KR20180135155A - System for Detecting Illegal Stopping and Parking Vehicle by Using Optical Phased Array Beam and Method thereof - Google Patents

Abstract

Disclosed are an illegal parking enforcement system using an optical phased array beam and a method thereof. The illegal parking enforcement system according to the present invention can accurately measure a distance to a parked vehicle by using an optical phased array beam from an enforcement vehicle in advance before photographing, and can simply change a PTZ setting value by changing a mode to an entry mode and an exit mode. Therefore, a camera photographs the vehicle with the PTZ setting value adjusted by the distance according to the change of a photographing mode so as to obtain a clear image.

Description

Technical Field [0001] The present invention relates to an illegal parking control system using an optical phased array beam,

The present invention relates to an illegal parking intermittent vehicle interception method in which a license plate of a vehicle parked in an illegal parking area is recognized as a camera and is controlled by a camera. An optical phased array beam To adjust the zoom, focus and pan / tilt angle of the camera by measuring the distance to the camera, and to a method thereof.

On the road, a prohibited area prohibiting the driving of the driving vehicle is set for the smooth progress of the vehicle, and the vehicle which is parked in the prohibited driving area is subject to the control.

In order to control a vehicle parked in the forbidden zone, evidence is required that the vehicle has been parked for more than a certain period of time in the prohibited parking zone. For this, a member of the police officer takes a picture of the vehicle and records it. At first, parking officers took pictures of illegally parked cars while moving directly. Recently, camera systems have been developed and installed to monitor the entire prohibited area according to the development of cameras and image processing technology.

In particular, FIG. 1 shows a driving-type intermission system for photographing a vehicle parked in a parked area using a camera mounted while the vehicle is traveling in the parked area. This method is advantageous in that it is easy to shoot the license plate, so that the license number recognition rate is high and the license plate of the vehicle located at the square is comparatively easily taken. Korean Utility Model Registration No. 416652 and the like are examples of the traveling type interception system.

1, there is shown a vehicle 10 that moves along a prohibited area x and a camera 11 is mounted on the vehicle 10. The camera 11 is mainly a vehicle 10), and uses a camera capable of performing a pan tilt function and a zoom (hereinafter, referred to as a 'pan / tilt zoom camera').

The speedometer vehicle 10 moves along the prohibited area x and sets the zoom and pan / tilt angles of the camera 11 to photograph the license plate of the vehicle m. It is general that the pseudo range-prohibited area x is shaped into a rectangular area, so that the camera 11 installed on the vehicle 12 is also set to a fixed angle and a focal distance. When the vehicle is kept at a certain distance from the forbidden zone (x), the control personnel can photograph the license plates of most vehicles.

The problem is the vehicle parked farther or closer than the normal vehicle distance. When passing between these vehicles, the vehicle 10 can not shoot all the vehicles clearly with a single zoom, a pan / tilt angle and a focus. At this time, the conventional controller vehicle 10 should try to (1) change the camera setting, or (2) move to a slightly parked vehicle m or to a more parked vehicle to maintain the distance between the vehicles.

The first is that after taking a slightly more parked vehicle (m) or a parked vehicle, it takes time to change back to the original setting, and the second method has to be repeated Therefore, driving is generally not easy. Normally, the control member abandons the photographing of the vehicle m or uses the method of photographing the vehicle m by taking photos of the vehicle m from the control vehicle 10.

This problem can be solved by changing the camera setting automatically when knowing the distance between the car and the camera.

[Related Technical Literature]

Registered Utility Model No. 416652 (Driving Type illegal parking regulation system)

SUMMARY OF THE INVENTION An object of the present invention is to measure the distance to a vehicle using an optical phased array beam by photographing a license plate of a vehicle mounted on a vehicle and driving while the vehicle is running, Thereby controlling the zoom, focus and pan / tilt angle of the camera, and a method thereof.

If the vehicles are driven in line along the edge of the road in a certain section of the road width, if the vehicle runs along the inner lane, it can be taken without changing the PTZ-set value. However, as shown in Fig. 4, there is a vehicle in which the road can not be properly photographed at the current PTZ set value in a portion where the road is widened or in a section where the road becomes narrow as shown in Fig. However, it is difficult to calculate the PTZ setting value accurately every time using the distance value measured by the phased array sensor, and it is difficult to stably photograph the image because the camera setting may be changed frequently due to frequent distance value change. The present invention aims to solve such a problem.

