RU2587662C1 - Automated system for detecting road traffic violation at crossroad, railway crossing or pedestrian crossing - Google Patents

Abstract

FIELD: transportation; data processing.

SUBSTANCE: invention relates to controlling movement of vehicles (V), namely to automated systems for traffic control and detection of traffic violation at crossroads, railway crossings or pedestrian crossings. System comprises recognition telecamera, surveillance telecamera, processor unit, communication module, and radar module. Radar module is configured for measuring speed, range and azimuth angle of V position. Processor unit is configured for calculating V motion path in controlled zone basing separately on data received from telecameras and on data received from radar module with subsequent superposition of results of calculations and their combined processing.

EFFECT: increase of accuracy and reliability in identifying targets, as well as expansion of system functionality.

10 cl, 8 dwg

Description

FIELD OF THE INVENTION

The present invention relates to the field of regulation of the movement of vehicles (hereinafter - TS), in particular to devices for monitoring compliance with traffic rules (hereinafter - SDA), including compliance with the high-speed mode, and is intended to implement automatic control of the traffic situation and compliance with the rules traffic at intersections, level crossings and pedestrian crossings.

State of the art

From the existing level of technology, there is known a complex for controlling the passage of vehicles through the AvtoUragan intersection (http://www.recognize.ru/node/18), which allows automatic detection of violations associated with the passage of a prohibiting traffic signal. The complex contains a television camera with a wide viewing angle for video recording of the general picture of the road situation, as well as several television cameras with a narrow viewing angle located above each lane of the carriageway, designed for video recording of vehicle parts. Information from television cameras about each vehicle crossing the intersection enters an all-weather street cabinet server, is automatically processed and then transmitted to the data center through the available communication channels. In the process of computer processing of photo and video material, recognition of visually readable state registration plates of the vehicle (hereinafter - GRZ TS) crossing the control zone is carried out. The video recording of the violation from the surveillance camera is obtained by extracting the video fragment from the full cycle of the video recording in the buffer memory, including the five-second interval before the violation, the violation itself and the five-second interval after the violation. On all frames of the video recording, a traffic signal from the side of the movement of the intruder’s vehicle is visible.

This technical solution includes a large number of hardware, has a large number of connections between the functional units of the system, which significantly complicates its operation, significantly increases the load on the information transmission line, limits the number of parameters to be monitored, and does not allow for efficient road monitoring situations on multi-lane roads, as well as their intersection, especially with dense traffic. The disadvantages of the system include the fact that fixation of violations is possible only in the case when the GRZ TS is visually distinguishable. In addition, a significant drawback of this technical solution is the need to install system elements over each controlled lane using special cantilever or arched structures, the construction of which is not always possible near railway crossings. The need to install additional retaining structures significantly increases the cost of the project, and complicates the process of equipment maintenance, since cleaning traffic on this section of the road will be required to clean the windows of the cameras.

Also known is a system for detecting traffic violations of the type “passage for a prohibiting traffic signal” when passing an intersection, described in the application for utility model CN 201247530 (Y), publ. 05/27/2009 and a system for detecting traffic violations of the types “passage to a traffic signal prohibiting signal” and “stopping in front of a stop line when a traffic signal prohibiting signal” when crossing an intersection described in document RU 2534131, publ. 11/27/2014. These systems contain interconnected survey camera made with the possibility of forming an image of the intruder’s vehicle at the moment of crossing the stop lines, a traffic light camera made with the possibility of forming an image of traffic signals at the moment of crossing the stop lines of the intruder’s vehicle, as well as an electronic computing device with the ability to process information from both cameras in order to identify these traffic violations.

These technical solutions also have significant limitations in their operation in conditions of high traffic density, do not allow simultaneous monitoring and fixing of the motion parameters of all traffic participants moving both in the forward and in the opposite directions, as well as traffic participants moving in different lanes carriageway on multi-lane roads. In addition, the exclusively optical method used in them to detect traffic violations does not provide sufficient reliability for their detection, does not exclude the occurrence of controversial cases, including those cases in which additional examination is required. The disadvantages of these systems can also be attributed to the fact that these devices have the ability to register a very limited list of violations (two types of violations of traffic rules). In addition, the detection of violations when using the above systems is possible only in the case when the power supply system of the vehicle is subject to automatic recognition.

