KR102660676B1 - System And Method That Changes The Lane Being Controlled In Response To The Lane In Which The Vehicle Is Driving - Google Patents

Abstract

The present invention is a responsive enforcement method and system that changes the enforcement lane in response to the driving lane of the vehicle, and performs speed enforcement based on radar and cameras while changing the enforcement lane in response to the lane in which the vehicle on the road is traveling. It relates to a responsive enforcement method and system that changes the enforcement lane in response to the driving lane.

Description

Responsive enforcement method and system that changes the enforcement lane in response to the vehicle's driving lane {System And Method That Changes The Lane Being Controlled In Response To The Lane In Which The Vehicle Is Driving}

The present invention is a responsive enforcement method and system that changes the enforcement lane in response to the driving lane of the vehicle, and performs speed enforcement based on radar and cameras while changing the enforcement lane in response to the lane in which the vehicle on the road is traveling. It relates to a responsive enforcement method and system that changes the enforcement lane in response to the driving lane.

Intelligent Transportation Systems (ITS) refers to controlling transportation means or transportation facilities and operating and managing transportation systems using technologies such as electronics and communications, including parking information guidance, signal control, and real-time traffic information provision. It is a technology for implementing various functions. Specifically, in order to crack down on speeding and signal violations that cause fatal casualties and property damage, unmanned traffic enforcement equipment is installed and operated in a number of places such as general roads and highways to detect and crack down on traffic violations in real time.

Meanwhile, a method of detecting the speed of a vehicle in unmanned traffic enforcement equipment that cracks down on speeding is the loop-embedded method, which involves embedding a loop detector in the road and detecting the speed of the vehicle passing through the loop detector, and detecting the speed of the vehicle passing through the speed detection section. There is a video analysis method that detects the speed of the vehicle by shooting and analyzing video images. However, due to the disadvantages of obstructing traffic flow by blocking the road during the process of installing loop detectors, or making image analysis difficult in bad weather or at night, both image and radar were used to improve speed detection accuracy and license plate recognition rate. The detection method is widely applied.

In other words, conventional unmanned traffic control equipment is equipped with cameras and radars to check whether vehicles are speeding in the control zone, but due to problems with the resolution and shooting range of the camera, it cannot control all lanes on the road at the same time, and depending on the settings, Only certain lanes are selectively controlled. However, in the case of some malicious drivers, they take advantage of this fact and drive at excessive speeds in lanes that are not currently under control.

Therefore, there is an emerging need to develop unmanned traffic enforcement equipment and technology that can change the enforcement lane while responding in real time to the driving lane of the detected vehicle when performing speed enforcement.

Domestic registered patent KR 10-1641890 B1 “Multi-lane mobile speed detector with increased accuracy and reliability”

The present invention is a responsive enforcement method and system that changes the enforcement lane in response to the driving lane of the vehicle, and performs speed enforcement based on radar and cameras while changing the enforcement lane in response to the lane in which the vehicle on the road is traveling. The purpose is to provide a responsive enforcement method and system that changes the enforcement lane in response to the driving lane.

In order to solve the above problems, a responsive enforcement method that varies the enforcement lane in response to the driving lane of a vehicle performed in a responsive enforcement system including one or more processors and one or more memories, the enforcement system comprising: detection A radar that detects the speed and location information of the vehicle in an area including a speed detection area from the starting line to the speed detection line; A camera that photographs a vehicle while changing the lane to be photographed under the control of a control module in an area including a photographing area from the photographing start line to the speed detection line; And a control module that performs speed control while varying the speed control lane in response to the vehicle's driving lane by applying one of one or more preset information previously stored for each of the plurality of lanes, wherein the responsive control method includes: , a decision information derivation step of deriving, by the control module, decision information including one or more of the speed and driving lane for each of one or more vehicles detected in the speed detection area, based on radar information received from the radar; An enforcement lane setting step of varying, by the control module, a lane captured by the camera based on the determination information and whether the driving lane of the vehicle corresponds to an enforcement lane according to currently set preset information; and a speed control step of performing speed control on a vehicle by the control module based on radar information received from the radar and image information received from the camera.

In one embodiment of the present invention, the speed detection area is an area from the speed detection line to a detection start line spaced a first distance in the reverse direction of vehicle travel, and the photographing area is a first distance from the speed detection line in the reverse direction of vehicle travel. It is an area up to the shooting start line spaced apart by a shorter second distance, and in the enforcement lane setting step, when one vehicle is detected in the speed detection area, the driving lane of the vehicle is regulated according to the currently set preset information. It may further include a first speed lane setting step of not changing the preset information if it corresponds to a lane, but changing it to preset information that allows the camera to photograph the corresponding driving lane if not.

In one embodiment of the present invention, the intermittent lane setting step determines whether, when a plurality of vehicles are detected in the speed detection area, preset information that can simultaneously photograph driving lanes for all the plurality of vehicles exists. A second enforcement lane setting step of determining and, if present, changing to the corresponding preset information; And, if it does not exist, a third speed control lane setting step of setting preset information based on judgment information for each of the plurality of vehicles.

In one embodiment of the present invention, the third speed lane setting step includes a headway time, which is the time difference until each of the preceding and following vehicles entering the speed detection area reaches the shooting start line, and the preceding vehicle A time calculation step of deriving the preset change time required to change from preset information capable of photographing the driving lane of the vehicle to preset information capable of photographing the driving lane of the following vehicle; When the preset change time is less than the headway time, it is set as preset information for the preceding vehicle, and after the preceding vehicle is photographed in the shooting area, it is changed to preset information for the following vehicle, and the preceding vehicle 3-1 speed lane setting step of photographing each of the following vehicles; And when the preset change time is greater than the headway time, 3-2, which is set as preset information for either the preceding vehicle or the following vehicle, based on judgment information for each of the preceding vehicle or the following vehicle. It may further include an enforcement lane setting step.

In one embodiment of the present invention, the 3-2 speed lane setting step is performed on the detection start line at a judgment reference line spaced apart from the speed detection line by a third distance less than the first distance and greater than the second distance in the reverse direction of vehicle travel. In the decision area up to, preset information for either the preceding vehicle or the following vehicle can be set based on information including one or more of the speed and deceleration of each of the preceding vehicle and the following vehicle.

In one embodiment of the present invention, the preset change time is determined from the preset information closest to the driving lane for the following vehicle among a plurality of preset information that can capture the driving lane for the preceding vehicle. This may be the time required to change to the preset information closest to the driving lane for the preceding vehicle among a plurality of preset information capable of photographing the lane.

In one embodiment of the present invention, the speed control step includes the speed detection area and sets an effectiveness standard based on the standard deviation of a plurality of radar information generated in all areas where the radar can generate radar information. generating step; Applying the validity criteria to radar information generated in the speed detection area among all radar information generated by the radar and determining radar information that does not meet the radar information as noise; and performing speed control based on the validated radar information and image information.