In order to achieve the above object, the present invention uses a technique of measuring a distance to a vehicle by a plurality of channels using a phased array optical beam. Unlike a single beam with a large error, the method using a phased array optical beam measures multiple channels at the same time, so that the error can be reduced by averaging the measured distances to the object.

The illegal parking control system of the present invention can photograph and control illegal parking vehicles in prohibited parking areas. The method of controlling an illegal parking system of an illegal parking system according to the present invention includes the steps of adjusting a direction of a camera according to a first PTZ set value set by a PTZ camera at a preset reference distance and adjusting a zoom to photograph the vehicle Wow; Measuring a distance to the vehicle in the plurality of directions by a phased array sensor that emits a beam in a plurality of directional channels; Wherein a front distance-average value (L1), which is an average of distance values measured through groups arranged in front of the plurality of channels, is a rear distance-average value of an average of distance values measured through groups arranged rearward of the plurality of channels, Switching the shooting mode to the entry mode if the average value L2 is greater than the threshold range; And providing a second PTZ setting value set to a distance longer than the first PTZ setting value to the PTZ camera upon switching to the entry mode.

According to an embodiment, the illegal parking intermittent method of the present invention includes switching the photographing mode to an advancing mode when the front distance-average value L1 is smaller than a rear distance-average value L2 by more than a threshold range; The method may further include providing a third PTZ setting value set to a distance shorter than the first PTZ setting value to the PTZ camera upon switching to the advanced mode.

According to another embodiment, in the step of switching the photographing mode to the entry mode or switching to the entry mode, in a state where the front distance-average value L1 is larger than the rear distance-average value L2 beyond the threshold range, It is preferable that the mode switching is performed when the first mode-average value M1 and the second mode-average value M2 have a similar value within the critical range.

In this case, the first mode-average value M1 is an average of distance values of a group positioned at the forefront when the plurality of channels are approximately equally divided, and the second mode-average value M2 is an average of distance values It is the average of the distance value of the group located in the middle when it is divided into three.

The present invention is also applicable to an illegal parking intermittent control system including a pan / tilt zoom camera, a phased array sensor, and a camera mode control unit in order to perform each step of the illegal parking intermittent method of the present invention described above.

The illegal parking intermittent system according to the present invention can precisely measure the distance to a vehicle parked or stopped using an optical phased array beam beforehand in a moving vehicle in a moving vehicle.

Since the camera device can adjust the zoom, pan / tilt angle, and focus of the camera using the measured distance information, even if the distance to the subject vehicle to be intercepted is changed, the subject vehicle can photograph the subject vehicle . In addition, the change of the PTZ-set value of the present invention is not performed according to the actual measurement distance, but recognizes the parking state according to the distance to the vehicle, selects one of the entry mode and the entry mode, The camera is controlled frequently so that the setting of the camera is prevented from being frequently controlled, thereby enabling stable shooting as a whole.

According to the present invention, basically, the illegal driving of the illegally parked vehicle can be easily performed, and the quality of the photographed image does not change or fall depending on the distance between the vehicle and the vehicle. In other words, even if the driver of the control vehicle (that is, the control member) changes, it is possible to shoot the same good quality image.

FIG. 1 is a plan view schematically showing a conventional illegal parking assist system,
2 is a block diagram of an illegal parking system according to an embodiment of the present invention;
3 is a flow chart provided in the description of the illegal parking intermittent method of the present invention,
4 shows a first case of illegal parking for the explanation of Fig. 3, and Fig.
Fig. 5 is a diagram showing a second example of illegal parking for the explanation of Fig. 3. Fig.

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described in more detail with reference to the drawings.

Referring to FIGS. 2 and 3, the illegal parking system 200 of the present invention is mounted on the vehicle 10. The illegal parking intermittent system 200 includes a pan-tilt-zoom camera (PTZ camera) 210, a phased array sensor 230 and a control device 250, And controls the phased array sensor 230 and the pan / tilt zoom camera 210 according to the control of the control unit 220 or a predetermined algorithm.

The pan / tilt zoom camera 210 includes a camera 211 that controls a lens (not shown) to change the focal length, a fan 211 that supports the camera 211 and adjusts the direction of the camera 211, A tilt driver 213 and a pan tilt controller 215 for controlling the pan tilt driver 213 and the camera 211. The pan tilt controller 215 controls the orientation of the camera 211 by controlling the pan tilt driver 213 under the control of the controller 250 and controls the lens of the camera 211 to perform zooming Adjust the focus, etc.

