KR20210157551A - Variable vehicle speed warning system including pedestrian determination system - Google Patents

Abstract

The present invention relates to a variable vehicle speed warning system including a pedestrian determination system. According to one embodiment of the present invention, when a specific pedestrian (a child and the like), which is a protection target, is detected in a specific walking area adjacent to a road, the variable vehicle speed warning system determines a speed of a vehicle entering along the road from an outside to an inside of the walking area and transmits warning information through a speed warning module when the speed of the vehicle is higher than a reference speed, thereby having an effect of inspiring a vehicle driver with a caution for safety driving.

Description

VARIABLE VEHICLE SPEED WARNING SYSTEM INCLUDING PEDESTRIAN DETERMINATION SYSTEM

The present invention relates to a variable vehicle speed warning system including a pedestrian determination system, and more particularly, when a specific pedestrian (juvenile, child, etc.) to be protected is detected in a specific pedestrian zone (so-called school zone) adjacent to the road, It relates to a variable vehicle speed warning system including a pedestrian determination system that determines the speed of a vehicle entering along a road from outside a pedestrian zone and transmits warning information through a speed warning module when the speed of the vehicle exceeds a reference speed.

In general, children's protection areas refer to special protection areas for children around schools including kindergartens as well as elementary schools.

Areas where regulations such as designating roads within a radius of 300 m from the main entrances of elementary schools, etc., and installing various safety facilities, vehicles passing there must be driven at a speed of 30 km per hour or less, and not allowing illegal parking As such, it is a special protection zone for children, so-called school zone.

However, most of the drivers of some vehicles are speeding while passing the school zone, and in particular, many traffic accidents among children occur every year due to illegal parking.

The common essential facilities for each type of child protection area are the integrated child protection area sign, parking/stop prohibition sign, child protection area road marking, speed limit road marking, etc. Safety facilities such as prohibited facilities are recommendations rather than mandatory by law.

In particular, the very low installation rate of unmanned speed enforcement equipment also acts as a factor in causing accidents.

On the other hand, as an example of a technology previously proposed for monitoring or traffic compliance of a child protection area, Korean Patent Publication No. 10-2006-0116759 (published on November 15, 2006) discloses a 'method and system for integrated monitoring of a child protection area' has been

The technology disclosed in the above-mentioned published patent document is a vehicle detection and speed detection camera that collects image information and speed information about a vehicle in the detection area, an A/V server that receives, processes and transmits image data, and image information of parked and parked vehicles and a parking/speed detector that transmits vehicle recognition and recognition data as and speed information, a number recognition camera that collects image information about vehicle numbers, receives image detection data, controls the operation of the number recognition camera, and local area network A number recognition controller that transmits and receives data to/from the operating terminal PC of the center system through the wired/wireless communication network of the (LAN) and transmission system, and the VMS that converts the transmitted vehicle information into text and displays it on the VMS (Various Message System, Variable Information Sign) signboard Including a controller and a remote broadcasting condition monitoring device that provides an automatic volume control announcement, it prevents safety accidents that may occur in the school zone in advance and allows children to go to school with confidence.

However, in addition to the conventional system described above, it actively detects whether there are children or children in the child protection area such as a school zone, and informs the vehicle driver with warning information if the detection result shows the presence of children or children, so that the vehicle driver can drive the vehicle. There is also a need to develop a system that makes it more careful.

Accordingly, the present invention has been devised in the background described above, and when a specific pedestrian (juvenile, child, etc.) to be protected is detected in a specific walking zone adjacent to the road, the speed of a vehicle entering from the outside of the pedestrian zone to the inside is determined. Then, when the speed of the vehicle exceeds the reference speed, warning information is sent through the speed warning module to provide a variable vehicle speed warning system including a pedestrian judgment system that can further inspire the vehicle driver to be more aware of safe driving. There is a purpose.

The object of the present invention is not limited thereto, and other objects not mentioned will be clearly understood by those skilled in the art from the following description.

