A traffic law enforcement intelligent management system

Abstract

This invention discloses an intelligent traffic enforcement management system, relating to the field of traffic enforcement and control technology. It includes: a lane configuration module, which configures lane traffic status using lane-level maps, traffic signs and markings, traffic plans, lists of permitted vehicles, and roadside equipment status, generating a lane right-of-way table; a traffic area publishing module, which calls the lane right-of-way table to delineate reserved traffic lanes for permitted vehicles and yielding traffic lanes for ordinary vehicles, and verifies the display status of roadside equipment, generating a lane-level traffic area; and a trajectory projection module, which projects vehicle positioning points, license plate recognition results, travel time, and lane position onto the lane-level traffic area, dividing it into reserved lane segments, entry control lane segments, exit control lane segments, and lateral transition segments, generating trajectory projection records. This invention improves the accuracy, completeness, and interpretability of traffic enforcement credentials by structurally representing occupancy status and comparing it grid-by-grid with the lane right-of-way table.

Description

Technical Field

[0001] This invention relates to the field of traffic law enforcement and control technology, and in particular to an intelligent traffic law enforcement management system. Background Technology

[0002] With the development of technologies such as vehicle-road cooperation, lane-level maps, video checkpoints, roadside units, variable speed limit signs, and in-vehicle terminals, intelligent traffic enforcement management is gradually evolving from single-point capture and manual verification to multi-source perception, lane-level control, and platform-based processing. Existing traffic enforcement management systems typically acquire vehicle license plate numbers, passage times, and lane locations through checkpoint equipment, and publish control statuses such as lane opening, speed limits, yielding, and prohibition through roadside equipment. They also combine this with traffic signs and markings, traffic plans, and vehicle access information to record and manage whether vehicles comply with traffic control requirements. These technologies already have a high level of application in key road section control, temporary traffic organization, vehicle priority passage, variable lane management, and violation evidence collection scenarios.

[0003] When dealing with complex traffic control scenarios, existing technologies typically rely on whether a vehicle enters a specific lane, triggers a checkpoint camera, or exceeds the speed limit as the basis for enforcement decisions. However, there is a lack of unified spatiotemporal correspondence between vehicle trajectories, lane right-of-way, roadside equipment display status, and traffic plans. When vehicles briefly occupy lane boundaries, repeatedly enter and exit, laterally approach reserved traffic areas, or pass through during equipment status transitions, a single location point or image frame cannot accurately represent the relationship between vehicle behavior and the current lane traffic status. This can easily lead to incomplete representation of violations, difficulty in distinguishing between normal yielding and interference with priority passage, and inconsistent verification of traffic evasion. Summary of the Invention

[0004] In view of the aforementioned existing problems, the present invention is proposed.

[0005] Therefore, the present invention provides a traffic enforcement intelligent management system to solve the problem of difficulty in verifying the spatiotemporal consistency between continuous vehicle passage behavior and lane right-of-way status.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: This invention provides an intelligent traffic enforcement management system, which includes: The lane configuration module configures lane traffic status through lane-level maps, traffic signs and markings, traffic plans, lists of permitted vehicles, and roadside equipment status, and generates a lane right-of-way table. The traffic area publishing module calls the lane right-of-way table to delineate reserved passage lanes for permitted vehicles, delineate yield passage lanes for ordinary vehicles, and verify the display status of roadside equipment to generate lane-level traffic areas. The trajectory projection module projects the vehicle positioning point, license plate recognition result, passage time and lane position onto the lane-level passage area, dividing the lane-keeping section, the entry into the controlled lane section, the exit from the controlled lane section and the lateral transition section, and generating trajectory projection records; The violation review module arranges the vehicle state chain according to the trajectory projection record, and constructs a lane spatiotemporal occupancy matrix with continuous time slices and lane-level traffic areas. It then compares the lane spatiotemporal occupancy matrix with the lane right-of-way table cell by cell to generate violation event records. The evidence processing module links violation records, trajectory projection records, lane spatiotemporal occupancy matrix, roadside equipment display status, checkpoint images, and traffic contingency plan numbers to generate traffic enforcement certificates.

[0007] As a preferred embodiment of the intelligent traffic enforcement management system of the present invention, the generation of the lane right-of-way table specifically includes, Based on the lane boundaries, lane directions, lane connections, and traffic signs and markings in the lane-level map, the traffic constraint range of each lane is determined, forming lane rule units; Based on the lane rule unit and the controlled lane range, control start and end time and list of permitted vehicles in the traffic plan, lane traffic conditions are formed; The lane traffic status is defined by the lane traffic conditions and the status of the corresponding roadside equipment, and the lane traffic right table is generated by marking the lanes and time slots as permitted, speed limit, yield, and prohibited.