Closest to the claimed invention is the aforementioned system for determining violations of traffic rules when driving through an intersection, described in document RU 2534131, publ. 11/27/2014. This system is selected as a prototype of the claimed invention.

The task to which the invention is directed is the implementation of accurate discrete control of the motion parameters of all vehicles moving in both forward and reverse directions, with automated detection of traffic violations at the intersection, railway crossing or pedestrian crossing, including in difficult conditions traffic conditions, as well as in the presence of errors in the process of recognition of the GRZ TS caused by the low distinguishability of the GRZ TS due to their pollution, low contrast of the obtained photographs, and also flares.

Disclosure of invention

This problem is solved due to the fact that the claimed automated system for monitoring the traffic situation and detecting violations of traffic rules when crossing an intersection, railway crossing or a pedestrian crossing, containing at least one recognizing camera made with the possibility of forming a video image that includes a view the front of the vehicle and the intersection with adjacent territories subject to control of at least one panoramic camera with the ability to form a video image including the rear view of the vehicle, the traffic signal and the intersection with adjacent territories subject to control, at least one processor unit configured to receive, record, store and transmit data about violations of traffic rules movement “about stopping in front of the stop line when the traffic light is prohibiting” and “driving to the traffic light prohibiting signal” to a remote information processing server either wirelessly or wired the first data transmission channel, as well as recognition of state registration plates of vehicles, and at least one communication module. The system is characterized in that it further comprises at least one radar module configured to measure the speed, range and azimuth angle of the vehicle and associated with at least one recognition camera and at least one processor unit, wherein the processor unit is configured to the possibility of calculating the trajectories of vehicles in the control zone, performed on the basis of data obtained from television cameras, and separately based on data obtained from radiol munication module is followed by the application of the results of calculations and their co-processing.

The radar module, the processor unit, the recognition camera and the communication module are preferably a single photoradar unit.

The photoradar unit may further comprise at least one navigation module, configured to accurately determine the time and geographical coordinates and the ability to automatically correct the system time and date using GLONASS / GPS satellite signals.

The photoradar unit may further comprise a built-in IR illuminator.

The system may further comprise an external communication unit associated with at least one surveillance camera and via at least one communication module with at least one processor unit.

The external communication unit is preferably configured to provide a wired or wireless communication channel.

At least one communication module may be configured to provide a wired or wireless communication channel.

The processor unit may be configured to collect statistics on speeds, directions, lanes of vehicles and data on the integrated intensity of the traffic stream.

The system may additionally contain a backup wireless communication channel, providing the ability to download data on recorded violations directly to the computer of the patrol car.

The system can be installed on the side of the road near the edge of the roadway.

The technical result provided by the given set of features is a significant increase in the accuracy and reliability of the identification of targets and, as a result, the identification of violators of traffic rules, including in difficult traffic conditions, as well as in the presence of errors in the process of recognizing a vehicle’s GRZ, due to the low distinguishability of the GRZ TS due to their contamination, low contrast of the obtained photographs, as well as flare. In addition, the technical result is the expansion of the functionality of the system. In particular, the claimed system allows precise discrete control of the speed and coordinates of all vehicles in the control zone, moving in both forward and reverse directions at the intersection, railway crossing or pedestrian crossing, to calculate the trajectories of each vehicle in the control zone, to form photo- and video images of traffic violations associated with speeding, traffic on the oncoming lane, on the side of the road, on the lane for route vehicles, on the sidewalk, traffic when the traffic light is prohibited, as well as there is a collection of statistical data on the speeds, directions, lanes of the vehicle and data on the integrated intensity of the traffic flow. In addition, the claimed system allows you to control sections of roads with multi-lane traffic through a single device.

Brief Description of the Drawings

The invention is illustrated by drawings.

Figure 1 shows a block diagram of the inventive system.

Figure 2 shows a 3D diagram of the placement of the system at the railway crossing.

Figure 3 shows examples of captured images with surveillance and recognition cameras, illustrating the types of traffic violations “stop in front of the stop line when the traffic signal is inhibited” and “travel to the traffic light inhibition”.

Figure 4 shows an example of captured images with a survey and recognition cameras, illustrating the type of traffic violations "exit into the oncoming lane."

Figure 5 shows an example of a captured image from a recognition camera, illustrating the type of traffic violations "speeding".

Figure 6 shows a block diagram of one of the possible system configurations: the joint work of two sets of equipment of the inventive system.

