The Radar Module That Generates a Trigger Signal for Illegal U-turns Using Virtual Lines on a Radar Map

Abstract

The present invention relates to a radar module that generates a trigger signal for an abnormal U-turn using a virtual line on a radar map, wherein the radar module detects a vehicle based on the virtual line on the radar map and generates a tracking table and a trigger signal, a control unit collects a plurality of image frames according to the trigger signal and matches the vehicle number to update the tracking table, and determines whether an abnormal U-turn is occurring based on the trigger signal and the signal status of a traffic light received in real time.

Description

Technology Field

[0001] The present invention relates to a radar module that generates a trigger signal for an abnormal U-turn using a virtual line on a radar map, wherein the radar module detects a vehicle based on the virtual line on the radar map and generates a tracking table and a trigger signal, a control unit collects a plurality of image frames according to the trigger signal and matches the vehicle number to update the tracking table, and determines whether an abnormal U-turn is occurring based on the trigger signal and the signal status of a traffic light received in real time. Background Technology

[0003] Unmanned traffic enforcement systems are devices that automatically detect and record traffic violations, playing a key role in promoting safe driving and maintaining traffic order. Early enforcement systems utilized loop detectors embedded in the road to detect only specific behaviors, such as speeding or traffic signal violations; however, advancements in image processing technology and the emergence of diverse enforcement demands have highlighted the need for high-performance, multi-functional enforcement systems. Consequently, modern unmanned enforcement systems are evolving beyond mere equipment that photographs violating vehicles into intelligent traffic hubs that comprehensively assess various types of traffic violations and process related data.

[0004] In particular, the reliability and accuracy of the enforcement system are even more critical when cracking down on complex violations, such as illegal U-turns, which require simultaneous assessment of a vehicle's trajectory and traffic signal compliance. False detections or failures by the system not only cause unnecessary complaints from drivers and waste administrative resources but can also undermine public trust in the entire enforcement system. Therefore, enforcement technology capable of analyzing complex traffic situations in real time and precisely determining violations has become a core element of the system.

[0005] Conventional enforcement systems include unmanned enforcement systems for violating vehicles around pedestrian traffic lights, such as those described in Korean Registered Patent No. 10-2159144. This unmanned enforcement system for violating vehicles around pedestrian traffic lights is characterized by using detectors, including cameras and radar, to crack down on violations such as stop line violations and illegal U-turns. Meanwhile, the aforementioned conventional enforcement system relies on camera image analysis to determine violations. In other words, since radar is utilized only as an auxiliary means to track the vehicle's path after a violation has been identified through camera images, enforcement accuracy may be reduced in environments where image recognition is difficult, such as inclement weather or at night. Furthermore, continuous image analysis requires a high computational load on the enforcement system. In such cases, there is a risk that enforcement information may be omitted or incorrect enforcement information may be generated due to system malfunction.

[0006] Therefore, there is a need to develop an enforcement system that expands the role of precision sensors, such as radar, to compensate for the shortcomings of existing video analysis methods, and efficiently processes the collected data to reduce the system's computational load while enhancing the accuracy and reliability of enforcement. Prior art literature

[0008] Republic of Korea Registered Patent No. 10-2159144 (September 17, 2020) The problem to be solved

[0009] The present invention aims to provide a radar module that generates a trigger signal for an abnormal U-turn using a virtual line on a radar map, wherein the radar module detects a vehicle based on the virtual line on the radar map and generates a tracking table and a trigger signal, a control unit collects a plurality of image frames according to the trigger signal and matches the vehicle number to update the tracking table, and determines whether an abnormal U-turn is occurring based on the trigger signal and the signal status of a traffic light received in real time. means of solving the problem

[0011] In order to solve the above problems, one embodiment of the present invention provides a radar module comprising: a radar module that generates a trigger signal for an abnormal U-turn using virtual lines on a radar map, a tracking table transmitting unit that assigns a tracking ID to each vehicle detected by a radar sensor included in the radar module, generates a tracking table including the detection time, location information, and tracking ID of each vehicle, and transmits it to a control unit; and a trigger signal transmitting unit that generates a trigger signal including a frame collection trigger and a number recognition trigger for cracking down on abnormal U-turns based on vehicle detection results based on a plurality of virtual lines on a radar map, and transmits it to the control unit.

[0012] In one embodiment of the present invention, the plurality of virtual lines includes a first virtual line, a second virtual line, a third virtual line, a fourth virtual line, and a virtual center line, and the trigger signal transmitting unit comprises a frame collection trigger transmitting unit that, when a specific vehicle is detected by the radar sensor to cross the first virtual line, generates frame collection triggers at equal intervals based on a preset driving distance and a preset number of image frames collected and transmits them to the control unit; The system includes a number recognition trigger transmitting unit that, when a specific vehicle is detected by the radar sensor crossing the second virtual line, generates a number recognition trigger including location information and a tracking ID at that point in time and transmits it to the control unit or the enforcement camera; and the frame collection trigger transmitting unit may include an illegal U-turn enforcement information generating unit that, when a specific vehicle is detected by the radar sensor crossing the virtual center line between the second virtual line and the third virtual line, generates illegal U-turn enforcement information including location information and a tracking ID at that point in time and maps it to the frame collection trigger; and a general U-turn enforcement information generating unit that, when a specific vehicle is detected by the radar sensor crossing the virtual center line between the third virtual line and the fourth virtual line, generates general U-turn enforcement information including location information and a tracking ID at that point in time and maps it to the frame collection trigger.

[0013] In one embodiment of the present invention, the frame collection trigger causes the intermittent frame collection unit included in the control unit to divide the section from the time when the vehicle assigned the tracking ID crosses the first virtual line to the driving distance (D) into N-1 equal distance sections at equal intervals ( It is possible to collect a total of N video frames by selecting one video frame for each )

[0014] In one embodiment of the present invention, the number recognition trigger transmitting unit may perform one of the following: a trigger shooting recognition step in which the number recognition trigger is transmitted to the enforcement camera at the time when a specific vehicle crosses the second virtual line, thereby causing the enforcement camera to photograph the license plate of the vehicle while the vehicle is crossing the second virtual line; and a frame selection recognition step in which the number recognition trigger, including the time when a specific vehicle crosses the second virtual line, is transmitted to the vehicle number matching unit included in the control unit, thereby causing the vehicle number matching unit to select the image frame at the corresponding time among the images received in real time from the enforcement camera and recognize the license plate of the vehicle.