[0008] In a preferred embodiment of the intelligent traffic enforcement management system of the present invention, the step of calling the lane right-of-way table to designate reserved passage lanes for permitted vehicles and yield passage lanes for ordinary vehicles specifically includes: Extract the list of permitted vehicles, the controlled lane range, the start and end times of control, and the lane traffic status from the lane right-of-way table to form the conditions for delineating the traffic zone; Based on the conditions for defining the traffic strip and the planned travel routes of permitted vehicles in the traffic plan, the sequence of reserved lanes is determined, and a primary lateral transition section connecting the boundaries of the permitted lanes and the controlled lanes is set along the reserved lane sequence to generate the reserved traffic strip. Within the lanes where ordinary vehicles are permitted to travel, the area occupied by the reserved traffic lane is avoided, and a yielding traffic lane is generated. The start and end times of the reserved traffic lane and the yielding traffic lane are controlled accordingly, and the traffic lane delineation result is generated.

[0009] As a preferred embodiment of the intelligent traffic enforcement management system of the present invention, the step of verifying the display status of roadside equipment and generating lane-level traffic areas specifically includes: Based on the lane traffic status and the start and end times of the control measures, the traffic lane delineation results are converted into the traffic lane release status of the roadside equipment; By verifying the actual display status of the roadside equipment through the status of the traffic zone, and marking the valid release mark and the mark to be verified on the traffic zone delineation result, a traffic zone release record is formed; The reserved traffic strip, yielding traffic strip, normal traffic area and controlled lane with valid release marks are overlaid on the lane-level map to generate a lane-level traffic area.

[0010] As a preferred embodiment of the intelligent traffic enforcement management system of the present invention, the step of projecting vehicle location points, license plate recognition results, passage time, and lane position onto the lane-level passage area specifically includes: Arrange vehicle location points according to passage time, and confirm the same vehicle through license plate recognition results and lane position to generate a vehicle passage point list; Based on the lane-level traffic area, the distance between the traffic zone, lane, and control lane boundary of the vehicle traffic point series is calculated to form a regional projection point series; The vehicle speed is determined based on the time difference between adjacent vehicle positioning points, and the traffic lane type, lane number, distance to the control lane boundary, and vehicle speed are marked on the area projection point column to obtain the vehicle projection point sequence.

[0011] As a preferred embodiment of the intelligent traffic enforcement management system of the present invention, the generation of trajectory projection records specifically includes, The status of the trajectory segment is determined based on the type of traffic strip and the distance to the control lane boundary in the vehicle projection point sequence. When consecutive vehicle projection points maintain the same lane number and do not cross the boundary of the controlled lane, they are marked as a lane segment that maintains the lane number. When a vehicle's projection point crosses from the yielding lane into the controlled lane, it is marked as entering the controlled lane segment; When a vehicle's projection point returns from the controlled lane to the yielding lane, it is marked as having left the controlled lane section; When the vehicle projection point is pressed into the boundary of the reserved traffic strip but does not cross the boundary of the controlled lane into the controlled lane, it is marked as a lateral transition section. The start and end times of each trajectory segment, the preceding lane crossed, the following lane crossed, and the type of traffic lane are bound together to generate trajectory projection records.

[0012] As a preferred embodiment of the intelligent traffic enforcement management system of the present invention, the arrangement of the vehicle state chain specifically includes, Extract the trajectory segment status, start and end time, lane number, traffic strip type and crossing direction from the trajectory projection record to obtain the status node; Connect the state nodes according to the start time, and merge adjacent state nodes that have the same trajectory segment status, lane number and traffic zone type to obtain the vehicle state chain. Mark the state change time and checkpoint passage time to the vehicle state chain to obtain the state chain time sequence index.

[0013] As a preferred embodiment of the intelligent traffic enforcement management system of the present invention, the construction of the lane spatiotemporal occupancy matrix specifically includes, The vehicle passage process is divided into continuous time slices by using the state change time and checkpoint passage time in the state chain time index; Based on the lane number, the ordinary traffic area, yielding lane, reserved traffic lane and controlled lane in the lane-level traffic area are expanded to obtain the area column sequence; The vehicle state chain is positioned between continuous time slices and regional column sequences to form an initial occupancy matrix. The vehicle occupancy status, traffic strip type, lane traffic status, access vehicle verification result, equipment release mark and checkpoint association mark are simultaneously labeled for each intersection cell of the initial occupancy matrix to generate a lane spatiotemporal occupancy matrix. Within the same time slice, the regional contact relationship between the reserved traffic lane and the yielding traffic lane is compared, and the right-of-way adjacency relationship is marked by combining the occupancy change order of adjacent time slices, so as to obtain the lane spatiotemporal occupancy matrix with matrix units to be compared.