In order to solve the above problems, it is a responsive enforcement system that changes the enforcement lane in response to the vehicle's driving lane, and collects the vehicle's speed and location information in the area including the speed detection area from the detection start line to the speed detection line. radar to detect; A camera that photographs a vehicle while changing the lane to be photographed under the control of a control module in an area including a photographing area from the photographing start line to the speed detection line; and a control module that applies one of one or more preset information pre-stored to each of a plurality of lanes and performs speed control while changing the speed control lane in response to the vehicle's driving lane. By the control module, A decision information deriving step of deriving decision information including one or more of the speed and driving lane for each of one or more vehicles detected in the speed detection area based on the radar information received from the radar; By the control module, based on the judgment information, when the vehicle reaches the shooting area, the lane that the camera shoots depends on whether the driving lane of the vehicle corresponds to the enforcement lane according to the currently set preset information. An intermittent lane setting step that varies; and a speed control step of performing, by the control module, speed control on a vehicle based on radar information received from the radar and image information received from the camera.

According to one embodiment of the present invention, speed control can be performed by changing the preset information that sets the lane that the camera captures in response to the lane in which the vehicle on the road is traveling, and setting the lane in which the vehicle is traveling as an enforcement lane. there is.

According to an embodiment of the present invention, when one vehicle is driving, the driving lane of the vehicle may be set as an enforcement lane.

According to an embodiment of the present invention, when a plurality of vehicles are driving and the driving lanes for each of the plurality of vehicles can be photographed simultaneously, the driving lanes for each of the plurality of vehicles can be set as intermittent lanes.

According to an embodiment of the present invention, when a plurality of vehicles are driving and the driving lanes for each of the plurality of vehicles cannot be photographed simultaneously, the driving lane of the preceding vehicle is set as an intermittent lane and the following vehicle is allowed to pass. By previously changing the preset information, the driving lane of the following vehicle can be set to an intermittent lane.

According to an embodiment of the present invention, when a plurality of vehicles are driving and the driving lanes for each of the plurality of vehicles cannot be photographed simultaneously, the driving lane for either the leading vehicle or the following vehicle is set as an intermittent lane. You can.

According to an embodiment of the present invention, the effectiveness of radar information generated by a radar is verified, and speed control is performed based on the validated radar information, thereby improving speed control accuracy and preventing erroneous speed control.

Figure 1 schematically shows the site and components to which a responsive enforcement system according to an embodiment of the present invention is applied.
Figure 2 shows execution steps of a responsive enforcement system according to an embodiment of the present invention.
Figure 3 shows setting information according to an embodiment of the present invention.
Figure 4 shows the first speed lane setting step according to an embodiment of the present invention.
Figure 5 shows the second speed control lane setting step according to an embodiment of the present invention.
Figure 6 shows details regarding headway time and preset change time according to an embodiment of the present invention.
Figure 7 shows matters determining the branching of the 3-1 speed control lane setting step and the 3-2 speed control lane setting step according to an embodiment of the present invention.
Figure 8 shows the 3-2 speed control lane setting step according to an embodiment of the present invention.
Figure 9 shows details on the steps for verifying the validity of radar information according to an embodiment of the present invention.
Figure 10 schematically shows the internal configuration of a computing device according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS Various embodiments and/or aspects are now disclosed with reference to the drawings. In the following description, for purposes of explanation, numerous specific details are set forth to facilitate a general understanding of one or more aspects. However, it will also be appreciated by those skilled in the art that this aspect(s) may be practiced without these specific details. The following description and accompanying drawings set forth in detail certain example aspects of one or more aspects. However, these aspects are illustrative and some of the various methods in the principles of the various aspects may be utilized, and the written description is intended to encompass all such aspects and their equivalents.

Additionally, various aspects and features may be presented by a system that may include multiple devices, components and/or modules, etc. It is also understood that various systems may include additional devices, components and/or modules, etc. and/or may not include all of the devices, components, modules, etc. discussed in connection with the drawings. It must be understood and recognized.

As used herein, “embodiments,” “examples,” “aspects,” “examples,” etc. may not be construed to mean that any aspect or design described is better or advantageous over other aspects or designs. . The terms '~part', 'component', 'module', 'system', 'interface', etc. used below generally refer to computer-related entities, such as hardware, hardware, etc. A combination of and software, it can mean software.

Additionally, the terms "comprise" and/or "comprising" mean that the feature and/or element is present, but exclude the presence or addition of one or more other features, elements and/or groups thereof. It should be understood as not doing so.

Additionally, terms including ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, a first component may be named a second component without departing from the scope of the present invention, and similarly, the second component may also be named a first component. The term and/or includes any of a plurality of related stated items or a combination of a plurality of related stated items.

In addition, in the embodiments of the present invention, unless otherwise defined, all terms used herein, including technical or scientific terms, are generally understood by those skilled in the art to which the present invention pertains. It has the same meaning as Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and unless clearly defined in the embodiments of the present invention, have an ideal or excessively formal meaning. It is not interpreted as

Figure 1 schematically shows a site and components to which a responsive enforcement system according to an embodiment of the present invention is applied.

As shown in FIG. 1, a responsive enforcement system including one or more processors and one or more memory Radar (2) that detects speed and location information; A camera (3) for photographing a vehicle while changing the lane to be photographed under the control of the control module (1) in an area including the photographing area (A3) from the photographing start line (L3) to the speed detection line (L4); and a control module 1 that performs speed control while varying the speed control lane in response to the vehicle's travel lane by applying one of one or more preset information previously stored for each of the plurality of lanes.

Figure 1(a) shows a responsive enforcement system installed on the road. As shown, the responsive enforcement system includes a radar (2) and a camera (3), and the radar (2) and camera (3) are installed on the road and can generate data about vehicles driving on the road. . Specifically, the radar 2 can generate radar information including one or more of identification information, location information, and speed information about vehicles driving on the road by examining radio waves, and the camera 3 photographs the road and Video information captured by a vehicle driving can be generated.

Meanwhile, areas in which data is generated for each of the radar 2 and the camera 3 may be different. Specifically, the radar 2 generates radar information about a driving vehicle by irradiating the radar 2 over a wide area including all lanes on the road, while the camera 3 covers the area where the radar information is generated. It is set to capture a narrow area and can generate image information for some of the lanes on the road.

In one embodiment of the present invention, the camera 3 can capture two lanes at the same time and generate image information for two adjacent lanes.

Meanwhile, the camera 3 can change the shooting area A3 according to the control of the control module 1. For example, the camera 3 is mounted on a drive module that can be driven on a pole in the left and right directions (direction perpendicular to the driving direction of the vehicle), and the control module 1 controls the position of the drive module to capture images. Lanes can be changed. Alternatively, the camera 3 is a PTZ camera 3 that can vary pan, tilt, and zoom, and can change the shooting lane while varying pan, tilt, and zoom under the control of the control module 1.