The pan / tilt zoom camera 210 zooms in on the vehicles (c1, c2, c3) that have been parked in the prohibited area (x) and photographs the captured images and provides the photographed images to the control device (250). Since the image photographed by the pan / tilt zoom camera 210 is for recognizing the car number, the car license plate portion needs to have a resolution capable of recognizing the number.

The phased array sensor 230 emits a pulse beam in the form of a beam toward an object and then measures the time until the beam is reflected and received by the object, that is, the time of flight (TOF) A distance measuring sensor for measuring a distance to an object by measuring, and outputs a distance value in a plurality of channels by simultaneously or sequentially emitting beams in a plurality of channels (directions). There are a mechanical scanning method for emitting a beam to a plurality of channels, and a method for optically processing and not performing a mechanical scanning operation.

A laser beam or an infrared ray (IR) having excellent linearity can be used as the beam that can be used as the phased array sensor 230. Accordingly, the light source of the sensor can use a laser diode, an IR LED have. In addition to a method of measuring the flight time of a pulse beam, the phased array sensor 230 also includes a sensor system that measures a distance by emitting a continuously modulated beam having a specific frequency and measuring a phase change amount of a beam reflected from the object, Can also be used.

The number of beams (i.e., the number of channels) of the phased array sensor 230 is plural, and may be set to any number as many as the number. However, it is not necessary to use too many channels in order to cover a too wide range, since it will be used to recognize cars (c1, c2, c3) which are arranged at a distance of about 45 degrees rightward as in the present invention.

Therefore, it is preferable that an angle range capable of covering two vehicles (all or a part) parked in a row in consideration of the distance between the speedometer vehicle 10 and the parked vehicles c1, c2 and c3 is adequate, It is preferable that at least 10 channels or more are used for measurement. 4 or 5, it is assumed that the distance between the phased array sensor 230 of the continuously-serviced vehicle 10 and the vehicle (c1, c2, c3) driven by a train is approximately 2 m to 3 m, It is possible to use a phased array sensor 230 that divides the angle of the light beam into 16 beams and emits 16 beams. Therefore, the phased array sensor 230 of FIGS. 4 and 5 periodically outputs 16 distance values measured in each of the 16 channels. Hereinafter, the 16-channel phased array sensor 230 will be described with reference to FIG.

For convenience of explanation, in the present invention, the channel number of the phased array sensor 230 is given from the far side to the near side (Count Up). For example, the first left channel is numbered in the clockwise direction with the first left channel as the first channel (1), and the rightmost channel is numbered as the 16th channel (16). Therefore, in the case where the road running mode is the left-hand traffic mode, if the numbers are assigned from the right-side channel to the left-most channel, the following description applies equally. Since the above numbers are for convenience of explanation, it is naturally possible to give a number to the contrary.

The controller 250 performs intermittent intermittent interception of the present invention through image processing of an image photographed by the pan / tilt zoom camera 210 and transmits the number of the intermittent vehicle and the corresponding image (image) to an external server , External presence room server).

The control device 250 includes a storage medium 251 and a control unit 253.

If the pan / tilt zoom camera 210 provides an analog video signal instead of a digital signal, the control device 250 receives the image provided by the pan / tilt zoom camera 210, converts the received image into a digital image, And provides the image processing unit 253 with the image processing unit. In addition, the control device 250 provides video and intermittent information of the cars (c1, c2, c3) photographed in the prohibited area (x) to an external server through an external network (Wireless LAN, LTE, etc.) And may further include a network interface unit.

In the storage medium 251, intermittent history data (Log Data) such as a vehicle number and intermittent time recognized in accordance with the image taken by the pan / tilt zoom camera 210 and the processing of the image are stored.

The control unit 253 controls the overall operation of the control device 250 and includes a camera mode control unit 255 and a number recognizing unit 257 to control the overall operation of the control device 250, And performs control and image processing.

The camera mode control unit 255 switches the photographing mode of the camera 211 using the 16 distance values output from the phased array sensor 230. The camera mode control unit 255 controls zooming of the pan / tilt zoom camera 210, And provides the PTZ-set value to the PTZ camera 210 in order to control the PTZ, the tilt angle, the focus, and the like.