In order to achieve this object, an embodiment of the present invention includes a photographing module 101 that generates photographed image information i1 mapped to two-dimensional image coordinates by photographing a specific walking area adjacent to a road, and the photographing module 101 ), a pedestrian information calculation module 103 for detecting pedestrians existing in the pedestrian zone using the photographed image information i1 applied from After analyzing each of the pedestrian information (PI) applied from the pedestrian information calculation module 103 to determine whether or not there is a specific pedestrian (SP) corresponding to a preset protection target, when the specific pedestrian (P) is present, the Pedestrian determination system 107 including a protection target pedestrian information generation module 105 for generating protection target pedestrian information (SPI) for a specific pedestrian (SP); And, when the pedestrian information (SPI) to be protected is authorized from the pedestrian determination system 107, the speed of the vehicle (C) entering from the outside of the pedestrian zone to the inside along the road is calculated, and is equal to or greater than a preset reference speed. Variable vehicle speed including a pedestrian determination system comprising a; variable vehicle speed warning system 111 that transmits warning information WI through a speed warning module 109 installed in front of the vehicle traveling direction when the vehicle is traveling A warning system is provided.

According to an embodiment of the present invention, when a specific pedestrian (juvenile, child, etc.) to be protected is detected in a specific pedestrian zone adjacent to the road, after determining the speed of a vehicle entering from outside the pedestrian zone to the inside along the road, By transmitting warning information through the speed warning module when the speed is higher than the reference speed, there is an effect of further raising awareness of safe driving in the vehicle driver.

1 is a block diagram illustrating a variable vehicle speed warning system including a pedestrian determination system according to an embodiment of the present invention.
2 is a diagram illustrating an example in which the pedestrian determination system captures a specific walking area.
3 and 4 are diagrams for explaining the mapping of the bottom point or the top point of the pedestrian to the map coordinate system using the 2D center projection transformation.
5 is a view for explaining a method of calculating the height of a pedestrian.
6 is a block diagram showing the configuration of a variable vehicle speed warning system.
7 is a diagram illustrating an example in which a captured image area captured by an image capturing unit of a variable vehicle speed warning system is mapped to GPS coordinates.
8 is a diagram illustrating an example in which the speed calculator of the variable vehicle speed warning system calculates the speed of the vehicle.
9 is a diagram illustrating an example in which warning information is transmitted through a speed warning module of a variable vehicle speed warning system.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated on different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

In addition, in describing the components of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the elements from other elements, and the essence, order, or order of the elements are not limited by the terms. When it is described that a component is “connected”, “coupled” or “connected” to another component, the component may be directly connected or connected to the other component, but another component is formed between each component. It should be understood that elements may also be “connected,” “coupled,” or “connected.”

1 is a block diagram illustrating a variable vehicle speed warning system including a pedestrian determination system according to an embodiment of the present invention. 2 is a diagram illustrating an example in which the pedestrian determination system captures a specific walking area. 3 and 4 are diagrams for explaining the mapping of the bottom point or the top point of the pedestrian to the map coordinate system using the 2D center projection transformation. 5 is a view for explaining a method of calculating the height of a pedestrian. 6 is a block diagram showing the configuration of a variable vehicle speed warning system. 7 is a diagram illustrating an example in which a captured image area captured by an image capturing unit of a variable vehicle speed warning system is mapped to GPS coordinates. 8 is a diagram illustrating an example in which the speed calculator of the variable vehicle speed warning system calculates the speed of the vehicle. 9 is a diagram illustrating an example in which warning information is transmitted through a speed warning module of a variable vehicle speed warning system.

As shown in these drawings, the variable vehicle speed warning system 100 including a pedestrian determination system according to an embodiment of the present invention captures a specific walking area adjacent to the road and maps it to two-dimensional image coordinates. Pedestrian information of each of the detected pedestrians after detecting pedestrians in the pedestrian zone using the photographing module 101 that generates the image information i1 and the photographed image information i1 applied from the photographing module 101 The pedestrian information calculation module 103 for calculating the PI and the pedestrian information calculation module 103 analyze each of the pedestrian information PIs applied to the specific pedestrian SP corresponding to the preset protection target. Pedestrian determination system 107 including a protection target pedestrian information generation module 105 for generating protection target pedestrian information (SPI) for a specific pedestrian (SP) in the presence of a specific pedestrian (SP) after determining whether or not there is a specific pedestrian (SP); And when the pedestrian information (SPI) to be protected from the pedestrian determination system 107 is approved, the speed of the vehicle (C) entering from the outside of the pedestrian zone to the inside is calculated, and when the speed is greater than or equal to the preset reference speed, the vehicle (C) ), a variable vehicle speed warning system 111 that transmits warning information WI through the speed warning module 109 installed in the front of the traveling direction; and characterized in that it includes.