Figure 1(b) shows the components of a responsive enforcement system. As shown, data generated by each of the camera 3 and the radar 2 are transmitted to the control module 1, and vehicle control can be performed by the control module 1.

Specifically, the control module 1 may include a decision information extraction unit 10, an enforcement lane setting unit 11, and a speed control unit 12, and detection in the enforcement area is performed by the above components. Speed control can be performed while changing the speed control lane in response to the driving lane of the vehicle.

Preferably, the control module 1 can identify the detected driving lane of the vehicle based on radar information received from the radar 2 and control the camera 3 to photograph the corresponding driving lane.

Meanwhile, the control module 1 can perform traffic enforcement for other types of signal violations, such as signal violations and bus-only lane violations, in addition to speeding enforcement, and may further include other components to implement the corresponding functions.

The control module 1 may be a computing device including one or more processes and one or more memories, and may communicate with the radar 2 and the camera 3 in a wired or wireless manner.

In one embodiment of the present invention, the control module 1 is a field terminal installed at the site where the camera 3 and the radar 2 are installed, and performs crackdown while communicating with an external server (e.g., a National Police Agency server). can do. Alternatively, the control module 1 may be implemented as an external server that directly communicates with and controls the camera 3 and the radar 2, but is not limited to either one.

Figure 2 shows execution steps of a responsive enforcement system according to an embodiment of the present invention.

As shown in FIG. 2, the responsive enforcement method is based on radar information received from the radar 2 by the control module 1, to each of one or more vehicles detected in the speed detection area A1. A decision information derivation step of deriving decision information including one or more of the speed and driving lane for each vehicle; By the control module 1, based on the judgment information, the lane captured by the camera 3 is changed based on whether the driving lane of the vehicle corresponds to the enforcement lane according to the currently set preset information. Enforcement lane setting step; And a speed control step of performing speed control on the vehicle based on the radar information received from the radar 2 and the image information received from the camera 3 by the control module 1. there is.

Step S1 is a decision information derivation step performed by the decision information derivation unit 10 of the control module 1, and the control module 1 provides information to each of one or more vehicles based on radar information received from the radar 2. Decision information including one or more of speed and driving lane can be derived.

As described above, the radar information transmitted by the radar 2 to the control module 1 may include identification information, location information, and speed information about vehicles driving on the road, and the control module 1 may Decision information on speed, driving lane, etc. for each vehicle can be derived.

Meanwhile, the control module 1 can derive the time required for the vehicle to reach the preset virtual shooting start line L3 and the time required to set the driving lane of the vehicle as preset information.

In addition, when multiple vehicles are detected, the control module 1 can further derive the separation distance between vehicles, preset change time, headway time, etc., and a detailed description of this will be provided later.

Steps S2 to S8 are the enforcement lane setting steps performed by the enforcement lane setting unit 11 of the control module 1, and the control module 1 uses the camera 3 to capture images based on the judgment information derived in step S1. The lane you drive can be changed.

Specifically, the control module 1 determines how many vehicles are driving, whether the detected vehicle corresponds to the lane (i.e., controlled lane) currently photographed by the camera 3, and, when multiple vehicles are detected, determines how many vehicles are being driven. The enforcement lane can be changed in real time in response to the vehicle's driving lane, based on whether or not it is possible to simultaneously film (interdict) the vehicle.

In step S2, the control module 1 can determine the number of vehicles detected in the speed detection area A1.

When one vehicle is detected, the control module 1 may perform the first enforcement lane setting step corresponding to step S3. Specifically, the first speed lane setting step may be a step of changing or maintaining preset information in response to the detected driving lane of the vehicle so that the camera 3 photographs the corresponding driving lane.

When multiple vehicles are detected, the control module 1 may perform step S4 to determine whether the camera 3 can simultaneously photograph the driving lanes for each of the multiple vehicles.

When multiple vehicles can be photographed simultaneously, the control module 1 can perform the second speed lane setting step corresponding to step S5. Specifically, the second speed lane setting step may be a step in which the camera 3 simultaneously captures the driving lanes for each of the plurality of vehicles by changing the preset information corresponding to all driving lanes for each of the plurality of detected vehicles. .

In cases where multiple vehicles cannot be photographed simultaneously, the control module 1 may perform step S6, which compares the preset change time derived in step S1 and the headway time.

If the headway time is smaller than the preset change time, the control module 1 may perform the 3-1 speed lane setting step corresponding to step S7. Specifically, in the 3-1 speed lane setting step, in a situation where the driving lanes for each of a plurality of vehicles cannot be photographed simultaneously, the camera 3 captures the preceding vehicle (O1) and then changes the preset information to capture the following vehicle ( If it is determined that O2) can be photographed, this may be a step in which the camera 3 is allowed to photograph both the preceding vehicle (O1) and the following vehicle (O2).

If the headway time is greater than the preset change time, the control module 1 may perform the 3-2 speed lane setting step corresponding to step S8. Specifically, in the 3-2 speed lane setting step, in a situation where the driving lanes for each of a plurality of vehicles cannot be photographed simultaneously, after the camera 3 photographs the preceding vehicle (O1), the following vehicle is photographed before changing the preset information. If it is determined that (O2) will leave the capturing area (A3) of the camera (3), this may be a step in which the camera (3) is allowed to capture only one of the preceding vehicle (O1) and the following vehicle (O2).

After the enforcement lane setting step (steps S2 to S8), the control module 1 can perform speed control for the detected vehicle based on radar information and projection information.

Meanwhile, in one embodiment of the present invention, the control module 1 may additionally perform a process of verifying the validity of radar information before performing speed control based on image information and radar information, and a detailed description of this may be provided. will be described later.

Figure 3 shows setting information according to an embodiment of the present invention.

As shown in FIG. 3, the speed detection area (A1) is an area from the speed detection line (L4) to the detection start line (L1) spaced apart by a first distance in the reverse direction of vehicle travel, and the photographing area (A3) may be an area from the speed detection line (L4) to the photographing start line (L3) spaced apart by a second distance shorter than the first distance in the reverse direction of vehicle travel.

As described above, the radar 2 and the camera 3 may generate data about vehicles traveling on the road in different areas.

The radar 2 can generate radar information in an area including the speed detection area A1. Specifically, the speed detection area (A1) may be an area where effective radar information is generated for the control module (1) to perform speed control. Preferably, the radar 2 radiates radio waves to an area wider than the speed detection area A1, generates radar information corresponding to raw data, and transmits it to the control module 1, and the control module 1 uses the radar ( Among the radar information received from 2), speed control can be performed using the radar information detected in the preset speed detection area (A1).