The photographing mode is an 'entry mode' that is further away from the current photographing distance, and an 'entry mode' that is closer to the current photographing distance. For example, in the case where the bus platform is further protruded from the road as shown in FIG. 4, when the vehicle 10 photographs a vehicle parked on the driving road and photographs a vehicle parked on the bus platform (distance to the vehicle is long ), The shooting mode is changed to the " entry mode ". As shown in FIG. 5, when shooting a vehicle parked on a bus platform, the photographing mode is switched to the " advance mode " when the vehicle is photographed again on the general driving route (the distance to the vehicle is getting closer). Mode switching will be described again with reference to Fig.

The PTZ-set value includes a pan-tilt-control value for controlling the pan / tilt controller and a zoom-control value for controlling the focal distance. The camera mode control unit 255 may hold a plurality of predetermined PTZ-set values. For example, the 'first PTZ-set value' is a set value corresponding to a general vehicle distance as a basic PTZ-set value, and the second PTZ-set value is a set value corresponding to a PTZ- - setting value, and the third PTZ-setting value is a PTZ-setting value for photographing the vehicle at a distance closer than the first PTZ-setting value. The first PTZ-set value and the second PTZ-set value, and the first PTZ-set value and the third PTZ-set value may be set to correspond to a distance difference corresponding to a substantially road width, It may be set to correspond to a narrow distance difference.

The first PTZ-set value to the third PTZ-set value can be determined by the phased array sensor 230 (or the third PTZ set value) because the distance between the driving section of the speedometer vehicle 10 on the road and the vehicle on the road edge can be limited to several cases. ), It is possible to experimentally determine the PTZ-set value without having to separately calculate the PTZ-set value every time. Also, the camera 211 can cover a certain range of focal length difference.

Since the phased array sensor 230 measures the distance through all 16 channels, the phased array sensor 230 outputs a total of 16 distance values. On the other hand, when the vehicle 1 is traveling forward and the vehicle is parked or parked in a lane-stopping area x in a line, the second vehicle c2 parked immediately in front of the first vehicle c1 can be predicted in advance by the appropriate PTZs c1 and c2 when the first vehicle c1 is photographed, You can shoot with the set value.

Therefore, the camera mode control unit 255 checks the mode change event using the distance value output from the phased array sensor 230 and provides the PTZ-set value preset in the switched mode to the PTZ camera 210. [ This will be described below again.

The number recognizing unit 257 recognizes the vehicle number of the vehicle from the image photographed by the pan / tilt zoom camera 210. The number recognition algorithm of the number recognition unit 257 may use various methods known in the art. According to the identification of the car number of the number recognition unit 257, the control member can directly perform the following procedure regarding the illegal parking regulation. According to an embodiment of the present invention, the control device 250 separately carries out an illegal parking or parking brake according to a preset algorithm by using the car number recognized by the number recognizing part 257, Time).

Hereinafter, the illegal parking regulation method of the present invention will be described with reference to Figs. 3 to 5. Fig. In the case where the vehicles are arranged in line along the edge of the road in a section where the width of the road is constant, if the controller vehicle 10 travels along the inner lane, it can shoot smoothly without changing the PTZ-set value. However, as shown in Fig. 4, the road is widened and the road is narrowed as shown in Fig. If the speedometer vehicle 10 goes straight along the original lane, it is not possible to properly photograph the parked vehicles along the edge of the road unless the PTZ-set value is changed and the zoom or angle of the camera 211 is changed. The following description will focus on the method.

On the other hand, when the speedometer vehicle 10 moves and photographs the number plates of the first vehicle c1, the second vehicle c2, or the third vehicle c3 that have been parked in the prohibited area x, The method of recognizing, the method of repeating shooting according to the regulation of the regular interception, and the method of proceeding the interception are already carried out by the public, so the detailed explanation is omitted here.

<Start of photographing according to the start of the vehicle control operation: S301>

When the control vehicle 10 starts operating, the PTZ camera 210 initializes the camera 211 using the PTZ-set value set in the PTZ controller 215 as a default. Thereafter, the camera mode control unit 255 may automatically provide the first PTZ-set value to the PTZ camera 210. Alternatively, the camera mode control unit 255 may control the first PTZ- To the zoom camera 210.

When the power is supplied, the phased array sensor 230 may start the operation automatically according to a predetermined algorithm or may start the operation according to the control of the control member. Also, the phased array sensor 230 may measure the distance value of 16 channels, 250). Once the operation of the phased array sensor 230 is started, periodically, the phased array sensor 230 measures and outputs the distance value.