[0014] As a preferred embodiment of the intelligent traffic enforcement management system of the present invention, the step of comparing the lane spatiotemporal occupancy matrix with the lane right-of-way table cell by cell specifically includes: The lane right-of-way table is retrieved using the time slice and lane number of the matrix cell to be compared, and the cell right-of-way record is obtained. Based on vehicle occupancy status, unit right-of-way records, access vehicle verification results, and equipment-issued markers, right-of-way conflicts are determined and right-of-way conflict markers are generated. When a matrix cell to be compared carries a verification mark, the corresponding passage conflict mark is limited to a verification mark; By marking the traffic conflict back to the corresponding trajectory segment in the vehicle's state chain, the fragment of the illegal behavior can be obtained. When the video of the violation shows that a non-permitted vehicle is entering a controlled lane while in a yielding or prohibited state, it is confirmed that the vehicle has illegally entered the controlled lane. When the footage of the illegal act shows that the transverse transition section occupies the reserved passage and triggers the right-of-way relationship, it is confirmed that the order of priority passage is being disrupted. When the violation footage shows entering the controlled lane segment, leaving the controlled lane segment, and re-entering the controlled lane segment consecutively, it is confirmed as evading traffic control. When the speed of a vehicle corresponding to a checkpoint marker is higher than the actual speed displayed by the variable speed limit sign and the checkpoint image corresponds to the vehicle's license plate, it is confirmed that the vehicle is violating the speed limit. The start and end times, lane number, traffic status, device release markers, and checkpoint association markers of the violation segments are bound together to generate violation event records.

[0015] In a preferred embodiment of the intelligent traffic enforcement management system of the present invention, the generation of traffic enforcement credentials specifically includes: Based on the violation records, determine the vehicle license plate number, violation type, incident time, incident location, and controlled lane number, and generate an incident credential index; Based on the trajectory proof record, locate the matrix unit to be compared in the lane spatiotemporal occupancy matrix, generate a matrix proof record, and associate the matrix proof record with the roadside equipment display status, checkpoint image and traffic plan number to generate a control proof record; The event credential index, trajectory proof record, matrix proof record, and control proof record are encapsulated to generate traffic enforcement credentials.

[0016] The beneficial effects of this invention are as follows: By unifying lane-level maps, traffic signs and markings, traffic plans, lists of permitted vehicles, and roadside equipment status into the same lane and the same time slice, lane traffic status has clear spatial and temporal boundaries and equipment release basis; by retaining the designation of traffic lanes and yielding lanes, the priority passage space for permitted vehicles is distinguished from the yielding passage space for ordinary vehicles, avoiding reliance solely on fixed lane boundaries to judge vehicle violations and improving adaptability to temporary control, yielding, and priority passage scenarios; by mapping vehicle positioning points, license plate recognition results, lane positions, and passage times to lane-level traffic areas through trajectory projection recording, the continuous passage process of vehicles can be divided into lane-keeping segments, entry into controlled lane segments, exit from controlled lane segments, and lateral transition segments, providing verifiable trajectory evidence for complex behaviors such as short-term encroachment, boundary approach, and entry / exit. In particular, by using vehicle state chains and lane spatiotemporal occupancy matrices, the occupancy status of vehicles in ordinary traffic areas, yield lanes, reserved lanes, and controlled lanes within continuous time slices is structurally expressed and compared with the lane right-of-way table cell by cell. This eliminates the reliance on a single capture point or trajectory point to determine violations, instead confirming violations based on the correspondence between vehicle behavior, lane right-of-way status, vehicle access verification results, and roadside equipment status. Furthermore, the adjacent right-of-way relationship can distinguish between normal vehicles approaching reserved lanes and vehicles actually interfering with priority traffic order. The identification of continuous entry into, exit from, and re-entry into controlled lanes improves the stability of judging evasive behavior. The pending verification markers also prevent the direct generation of enforcement conclusions when roadside equipment displays abnormalities, enhancing the accuracy, completeness, and interpretability of traffic enforcement documents. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the intelligent traffic enforcement management system.

[0019] Figure 2 Generate a schematic diagram of the lane right-of-way table and lane-level traffic areas.

[0020] Figure 3 A schematic diagram of vehicle trajectory projection recording and vehicle state chain generation.