In one embodiment of the present invention, the speed detection area A1 may be an area from the speed detection line L4 to the detection start line L1 spaced apart by a first distance in the reverse direction of vehicle travel. The control module 1 can perform speed control based on radar information about the vehicle until the vehicle passes the detection start line (L1) and the speed detection line (L4).

The camera 3 can generate image information in an area including the shooting area A3. Specifically, the shooting area A3 may be an area where image information for identifying the license plate number of the vehicle in which the control module 1 is detected is generated.

In one embodiment of the present invention, the photographing area A3 may be an area from the speed detection line L4 to the photographing start line L3 spaced apart by a second distance shorter than the first distance in the reverse direction of vehicle travel. That is, the shooting area (A3) may correspond to an area narrower than the speed detection area (A1).

As a result, the radar 2 can detect a vehicle from a relatively long distance based on the speed detection line L4 (from the time it passes the detection start line L1) and generate radar information about the vehicle, and the camera 3 ) can generate image information about the vehicle by filming the vehicle when it reaches the vicinity of the speed detection line (L4) (from the time it passes the shooting start line (L3)).

The control module 1 can identify the license plate number of a vehicle that passed the shooting area A3 based on the image information received from the camera 3.

Additionally, the camera 3 can generate image information while changing the lane to be photographed in the photographing area A3. Specifically, the camera 3 does not simultaneously photograph all lanes in the photographing area A3, but may selectively photograph only some of the lanes. Preferably, the camera 3 is mounted on a driving module so that the shooting position can be physically changed, or the lane being photographed can be changed by changing pan, tilt, and zoom. More preferably, the camera 3 can capture images so that only a few adjacent lanes among the plurality of lanes in the capture area A3 are captured simultaneously.

In summary, the control module (1) controls the camera (3) to photograph the driving lane for the vehicle detected by the radar (2) in the speed detection area (A1) before it reaches the shooting area (A3). can do.

Meanwhile, the speed detection line (L4) may be a virtual baseline set for speed control, and the detection start line (L1) is a speed detection area (A1) for selecting radar information to be used for speed control among the areas where radar information is generated. ) may be a virtual line for setting, and the shooting start line (L3) may be a virtual line for setting a shooting area (A3) where the camera 3 can shoot the vehicle.

In addition, settings for the speed detection line (L4), detection start line (L1), shooting start line (L3), and a plurality of areas (speed detection area (A1), shooting area (A3)) determined by the corresponding lines. Information can be stored in the control module (1).

Meanwhile, preset information may be stored in the control module 1 corresponding to each of a plurality of lanes. Specifically, the control module 1 controls the camera 3 according to specific preset information stored for a specific lane, thereby controlling the camera 3 to photograph the corresponding lane.

Preferably, one or more preset information may be stored corresponding to each of a plurality of lanes, and when controlling a specific lane, the control module 1 applies one of the plurality of preset information stored for the corresponding lane to the camera (3) can take pictures of the relevant lane.

For example, in (b) of Figure 3, preset information #1 is information for controlling the camera 3 to shoot the first and second lanes simultaneously, and preset information #2 is information for controlling the camera (3) to shoot the second and third lanes. When the information is for controlling simultaneous shooting, the control module 1 applies preset information #1 or preset information #2 when image information for two lanes is needed (i.e., when controlling two lanes), The camera 3 can be configured to photograph two lanes.

Meanwhile, in one embodiment of the present invention, the control module 1 may store information about the preset change time, which is the time required to change from specific preset information to other preset information.

Figure 4 shows the first speed lane setting step according to an embodiment of the present invention.

As shown in FIG. 4, the enforcement lane setting step is performed when one vehicle is detected in the speed detection area (A1) and the driving lane of the vehicle corresponds to the enforcement lane according to the currently set preset information. It may further include a first speed lane setting step of not changing the preset information, but if not, changing it to preset information that allows the camera 3 to photograph the corresponding driving lane.

The first enforcement lane setting step is a step performed when one vehicle is detected in the speed detection area (A1), and is preset according to whether the driving lane of the detected vehicle corresponds to the enforcement lane according to the currently set preset information. Whether or not the information can be changed can be determined.

Specifically, the control module 1 may derive decision information including information about the driving lane of the vehicle based on radar information about one vehicle detected in the speed detection area A1. Subsequently, based on the derived judgment information, the control module 1 can determine whether the driving lane of the vehicle corresponds to an enforcement lane according to the currently set preset information and determine whether to change the preset information.

For example, if the enforcement lane according to the currently set preset information (i.e., the lane currently being photographed by the camera 3) corresponds to the 2nd and 3rd lanes, and the driving lane of the detected vehicle is the 2nd lane, control The module 1 can maintain the currently set preset information without changing it.

On the other hand, if the enforcement lane according to the currently set preset information (i.e., the lane currently being photographed by the camera 3) corresponds to the 2nd and 3rd lanes, and the driving lane of the detected vehicle is 4 lanes, the control module (1) changes the currently set preset information to one of one or more preset information stored for the 4 lanes, so that the camera 3 can capture the area including the 4 lanes.

In one embodiment of the present invention, when the preset information is changed in the first speed setting step (i.e., when the vehicle's driving lane and the currently set speed control lane are different), the control module 1 stores 1 stored for the driving lane. Among the above preset information, when changing from the currently set preset information to a specific preset information, the preset information with the shortest preset change time can be changed.

For example, referring to (b) of FIG. 3, if the camera 3 is photographing the 2nd and 3rd lanes according to preset information #2, and the detected driving lane of the vehicle is 4 lanes, the control module ( 1) Among preset information #3 and preset information #4 stored for the 4th lane, the preset change time in preset information #2 can be changed to preset information #3, which is shorter.

Figure 5 shows the second speed control lane setting step according to an embodiment of the present invention.

As shown in FIG. 5, in the intermittent lane setting step, when a plurality of vehicles are detected in the speed detection area (A1), there is preset information that can simultaneously photograph the driving lanes for all the plurality of vehicles. A second speed control lane setting step of determining whether there is a speed limit and changing it to the corresponding preset information if it exists; And, if it does not exist, a third speed control lane setting step of setting preset information based on judgment information for each of the plurality of vehicles.

The second speed lane setting step may be performed when a plurality of vehicles are detected in the speed detection area A1 and there is preset information that can simultaneously photograph the driving lanes for each of the detected plurality of vehicles.

Specifically, as shown in FIG. 5, when multiple vehicles are detected in the speed detection area A1, the control module 1 has preset information that can simultaneously photograph the driving lanes for each of the multiple vehicles. By determining whether it is present and applying the corresponding preset information if it exists, the camera 3 can simultaneously photograph the driving lanes for each of the plurality of detected vehicles.