[0015] In one embodiment of the present invention, the frame collection trigger mapped with the illegal U-turn enforcement information causes the U-turn enforcement unit included in the control unit to determine that the vehicle assigned the tracking ID has performed an abnormal U-turn, and the frame collection trigger mapped with the general U-turn enforcement information causes the U-turn enforcement unit to check the real-time signal status received from an external signal collection module and determine that the vehicle has performed an abnormal U-turn if the signal status at that time is not a signal allowing a U-turn.

[0016] In one embodiment of the present invention, the trigger signal may cause the control unit to generate enforcement data including the plurality of image frames, the vehicle number of the vehicle, and enforcement information as data for a subsequent enforcement procedure when it is determined that a specific vehicle has performed an abnormal U-turn, and may cause the control unit not to generate the enforcement data when it is determined that the vehicle has not performed an abnormal U-turn. Effects of the invention

[0018] In one embodiment of the present invention, by using a trigger signal generated by a radar module that is less affected by environmental changes such as weather or illumination as the primary basis for judgment regarding enforcement, the limitations of existing image analysis methods can be overcome, and the reliability of enforcement and system operation efficiency can be improved.

[0019] In one embodiment of the present invention, by collecting a plurality of video frames at equal intervals to prove the entire process of a violation, the continuous movement process of a vehicle that is difficult to identify with a single image can be recorded, thereby maximizing the reliability of enforcement evidence.

[0020] In one embodiment of the present invention, by securing evidence video frames from the video of an auxiliary camera that films the entire enforcement area, contextual information such as signal status and surrounding traffic conditions, as well as the movement of the violating vehicle, can be provided together, thereby enabling an effective response in the event of a dispute.

[0021] In one embodiment of the present invention, by utilizing vehicle tracking information collected for the purpose of cracking down on abnormal U-turns to crack down on speeding and signal violations together, a single enforcement system can crack down on multiple traffic law violations, thereby increasing the utility and economic efficiency of the system.

[0022] In one embodiment of the present invention, by selectively generating enforcement data only for vehicles finally determined to have made an abnormal U-turn and discarding data for vehicles driving normally without storing it, it is possible to protect the driver's personal information and efficiently manage the storage space of the enforcement system. Brief explanation of the drawing

[0024] FIG. 1 schematically illustrates the components of a control system using a radar module that generates a trigger signal for an abnormal U-turn according to one embodiment of the present invention. FIG. 2 illustrates an exemplary tracking table according to one embodiment of the present invention. FIG. 3 illustrates an exemplary tracking ID assigned to each vehicle according to one embodiment of the present invention. FIG. 4 schematically illustrates a radar map according to one embodiment of the present invention. FIG. 5 illustrates, exemplarily, a tracking table in which enforcement information of a specific vehicle is recorded according to one embodiment of the present invention. FIG. 6 exemplarily illustrates the process of collecting a plurality of image frames through tracking of a specific vehicle according to one embodiment of the present invention. FIG. 7 schematically illustrates the transmission process of a number recognition trigger according to one embodiment of the present invention. FIG. 8 schematically illustrates an abnormal U-turn determination process based on illegal U-turn enforcement information and general U-turn enforcement information according to an embodiment of the present invention. FIG. 9 schematically illustrates the process of determining whether to generate intermittent data upon receiving a trigger signal according to an embodiment of the present invention. FIG. 10 schematically illustrates the components and operation process of a U-turn control unit according to another embodiment of the present invention. FIG. 11 illustrates, in an exemplary manner, the internal configuration of a computing device according to one embodiment of the present invention. Specific details for implementing the invention

[0025] Hereinafter, various embodiments and / or aspects are disclosed with reference to the drawings. For illustrative purposes, numerous specific details are disclosed in the following description to aid in a general understanding of one or more aspects. However, it will also be recognized by those skilled in the art that these aspects may be practiced without such specific details. The following description and the accompanying drawings describe specific exemplary aspects of one or more aspects in detail. However, these aspects are exemplary, and some of the various methods in the principles of the various aspects may be used, and the description is intended to include all such aspects and their equivalents.

[0027] In addition, various aspects and features will be presented by a system that may include multiple devices, components and / or modules, etc. It should also be understood and recognized that various systems may include additional devices, components and / or modules, etc., and / or may not include all of the devices, components, modules, etc. discussed in relation to the drawings.

[0028] Terms such as “embodiment,” “example,” “aspect,” “example,” etc. as used herein may not be interpreted as implying that any aspect or design described is superior or more advantageous than other aspects or designs. Terms used below, such as “part,” “component,” “module,” “system,” “interface,” etc., generally refer to computer-related entities and may, for example, refer to hardware, a combination of hardware and software, or software.

[0029] Additionally, the terms “comprising” and / or “comprising” should be understood to mean that the relevant feature and / or component is present, but not to exclude the presence or addition of one or more other features, components and / or groups thereof.

[0030] Additionally, terms including ordinal numbers, such as first, second, etc., may be used to describe various components, but said components are not limited by said terms. Such terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component. The term "and / or" includes a combination of a plurality of related described items or any of a plurality of related described items.

[0031] Furthermore, in the embodiments of the present invention, all terms used herein, including technical or scientific terms, unless otherwise defined, have the same meaning as generally understood by those skilled in the art to which the present invention pertains. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in the embodiments of the present invention.

[0033] FIG. 1 schematically illustrates the components of a control system (1) using a radar module (1000) that generates a trigger signal for an abnormal U-turn according to one embodiment of the present invention.

[0035] As illustrated in FIG. 1, a radar module (1000) is provided, which generates a trigger signal for an abnormal U-turn using a virtual line on a radar map, and comprises: a tracking table transmitting unit (1100) which assigns a tracking ID to each vehicle detected by a radar sensor included in the radar module (1000), generates a tracking table including the detection time, location information, and tracking ID of each vehicle, and transmits it to a control unit (2000); and a trigger signal transmitting unit (1200) which generates a trigger signal including a frame collection trigger and a number recognition trigger for cracking down on abnormal U-turns based on a vehicle detection result based on a plurality of virtual lines on a radar map, and transmits it to the control unit (2000).

[0037] Specifically, the enforcement system (1) comprises a radar module (1000) that detects a vehicle entering the enforcement section and generates various trigger signals, and a control unit (2000) that determines whether a violation has occurred by combining information received from the radar module (1000) and information received from an external device. Additionally, the enforcement system (1) may be connected wirelessly or via wired connection to an enforcement camera (3000), an auxiliary camera (4000) placed in the corresponding enforcement section, and an external signal collection module (5000).