Hereinafter, each configuration will be described in detail.

First, the pedestrian determination system 107 includes a photographing module 101 , a pedestrian information calculation module 103 , and a pedestrian information generation module 105 to be protected.

The photographing module 101 generates photographed image information i1 mapped to two-dimensional image coordinates by photographing a specific walking area adjacent to the road.

The photographing module 101 may include a CMOS camera that generates photographed image information i1, and more specifically, the photographing module 101 is provided as a CMOS camera.

That is, in the embodiment of the present invention, the photographing module 101 is provided only with a CMOS camera, so without any additional sensors, the pedestrian information calculation module 103 to be described later through the photographed image information i1 generated by the photographing module 101 . ) to calculate the pedestrian degrees (PI).

Next, the pedestrian information calculation module 103 detects pedestrians existing in the pedestrian zone using the photographed image information i1 applied from the photographing module 101, and then each detected pedestrian information (PI) to calculate

For example, the pedestrian information calculation module 103 detects pedestrians from the photographed image information i1 using a Convolutional Neural Network (CNN) algorithm.

On the other hand, the pedestrian information (PI) calculated by the pedestrian information calculation module 103 is, for example, information on the 'height' of each pedestrian.

A method for the pedestrian information calculation module 103 to calculate the 'height' of the pedestrian from the photographed image information i1 will be described as follows.

<Method of calculating the ‘height’ of the pedestrian (P) from the two-dimensional image coordinates of the shooting module>

The pedestrian information calculation module 103 uses the image coordinates of the bottom and apex of the pedestrian P detected in the photographed image information i1, and 2D center projection transformation to map the point where the pedestrian P is located. After extracting the coordinates (World Coordinate System), the height (height) of the pedestrian (P) is calculated using the proportional expression.

1. A method of extracting the floor point of the pedestrian (P) extracted with two-dimensional image coordinates (xy coordinates) into map coordinates using 2D center projection transformation

_{The process of obtaining the pedestrian (P) floor coordinates (X Pbp} , Y _Pbp , 0) of the map coordinate system (XYZ coordinate system) in the camera coordinate system (x'y'z' coordinate system) using 2D central projection transformation will be described.

3, the XYZ coordinate system is a world coordinate system, and the X'Y'Z' coordinate system is a coordinate system in which the XYZ coordinate system is moved in parallel so that the projection center of the imaging module 101 is the origin, and x'y'z' The coordinate system (camera coordinate system) is a 3-axis rotation for X'Y'Z' coordinates relative to the scanning direction of the imaging module 101 (rotation angles are ω, φ, K, respectively, and can be set when the imaging module 101 is installed) is a coordinate system

Here, the xy coordinate system is a two-dimensional image plane coordinate system, and the following [Equation 1] is established by the three-dimensional rotation transformation relationship.

는 x'y'z'좌표계에서 P점의 3차원좌표이며,

는 X'Y'Z'좌표계에서의 P점의 3차원 좌표이다.Here, the elements of the rotation matrix M are as follows, and ω, φ, and K are rotation angles with positive values in the counterclockwise direction with respect to the X-axis, Y-axis, and Z-axis, respectively,

is the three-dimensional coordinate of the point P in the x'y'z' coordinate system,

is the three-dimensional coordinate of the point P in the X'Y'Z' coordinate system.

<Element of rotation matrix (M)>

In order to define the relationship between the X'Y'Z' coordinate system and the XYZ coordinate system, which is a map coordinate system, it is detailed as shown in FIG. 4 .

In FIG. 4, the relationship between the X'Y'Z' coordinate system and the XYZ coordinate system is established by the relationship of [Equation 2] by the proportional expression of the triangle.

[Equation 2] is transformed into the following [Equation 3].

Similarly, the following [Equation 4] and [Equation 5] are established.

When [Equation 3] to [Equation 5] are substituted into [Equation 1] and arranged, the following [Equation 6] is established.

(f는 촬영모듈(101)의 초점 거리)이므로, [수학식 6]은 다음 [수학식 7]로 정리된다.In [Equation 6],

Since (f is the focal length of the photographing module 101), [Equation 6] is summarized as the following [Equation 7].