[0021] Figure 4 A schematic diagram for verifying the lane space-time occupancy matrix cell by cell and generating law enforcement credentials. Detailed Implementation

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0023] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0024] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0025] Reference Figures 1-4 As one embodiment of the present invention, this embodiment provides a traffic enforcement intelligent management system, including the following steps: The lane configuration module configures lane traffic status through lane-level maps, traffic signs and markings, traffic plans, lists of permitted vehicles, and roadside equipment status, and generates a lane right-of-way table.

[0026] Based on the lane boundaries, lane directions, and lane connections in the lane-level map, the left boundary coordinates, right boundary coordinates, and lane centerline coordinates of each lane are extracted. The lane space is defined by the left and right boundary coordinates, the lane direction is determined by the direction from the start to the end of the lane centerline, and the adjacent lane relationships are determined by the lane numbers that share boundaries or have sequential connections with the current lane. Traffic signs and markings are mapped to specific lanes, the location of the traffic signs is projected onto the nearest lane centerline, and the overlap between the start and end coordinates of the traffic markings and the lane boundary coordinates is determined. The lanes corresponding to the projection or overlap results are identified as controlled lanes. For lanes that are prohibited from crossing or allowed to change lanes, the lane boundary interval covered by the start and end coordinates of the markings is used as the constraint range. For speed-limited passage, the lane interval between the location of the speed limit sign and the next speed limit sign, the end of the speed limit sign, or the end of the road segment is used as the constraint range. For lanes that are allowed to yield or prohibit passage, the interval between the lane entrance controlled by the corresponding traffic sign, lane indicator light, or traffic light and the next lane connection node is used as the constraint range, forming lane rule units.

[0027] The traffic control plan is a control scheme that has been determined during the traffic control process. It includes at least the traffic control plan number, the range of controlled lanes, the start and end times of the control, the list of permitted vehicles, and the requirements for the release of roadside equipment. The range of controlled lanes is the set of lane numbers defined by the traffic control plan and the start and end mileage or start and end coordinate intervals corresponding to each lane.

[0028] The lane rule units are mapped to the controlled lane ranges in the traffic plan. Specifically, the lane number, lane spatial range, and lane centerline mileage interval in the lane rule unit are spatially overlapped with the set of lane numbers and start-end mileage or start-end coordinate intervals in the controlled lane range. When the lane numbers are consistent and the lane centerline mileage interval overlaps with the controlled lane range, the corresponding lane rule unit is identified as a lane rule unit participating in the control, and the control start and end time is divided into continuous time slices, so that each lane rule unit participating in the control has a clear time assignment. The list of permitted vehicles is mapped to the lane rule units participating in the control and the continuous time slices to form lane traffic conditions. The lane traffic conditions are used to indicate which vehicle categories are allowed to pass through a specific lane within a specific time slice, and what traffic restrictions ordinary vehicles should be subject to within a specific time slice.

[0029] The status of lane indicator lights, variable speed limit signs, access traffic lights, roadside units, and checkpoint devices corresponding to lane passage conditions is retrieved, and the status of roadside devices in each consecutive time slice is checked to see if they can express the lane passage conditions. Lane indicator lights are used to express whether the lane is open, variable speed limit signs are used to express the speed limit passage status, access traffic lights are used to express the vehicle access passage status, roadside units are used to express the roadside communication and command execution status, and checkpoint devices are used to express the vehicle passage record acquisition status.

[0030] Based on lane traffic conditions and roadside equipment status, the lane traffic status of each lane rule unit is marked in each consecutive time slice; when the lane allows normal vehicle passage without special control restrictions, it is marked as permitted to pass; when the lane allows vehicle passage but the variable speed limit sign restricts the maximum passage speed, it is marked as speed limit passage; when the lane needs to reserve passage space for permitted vehicles and requires ordinary vehicles to give way, it is marked as yielding passage; when the lane is under control closure, prohibited from entering, or prohibited by traffic signs and markings, it is marked as prohibited passage.

[0031] The lane number, consecutive time slices, vehicle category, list of permitted vehicles, traffic plan number, controlled lane range, control start and end time, lane traffic status, and roadside equipment status are recorded in the same table structure. When the roadside equipment status is consistent with the traffic status expressed by the lane traffic conditions, the corresponding lane and corresponding time slice are marked as valid traffic status. When the roadside equipment status is inconsistent with the traffic status expressed by the lane traffic conditions, the corresponding lane and corresponding time slice are marked as pending verification status, and a lane right-of-way table is generated.

[0032] The traffic area publishing module calls the lane right-of-way table to define reserved traffic lanes for permitted vehicles and yield lanes for ordinary vehicles, and verifies the display status of roadside equipment to generate lane-level traffic areas.