7 shows a 2D diagram of the placement of the system at the railway crossing (top view) when using two sets of equipment of the inventive system.

On Fig shows a 2D diagram of the placement of the system at the intersection (top view) using four sets of equipment of the inventive system.

The implementation of the invention

In the block diagram of the inventive system shown in FIG. 1, the following notation is accepted: 101 - photoradar unit, 102 - surveillance camera, 103 - external communication unit, 104 - recognition camera, 105 - processor unit, 106 - built-in IR illuminator, 107 - radar module, 108 - navigation module, 109 - communication module.

A system generally consists of a photoradar unit 101, a surveillance camera 102, and an external communication unit 103. The photoradar unit 101, in turn, includes a recognition camera 104, a processor unit 105, an integrated IR searchlight 106, a radar module 107, a navigation module 108, and a communication module 109.

As shown in FIG. 2, the photoradar unit 101 and the surveillance camera 102 are installed on the side of the road near the edge of the carriageway at a distance of 0.5 ... 4 m from its edge at a height of several meters on a stationary structure (lighting mast, truss support, etc. .) installed on the side of the controlled section of the road. The monitoring zones of the photoradar unit 101 and the surveillance camera 102 are several tens of meters long and cover the entire crossing (intersection, pedestrian crossing): lanes of passing and oncoming traffic before the crossing (intersection, pedestrian crossing) and beyond. Surveillance camera 102 is installed from the side of the driver of the vehicle, approaching the move. On the other side of the crossing, a photo-radar unit 101 is installed, which includes a high-resolution recognition camera 104. The photoradar unit 101 and the surveillance camera 102 are guided by the control zone using a mobile computer connected via Wi-Fi network or the touch screen setup interface. Setting the required parameters of the system (controlled direction of vehicle movement, entering the installation location and the maximum allowed speed on this section of the road, setting the camera, etc.) is carried out remotely via the Web interface using a computer.

Surveillance camera 102 is a wide-angle camera used for video recording of the general traffic situation in the control zone from the driver's side; its optical parameters are selected in such a way as to be able to confidently recognize the color of traffic signals before the intersection (level crossing, pedestrian crossing) optically, as well as video recording of the vehicle from the rear.

Recognizing camera 104 is a high-resolution wide-angle camera that allows for video monitoring of the traffic situation and recognition of the vehicle’s GRD from the front.

Through the external 103 communication unit, information from the surveillance camera 102 is transmitted through the communication module 109 to the processing unit 105 of the photoradar unit 101.

The processor unit 105 receives and processes the information received from the cameras 102 and 104, the radar module 107 and the navigation module 108. In addition, the processor unit 105 has a function for setting a virtual stop line, the intersection of which is considered as a crossing exit (intersection, pedestrian crossing) , and the parameter control function of the cameras 102 and 104, the built-in infrared spotlight 106, as well as the radar module 107.

Radar module 107, which includes a transmitting radio antenna, two receiving radio antennas and a Doppler speed meter, records the speed of each vehicle located in the control zone, measures the range and azimuth angle of the position of one or more vehicles, the speed of which is fixed, and transmits data on speed, range to the vehicle and the azimuthal angle of the position of this vehicle to the inputs of the processor unit 105. The radar module 107 identifies the parameters of all vehicles located in the control zone at least two nearest fields sah movement (or at least the next four lanes, depending on the type of module).

The navigation module 108 includes a diagnostic channel modem antenna and a GLONASS / GPS receiver.

The system works as follows.

The images obtained from the cameras 102 and 104, through the communication device 103 and the communication module 109 in encoded form online are transmitted to the corresponding inputs of the processor unit 105. The processor unit 105 processes the received video streams, as a result of which:

- recognition of the GRD of each vehicle in the control zone,

- analysis of the motion of the GRS TS in the frame to calculate the trajectory of the movement of each TS in the control zone according to optical data

- determination of the color of the traffic signal at the intersection in each fixed frame.