Preferably, multiple vehicles can be detected at a certain distance (or time) apart in the speed detection area (A1), and the control module (1) detects the preceding vehicle (O1) detected first and the following vehicle (O2) detected later. ) If there is preset information that can simultaneously photograph each driving lane, the camera 3 can be configured to photograph both the preceding vehicle (O1) and the following vehicle (O2) by applying the corresponding preset information.

For example, when two vehicles detected in the speed detection area (A1) are driving in the 2nd and 3rd lanes, respectively, the control module 1 checks whether preset information for simultaneously capturing the 2nd and 3rd lanes exists. You can first determine whether it exists, and if it exists, apply the corresponding preset information #2 so that the camera 3 can capture the second and third lanes at the same time.

Figure 6 shows details regarding headway time and preset change time according to an embodiment of the present invention.

As shown in FIG. 6, the third speed lane setting step is performed when each of the leading vehicle (O1) and the following vehicle (O2) entering the speed detection area (A1) reach the shooting start line (L3). Derive the headway time, which is the time difference, and the preset change time required to change from preset information that can photograph the driving lane of the preceding vehicle (O1) to preset information that can photograph the driving lane of the following vehicle (O2). It may include a time calculation step.

In addition, the preset change time is determined from the preset information closest to the driving lane for the following vehicle (O2) among a plurality of preset information that can capture the driving lane for the preceding vehicle (O1). This may be the time required to change to the preset information closest to the driving lane for the preceding vehicle (O1) among a plurality of preset information that can capture the driving lane for the preceding vehicle (O1).

When multiple vehicles are detected in the speed detection area (A1) and there is no preset information that can simultaneously photograph the driving lanes for all multiple detected vehicles, the third enforcement lane setting step is calculated. Based on the difference between the preset change time and the headway time, it can be branched into the 3-1 speed lane setting step and the 3-2 speed lane setting step, and the control module 1 uses the preset change time and headway time for this purpose. The time calculation step can be performed first.

First, the headway time may correspond to the difference in the time it takes for the preceding vehicle (O1) and the following vehicle (O2) to reach the detected shooting start line (L3). Specifically, when a vehicle is detected in the speed detection area (A1), the vehicle has not reached the shooting area (A3), and the control module (1) detects the vehicle before the vehicle reaches the shooting area (A3). The expected time until the vehicle reaches the shooting area (A3) can be calculated.

The control module 1 can calculate the time until each of the plurality of vehicles reaches the shooting area (A3) based on judgment information including information on the speed and position of each of the plurality of detected vehicles. there is.

For example, the control module (1) controls the distance between the vehicle and the shooting start line (L3) / (the speed of the detected vehicle) until the preceding vehicle (O1) reaches the shooting area (A3). Time t1 and the time t2 until the following vehicle (O2) reaches the shooting area (A3) can be calculated, and the headway time can be calculated as t2-t1.

The preset change time may be the time required to change and apply the change from preset information capable of photographing the driving lane for the preceding vehicle (O1) to preset information capable of photographing the driving lane for the following vehicle (O2). As described above, the control module 1 controls the position of the driving module on which the camera 3 is mounted, or changes the lane in which the camera 3 is photographed by changing the pan, tilt, and zoom of the camera 3. The preset change time is the time it takes to change hardware or software settings until the control module (1) and camera (3) can control or film other lanes while controlling or filming a specific lane. It can be.

In a preferred embodiment of the present invention, the preset change time is determined from the preset information closest to the driving lane for the following vehicle (O2) among a plurality of preset information that can capture the driving lane for the preceding vehicle (O1), and the following vehicle (O2) This may be the time required to change to the preset information closest to the driving lane for the preceding vehicle (O1) among a plurality of preset information that can capture the driving lane for O2).

In other words, the preset change time is changed from one of a plurality of preset information that can photograph the driving lane for the preceding vehicle (O1) to one of a plurality of preset information that can photograph the driving lane for the following vehicle (O2). This may be the time it takes the least amount of time.

6 as an example, preset information #1 set for the driving lane of the preceding vehicle (O1) is setting information that can capture the first and second lanes simultaneously, and preset information #2 is setting information that can capture the second and third lanes. This is setting information that can be taken simultaneously. In addition, preset information #3 set for the driving lane of the following vehicle (O2) is setting information that can shoot the 4th and 5th lanes simultaneously, and preset information #4 is setting information that can shoot the 5th and 6th lanes simultaneously.

In this case, among preset information #1 and preset information #2 for the driving lane of the preceding vehicle (O1), the preset information closest to the driving lane for the following vehicle (O2) may be preset information #2, and the same method is used. Among preset information #3 and preset information #4 for the driving lane of the following vehicle (O2), the preset information closest to the driving lane for the preceding vehicle (O1) may correspond to preset information #3.

The control module 1 can calculate the time required to change from preset information #2 to preset information #3 as the preset change time.

Alternatively, in one embodiment of the present invention, as shown in (b) of FIG. 3, the control module 1 may store information about the time it takes to change from specific preset information to another preset information, The control module 1 can derive the preset change time based on the corresponding previously stored information.

Figure 7 shows matters determining the branching of the 3-1 speed control lane setting step and the 3-2 speed control lane setting step according to an embodiment of the present invention.

As shown in FIG. 7, in the third speed lane setting step, when the preset change time is less than the headway time, it is set as preset information for the preceding vehicle (O1), and in the shooting area (A3) A 3-1 speed lane setting step of changing to preset information for the following vehicle (O2) after the preceding vehicle (O1) is photographed, and photographing each of the preceding vehicle (O1) and the following vehicle (O2); And when the preset change time is greater than the headway time, either the preceding vehicle (O1) or the following vehicle (O2) based on the judgment information for each of the preceding vehicle (O1) or the following vehicle (O2). It may further include a 3-2 speed control lane setting step, which is set as preset information for.

The control module 1 performs the 3-1 speed lane setting step or the 3-2 speed speed lane setting step based on the difference value between the preset change time and the headway time for each of the plurality of vehicles detected in the speed detection area (A1). can be performed.

As shown in (a) of FIG. 7, the 3-1 speed lane setting step can be performed when the preset change time is less than the headway time. Specifically, 'the preset change time is less than the headway time' means that the control module (1) sets the camera (3) to capture the driving lane for the preceding vehicle (O1), and the following vehicle (O2) This can be understood as a situation where there is enough time to set the driving lane for the following vehicle (O2) to be photographed before reaching the photographing area (A3).

For example, if the preset change time is 0.1 seconds and the headway time is 0.2 seconds, the setting state is filming the driving lane for the preceding vehicle (O1) and the setting state is filming the driving lane for the following vehicle (O2). It may take 0.1 seconds to change to , and the time difference between the leading vehicle (O1) reaching the shooting area (A3) first and the following vehicle (O2) reaching the shooting area (A3) may be 0.2 seconds. .

In other words, after the camera (3) photographs the preceding vehicle (O1) that first reaches the photographing area (A3) and before the following vehicle (O2) reaches the photographing area (A3) (0.2 seconds), the camera ( 3) You can change the lane in which you are filming (i.e. the speed control lane) (0.1 seconds).