[0033] Extract the list of permitted vehicles, the controlled lane range, the start and end times of control, and the lane traffic status from the lane right-of-way table to form the conditions for delineating the traffic zone. Among them, the list of permitted vehicles is used to determine the vehicles that are entitled to retain their right of way, the controlled lane range is used to limit the lanes and mileage intervals where the traffic zone is located, the start and end times of control are used to limit the effective time of the traffic zone, and the lane traffic status is used to distinguish between permitted passage, speed limit passage, yield passage, and prohibited passage.

[0034] The planned travel routes of permitted vehicles are extracted from the traffic plan, and the lane numbers, start and end mileage, and travel direction of the permitted vehicles' planned travel routes are compared with the controlled lane range in the traffic zone delineation conditions. When the lane number of the permitted vehicle's planned travel route falls within the controlled lane range, and the start and end mileage of the permitted vehicle's planned travel route overlaps with the start and end mileage of the controlled lane range, the corresponding lane is determined as the permitted lane. The lane that shares a boundary with the permitted lane and leads to the controlled lane is determined as the adjacent transition lane. The boundaries of the permitted lane, adjacent transition lane, and controlled lane are arranged according to the travel direction to obtain the reserved lane sequence.

[0035] The longitudinal direction of the reserved traffic strip is determined along the centerline of the reserved lane sequence, and a lateral transition section is set between the boundary of the access lane and the controlled lane.

[0036] A single lateral transition segment is used to smoothly transition the reserved traffic strip from the access lane to the control lane boundary. Vehicles traveling along this segment experience only one directional shift and one directional recovery. The single lateral transition segment can be determined using cubic Hermite interpolation in numerical analysis. The original form of cubic Hermite interpolation is used to obtain a smooth curve when the endpoint derivative is constrained. This scheme sets the endpoint derivative to zero, ensuring a smooth connection between the lateral transition segment and the corresponding lane direction at the start and end points. The expression is: ; ; in, Indicates a lateral transition segment at mileage The plane coordinates at the location; Indicates the center line of the access lane at mileage. The plane coordinates at the location; Indicates the controlled lane boundary at mileage. The plane coordinates at the location; Indicates the mileage along the reserved lane sequence; Indicates the starting mileage of a lateral transition section; Indicates the end mileage of a lateral transition segment; This represents the normalized mileage percentage.

[0037] Based on the lane centerline, controlled lane boundary, and first lateral transition section of the reserved lane sequence, the continuous passage range that permitted vehicles should maintain during the start and end time of the control is determined, and a reserved passage zone is generated. The reserved passage zone includes the straight-through range within the permitted lane, the first lateral transition section within the adjacent transition lane, and the reserved range near the boundary of the controlled lane. The reserved passage zone corresponds to the list of permitted vehicles and the start and end time of the control.

[0038] The lanes permitted for ordinary vehicles are extracted from the lane right-of-way table, and the occupied area of ​​the reserved lane is deducted from the lanes permitted for ordinary vehicles to obtain the yielding lane. The yielding lane is used to limit the driving position that ordinary vehicles should maintain during the start and end time of the control. When there is spatial overlap between the lanes permitted for ordinary vehicles and the reserved lane, the overlapping part is included in the reserved lane, and ordinary vehicles can only travel in the remaining lane area.

[0039] The reserved traffic lane and the yielding traffic lane are respectively assigned to the start and end times of the control measures, and traffic lane delineation results are generated. According to the lane traffic status and the start and end times of the control measures in the traffic lane delineation results, the traffic lane release status of lane indicator lights, variable speed limit signs, access signals, and variable information signs are generated. Among them, lane indicator lights correspond to the lane open status, variable speed limit signs correspond to the speed limit traffic status, access signals correspond to the vehicle access status, and variable information signs correspond to the prompts for the reserved traffic lane and the yielding traffic lane.

[0040] The actual display status of lane indicator lights, variable speed limit signs, access traffic lights, and variable information signs is checked against the published status of the traffic zone. When the actual display status matches the published status of the traffic zone, a valid publication mark is marked in the traffic zone delineation result. When the actual display status does not match the published status of the traffic zone, a mark pending verification is marked in the traffic zone delineation result, thus forming a traffic zone publication record.

[0041] Select the reserved traffic lanes and yielding traffic lanes with valid publication marks, mark the lanes where ordinary vehicles are allowed to travel as ordinary traffic areas, and overlay the reserved traffic lanes, yielding traffic lanes, ordinary traffic areas and controlled lanes onto the lane-level map to generate lane-level traffic areas.