(축척계수)이며, 이는 영상의 scale과 동일하다.where k is

(scale factor), which is the same as the scale of the image.

On the other hand, if [Equation 7] is modified to obtain the map coordinates of the corresponding ground point from the camera coordinates of the mapped image point, the following [Equation 8] is obtained.

는 회전행렬 M의 역행렬의 행렬성분이고, k는 축척계수이다.Here, the rotation matrix

is the matrix component of the inverse of the rotation matrix M, and k is the scale factor.

, 대응되는 영상점의 영상좌표를

, 촬영모듈(101, 카메라)의 투영중심을

이라 할 때(투영중심

은 기설정된 값), 두 점의 변환관계는 [수학식 7] 또는 [수학식 8]로 정의할 수 있다.In summary, the position of the floor point of the pedestrian (P) on the road surface is

, the image coordinates of the corresponding image point

, the projection center of the photographing module 101 (camera)

When (projection center)

is a preset value), and the transformation relationship between the two points may be defined by [Equation 7] or [Equation 8].

_{Therefore, if the projection center point of the map coordinate system and the camera coordinate system is known, the location (X Pbp} , Y _Pbp ) on the map coordinate system projected (corresponding to) to the bottom point of the pedestrian P on the image (photographed image information (i1)) , 0) can be calculated through the above-mentioned [Equation 7] or [Equation 8].

In summary, it is as follows [Equation 9].

2. A method of extracting the apex of the pedestrian (P) extracted with two-dimensional image coordinates (xy coordinates) into map coordinates using 2D center projection transformation

_{In the same process as described above, the location (X Ptp} ,Y _Ptp ,0) on the map coordinate system projected (corresponding) to the apex of the pedestrian P on the image (photographed image information (i1)) is also It can be calculated through Equation 7] or [Equation 8].

In summary, it is as follows [Equation 10].

3. Calculate the height (H) of the pedestrian (P)

The height (H) of the pedestrian (P) is calculated using the previously calculated values.

Referring to FIG. 5 , the height H of the pedestrian P is calculated by the following [Equation 11].

Here, d ₁ is _{(X L, Y L, 0} ) in the _{(X Pbp, Y Pbp, 0} ) Distance, d ₂ is _{(X L, Y L, 0} ) in the _{(X Ptp, Y Ptp, 0} ) is the distance to (see FIG. 5).

Next, the protection target pedestrian information generation module 105 analyzes each pedestrian information (PI) applied from the pedestrian information calculation module 103, and whether a specific pedestrian SP corresponding to a preset protection target exists. to judge

Here, the protection target pedestrian information generation module 105, for example, as a result of analyzing information on 'height' among the pedestrian information (PI), when a pedestrian less than a preset reference value (eg, 150 cm) is detected , this pedestrian may be determined as a specific pedestrian SP, and the specific pedestrian SP may be determined as a youth or a child.

Meanwhile, the protection target pedestrian information generation module 105 generates protection target pedestrian information (SPI) for the specific pedestrian SP when the specific pedestrian SP exists.

Pedestrian information to be protected (SPI) is information applied to the variable vehicle speed warning system 111 to be described later, and is information indicating that there are children and adolescents (specific pedestrians) in a specific pedestrian zone (such as a school zone).

Next, when the variable vehicle speed warning system 111 receives the above-mentioned protection target pedestrian information (SPI) from the pedestrian determination system 107, the vehicle C entering along the road from outside the specific pedestrian zone to the inside The speed is calculated, and when the speed is greater than or equal to the preset reference speed, the warning information WI is transmitted through the speed warning module 109 installed in the front of the vehicle C in the traveling direction.

When describing an example of this variable vehicle speed warning system 111 in more detail, the variable vehicle speed warning system 111 is a vehicle that enters the captured image area S in which each divided area is mapped with GPS coordinates. (C) an image capturing unit 601 which generates a photographed image i_0 at a reference time t_0 and a photographed image i_1 at an elapsed time t_1 by photographing, respectively; The virtual reference line (L_0) of the vehicle (C) in the photographed image (i_0) and the virtual reference line (L_1) of the vehicle (C) in the photographed image (i_1) and the partitioned area mapped with the GPS coordinates of the vehicle (C) a speed calculator 603 for calculating the speed; When the calculated speed of the vehicle C is equal to or greater than the preset reference speed, the vehicle identification unit 605 for extracting the identification number N of the vehicle C from the license plate of the vehicle C photographed by the image capturing unit 601 ); And the communication unit 607 for transmitting the warning information WI including the speed information v_1 for the speed of the vehicle C and the identification number information p_1 for the identification number N through the speed warning module 109 ); includes.