Simultaneously with the above processes, the radar module 107 receives the reflected signals from each vehicle (each target) located in the control zone, measures the speed of movement of these targets and transmits information about the coordinates and speeds of each target to the corresponding inputs of the processor unit 105. The processor unit 105, in its in turn, it calculates the trajectory of each vehicle and compares the optical data on the trajectory of each vehicle in the control zone, obtained from cameras 102 and 104, with data about the trajectory movement of each vehicle in the monitoring zone received from radar unit 107. As a result of these operations in the processing unit 105 generated updated data about the path of movement of each vehicle in the monitoring zone. If an error occurs when determining the coordinates of the position of the vehicle on the roadway (if the target is lost) at some point in time, the calculation of the trajectory of the vehicle in the processor unit 105 occurs by restoring the lost data from neighboring measurements.

The superposition of the results of the analysis of the movement of the vehicle in the control zone, obtained from two independent from each other information sources - cameras 102, 104 and radar module 107 - allows you to:

- significantly reduce the effect of random errors on the result of calculating the trajectory of the vehicle,

- increase the reliability of detecting violations,

- to achieve high reliability of target identification: to determine exactly which vehicle with the given GRD corresponds to the measured speed and trajectory in cases when several targets are present in the control zone.

At the same time, the probability of missing and the probability of errors when identifying violators in difficult traffic conditions on multi-lane roads with heavy traffic are also reduced.

If there are errors in the process of recognition of the vehicle’s state registration plates due to the low distinguishability of the state registration plates due to their contamination, low contrast of the received photographs, exposure or due to the contamination of the recognition camera’s lens 104, due to the joint processing of data received from cameras 102, 104 and radar module 107, the processor unit 105 will send information about the violation to a remote server of the Data Processing Center (DPC), regardless ie whether it was successfully implemented GRZ vehicle intruder detection partially it has been implemented (individual characters were not detected) or no recognition was done due to errors and disturbances mentioned above.

The navigation module 108 transmits to the corresponding input of the processor unit 105 accurate data on the GPS coordinates of each vehicle in the control zone, as well as data on the current time, which allows not to resort to time synchronization between the individual modules of the system, simplifying the functioning of the system.

After the joint processing of data, the processor unit 105 automatically detects traffic violations. During processing, a general photo of the crossing (intersection, pedestrian crossing), an enlarged photo of the intruder (with the recognized GRZ TS) and / or photos of the road situation, taken at a specified interval, a photo of the light indication of the traffic light are formed. The processor unit 105 also extracts from the buffer memory video clips of a given duration, obtained from the survey and recognition cameras 102 and 104, containing the violation and color of the traffic signal. In addition, traffic violation data contains a fixed vehicle speed, direction of travel, date and time of violation, value of the maximum permissible speed on a given section of the road, location of violation, location code and service data (serial number of the registration device, etc.).

Information about traffic violations after computer processing via a wireless data line (LTE, 3G, GPRS, etc.) or via a wired communication line (Ethernet or FOCL) is sent to a remote server of the Data Processing Center (DPC). If necessary, the download of data on recorded violations can be carried out directly on the computer of a patrol car via a backup wireless communication channel.

In the memory of the processor unit 105, in addition to information about all the vehicles that passed through the intersection, level crossing or pedestrian crossing, and their movement parameters (GRS TS, speed, trajectory), also contains statistical information: data on the speeds, directions, lanes of the vehicle and data on the integrated traffic intensity.

In FIG. 3, 4 and 5 are examples of various violations recorded by the system.

An easy-to-use configuration containing two identical inventive systems operating synchronously, informationally connected to each other. A block diagram of such a configuration is shown in FIG. 6. Further in the present invention, this system configuration will be referred to as a “dual system”.

In the block diagram of FIG. 6, all functional units of the systems are numbered in accordance with the rule: the first digit in the designation indicates which of the two systems this or that functional unit belongs to (the first or the second), and the next two - each element is numbered in accordance with the principles adopted in this application designations. So, the photoradar unit, indicated on this block diagram 101, refers to the first system. Functionally, the photoradar unit 101 is connected to the surveillance camera 102 located on the opposite side of the intersection (level crossing, pedestrian crossing) and also related to the first system.

Using a dual system is especially convenient when placing the complex at multi-lane crossings, intersections and pedestrian crossings. The placement of system elements at the railway crossing, as well as the control zones of each recording element are shown in FIG. 7. The monitoring zones of the photoradar blocks 101 and 201 are indicated by a dotted line, the monitoring zones of the surveillance cameras 102 and 202 are indicated by a solid line.