[0042] The trajectory projection module projects the vehicle location point, license plate recognition result, passage time and lane position onto the lane-level passage area, dividing the lane into a holding lane segment, a lane entry segment, a lane exit segment, and a lateral transition segment, and generating a trajectory projection record.

[0043] The vehicle terminal sends the vehicle location and passage time, while the lane checkpoint equipment and access checkpoint equipment send the license plate recognition result, passage time, and lane position. The vehicle location points corresponding to the same license plate recognition result are sorted in ascending order according to the passage time. Vehicle location points with duplicate passage times and conflicting lane positions are removed, and vehicle location points with continuous passage times, adjacent lane positions, and consistent license plate recognition results are retained to generate a location point sequence.

[0044] The system uses license plate recognition results, passage time, and lane location to confirm the same vehicle in the location point sequence. When a vehicle location point in the location point sequence corresponds to the same lane location within the same passage time neighborhood as the same license plate recognition result, or corresponds to adjacent lane locations, it is confirmed that the vehicle location point belongs to the same vehicle. When multiple license plate recognition results occur at the same passage time, the lane location recorded by the lane checkpoint device and the access checkpoint device is used as the standard, and vehicle location points that do not conform to the continuous relationship of lane location are removed to generate a vehicle passage point sequence.

[0045] Based on the lane-level traffic area, each vehicle passage point in the vehicle passage point series is spatially projected. First, the planar coordinates of the vehicle passage point are projected onto the lane centerline in the lane-level traffic area. Then, the traffic zone and lane to which the vehicle passage point belongs are determined according to the reserved traffic zone, yielding traffic zone, ordinary traffic area and controlled lane where the projection location is located.

[0046] The projection of the vehicle's travel point onto the lane centerline is calculated using the point-to-line segment projection method in analytical geometry, expressed as: ; in, Indicates the first The planar coordinates of each vehicle passage point; Indicates the coordinates of the starting point of the lane centerline segment; Indicates the coordinates of the end point of the lane centerline segment; Indicates the first The projected coordinates of each vehicle passage point on the centerline segment of the lane.

[0047] when Landing on line segment to line segment In between, adopt As the projection position, when Beyond the line segment to line segment When the time is right, the endpoint of the line segment closest to the vehicle passage point is used as the projection position.

[0048] Based on the projection location, determine the traffic strip type and lane number corresponding to the vehicle passage point, and calculate the vertical distance from the vehicle passage point to the boundary of the controlled lane to form a regional projection point list.

[0049] The distance to the control lane boundary is calculated using the point-to-line distance formula from analytical geometry. This formula originates from the general formula for calculating the distance between lines in plane analytical geometry, and its expression is: ; in, Indicates the first The distance from each vehicle passage point to the boundary of the controlled lane is used to determine whether the vehicle passage point has entered the boundary of the reserved traffic zone and whether it has crossed the boundary of the controlled lane. and Indicates the first Planar coordinate components of each vehicle passage point; Indicates the straight line where the controlled lane boundary is located. and Used to represent straight line direction constraints. Used to represent linear position constraints.

[0050] Vehicle speed is determined based on the time difference between adjacent vehicle positioning points. Vehicle speed is calculated using the average velocity from kinematics, expressed as: ; in, Indicates the first The vehicle speed corresponding to each vehicle positioning point; Indicates the first The planar coordinates of each vehicle positioning point; Indicates the first The planar coordinates of each vehicle positioning point; Indicates the first Passage time at each vehicle location point; Indicates the first The passage time of each vehicle location point.

[0051] The traffic strip type, lane number, controlled lane boundary distance, and vehicle speed are marked onto the area projection point column to obtain the vehicle projection point sequence. Each vehicle projection point in the vehicle projection point sequence corresponds to a travel time, a license plate recognition result, a lane location, a traffic strip type, a lane number, a controlled lane boundary distance, and a vehicle speed.

[0052] The status of a trajectory segment is determined based on the type of the traffic strip and the distance to the control lane boundary in the sequence of vehicle projection points. When consecutive vehicle projection points maintain the same lane number and the distance to the control lane boundary does not change, it is marked as a lane-keeping segment. When a vehicle projection point enters the control lane from the yielding traffic strip and crosses a different lane than the one it crosses after crossing, it is marked as an entry into the control lane segment. When a vehicle projection point returns from the control lane to the yielding traffic strip and crosses a different lane than the one it crosses after crossing, it is marked as a departure from the control lane segment. When a vehicle projection point presses into the boundary of the retained traffic strip but does not cross the boundary of the control lane into the control lane, it is marked as a lateral transition segment.