In the 3-1 speed lane setting step, when multiple vehicles are detected in the speed detection area (A1) and there is no preset information that can photograph each of the multiple vehicles simultaneously, the preceding vehicle (O1) is photographed first. By changing the preset information before the following vehicle (O2) reaches the shooting area (A3) and then photographing the following vehicle (O2), speed control can be performed for each of the leading vehicle (O1) and the following vehicle (O2). You can.

As shown in (b) of FIG. 7, the 3-2 speed lane setting step can be performed when the preset change time is greater than the headway time. Specifically, 'preset change time is greater than headway time' means that when the control module (1) sets the camera (3) to capture the driving lane for the preceding vehicle (O1), the following vehicle (O2) It can be understood as a situation in which the following vehicle (O2) reaches the photographing area (A3) before setting the driving lane for photographing.

For example, if the preset change time is 0.3 seconds and the headway time is 0.2 seconds, the setting state is filming the driving lane for the preceding vehicle (O1) and the setting state is filming the driving lane for the following vehicle (O2). It may take 0.3 seconds to change to , and the time difference between the leading vehicle (O1) reaching the shooting area (A3) first and the following vehicle (O2) reaching the shooting area (A3) may be 0.2 seconds. .

In other words, after the camera (3) photographs the preceding vehicle (O1) that first reaches the photographing area (A3) and before the following vehicle (O2) reaches the photographing area (A3) (0.2 seconds), the camera ( 3) You cannot change the lane in which you are filming (i.e. the speed control lane) (0.3 seconds).

In the 3-2 speed lane setting step, when multiple vehicles are detected in the speed detection area (A1) and there is no preset information that can simultaneously photograph each of the multiple vehicles, Camare is selected as the leading vehicle (O1) or trailing vehicle. By photographing the driving lane for either vehicle (O2), speed control can be performed only for either the preceding vehicle (O1) or the following vehicle (O2).

Figure 8 shows the 3-2 speed control lane setting step according to an embodiment of the present invention.

As shown in FIG. 8, the 3-2 speed lane setting step is a judgment reference line (L2) spaced apart from the speed detection line (L4) by a third distance that is smaller than the first distance and larger than the second distance in the reverse direction of vehicle travel. ) in the judgment area (A2) from the detection start line (L1), based on information including one or more of the speed and deceleration of each of the preceding vehicle (O1) and the following vehicle (O2), the preceding vehicle (O1) and the following vehicle (O2) It can be set as preset information for either the vehicle (O1) or the following vehicle (O2).

Additionally, the third distance that determines the judgment area A2 may be a preset value.

Alternatively, the third distance for determining the determination area A2 may be determined based on the speed of the preceding vehicle O1 that first entered the speed detection area A1.

In the 3-2 speed lane setting step, the control module 1 applies one of the preset information for the driving lane of each of the leading vehicle (O1) and the following vehicle (O2), thereby O2) Speed control can be carried out for any one.

Specifically, the control module (1) is derived from the judgment area (A2) corresponding to the area from the judgment reference line (L2) to the detection start line (L1) spaced apart by a third distance in the reverse direction of vehicle travel from the speed detection line (L4). Based on the judgment information for each of the preceding vehicle (O1) and the following vehicle (O2), it is possible to determine whether to perform speed control on either the preceding vehicle (O1) or the following vehicle (O2).

As shown in (a) of Figure 8, the judgment area (A2) is an area included in the speed detection area (A1), and is an area from the detection start line (L1) to the judgment reference line (L2) in the vehicle traveling direction. It may apply.

By setting such a decision area (A2), the control module 1 determines either the preceding vehicle (O1) or the following vehicle (O2) as the subject of enforcement based on the judgment information derived from the judgment area (A2). In this way, it is possible to secure time to change the driving lane of the vehicle to preset information before the vehicle reaches the shooting area (A3).

As a result, the control module (1) detects the leading vehicle (O1) and the following vehicle (O2) in the judgment area (A2) and derives decision information for each to determine which vehicle is the leading vehicle (O1) or the following vehicle (O2). Decide whether to target the crackdown, and determine whether the preceding vehicle (O1) and following vehicle (O2) will be located in the space between the judgment area (A2) and the shooting area (A3) (i.e. between the judgment reference line (L2) and the shooting start line (L3). By changing the preset information about the driving lane of the vehicle determined to be subject to enforcement while passing through the space, the camera (3) performs enforcement when the preceding vehicle (O1) or following vehicle (O2) reaches the shooting area (A3). You can take pictures of the vehicle that has been selected as the target.

Meanwhile, as shown in (b) of FIG. 8, the control module 1 controls speeding and deceleration based on the judgment information for each of the preceding vehicle (O1) and the following vehicle (O2) derived from the judgment area (A2). By determining whether or not, one of the preceding vehicle (O1) and the following vehicle (O2) can be determined as the subject of enforcement.

In one embodiment of the present invention, the control module 1 may determine a vehicle traveling at a faster speed in the judgment area A2, a vehicle that exceeds the speed limit standard, or a vehicle that does not slow down as the target of the control.

In one embodiment of the present invention, the third distance that determines the judgment area A2 may be a preset value.

In another embodiment of the present invention, the third distance for determining the judgment area A2 may be determined based on judgment information including the speed of the vehicle detected in the judgment area A2. Specifically, the third distance may be determined in proportion to the speed of the preceding vehicle O1 detected in the judgment area A2.

As described above, the judgment area (A2) corresponds to the area from the judgment reference line (L2) spaced apart from the speed detection line (L4) by a third distance to the detection start line (L1), and the larger the third distance, the larger the judgment area ( The gap between A2) can be narrowed, and conversely, the space between the judgment area (A2) and the shooting area (A3) can be expanded.

The control module 1 can adjust the spacing of the judgment area A2 according to the speed of the preceding vehicle O1. Specifically, as the speed of the preceding vehicle (O1) increases, the control module (1) can set the third distance larger to reduce the gap in the judgment area (A2). As the speed of the preceding vehicle (O1) slows, the control module (1) can reduce the gap in the judgment area (A2). In (1), the spacing of the judgment area (A2) can be expanded by setting the third distance small.

For example, as shown in [Table 1] below, when the speed of the preceding vehicle (O1) is high, the time from when the preceding vehicle (O1) passes the judgment area (A2) until it reaches the shooting area (A3) Time may be shortened. In this case, the control module 1 reduces the spacing between the judgment area A2 and expands the space between the judgment area A2 and the shooting area A3, so that it is time to change the preset information (i.e., the camera 3 ) can secure the time it takes to change the lane in which it is shooting.