[0039] The above radar module (1000) detects vehicles on the road through a radar sensor included therein and generates tracking information including the detection time, location information, and speed information of each vehicle.

[0040] More specifically, the radar module (1000) further includes a tracking table transmitter (1100) and a trigger signal transmitter (1200).

[0041] The tracking table transmitting unit (1100) assigns a unique tracking ID to each vehicle detected by the radar sensor. Subsequently, it generates a tracking table including the detection time, real-time location information, and the assigned tracking ID of each vehicle and transmits it in real-time to the control unit (2000). Through this, the control unit (2000) can individually identify and track all vehicles within the radar detection area.

[0042] The trigger signal transmitting unit (1200) analyzes the movement path of the vehicle based on tracking information of the vehicle based on a plurality of virtual lines on a radar map. At this time, when an event occurs in which the vehicle passes a specific virtual line, a trigger signal corresponding to the event is generated and transmitted to the control unit (2000). The trigger signal includes a frame collection trigger and a number recognition trigger, and a more detailed explanation of the plurality of virtual lines will be provided later in the description of FIG. 4.

[0044] In addition, the control unit (2000) controls connected external devices based on the tracking table and trigger signal received from the radar module (1000) and performs the role of finally determining whether vehicles entering the enforcement section are making an abnormal U-turn.

[0045] More specifically, the control unit (2000) includes a control frame collection unit (2100), a vehicle number matching unit (2200), and a U-turn control unit (2300).

[0046] When the above enforcement frame collection unit (2100) receives a frame collection trigger including a specific tracking ID from the radar module (1000), it selects and collects a plurality of video frames corresponding to the driving section of the vehicle assigned the tracking ID from the video transmitted by the auxiliary camera (4000) that captures the enforcement section in real time. The collected plurality of video frames can be used as evidence to prove a traffic law violation situation.

[0047] When the vehicle number matching unit (2200) receives a number recognition trigger including a specific tracking ID, it receives an image of the vehicle from the enforcement camera (3000) and performs license plate recognition. The recognized vehicle number is matched with the received tracking ID and updated in the tracking table received from the radar module (1000).

[0048] The above U-turn enforcement unit (2300) can determine whether the vehicle is making an abnormal U-turn based on enforcement information received together with the above frame collection trigger.

[0050] Meanwhile, as an embodiment of the present invention, the control unit (2000) may further include a speed violation enforcement unit (2400).

[0051] The above speed violation enforcement unit (2400) can determine whether the vehicle has violated the speed limit by comparing the speed detected through the radar module (1000) for a vehicle assigned a specific tracking ID with a preset speed limit.

[0053] In one embodiment of the present invention, various traffic law violations can be reliably detected in a single system through radar-based real-time tracking and trigger signal generation, thereby significantly improving enforcement efficiency and evidence reliability.

[0055] FIG. 2 illustrates an exemplary tracking table according to one embodiment of the present invention, and FIG. 3 illustrates an exemplary tracking ID assigned to each vehicle according to one embodiment of the present invention.

[0057] As illustrated in FIGS. 2 and 3, the radar module (1000) includes a tracking table transmission unit (1100) that assigns a tracking ID to each vehicle detected by a radar sensor included in the radar module (1000), generates a tracking table including the detection time, location information, and tracking ID of each vehicle, and transmits it to the control unit (2000).

[0059] As an embodiment of the present invention illustrated in FIG. 2, the tracking table is composed of tracking information including the detection time of each vehicle, the assigned tracking ID, the lane in which the vehicle is located, the speed, and the coordinates. The radar module (1000) continuously detects the movement of the vehicle to generate tracking information and transmits it to the control unit (2000). For example, vehicle 'ID2' is detected in the third lane at 12:13:13.4 (#18) on June 2, 2025, and is subsequently continuously tracked at 12:13:20.7 (#22) and 12:13:27.8 (#27), and the tracking information is recorded in the tracking table according to the time series.

[0061] As an embodiment of the present invention illustrated in FIG. 3, the tracking information included in the tracking table corresponds to an example in which it is visually displayed on an image received from an auxiliary camera (4000) at a specific time (12:13:32.0 seconds). In the image, there are a total of 5 vehicles, 'ID1' to 'ID5', on the downhill 4-lane road, and the enforcement system (1) can accurately determine the location of each vehicle and assign a unique tracking ID to identify and manage them individually. In this way, the control unit (2000) can clearly identify and track multiple vehicles in the image by receiving the tracking table from the radar module (1000).

[0063] FIG. 4 schematically illustrates a radar map according to one embodiment of the present invention.

[0065] As illustrated in FIG. 4, the plurality of virtual lines includes a first virtual line, a second virtual line, a third virtual line, a fourth virtual line, and a virtual center line, and the trigger signal transmitting unit (1200) comprises a frame collection trigger transmitting unit (1210) that, when a specific vehicle is detected by the radar sensor to cross the first virtual line, generates frame collection triggers at equal intervals based on a preset driving distance and a preset number of image frames collected, and transmits them to the control unit (2000); and when a specific vehicle is detected by the radar sensor crossing the second virtual line, a number recognition trigger transmitting unit (1220) generates a number recognition trigger including location information and a tracking ID at that time and transmits it to the control unit (2000) or the enforcement camera (3000); and the frame collection trigger transmitting unit includes an illegal U-turn enforcement information generating unit (1211) that generates illegal U-turn enforcement information including location information and a tracking ID at that time and maps it to the frame collection trigger when a specific vehicle is detected by the radar sensor crossing the virtual center line between the second virtual line and the third virtual line. and when a specific vehicle is detected by the radar sensor to cross the virtual center line between the third virtual line and the fourth virtual line, a general U-turn enforcement information generation unit (1212) generates general U-turn enforcement information including location information and tracking ID at that time and maps it to the frame collection trigger.

[0067] Specifically, the trigger signal transmitting unit (1200) of the radar module (1000) can determine a traffic law violation by a detected vehicle based on a plurality of virtual lines set on a radar map. At this time, the radar map corresponds to a virtual map in which an area where the radar module (1000) can detect an object, a detected vehicle, a plurality of lanes demarcating each lane, and a center line are displayed.