[0053] The marked lane keeping sections, lane entry sections, lane exit sections, and lateral transition sections are continuously organized; when the trajectory segments of adjacent vehicle projection points have the same status, lane number, and traffic lane type, they are merged into the same trajectory segment; when the trajectory segment status of adjacent vehicle projection points changes, the location of the status change is determined as the trajectory segment boundary, and the time of the status change is recorded.

[0054] The start and end times of each trajectory segment, the crossing of the preceding lane, the crossing of the following lane, the type of traffic zone, the change in the distance to the control lane boundary, and the vehicle speed are bound together to generate a trajectory projection record. The trajectory projection record is used to represent the continuous travel process of the same vehicle within the lane-level traffic area.

[0055] The violation review module arranges the vehicle state chain according to the trajectory projection record, and constructs a lane spatiotemporal occupancy matrix with continuous time slices and lane-level traffic areas. It then compares the lane spatiotemporal occupancy matrix with the lane right-of-way table cell by cell to generate violation event records.

[0056] The trajectory segment status, start and end time, lane number, traffic strip type, and crossing direction are extracted from the trajectory projection record to form a status node. The trajectory segment status includes the lane holding segment, the entry into the controlled lane segment, the exit from the controlled lane segment, and the lateral transition segment. The start and end time is used to limit the duration of the status node. The lane number is used to limit the lane where the vehicle is located. The traffic strip type is used to limit the specific area where the vehicle is located in the normal traffic area, the yielding traffic strip, the reserved traffic strip, and the controlled lane. The crossing direction is used to indicate the direction in which the vehicle enters another lane area.

[0057] State nodes are sorted sequentially according to their start time, and state nodes with consecutive start and end times are connected in sequence. When adjacent state nodes have the same trajectory segment state, lane number, and traffic zone type, they are merged into a single continuous state node. When the trajectory segment state, lane number, or traffic zone type of adjacent state nodes changes, the position of the state change is retained, resulting in a vehicle state chain. The vehicle state chain is used to represent the continuous passage process of the same vehicle within a lane-level passage area, consisting of a lane-keeping segment, a lane-entry segment, a lane-departure segment, and a lateral transition segment.

[0058] The state change time and checkpoint passage time in the vehicle state chain are marked to the vehicle state chain to obtain the state chain timing index. Among them, the state change time represents the time when the vehicle switches from one trajectory segment state to another trajectory segment state, and the checkpoint passage time represents the time when the lane checkpoint device or access checkpoint device records the vehicle passing through the corresponding lane position. When the state change time and the checkpoint passage time are the same, a time boundary is retained; when the state change time and the checkpoint passage time are different, they are used as time boundaries respectively.

[0059] The vehicle passage process is divided into continuous time slices by using the state change time and checkpoint passage time in the state chain time sequence index. Each continuous time slice has a clear start time and end time. The trajectory segment state of the vehicle state chain does not change within the same continuous time slice, and the vehicle passage time can be consistent with the corresponding time slice in the lane right-of-way table.

[0060] The lane-level traffic area is divided into ordinary traffic area, yielding lane, reserved lane and controlled lane according to lane number, resulting in a zone column sequence. The zone column sequence is arranged according to lane number and lane type, so that ordinary traffic area, yielding lane, reserved lane and controlled lane under the same lane number have independent column positions, thereby ensuring that the specific lane area occupied by the vehicle in the same continuous time slice can be distinguished.

[0061] The vehicle state chain is assigned to the intersection of consecutive time slices and region column sequences to form an initial occupancy matrix. Specifically, each state node in the vehicle state chain is mapped to a consecutive time slice according to its start and end times, and to a region column sequence according to the lane number and traffic zone type in the state node. The intersection position is the occupancy position of the vehicle in the corresponding consecutive time slice. When a state node spans multiple consecutive time slices, the state node is assigned to the corresponding multiple consecutive time slices respectively. When there is no vehicle occupancy in a consecutive time slice, the intersection unit is marked as unoccupied.

[0062] For each intersection cell of the initial occupancy matrix, the vehicle occupancy status, traffic zone type, lane traffic status, access vehicle verification result, equipment release marker, and checkpoint association marker are synchronously labeled to generate a lane spatiotemporal occupancy matrix. Among them, the vehicle occupancy status is used to indicate whether a vehicle occupies the corresponding intersection cell, the traffic zone type is derived from the vehicle projection point sequence and trajectory projection record, the lane traffic status is derived from the lane right-of-way table, the access vehicle verification result is obtained by comparing the vehicle license plate with the access vehicle list, the equipment release marker is derived from the traffic zone release record, and the checkpoint association marker is determined by the correspondence between the checkpoint passage time, the checkpoint image, and the vehicle license plate.