&Lt; Receiving the output of the phased array sensor: S303, S305 >

The camera mode control unit 255 receives the distance values of the 16 channels from the phoneme array sensor 230 in step S303 and calculates the forward distance-average value L1 and the backward distance-average value L2. The forward distance-average value L1 is an average of the distance values of groups arranged forward by dividing the plurality of channels, that is, the first channel 1 to the eighth channel 8, and the rear distance- (I.e., the ninth to sixteenth channels 16) located at the other rear side of the channels (S305).

The forward distance-average value L1 corresponds to the distance to the object located further than the rear distance-average value L2. In the case of Fig. 4, the front distance-average value L1 corresponds to the distance to the second vehicle c2, and the rear distance-average value L2 corresponds to the distance to the first vehicle c1. In the case of Fig. 5, the front distance-average value L1 corresponds to the distance to the third vehicle c3, and the rear distance-average value L2 corresponds to the distance to the second vehicle c2.

&Lt; Mode judgment: S307 to S309 >

The camera mode control unit 255 generates a mode change event using the forward distance-average value L1 and the backward distance-average value L2, and determines a mode to be changed. As shown in FIGS. 4 and 5, since the center axis direction of the phased array sensor 230 indicates the right front, the forward distance-average value L1 is generally larger than the rear distance-average value L2 even in the straight line section . Therefore, the camera mode control unit 255 determines that the PTZ setting value should be changed if the front distance-average value L1 and the rear distance-average value L2 exceed the threshold range and there is a difference.

If the front distance-average value L1 is larger than the rear distance-average value L2 by more than the threshold range, the camera mode controller 255 determines that the camera is in the entry mode and generates an entry mode event (S307). If the front distance-average value L1 is smaller than the rear distance-average value L2, the camera mode controller 255 determines that the camera is in the advanced mode and generates an advanced mode event (S309).

&Lt; Change of Mode to Entering Mode: S311, S313 >

If the front distance-average value L1 is larger than the rear distance-average value L2 by a threshold range or more, the camera mode control unit 255 calculates the first mode-average value M1 and the second mode- When the first mode-average value M1 and the second mode-average value M2 have a similar value within the critical range, the mode is changed to the entry mode. Here, the first mode-average value M1 is an average of the distance values of the group located at the forefront, that is, the first channel (1) to the fifth channel when the plurality of channels of the phased array sensor 230 are roughly trisected. In addition, the second mode-average value M2 is an average of distance values of a middle group of a plurality of channels, that is, a sixth channel to a tenth channel (S311).

Upon switching to the entry mode, the camera mode control unit 255 provides the PTZ-set value preset for the entry mode to the PTZ camera 210. [ The PTZ-set value in the entry mode is set to a pan / tilt angle and zoom value that is adjusted to the pitched vehicle at a slightly greater distance than the current PTZ-set value. Therefore, if the PTZ-set value has been previously controlled to the first PTZ-set value, it is adjusted to the second PTZ-set value (S313).

&Lt; Change of mode to entry mode: S315, S317 >

The camera mode controller 255 calculates the first mode-average value M1 and the second mode-average value M2 if the front distance-average value L1 is smaller than the rear distance-average value L2 by more than the threshold range, When the first mode-average value M1 and the second mode-average value M2 have a similar value within the critical range, the mode is changed to the advanced mode (S315).

Upon switching to the advanced mode, the camera mode control unit 255 provides the PTZ-set value preset for the advance mode to the PTZ camera 210. [ The PTZ-set value in the infiltration mode is set to a pan / tilt angle and zoom value that is adjusted to the vehicle being driven at a slightly greater distance than the default setting value. Therefore, since the PTZ has been controlled to the first PTZ-set value, it is adjusted to the third PTZ-set value. If it is in the entering mode and is currently being controlled to the second PTZ-set value, the first PTZ-set value is adjusted (S317).

&Lt; S319 intermittent driving with images shot by the camera >

The vehicle recognizing unit 233 recognizes the vehicle number through image processing on the image photographed and provided by the pan / tilt zoom camera 210, displays it to the regulator, and then interrupts the illegal driving.

In this way, the illegal parking regulation method of the present invention is carried out.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be construed as limiting the scope of the invention as defined by the appended claims. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention.