The variable vehicle speed warning system 111 may be fixed to, for example, a gantry installed on a road or a rod-shaped structure installed on the side of the road.

The image capturing unit 601 may be provided as, for example, CCTV.

The image capturing unit 601 photographs the vehicle C entering the captured image area S in which each partitioned area is mapped with GPS coordinates.

The image capturing unit 601 generates, for the vehicle C to be photographed, a photographed image i_0 at a reference time t_0 and a photographed image i_1 at an elapsed time t_1, respectively.

For example, the image capturing unit 601 sets the time interval between the reference time t_0 and the elapsed time t_1 to 1 to 5 milliseconds (millisecond, ms) to generate a photographed image for the vehicle C. can do.

Of course, the image capturing unit 601 sets the reference time t_0 and the elapsed time t_1 while the entire vehicle C entering the captured image area S is photographed in the captured image area S. The vehicle (C) can be photographed.

Next, the speed calculator 603 maps the virtual reference line L_0 of the vehicle C set in the photographed image i_0 and the virtual reference line L_1 of the vehicle C set in the photographed image i_1 to GPS coordinates. Calculate the speed of the vehicle (C) using the divided area.

The above-described virtual reference lines L_0 and L_1 are virtual reference lines set at the same location of the vehicle C. As shown in FIG.

As an example, the speed calculator 603 includes a reference time t_0 at which the captured image i_0 is generated, an elapsed time t_1 at which the captured image i_1 is generated, and a captured image area S mapped with GPS coordinates. The speed of the vehicle C is calculated by the following equation using the distance D between the virtual reference lines L_0 and L_1 (eg, unit of distance: Km, unit of speed: Km/h).

Next, the vehicle identification unit 605, when the calculated speed of the vehicle (C) is equal to or greater than a preset reference speed, the identification number ( N) is extracted.

More specifically, the vehicle identification unit 605 extracts an image for the license plate of the vehicle (C) from the rear or front image of the vehicle (C) photographed by the image photographing unit 601, and from the extracted license plate image By extracting letters and numbers in text format, the identification number (N) of the vehicle (C) is extracted.

Next, the communication unit 607 transmits warning information WI including the speed information v_1 for the speed of the vehicle C and the identification number information p_1 for the identification number N to the speed warning module 109 sent through

The communication unit 607 may transmit related information in a wireless data communication method utilizing IoT communication technology such as LoRa, for example.

On the other hand, the speed warning module 109 further includes a display unit 609 for displaying warning information WI including speed information v_1 and identification number information p_1 of the vehicle C as text or an image. can do.

Through this, if a vehicle (C) entering along the road from outside a specific pedestrian zone such as a school zone is traveling at a speed higher than the standard speed, by notifying the driver of the vehicle (C) that there is a youth in front, It is possible to dramatically reduce the possibility of a traffic accident occurring within the area.

In the above, even though all the components constituting the embodiment of the present invention are described as being combined or operated in combination, the present invention is not necessarily limited to this embodiment. That is, within the scope of the object of the present invention, all the components may operate by selectively combining one or more.

The above description is merely illustrative of the technical spirit of the present invention, and various modifications and variations will be possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

100: Variable vehicle speed warning system including pedestrian judgment system
101: shooting module
103: pedestrian information calculation module
105: protection target pedestrian information generation module
107: pedestrian judgment system
109: speed warning module
111: variable vehicle speed warning system
601: video recording unit
603: speed calculator
605: vehicle identification unit
607: communication department
609: display unit
i1 : Shooting image information
PI: Pedestrian information
SP: specific pedestrian
SPI: Pedestrian information subject to protection
WI: Warning information
C: vehicle

Claims (6)