[0069] As an embodiment of the present invention, the plurality of virtual lines includes a first virtual line, a second virtual line, a third virtual line, a fourth virtual line, and a virtual center line. Each virtual line is organically arranged to achieve the purpose of cracking down on abnormal U-turns and serves as a reference for generating different types of trigger signals depending on when a vehicle passes each virtual line.

[0071] The aforementioned virtual centerline is a virtual line set on a radar map along the actual road's centerline, serving as a reference line for determining whether a specific vehicle is performing a U-turn.

[0073] The first virtual line is a reference line for recognizing that each vehicle has entered the enforcement section and preparing to collect evidence video, and when each vehicle crosses the first virtual line, a frame collection trigger is generated for the vehicle. As shown in FIG. 4, the first virtual line can be variably set within a certain range based on the second virtual line according to the characteristics of the enforcement environment.

[0074] For example, on roads where the speed of traffic is high, the first virtual line can be set to be located further from the stop line than the second virtual line in order to sufficiently record tracking information when cracking down on traffic violations. On the other hand, in areas of chronic congestion, the first virtual line can be set to be located closer to the stop line than the second virtual line to optimize the image collection section for the efficiency of the enforcement system (1).

[0076] The second virtual line is a reference line for recognizing a vehicle's license plate, and a license plate recognition trigger is generated when each vehicle crosses the second virtual line. It is preferable that the second virtual line be set within a range where the enforcement camera (3000) can clearly photograph the vehicle's license plate.

[0078] The third virtual line is a reference line for establishing an area for determining whether there is a 'U-turn section violation.' When a specific vehicle crosses the virtual center line in the section between the second virtual line and the third virtual line, the illegal U-turn enforcement information generation unit (1211) determines that the vehicle attempted a U-turn in a place that is not a U-turn permitted section, generates illegal U-turn enforcement information, and maps it to the corresponding frame collection trigger.

[0079] As an embodiment of the present invention, the third virtual line is set at a point slightly further in the direction of the stop line than the point where the U-turn permitted section begins, taking into account the average length of the vehicle, thereby enabling precise enforcement even in cases where the rear of the vehicle overlaps with the U-turn prohibited section when attempting a U-turn immediately from the point where the U-turn permitted section begins.

[0081] The above-mentioned fourth virtual line is a reference line for establishing an area for determining whether a 'U-turn signal violation' has occurred. When a specific vehicle crosses the virtual center line between the above-mentioned third virtual line and the fourth virtual line, that is, within the U-turn permitted section, the above-mentioned general U-turn enforcement information generation unit (1212) generates general U-turn enforcement information and maps it to the corresponding frame collection trigger. The control unit (2000), upon receiving the general U-turn enforcement information mapped to the frame collection trigger, checks the signal status of the traffic light to make a final determination regarding whether a signal violation has occurred. It is generally preferable that the above-mentioned fourth virtual line be set at the point where the U-turn permitted section ends.

[0083] In one embodiment of the present invention, by organically arranging a plurality of virtual lines and generating trigger signals of different purposes according to the time of crossing each virtual line, the effect of systematically and precisely controlling abnormal U-turns can be achieved.

[0084] Meanwhile, a more detailed explanation of each trigger signal will be provided later in the description of Figures 5 to 8, respectively.

[0086] FIG. 5 illustrates an exemplary tracking table in which enforcement information of a specific vehicle is recorded according to one embodiment of the present invention, and FIG. 6 illustrates an exemplary process of collecting a plurality of video frames through tracking of a specific vehicle according to one embodiment of the present invention.

[0088] As illustrated in FIGS. 5 and 6, the control unit (2000) includes: a frame collection unit (2100) that collects a plurality of image frames corresponding to the driving section of a vehicle assigned a tracking ID from an image of an auxiliary camera (4000) according to the frame collection trigger; and a vehicle number matching unit (2200) that receives a vehicle image from a traffic camera (3000) according to the number recognition trigger, recognizes the license plate, and updates the vehicle number in the tracking table by matching it with the tracking table.

[0089] Additionally, the plurality of virtual lines includes a first virtual line, a second virtual line, a third virtual line, a fourth virtual line, and a virtual center line, and the trigger signal transmitting unit (1200) includes a frame collection trigger transmitting unit (1210) that, when a specific vehicle is detected by the radar sensor to cross the first virtual line, generates frame collection triggers at equal intervals based on a preset driving distance and a preset number of image frames collected, and transmits them to the control unit (2000).

[0090] Additionally, the frame collection trigger allows the control unit (2000) included in the intermittent frame collection unit (2100) to divide the section from the point in time when the vehicle assigned the tracking ID crosses the first virtual line to the driving distance (D) into N-1 equal distance sections at equal intervals. Select one video frame for each ) to collect a total of N video frames.

[0092] Specifically, when a specific vehicle crosses the first virtual line, the trigger signal transmission unit (1200) of the radar module (1000) generates and transmits a frame collection trigger to the control unit (2000). The enforcement frame collection unit (2100) included in the control unit (2000) begins collecting video frames that serve as evidence of enforcement according to the received frame collection trigger.

[0093] In one embodiment of the present invention, when the preset driving distance (D) is 35m and the number of video frames to be collected (N) is 8, the enforcement frame collection unit (2100) can collect a total of 8 video frames by selecting one video frame each time it passes an equal interval of 5m while a specific vehicle travels 35m from the time it passes the first virtual line. At this time, the auxiliary camera (4000) transmits the video captured so that the entire enforcement area can be seen at a glance to the control unit (2000) in real time, and the enforcement frame collection unit (2100) can select and collect the 8 video frames from the received video.

[0094] In one embodiment of the present invention, by collecting multiple video frames, the continuous movement process of a vehicle, which is difficult to ascertain from a single video frame alone, can be recorded three-dimensionally, thereby effectively proving the intentionality and overall flow of the violation. That is, by showing the beginning, process, and end of the violation, the reliability of enforcement evidence can be maximized. Preferably, by configuring the system to secure at least eight video frames for enforcement, the reliability of enforcement can be enhanced by ensuring that even if some video frames are difficult to recognize due to vehicle obstruction, adverse weather conditions, or night shooting, the remaining video frames can sufficiently prove the violation.

[0095] In addition, in one embodiment of the present invention, by selecting video frames from a video captured so that the entire enforcement area is visible at a glance, contextual information including not only the violating vehicle but also the signal status at the time, the movement of surrounding vehicles, and lanes is secured, thereby enabling effective response to disputes with enforcement targets.