Claims (8)

A method of controlling a vehicle in an illegal parking intermittent system for shooting and intercepting a vehicle illegally parked in a prohibited area,
Adjusting a direction of a camera according to a first PTZ set value set by the PTZ camera in accordance with a predetermined reference distance and adjusting zoom to photograph the vehicle;
Measuring a distance to the vehicle in the plurality of directions by a phased array sensor that emits a beam to a channel in a plurality of directions;
Wherein a front distance-average value (L1), which is an average of distance values measured through groups arranged in front of the plurality of channels, is a rear distance-average value of an average of distance values measured through groups arranged rearward of the plurality of channels, Switching the shooting mode to the entry mode if the average value L2 is greater than the threshold range; And
And providing the PTZ setting value set to a distance longer than the first PTZ setting value to the PTZ camera upon switching to the entry mode, Way.
The method according to claim 1,
If the forward distance-average value L1 is smaller than the rear distance-average value L2 beyond the threshold range, switching the photographing mode to the advancing mode; And
Further comprising the step of providing a third PTZ setting value set to a distance shorter than the first PTZ setting value to the PTZ camera upon switching to the advanced mode, Interruption method.
3. The method of claim 2,
Wherein the step of switching the shooting mode to the advanced mode comprises:
The first mode-average value M1 and the second mode-average value M2 are similar to each other within the critical range in a state where the front distance-average value L1 is larger than the rear distance-average value L2 by a distance exceeding the threshold range The photographing mode is switched to the advanced mode when the time comes,
The first mode-average value (M1) is an average of distance values of a group positioned at the forefront when the plurality of channels are approximately equally divided, and the second mode-average value (M2) Wherein the average value of the distance values of the group located at the center is the average of the distance values of the group located at the center.
3. The method according to claim 1 or 2,
Wherein the step of switching the photographing mode to the entry mode comprises:
The first mode-average value M1 and the second mode-average value M2 are similar to each other within the critical range in a state where the front distance-average value L1 is larger than the rear distance-average value L2 by a distance exceeding the threshold range And switches the photographing mode to the entry mode when the time comes,
The first mode-average value (M1) is an average of distance values of a group positioned at the forefront when the plurality of channels are approximately equally divided, and the second mode-average value (M2) Wherein the average value of the distance values of the group located at the center is the average of the distance values of the group located at the center.
In an illegal parking interception system that seizes and intercepts vehicles illegally parked in prohibited areas,
A pan / tilt zoom camera for photographing the vehicle by adjusting a direction of a camera according to a first PTZ set value set according to a preset reference distance and adjusting a zoom;
A phased array sensor which emits a beam to a channel in a plurality of directions and measures a distance to the vehicle in the plurality of directions; And
Wherein a front distance-average value (L1), which is an average of distance values measured through groups arranged in front of the plurality of channels, is a rear distance-average value of an average of distance values measured through groups arranged rearward of the plurality of channels, And a camera mode control unit for switching the photographing mode to the entry mode if the average value L2 is larger than the threshold range,
Wherein the camera mode control unit provides the PTZ setting value set to a distance longer than the first PTZ setting value to the PTZ camera upon switching to the entry mode.
6. The method of claim 5,
The camera mode control unit switches the photographing mode to the advanced mode when the forward distance-average value L1 is smaller than the rear range-average value L2 beyond the threshold range, And provides the PTZ setting value set to a distance shorter than the set value to the PTZ camera.
The method according to claim 6,
The camera mode control unit determines that the first mode-average value M1 and the second mode-average value M2 are within a critical range from a value obtained by subtracting the threshold value from the rear distance-average value L2, And switches the photographing mode to the advanced mode when the time point has a similar value within the range,
The first mode-average value (M1) is an average of distance values of a group positioned at the forefront when the plurality of channels are approximately equally divided, and the second mode-average value (M2) Is an average of a distance value of a group located at the center in the case of an illegal parking regulation system.
The method according to claim 5 or 6,
The camera mode control unit determines that the first mode-average value M1 and the second mode-average value M2 are within a critical range from a value obtained by subtracting the threshold value from the rear distance-average value L2, And switches the photographing mode to the entry mode when it is time to have a similar value within the range,
The first mode-average value (M1) is an average of distance values of a group positioned at the forefront when the plurality of channels are approximately equally divided, and the second mode-average value (M2) Is an average of a distance value of a group located at the center in the case of an illegal parking regulation system.

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