Using the photographing module 101 which generates photographed image information i1 mapped to two-dimensional image coordinates by photographing a specific walking area adjacent to the road, and the photographed image information i1 applied from the photographing module 101 a pedestrian information calculation module 103 that detects pedestrians existing in the pedestrian zone and then calculates pedestrian information PI of each detected pedestrian, and each of the pedestrian information calculation module 103 applied from the After determining whether a specific pedestrian (SP) corresponding to a preset protection target exists by analyzing the pedestrian information (PI), when the specific pedestrian (P) is present, the protection target pedestrian information (SPI) for the specific pedestrian (SP) ) Pedestrian determination system 107 including a protection target pedestrian information generation module 105 to generate; and
When the pedestrian information (SPI) to be protected is authorized from the pedestrian determination system 107, the speed of the vehicle (C) entering along the road from outside the pedestrian zone is calculated, and when it is equal to or greater than a preset reference speed a variable vehicle speed warning system 111 that transmits warning information WI through a speed warning module 109 installed in front of the vehicle in the traveling direction;
Variable vehicle speed warning system including a pedestrian determination system, characterized in that it comprises a. The method of claim 1,
The pedestrian information (PI) includes information about the height of each pedestrian,
The pedestrian information calculation module 103 is a variable vehicle speed warning system including a pedestrian determination system, characterized in that it calculates the height of each pedestrian by the following equations.

1. Equation for extracting the location of the world coordinate system for the floor of the pedestrian from the photographed image information (i1) by 2D center projection transformation

Here, (X _L ,Y _L ,Z _L ) is the projection center position of the imaging module 101 in the map coordinate system, (X _Pbp ,Y _Pbp ,0) is the floor point projection position of the pedestrian in the map coordinate system, (x' _bp , y' _bp ) is the position of the foot of the pedestrian in the camera coordinate system, f is the focal length of the imaging module 101, k is the scale factor (scale of the image),

is the rotation matrix M

The matrix components of the inverse matrix of and rotation matrix M are defined as follows (ω, φ, K are rotation angles with positive values in the counterclockwise direction with respect to the X, Y, and Z axes of the map coordinate system, respectively) .

2. Equation for extracting the World Coordinate System position for the top point of the pedestrian from the photographed image information (i1) by 2D center projection transformation

where (X _Ptp ,Y _Ptp ,0) is the projection position of the pedestrian’s apex on the road surface in the map coordinate system, and (x’ _tp ,y’ _tp ) is the position of the pedestrian’s apex in the camera coordinate system

3. Equation for calculating the height (H) of pedestrians

Here, d ₁ is _{(X L, Y L, 0} ) in the _{(X Pbp, Y Pbp, 0} ) Distance, d ₂ is _{(X L, Y L, 0} ) in the _{(X Ptp, Y Ptp, 0} ) up to The method of claim 1,
The photographing module 101,
Variable vehicle speed warning system including a pedestrian determination system, characterized in that it includes a CMOS camera that generates the photographed image information (i1). The method of claim 1,
The pedestrian information calculation module 103,
A variable vehicle speed warning system including a pedestrian determination system, characterized in that the pedestrians are detected from the photographed image information (i1) by using a Convolutional Neural Network (CNN) algorithm. The method of claim 1,
The variable vehicle speed warning system 111,
By photographing the vehicle (C) entering the photographed image area (S) in which each partitioned area is mapped with GPS coordinates, the photographed image (i_0) at the reference time (t_0) and the photographed image at the elapsed time (t_1) an image capturing unit 601 that generates (i_1), respectively;
Using the partitioned area mapped to the virtual reference line L_0 of the vehicle C in the photographed image i_0, the virtual reference line L_1 of the vehicle C in the photographed image i_1, and the GPS coordinates a speed calculator 603 for calculating the speed of the vehicle (C);
When the calculated speed of the vehicle C is greater than or equal to a preset reference speed, the vehicle extracting the identification number N of the vehicle C from the license plate of the vehicle C photographed by the image capturing unit 601 determining unit 605; and
Transmitting the warning information (WI) including speed information (v_1) for the speed of the vehicle (C) and identification number information (p_1) for the identification number (N) through the speed warning module (109) communication unit 607;
Variable vehicle speed warning system including a pedestrian determination system, characterized in that it comprises a. 6. The method of claim 5,
The speed warning module 109,
Variable vehicle including a pedestrian determination system, characterized in that it includes a display unit 609 for displaying the warning information WI including the speed information v_1 and the identification number information p_1 as text or an image speed warning system.

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