[0097] As an embodiment of the present invention, FIG. 5 is a tracking table in which updated tracking information for the 'ID6' vehicle is extracted separately according to this process, and as shown in the 'Image Frame' column, a total of 8 image frames from f1 to f8 can be sequentially collected according to the driving process after the 'ID6' vehicle passes the first virtual line. In addition, the 'Vehicle Number' column can be updated in the tracking table after the vehicle passes the second virtual line and a number recognition trigger occurs, and the vehicle number is recognized as '123ga 4567' by the vehicle number matching unit (2200).

[0098] Meanwhile, in FIG. 5, for the convenience of explanation, each image frame (f1 to f8) is shown as being collected at regular time intervals, but in reality, as the time required for a decelerating vehicle to travel at equal intervals gradually increases, the time intervals may not be recorded at regular intervals.

[0100] As an embodiment of the present invention, FIG. 6 shows points where video frames are selected at equal intervals while the 'ID6' vehicle travels a preset driving distance of 35m from the time it passes the first virtual line, and the driving section is generated based on coordinates (location information) recorded in the tracking table shown in FIG. 5, and the driving section shows that the 'ID6' vehicle performed an abnormal U-turn of 'section violation' by crossing the virtual center line in the section between the second virtual line and the third virtual line. At this time, each video frame (f1 to f8) on the driving section can serve as evidence proving the entire process of the violation.

[0102] FIG. 7 schematically illustrates the transmission process of a number recognition trigger according to one embodiment of the present invention.

[0104] As illustrated in FIG. 7, the number recognition trigger transmitting unit (1220) performs one of the following steps: a trigger shooting recognition step in which the number recognition trigger is transmitted to the enforcement camera (3000) at the time when a specific vehicle crosses the second virtual line, thereby causing the enforcement camera (3000) to photograph the license plate of the vehicle while the vehicle is crossing the second virtual line; and a frame selection recognition step in which the number recognition trigger, including the time when a specific vehicle crosses the second virtual line, is transmitted to the vehicle number matching unit (2200) included in the control unit (2000), thereby causing the vehicle number matching unit (2200) to select a video frame at the corresponding time among the video received in real time from the enforcement camera (3000) and recognize the license plate of the vehicle.

[0106] As an embodiment of the present invention, the enforcement camera (3000) is configured to take a close-up shot of an area near the second virtual line in order to effectively recognize the license plate at the moment each vehicle passes the second virtual line, thereby securing a high-resolution license plate image and increasing the vehicle number recognition rate.

[0108] Schematically, FIG. 7(a) illustrates the process of performing the trigger shooting recognition step, and FIG. 7(b) illustrates the process of performing the frame selection recognition step.

[0110] Specifically, as illustrated in FIG. 7(a), the number recognition trigger transmitter (1220) included in the radar module (1000) can directly transmit a number recognition trigger to the enforcement camera (3000) as soon as it detects that a specific vehicle has crossed the second virtual line. Subsequently, the enforcement camera (3000) that receives the number recognition trigger can photograph the license plate of the vehicle at that moment and transmit the image containing the license plate to the vehicle number matching unit (2200).

[0111] In one embodiment of the present invention, the enforcement camera (3000) is normally in a standby state and only takes a picture and transmits an image when there is a number recognition trigger, so the network bandwidth usage and the image processing load of the control unit (2000) are minimized, thereby reducing the resource usage of the enforcement system (1).

[0113] Meanwhile, as illustrated in FIG. 7(b), the enforcement camera (3000) can continuously photograph an area near the second virtual line and transmit real-time video to the vehicle number matching unit (2200). At this time, when the radar module (1000) transmits a number recognition trigger containing a detection time when a specific vehicle crosses the second virtual line to the vehicle number matching unit (2200), the vehicle number matching unit (2200) can perform number plate recognition by analyzing the video frame at the corresponding time and the video frames at the nearby time among the video being received in real-time from the enforcement camera (3000) based on the detection time included in the received number recognition trigger, and selecting the optimal video frame for number plate recognition.

[0114] In one embodiment of the present invention, even if the image frame at the time of the number recognition trigger is blurry due to momentary camera shake, etc., the control unit (2000) selects the clearest image among the image frames before and after that time to perform number plate recognition, thereby reliably recognizing the number plate without the risk of recognition failure and thereby improving the reliability of enforcement.

[0116] FIG. 8 schematically illustrates an abnormal U-turn determination process based on illegal U-turn enforcement information and general U-turn enforcement information according to an embodiment of the present invention.

[0118] As illustrated in FIG. 8, the frame collection trigger mapped with the illegal U-turn enforcement information causes the U-turn enforcement unit (2300) included in the control unit (2000) to determine that the vehicle assigned the tracking ID has performed an abnormal U-turn, and the frame collection trigger mapped with the general U-turn enforcement information causes the U-turn enforcement unit (2300) to check the real-time signal status received from an external signal collection module (5000), and if the signal status at that time is not a signal allowing a U-turn, it causes the vehicle to determine that it has performed an abnormal U-turn.

[0120] The U-turn enforcement unit (2300) included in the above control unit (2000) determines that the vehicle assigned the tracking ID has performed an abnormal U-turn when it receives a frame collection trigger mapped with the illegal U-turn enforcement information.

[0121] Additionally, when the U-turn enforcement unit (2300) receives a frame collection trigger mapped with the general U-turn enforcement information, it checks the real-time signal status received from an external signal collection module (5000), and if the signal status at that time is not a U-turn permission signal, it determines that the vehicle has performed an abnormal U-turn.

[0123] Specifically, when the U-turn enforcement unit (2300) receives illegal U-turn enforcement information for a specific tracking ID, the illegal U-turn enforcement information is generated when a vehicle crosses the center line in a section that is not a U-turn permitted section (e.g., between the second virtual line and the third virtual line), so it corresponds to a 'U-turn section violation' case, and the U-turn enforcement unit (2300) finally determines that the vehicle assigned to the tracking ID has performed an abnormal U-turn.

[0125] If the above-mentioned illegal U-turn enforcement information is not received by the above-mentioned U-turn enforcement unit (2300) and the above-mentioned general U-turn enforcement information is also not received, the above-mentioned general U-turn enforcement information is generated when a vehicle crosses the center line within the U-turn permitted section (e.g., between the third virtual line and the fourth virtual line), so it is determined that the vehicle did not attempt a U-turn.