As can be seen from FIG. 7, the surveillance camera 102 and the photoradar unit 201 are installed on one side of the crossing (intersection, pedestrian crossing), and on the other side of the crossing, the photoradar unit 101 and the viewing camera 202 are installed. Thus, the control zone of the road section containing the entire crossing (intersection, pedestrian crossing) and adjacent territories, can be significantly increased without loss in resolution of the received video information, which allows additional fixing of such types of traffic violations as “roadside passage” "And" drive along the sidewalk. "

As mentioned above, the photoradar unit 101 is functionally connected with the surveillance camera 102, but if necessary, the photoradar unit 101 can receive information from the viewing camera 202 located on the same mast as the photoradar unit 101.

Among the advantages of using a dual system, one can also point out that in this case each of the radar modules (107 and 207) can measure the speeds of vehicles moving both counter-to the module and along the way ("near passing, far oncoming"). Recognition of the HV of the vehicle moving towards the photoradar unit 101 can also be carried out both in front of the vehicle and behind by means of the photoradar unit 201.

The claimed system allows you to detect the following types of traffic violations:

- “passage to the prohibition signal of a traffic light”,

- “about a stop in front of the stop line when the traffic light is prohibiting”,

- "exceeding the set speed",

- “Departure to the lane intended for oncoming traffic, or to tram tracks of the oncoming direction”,

- “intersection of the solid marking line of the carriageway”,

- “movement under the prohibition sign”,

- “turn left or turn in violation of the requirements prescribed by road signs or marking the carriageway”,

- "traffic in the opposite direction on a one-way road",

- "excess of the established vehicle speed in residential areas",

- "movement on the sidewalk",

- "roadside traffic."

At intersections of high traffic lanes, as shown in FIG. 8, a complex may be applied comprising two binary systems that can work both together and independently of each other. The designations of the main blocks of each of the four systems reflect the functional relationship between these devices.

Thus, a significant increase in the accuracy and reliability of target identification and, as a result, the identification of violators of traffic rules, including in difficult traffic conditions, as well as in the presence of errors in the process of recognizing a GRS TS caused by low distinguishability of a GRZ TS due to their pollution, is ensured. contrast of the received photographs, as well as flare.

Claims (10)

1. An automated system for monitoring the traffic situation and detecting violations of traffic rules when crossing an intersection, railway crossing or pedestrian crossing, comprising at least one recognizing television camera configured to form a video image including a front view of the vehicle and an intersection with adjacent to it by the territories to be controlled, at least one panoramic television camera configured to form a video image I, including the rear view of the vehicle, the traffic signal and the intersection with adjacent territories subject to control, at least one processor unit, configured to receive recording, storage and transmission of data on traffic violations “about stopping before stop line when the traffic light is forbidden ”and“ travel to the forbidden traffic light ”to a remote information processing server via a wireless or wired data transmission channel, as well as recognition state registration plates of vehicles, and at least one communication module, characterized in that it further comprises at least one radar module, configured to measure the speed, range and azimuthal angle of the vehicle and associated with at least one recognition camera and at least one processor unit, wherein the processor unit is configured to calculate vehicle paths in the control zone by forward based on data received from the cameras, and separated on the basis of data obtained from radar module followed by the application of the results of calculations and joint processing. 2. The system according to claim 1, characterized in that the radar module, the processor unit, the recognition camera and the communication module are a single photoradar unit. 3. The system according to p. 2, characterized in that the photoradar unit further comprises at least one navigation module, configured to accurately determine the time and geographical coordinates and the ability to automatically correct the system time and date from GLONASS / GPS satellite signals. 4. The system according to claim 2, characterized in that the photoradar unit further comprises a built-in infrared searchlight. 5. The system according to p. 1, characterized in that it further comprises an external communication unit associated with at least one surveillance camera and through at least one communication module with at least one processor unit. 6. The system according to p. 5, characterized in that the external communication unit is configured to provide a wired or wireless communication channel. 7. The system according to claim 1, characterized in that at least one communication module is configured to provide a wired or wireless communication channel. 8. The system according to claim 1, characterized in that the processor unit is configured to collect statistical data on speeds, directions, lanes of vehicles and data on the integrated intensity of the traffic stream. 9. The system according to p. 1, characterized in that it further comprises a backup wireless communication channel, providing the ability to download data on the recorded violations directly to the computer of the patrol car. 10. The system under item 1, characterized in that it is installed on the side of the road near the edge of the roadway.

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