Conversely, if the speed of the preceding vehicle (O1) is slow, the time from when the preceding vehicle (O1) passes the judgment area (A2) to reaching the photographing area (A3) may be long. In this case, the control module (1) expands the spacing of the judgment area (A2) and reduces the space between the judgment area (A2) and the shooting area (A3), so that the space generated in the wider judgment area (A2) The crackdown target can be determined based on more radar information.

[Table 1]

Figure 9 shows details on the steps for verifying the validity of radar information according to an embodiment of the present invention.

As shown in FIG. 9, the speed control step includes the speed detection area A1 and is based on the standard deviation of a plurality of radar information generated in all areas where the radar 2 can generate radar information. generating validity criteria based on; Applying the validity criteria to radar information generated in the speed detection area (A1) among all radar information generated by the radar 2 and determining radar information that does not meet the radar information as noise; and performing speed control based on the validated radar information and image information.

As described above, the control module 1 can perform speed control on the detected vehicle based on radar information received from the radar 2 and image information received from the camera 3. Meanwhile, the control module 1 may further perform a process of verifying the validity of radar information before performing speed control.

As shown in (a) of FIG. 9, the radar 2 can generate radar information in the radar information generation area A4 and transmit it to the control module 1, and the control module 1 generates radar information. Speed control can be performed based on laser information generated in the speed detection area A1, which is narrower than the area A4.

In other words, the radar information generation area (A4) is an area where the radar (2) irradiates radio waves to generate radar information corresponding to raw data, and the control module (1) generates all radar information transmitted by the radar (2). Instead of performing speed control using the radar information, speed control can be performed by selectively using only the radar information generated in the speed detection area (A1) among the received radar information.

As shown in (b) of FIG. 9, the control module 1 can create a validity standard to verify the validity of the radar information based on all radar information generated in the radar information generation area A4. .

In one embodiment of the present invention, the validity criterion may be generated based on the standard deviation of all generated radar information. For example, the validity standard may be a standard for determining whether radar information meets the Six Sigma level.

In one embodiment of the present invention, a validity standard can be created for each of one or more of the speed information and location information contained in radar information.

The control module 1 can verify effectiveness by applying the generated validity criteria to radar information actually used for speed control, that is, radar information generated in the speed detection area A1.

For example, as shown in (c) of FIG. 9, the control module 1 determines whether the six sigma level is met based on the standard deviation of all radar information transmitted by the radar 2. , and among the radar information generated in the speed detection area (A1), radar information that does not meet the 6 Sigma level can be judged as noise.

In this way, the control module 1 can reduce errors during speed control while ensuring reliability of radar information.

Figure 10 schematically shows the internal configuration of a computing device according to an embodiment of the present invention.

The control module 1 shown in FIG. 1 described above may include components of the computing device 11000 shown in FIG. 10 .

As shown in FIG. 10, the computing device 11000 includes at least one processor 11100, a memory 11200, a peripheral interface 11300, and an input/output subsystem ( It may include at least an I/O subsystem (11400), a power circuit (11500), and a communication circuit (11600). At this time, the computing device 11000 may correspond to the control module 1 shown in FIG. 1.

The memory 11200 may include, for example, high-speed random access memory, magnetic disk, SRAM, DRAM, ROM, flash memory, or non-volatile memory. . The memory 11200 may include software modules, instruction sets, or other various data necessary for the operation of the computing device 11000.

At this time, access to the memory 11200 from other components such as the processor 11100 or the peripheral device interface 11300 may be controlled by the processor 11100.

The peripheral interface 11300 may couple input and/or output peripherals of the computing device 11000 to the processor 11100 and the memory 11200. The processor 11100 may execute a software module or set of instructions stored in the memory 11200 to perform various functions for the computing device 11000 and process data.

The input/output subsystem can couple various input/output peripherals to the peripheral interface 11300. For example, the input/output subsystem may include a controller for coupling peripheral devices such as a monitor, keyboard, mouse, printer, or, if necessary, a touch screen or sensor to the peripheral device interface 11300. According to another aspect, input/output peripherals may be coupled to the peripheral interface 11300 without going through the input/output subsystem.

Power circuit 11500 may supply power to all or some of the terminal's components. For example, power circuit 11500 may include a power management system, one or more power sources such as batteries or alternating current (AC), a charging system, a power failure detection circuit, a power converter or inverter, a power status indicator, or a power source. It may contain arbitrary other components for creation, management, and distribution.

The communication circuit 11600 may enable communication with another computing device using at least one external port.

Alternatively, as described above, if necessary, the communication circuit 11600 may include an RF circuit to transmit and receive RF signals, also known as electromagnetic signals, to enable communication with other computing devices.

This embodiment of FIG. 10 is only an example of the computing device 11000, and the computing device 11000 omits some components shown in FIG. 10, further includes additional components not shown in FIG. 10, or 2. It may have a configuration or arrangement that combines more than one component. For example, a computing device for a communication terminal in a mobile environment may further include a touch screen or sensor in addition to the components shown in FIG. 8, and the communication circuit 11600 may be equipped with various communication methods (WiFi, 3G, LTE). , Bluetooth, NFC, Zigbee, etc.) may also include a circuit for RF communication. Components that can be included in the computing device 11000 may be implemented as hardware, software, or a combination of both hardware and software, including an integrated circuit specialized for one or more signal processing or applications.

Methods according to embodiments of the present invention may be implemented in the form of program instructions that can be executed through various computing devices and recorded on a computer-readable medium. In particular, the program according to this embodiment may be composed of a PC-based program or a mobile terminal-specific application. The application to which the present invention is applied can be installed on the computing device 11000 through a file provided by a file distribution system. As an example, the file distribution system may include a file transmission unit (not shown) that transmits the file according to a request from the computing device 11000.

The device described above may be implemented with hardware components, software components, and/or a combination of hardware components and software components. For example, devices and components described in embodiments may include, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), etc. , may be implemented using one or more general-purpose or special-purpose computers, such as a programmable logic unit (PLU), microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. Additionally, a processing device may access, store, manipulate, process, and generate data in response to the execution of software. For ease of understanding, a single processing device may be described as being used; however, those skilled in the art will understand that a processing device includes multiple processing elements and/or multiple types of processing elements. It can be seen that it may include. For example, a processing device may include a plurality of processors or one processor and one controller. Additionally, other processing configurations, such as parallel processors, are possible.

Software may include a computer program, code, instructions, or a combination of one or more of these, which may configure a processing unit to operate as desired, or may be processed independently or collectively. You can command the device. Software and/or data may be used by any type of machine, component, physical device, virtual equipment, computer storage medium or device to be interpreted by or to provide instructions or data to a processing device. , or may be permanently or temporarily embodied in a transmitted signal wave. Software may be distributed over networked computing devices and stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc., singly or in combination. Program instructions recorded on the medium may be specially designed and configured for the embodiment or may be known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -Includes optical media (magneto-optical media) and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, etc. Examples of program instructions include machine language code, such as that produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

As described above, although the embodiments have been described with limited examples and drawings, various modifications and variations can be made by those skilled in the art from the above description. For example, the described techniques are performed in a different order than the described method, and/or components of the described system, structure, device, circuit, etc. are combined or combined in a different form than the described method, or other components are used. Alternatively, appropriate results may be achieved even if substituted or substituted by an equivalent. Therefore, other implementations, other embodiments, and equivalents of the claims also fall within the scope of the claims described below.