[0127] If the above U-turn enforcement unit (2300) receives general U-turn enforcement information for the above tracking ID without receiving the above illegal U-turn enforcement information, it means that the vehicle attempted a U-turn in a U-turn permitted section, so the above U-turn enforcement unit (2300) determines whether the signal state at that time is a U-turn permitted signal. For example, if the intersection is a 'U-turn permitted when left turn signal is on' zone, it can be confirmed whether the signal state at that time is a left turn signal.

[0129] If the signal state is a signal allowing a U-turn, the vehicle is determined to have performed a normal U-turn. On the other hand, if the signal state is not a signal allowing a U-turn, for example, if a U-turn is attempted during a stop or straight signal state, this constitutes a case of 'U-turn signal violation'. Therefore, the U-turn enforcement unit (2300) ultimately determines that the vehicle has performed an abnormal U-turn.

[0131] Meanwhile, as another embodiment of the present invention, the control unit (2000) further includes a signal violation enforcement unit to enforce not only abnormal U-turns but also general signal violations, thereby expanding the scope of application of the enforcement system (1). For example, when the signal state of a traffic light is a stop signal state, if the radar sensor included in the radar module (1000) detects that a specific vehicle has crossed the stop line, the signal violation enforcement unit can determine that the vehicle has committed a signal violation. In this way, the enforcement system (1) can be expanded to enforce various forms of traffic law violations by combining the precise location detection capability of the radar module (1000) with real-time signal information.

[0133] FIG. 9 schematically illustrates the process of determining whether to generate intermittent data upon receiving a trigger signal according to an embodiment of the present invention.

[0135] As illustrated in FIG. 9, the control unit (2000) includes: a frame collection unit (2100) that collects a plurality of image frames corresponding to the driving section of a vehicle assigned a tracking ID from an image of an auxiliary camera (4000) according to the frame collection trigger; and a U-turn control unit (2300) that determines whether the vehicle is making an abnormal U-turn based on the frame collection trigger.

[0136] Additionally, if the trigger signal determines that a specific vehicle has performed an abnormal U-turn, the control unit (2000) is instructed to generate enforcement data including the plurality of video frames, the vehicle number of the vehicle, and enforcement information as data for a subsequent enforcement procedure, and if the trigger signal determines that the vehicle has not performed an abnormal U-turn, the control unit (2000) is instructed not to generate the enforcement data.

[0138] Specifically, the control unit (2000)'s enforcement frame collection unit (2100) collects a plurality of video frames corresponding to the driving section of a vehicle assigned a specific tracking ID from the video captured by the auxiliary camera (4000) according to the frame collection trigger received from the radar module (1000), and the collected video frames can serve as evidence to prove a violation.

[0140] Next, the U-turn enforcement unit (2300) of the control unit (2000) determines whether the vehicle is performing an abnormal U-turn based on the received illegal U-turn enforcement information or general U-turn enforcement information.

[0141] Afterwards, the control unit (2000) can determine whether to generate data based on the judgment result of the U-turn control unit (2300).

[0143] If it is determined that the vehicle in question has performed an abnormal U-turn, the control unit (2000) may perform a control data generation step to generate control data including a plurality of collected video frames, the vehicle number of the vehicle in question, and control information as data for subsequent control procedures such as imposing a fine.

[0144] In addition, the above enforcement information may include the above illegal U-turn enforcement information or general U-turn enforcement information.

[0146] On the other hand, if it is determined that the vehicle in question did not perform an abnormal U-turn, such as by performing a normal U-turn, the control unit (2000) may perform a step of not generating enforcement data, which involves discarding the data collected as evidence without storing it.

[0148] In one embodiment of the present invention, by selectively generating only enforcement data for vehicles that have violated traffic laws and discarding data for vehicles that have operated normally, the effect of protecting the driver's personal information and efficiently managing the storage space of the enforcement system (1) can be achieved.

[0150] FIG. 10 schematically illustrates the components and operation process of a U-turn control unit (2300) according to another embodiment of the present invention.

[0152] As illustrated in FIG. 10, the U-turn enforcement unit (2300) comprises: a trajectory tracking unit that generates a real-time driving trajectory of a vehicle with a specific tracking ID traveling from the second virtual line to the fourth virtual line based on a tracking table received from the radar module (1000); a model generation unit that generates a standard U-turn trajectory model by learning driving trajectory data for a plurality of normal U-turns collected for a plurality of vehicles; and a trajectory analysis unit that calculates the trajectory similarity between the two trajectories by comparing the real-time driving trajectory generated by the trajectory tracking unit with the standard U-turn trajectory model. and an abnormal behavior determination unit that, when the calculated trajectory similarity is less than a preset threshold similarity, generates a trajectory deviation trigger including the corresponding tracking ID and transmits it to the control unit (2000); and when the control unit (2000) receives the trajectory deviation trigger, it determines that the vehicle has performed an abnormal U-turn.

[0154] Schematically, FIG. 10 (a) illustrates the components of a U-turn control unit (2300), and FIG. 10 (b) illustrates a real-time driving trajectory and a standard U-turn trajectory model.

[0156] As illustrated in FIG. 10(a), the U-turn control unit (2300) is configured to include a trajectory tracking unit, a model generation unit, a trajectory analysis unit, and an abnormal behavior judgment unit.

[0158] The above trajectory tracking unit tracks the movement path of a vehicle with a specific tracking ID based on a tracking table received in real time from the radar module (1000). Specifically, in the section from the time the vehicle enters the second virtual line until it passes the fourth virtual line, it generates a real-time driving trajectory by connecting multiple coordinates (location information) received according to a time series.

[0160] The above model generation unit learns driving trajectory data regarding normal U-turns for multiple vehicles that have traveled through the enforcement section, and generates a standard U-turn trajectory model, which is a standard model of a safe U-turn trajectory. The standard U-turn trajectory model may include not only the U-turn trajectory but also road structures such as lane width and turning radius, and statistical traffic patterns such as average driving speed by time of day, as variables.

[0162] The above-mentioned trajectory analysis unit can calculate trajectory similarity indicating how similar the two trajectories are by comparing and analyzing in real time the driving trajectory of each vehicle generated in real time through the above-mentioned trajectory tracking unit with the standard U-turn trajectory model previously generated by the above-mentioned model generation unit. The above-mentioned trajectory similarity considers not only how far apart the two trajectories are but also the driving pattern together, and the spatial separation (as shown in [Equation 1] below) ) and dynamic similarity( It can be calculated by combining ).

