-lane speed measurement method in a device equipped with a frequency modulated continuous wave radar antenna,
Adjusting the azimuth angle of the main lobe of the radar antenna and the strength of the radar signal based on the remotely received radar antenna setting signal;
Setting a plurality of transit points for each lane within an object detection possible section;
Detecting an object based on a signal received through the radar antenna;
Detecting an event of entering a speed measurement section of the detected object;
Detecting an event of entering the speed measurement section of the detected object;
Obtaining a hardware counter value corresponding to the entry event and the exit event; And
Calculating a speed of the detected object based on the obtained counter value;
Including, the hardware counter is provided for each lane to drive the hardware counter corresponding to the entry lane of the detected object, and when the detected object is a vehicle, the detected vehicle is corresponding to the entry lane A method for measuring multi-lane speed, characterized in that for detecting whether or not the vehicle has deviated from a driving trajectory by determining whether it has passed the set transit point. The method of claim 1,
Determining the size of the sensed object; And
Determining whether the detected object is a vehicle based on the determined size
And further comprising, as a result of the determination, when the sensed object is a vehicle, calculating a speed of the sensed vehicle. The method of claim 1,
The hardware counter value is obtained through a bus. The method of claim 1,
And controlling an operation of the hardware counter by triggering a predetermined interrupt signal corresponding to each of the entry event and the exit event. The method of claim 1,
Further comprising the step of setting an entry point, an exit point, and a length of the speed measurement section, wherein the detected speed V (unit: Km/Hour) is a length D (unit: m) of the speed measurement section and the Based on the time Δt (unit: ms) required to pass through the speed measurement section, the following equation:
V = 3600 * D / △t
It characterized in that calculated by, multi-lane speed measurement method. The method of claim 1,
When detecting the deviation of the driving trajectory of the vehicle, ignoring the entry event and stopping the speed measurement of the vehicle. A radar antenna unit including a radar antenna for transmitting a frequency modulated continuous wave;
An external communication unit for receiving a radar antenna setting signal for adjusting an azimuth angle of the main lobe of the radar antenna and an intensity of a radar signal from an external device;
Detects an object based on a signal received through the radar antenna, triggers a predetermined interrupt signal according to an event of entering and exiting a speed measurement section of the detected object, and when the detected object is a vehicle, the detected vehicle A detection and coordinate calculation unit that determines whether or not a transit point set corresponding to the entry lane has passed, and detects whether the vehicle deviates from a driving trajectory;
A speed detection counter unit including a hardware counter provided for each of a plurality of lanes controlled according to the interrupt signal; And
When the detected object enters the speed measurement section, a counter value is read from a register of a corresponding hardware counter, the speed of the detected object is calculated based on the read counter value, and the radar according to the radar antenna setting signal Main control unit that controls the azimuth angle of the main lobe of the antenna and the intensity of the radar signal
Containing, multi-lane speed measurement device. The method of claim 7,
The detection and coordinate calculation unit determines the size of the detected object, determines whether the detected object is a vehicle based on the determined size,
As a result of the determination, when the sensed object is a vehicle, the main control unit performs a speed calculation for the sensed vehicle. The method of claim 7,
The multi-lane speed measuring apparatus, characterized in that the plurality of hardware counter values are obtained through a bus. The method of claim 7,
The detection and coordinate calculation unit,
Means for initializing and driving a hardware counter corresponding to the driving lane by triggering a clear counter interrupt signal corresponding to the detected driving lane of the vehicle according to the entry event; And
Means for stopping driving of a hardware counter corresponding to the driving lane by triggering a latch counter interrupt signal corresponding to the driving lane of the detected vehicle according to the advance event
Containing, multi-lane speed measurement device. The method of claim 7,
The main control unit sets an entry point, an exit point, and a length of the speed measurement section based on setting information received through the external communication unit, and passes the length D (unit: m) of the speed measurement section and the speed measurement section. Based on the time taken to do △t (unit: ms), the following equation:
V = 3600 * D / △t
The multi-lane speed measuring apparatus, characterized in that calculating the velocity V (unit: Km/Hour) of the object detected by. The method of claim 7,
The detection and coordinate calculation unit,
Means for identifying a lane in which the detected object is located; And
When the sensed vehicle deviates from the driving trajectory, means for transmitting a predetermined driving trajectory departure signal to the main control unit
Including,
Wherein the main control unit stops measuring the detected vehicle speed according to the driving trajectory deviation signal.

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