Claims (8)

A responsive enforcement method that varies the enforcement lane in response to the driving lane of a vehicle performed in a responsive enforcement system including one or more processors and one or more memories, comprising:
The enforcement system is,
A radar that detects the speed and location information of the vehicle in an area including a speed detection area from the detection start line to the speed detection line;
A camera that photographs a vehicle while changing the lane to be photographed under the control of a control module in an area including a photographing area from the photographing start line to the speed detection line; and
A control module that applies one of one or more preset information pre-stored to each of a plurality of lanes and performs speed control while changing the speed control lane in response to the vehicle's driving lane;
The responsive crackdown method is,
A decision information derivation step of deriving, by the control module, decision information including one or more of the speed and driving lane for each of one or more vehicles detected in the speed detection area, based on radar information received from the radar;
An enforcement lane setting step of varying, by the control module, a lane captured by the camera based on the determination information and whether the driving lane of the vehicle corresponds to an enforcement lane according to currently set preset information; and
A speed control step of performing speed control on a vehicle by the control module based on radar information received from the radar and image information received from the camera,
The enforcement lane setting step is,
When a plurality of vehicles are detected in the speed detection area, determine whether preset information exists that can simultaneously photograph driving lanes for all the plurality of vehicles,
A second speed control lane setting step of changing to the corresponding preset information if it exists; and
It further includes a third enforcement lane setting step of setting preset information based on judgment information for each of the plurality of vehicles when it does not exist,
The third speed lane setting step is,
The headway time, which is the time difference until each of the preceding and following vehicles entering the speed detection area reaches the shooting start line, and the driving lane of the following vehicle from the preset information that can capture the driving lane of the preceding vehicle. A time calculation step of deriving the preset change time required to change to preset information that can be photographed;
When the preset change time is less than the headway time, it is set as preset information for the preceding vehicle, and after the preceding vehicle is photographed in the shooting area, it is changed to preset information for the following vehicle, and the preceding vehicle 3-1 speed lane setting step of photographing each of the following vehicles; and
When the preset change time is greater than the headway time, the 3-2 crackdown is set as preset information for either the preceding vehicle or the following vehicle, based on the judgment information for each of the preceding vehicle or the following vehicle. Further including a lane setting step,
The preset change time is,
In the preset information closest to the driving lane for the following vehicle among a plurality of preset information that can capture the driving lane for the preceding vehicle,
A responsive enforcement method, which is the time required to change to the preset information closest to the driving lane for the preceding vehicle among a plurality of preset information that can capture the driving lane for the following vehicle. In claim 1,
The speed detection area is an area from the speed detection line to a detection start line spaced apart by a first distance in the reverse direction of vehicle travel,
The shooting area is an area from the speed detection line to a shooting start line spaced apart by a second distance shorter than the first distance in the reverse direction of vehicle travel,
The enforcement lane setting step is,
When one vehicle is detected in the speed detection area,
If the driving lane of the vehicle corresponds to the enforcement lane according to the currently set preset information, the preset information is not changed. Otherwise, the camera changes to preset information that can capture the driving lane. Responsive crackdown method further comprising;
delete delete In claim 1,
The 3-2 speed lane setting step is,
In the judgment area from the judgment reference line spaced apart from the speed detection line by a third distance less than the first distance and greater than the second distance in the reverse direction of vehicle driving, to the detection start line,
A responsive enforcement method that sets preset information for either the preceding vehicle or the following vehicle based on information including one or more of the speed and deceleration of each of the preceding vehicle and the following vehicle. delete In claim 1,
The speed control step is,
generating a validity standard based on the standard deviation of a plurality of radar information generated in all areas including the speed detection area and in which the radar can generate radar information;
Applying the validity criteria to radar information generated in the speed detection area among all radar information generated by the radar and determining radar information that does not meet the radar information as noise; and
A responsive enforcement method further comprising: performing speed enforcement based on the validated radar information and the image information.
As a responsive enforcement system that changes the enforcement lane in response to the vehicle's driving lane,
A radar that detects the speed and location information of the vehicle in an area including a speed detection area from the detection start line to the speed detection line;
A camera that photographs a vehicle while changing the lane to be photographed under the control of a control module in an area including a photographing area from the photographing start line to the speed detection line; and
A control module that applies one of one or more preset information pre-stored to each of a plurality of lanes and performs speed control while changing the speed control lane in response to the vehicle's driving lane;
A decision information derivation step of deriving, by the control module, decision information including one or more of the speed and driving lane for each of one or more vehicles detected in the speed detection area, based on radar information received from the radar;
By the control module, based on the judgment information, when the vehicle reaches the shooting area, the lane that the camera shoots depends on whether the driving lane of the vehicle corresponds to the enforcement lane according to the currently set preset information. An intermittent lane setting step that varies; and
A speed control step of performing speed control on a vehicle by the control module based on radar information received from the radar and image information received from the camera,
The enforcement lane setting step is,
When a plurality of vehicles are detected in the speed detection area, determine whether preset information exists that can simultaneously photograph driving lanes for all the plurality of vehicles,
A second speed control lane setting step of changing to the corresponding preset information if it exists; and
It further includes a third enforcement lane setting step of setting preset information based on judgment information for each of the plurality of vehicles when it does not exist,
The third speed lane setting step is,
The headway time, which is the time difference until each of the preceding and following vehicles entering the speed detection area reaches the shooting start line, and the driving lane of the following vehicle from the preset information that can capture the driving lane of the preceding vehicle. A time calculation step of deriving the preset change time required to change to preset information that can be photographed;
When the preset change time is less than the headway time, it is set as preset information for the preceding vehicle, and after the preceding vehicle is photographed in the shooting area, it is changed to preset information for the following vehicle, and the preceding vehicle 3-1 speed lane setting step of photographing each of the following vehicles; and
When the preset change time is greater than the headway time, the 3-2 crackdown is set as preset information for either the preceding vehicle or the following vehicle, based on the judgment information for each of the preceding vehicle or the following vehicle. Further including a lane setting step,
The preset change time is,
In the preset information closest to the driving lane for the following vehicle among a plurality of preset information that can capture the driving lane for the preceding vehicle,
A responsive enforcement system, which is the time required to change to the preset information closest to the driving lane for the preceding vehicle among a plurality of preset information that can capture the driving lane for the following vehicle.

Images