[0163]

[0164] At this time, the above is the average physical distance difference between the two trajectories and represents the difference in velocity and acceleration patterns between the two trajectories, and and are weights for adjusting the importance of spatial separation and dynamic similarity, respectively ( It corresponds to ).

[0165] The above abnormal behavior judgment unit uses the trajectory similarity calculated by the above trajectory analysis unit ( It determines whether the trajectory similarity is below a preset threshold similarity. If the trajectory similarity is lower than the threshold similarity, it can be determined that the vehicle has performed dangerous driving outside the normal range. For example, this may apply to cases where the vehicle cuts into a U-turn lane with a sudden lane change, drives with an excessively wide or narrow turning radius, or performs unnecessary sudden deceleration or acceleration. In such cases, the abnormal behavior determination unit determines that the vehicle has performed an abnormal U-turn and generates a trajectory deviation trigger including the tracking ID and transmits it to the control unit (2000).

[0167] In an embodiment of the present invention illustrated in FIG. 10(b), when a specific vehicle starts a U-turn in accordance with a U-turn permission signal within a U-turn permission section, but drives at a high speed while drawing a sharper curve than the standard U-turn trajectory model from detection point D4 onwards, and the trajectory similarity between the real-time driving trajectory of the vehicle and the standard U-turn trajectory model is calculated to be less than the threshold similarity, the abnormal behavior judgment unit can determine this as a 'dangerous U-turn' and generate a trajectory deviation trigger.

[0169] In one embodiment of the present invention, beyond determining whether there is an explicit violation of traffic laws, enforcement is carried out by comprehensively analyzing even potential dangerous driving that may threaten the safety of other vehicles, thereby achieving the effect of securing traffic safety to an even higher level.

[0171] FIG. 11 illustrates the internal configuration of a computing device (11000) according to one embodiment of the present invention.

[0173] The radar module (1000) and control unit (2000) mentioned in the description of FIG. 1 may include components of the computing device (11000) illustrated in FIG. 11, which will be described later.

[0175] As illustrated in FIG. 11, the computing device (11000) may include at least one processor (11100), memory (11200), peripheral interface (11300), input / output subsystem (I / O subsystem) (11400), power circuit (11500), and communication circuit (11600).

[0177] Specifically, the memory (11200) may include, for example, high-speed random access memory, magnetic disk, SRAM, DRAM, ROM, flash memory, or non-volatile memory. The memory (11200) may include software modules, instruction sets, or various other data required for the operation of the computing device (11000).

[0178] At this time, access to the memory (11200) from other components, such as the processor (11100) or the peripheral device interface (11300), can be controlled by the processor (11100). The processor (11100) may be composed of a single or multiple units and may include processors in the form of GPUs and TPUs to improve computational processing speed.

[0179] The above peripheral device interface (11300) can connect input and / or output peripheral devices of the computing device (11000) to the processor (11100) and the memory (11200). The processor (11100) can perform various functions for the computing device (11000) and process data by executing a software module or instruction set stored in the memory (11200).

[0180] The input / output subsystem (11400) may connect various input / output peripheral devices to the peripheral device interface (11300). For example, the input / output subsystem (11400) may include a controller for connecting peripheral devices such as a monitor, keyboard, mouse, printer, or, if necessary, a touchscreen or sensor to the peripheral device interface (11300). According to another aspect, the input / output peripheral devices may be connected to the peripheral device interface (11300) without passing through the input / output subsystem (11400).

[0181] The power circuit (11500) may supply power to all or part of the components of the terminal. For example, the power circuit (11500) may include one or more power sources such as a power management system, a battery or alternating current (AC), a charging system, a power failure detection circuit, a power converter or inverter, a power status indicator, or any other components for power generation, management, and distribution.

[0182] The communication circuit (11600) may enable communication with another computing device using at least one external port. Alternatively, as described above, the communication circuit (11600) may enable communication with another computing device by including an RF circuit and transmitting and receiving an RF signal, also known as an electromagnetic signal, as needed.

[0184] The embodiment of FIG. 11 is merely an example of the computing device (11000), and the computing device (11000) may have some components shown in FIG. 11 omitted, additional components not shown in FIG. 11 added, or a configuration or arrangement that combines two or more components. For example, a computing device for a communication terminal in a mobile environment may include a touchscreen or sensors in addition to the components shown in FIG. 11, and the communication circuit (1160) may include a circuit for RF communication of various communication methods (Wi-Fi, 3G, LTE, 5G, 6G, Bluetooth, NFC, Zigbee, etc.). The components that can be included in the computing device (11000) may be implemented as hardware, software, or a combination of both hardware and software, including one or more integrated circuits specialized for signal processing or applications.

[0185] Methods according to embodiments of the present invention may be implemented in the form of program instructions that can be executed through various computing devices and recorded on a computer-readable medium. In particular, the program according to the present embodiment may be configured as a PC-based program or an application dedicated to a mobile terminal. An application to which the present invention is applied may be installed on a user terminal through a file provided by a file distribution system. For example, the file distribution system may include a file transmission unit (not shown) that transmits the file upon a request from the user terminal.

[0187] The device described above may be implemented as a hardware component, a software component, and / or a combination of a hardware component and a software component. For example, the device and components described in the embodiments may be implemented using one or more general-purpose or special-purpose computers, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing unit may execute an operating system (OS) and one or more software applications executed on said operating system. Additionally, the processing unit may access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing unit may be described as being used as a single unit, but those skilled in the art will understand that the processing unit may include multiple processing elements and / or multiple types of processing elements. For example, the processing unit may include multiple processors or one processor and one controller. In addition, other processing configurations, such as parallel processors, are also possible.

[0188] Software may include computer programs, code, instructions, or a combination of one or more of these, and may configure a processing unit to operate as desired or command the processing unit independently or collectively. Software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, computer storage medium or device, or transmitted signal wave in order to be interpreted by the processing unit or to provide instructions or data to the processing unit. Software may be standardized and stored or executed in a standardized manner on a networked computing device. Software and data may be stored on one or more computer-readable recording media.

[0189] The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc., either alone or in combination. The program instructions recorded on the medium may be those specifically designed and configured for the embodiment, or they may be those known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROMs and DVDs; magneto-optical media such as floptical disks; and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, and flash memory. Examples of program instructions include machine code, such as that generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc. The hardware devices described above may be configured to operate as one or more software modules to perform the operation of the embodiment, and vice versa.

[0191] In one embodiment of the present invention, by using a trigger signal generated by a radar module that is less affected by environmental changes such as weather or illumination as the primary basis for judgment regarding enforcement, the limitations of existing image analysis methods can be overcome, and the reliability of enforcement and system operation efficiency can be improved.

[0192] In one embodiment of the present invention, by collecting a plurality of video frames at equal intervals to prove the entire process of a violation, the continuous movement process of a vehicle that is difficult to identify with a single image can be recorded, thereby maximizing the reliability of enforcement evidence.

[0193] In one embodiment of the present invention, by securing evidence video frames from the video of an auxiliary camera that films the entire enforcement area, contextual information such as signal status and surrounding traffic conditions, as well as the movement of the violating vehicle, can be provided together, thereby enabling an effective response in the event of a dispute.

[0194] In one embodiment of the present invention, by utilizing vehicle tracking information collected for the purpose of cracking down on abnormal U-turns to crack down on speeding and signal violations together, a single enforcement system can crack down on multiple traffic law violations, thereby increasing the utility and economic efficiency of the system.

[0195] In one embodiment of the present invention, by selectively generating enforcement data only for vehicles finally determined to have made an abnormal U-turn and discarding data for vehicles driving normally without storing it, it is possible to protect the driver's personal information and efficiently manage the storage space of the enforcement system.

[0197] Although the embodiments have been described above with reference to limited examples and drawings, those skilled in the art can make various modifications and variations from the description above. For example, suitable results may be achieved even if the described techniques are performed in a different order than described, and / or if the components of the described system, structure, device, circuit, etc. are combined or assembled in a form different from described, or replaced or substituted by other components or equivalents. Therefore, other implementations, other embodiments, and equivalents to the claims below are also within the scope of the claims.

Claims

Claim 1 A radar module that generates a trigger signal for an abnormal U-turn using virtual lines on a radar map, comprising: a tracking table transmitting unit that assigns a tracking ID to each vehicle detected by a radar sensor included in the radar module, generates a tracking table including the detection time, location information, and tracking ID of each vehicle, and transmits it to a control unit; and a trigger signal transmitting unit that generates a trigger signal including a frame collection trigger and a license plate recognition trigger for cracking down on abnormal U-turns based on vehicle detection results based on a plurality of virtual lines on a radar map, and transmits it to the control unit; wherein the plurality of virtual lines include: a first virtual line for detecting that each vehicle has entered a crackdown section; a second virtual line for recognizing the license plate of each vehicle; a third virtual line that delineates a U-turn prohibition section and a U-turn allowance section based on the start point of the U-turn allowance section; and a fourth virtual line that delineates a U-turn allowance section based on the end point of the U-turn allowance section. A virtual center line set along the center line of a road; and the trigger signal transmitting unit includes: a frame collection trigger transmitting unit that, when a specific vehicle is detected by the radar sensor crossing the first virtual line, generates frame collection triggers at equal intervals based on a preset driving distance and a preset number of image frames collected and transmits them to the control unit; and a number recognition trigger transmitting unit that, when a specific vehicle is detected by the radar sensor crossing the second virtual line, generates a number recognition trigger including location information and a tracking ID at a corresponding point in time and transmits it to the control unit or an enforcement camera; and the frame collection trigger transmitting unit includes an illegal U-turn enforcement information generating unit that, when a specific vehicle is detected by the radar sensor crossing the virtual center line between the second virtual line and the third virtual line, generates illegal U-turn enforcement information including location information and a tracking ID at a corresponding point in time and maps it to the frame collection trigger.and when a specific vehicle is detected by the radar sensor to cross the virtual center line between the third virtual line and the fourth virtual line, a general U-turn enforcement information generation unit generates general U-turn enforcement information including location information and a tracking ID at that point in time and maps it to the frame collection trigger; wherein the frame collection trigger mapped with the illegal U-turn enforcement information causes a U-turn enforcement unit included in the control unit to determine that a vehicle assigned the tracking ID has performed an abnormal U-turn, and the frame collection trigger mapped with the general U-turn enforcement information causes the U-turn enforcement unit to check the real-time signal status received from an external signal collection module and determine that the vehicle has performed an abnormal U-turn if the signal status at that point in time is not a U-turn permission signal, and the U-turn enforcement unit, based on a tracking table received from the radar module, [determines] real-time A radar module comprising: a trajectory tracking unit that generates a driving trajectory; a model generation unit that generates a standard U-turn trajectory model by learning driving trajectory data for multiple normal U-turns collected for multiple vehicles; a trajectory analysis unit that calculates trajectory similarity between two trajectories by comparing the real-time driving trajectory generated by the trajectory tracking unit with the standard U-turn trajectory model; and an abnormal behavior determination unit that generates a trajectory deviation trigger including a corresponding tracking ID and transmits it to the control unit when the calculated trajectory similarity is less than a preset threshold similarity, wherein the control unit determines that the vehicle has performed an abnormal U-turn upon receiving the trajectory deviation trigger. Claim 2 delete Claim 3 In claim 1, the frame collection trigger causes the intermittent frame collection unit included in the control unit to divide the section from the time when the vehicle assigned the tracking ID crosses the first virtual line to the driving distance (D) into N-1 equal distance sections at equal intervals ( A radar module that collects a total of N image frames by selecting one image frame for each ) Claim 4 A radar module according to claim 1, wherein the number recognition trigger transmitting unit performs one of the following: a trigger shooting recognition step in which the number recognition trigger is transmitted to the enforcement camera at the time when a specific vehicle crosses the second virtual line, thereby causing the enforcement camera to photograph the license plate of the vehicle while the vehicle is crossing the second virtual line; and a frame selection recognition step in which the number recognition trigger including the time when the specific vehicle crosses the second virtual line is transmitted to the vehicle number matching unit included in the control unit, thereby causing the vehicle number matching unit to select an image frame at the corresponding time among the images received in real time from the enforcement camera and recognize the license plate of the vehicle. Claim 5 delete Claim 6 A radar module according to claim 1, wherein the trigger signal causes the control unit to generate enforcement data including the plurality of image frames, the vehicle number of the vehicle, and enforcement information as data for a subsequent enforcement procedure when it is determined that a specific vehicle has performed an abnormal U-turn, and causes the control unit not to generate the enforcement data when it is determined that the vehicle has not performed an abnormal U-turn.

Images