[0063] Within the same consecutive time slice, the regional contact relationship between the reserved traffic lane and the yielding traffic lane is compared, and the right-of-way adjacency relationship is marked in conjunction with the occupancy change order of adjacent consecutive time slices. When the yielding traffic lane occupied by a vehicle shares a boundary with the reserved traffic lane, and the vehicle state chain shows a change from the yielding traffic lane pushing into the boundary of the reserved traffic lane in adjacent consecutive time slices, the corresponding intersection unit is marked as triggering the right-of-way adjacency relationship. When the vehicle-occupied area does not have boundary contact with the reserved traffic lane, or there is no occupancy change towards the boundary of the reserved traffic lane in adjacent consecutive time slices, the corresponding intersection unit is marked as not triggering the right-of-way adjacency relationship. The intersection units with vehicle occupancy status are determined as the matrix units to be compared, and the lane spatiotemporal occupancy matrix with the matrix units to be compared is obtained.

[0064] The lane right-of-way table is retrieved using the time slice and lane number of the matrix unit to be compared in the lane spatiotemporal occupancy matrix to obtain the unit right-of-way record. The unit right-of-way record includes at least the corresponding time slice, corresponding lane number, vehicle category, lane passage status, list of permitted vehicles, equipment release mark and controlled lane range, which is used to compare the vehicle occupancy status with the vehicle occupancy status in the matrix unit to be compared.

[0065] Based on vehicle occupancy status, unit right-of-way records, access vehicle verification results, and equipment-issued markers, right-of-way conflicts are determined and right-of-way conflict markers are generated. When a vehicle occupancy status is "occupied" and the vehicle is not on the access vehicle list, and the unit right-of-way record shows that the corresponding lane is in a yielding or prohibited state, the corresponding matrix unit to be compared is marked as a right-of-way conflict marker. When a vehicle occupancy status is "occupied" and the equipment-issued marker is a marker to be verified, the corresponding right-of-way conflict marker is limited to a marker to be reviewed, so as to avoid directly forming a violation confirmation result when the status displayed by the roadside equipment is inconsistent.

[0066] By referencing the traffic conflict marker back to the corresponding trajectory segment in the vehicle state chain, a violation behavior fragment is obtained. Specifically, based on the continuous time slice, lane number, and traffic zone type where the traffic conflict marker is located, the state nodes in the vehicle state chain that have overlapping time ranges and consistent lane numbers are found, and the traffic conflict marker is mapped to the state node to form a violation behavior fragment with a basis for judging the violation type.

[0067] When a violation video shows a non-permitted vehicle entering a controlled lane segment while in a yielding or prohibited state, the violation is confirmed. The confirmation process simultaneously verifies the vehicle license plate, the result of the permitted vehicle verification, the start and end time of the entry into the controlled lane segment, and the controlled lane number, so that the violation can be matched with a specific vehicle, specific time, and specific lane.

[0068] When a violation segment shows that the lateral transition section occupies the reserved traffic lane and triggers the right-of-way adjacent relationship, it is confirmed that the priority traffic order is being disrupted. During the confirmation process, it is also checked whether the lateral transition section has not formed a complete entry into the controlled lane segment, and whether the reserved traffic lane is in the traffic state corresponding to the effective published mark in the same continuous time segment, so as to distinguish the disruption of the priority traffic order from normal traffic behavior that simply approaches the boundary of the reserved traffic lane.

[0069] When the violation fragment shows entering the controlled lane segment, leaving the controlled lane segment, and re-entering the controlled lane segment consecutively, it is confirmed that the vehicle is evading the control. The confirmation process checks the continuity of the three trajectory segment states according to the order of the vehicle state chain, and checks whether the three trajectory segment states are within the same control start and end time, thereby confirming the vehicle's behavior of alternately occupying the controlled lane and adjacent lanes during the control time.

[0070] When the speed of a vehicle corresponding to a checkpoint marker is higher than the actual speed displayed by the variable speed limit sign and the vehicle license plate is corresponding to the checkpoint image, a speed limit violation is confirmed. During the confirmation process, it is also checked whether the checkpoint passage time falls within the corresponding continuous time slice, whether the vehicle speed comes from the vehicle projection point sequence, and whether the actual speed displayed by the variable speed limit sign comes from the status of the roadside equipment, so that the speed limit violation is consistent with the vehicle identity, speed source, and equipment display status.

[0071] The start and end times, lane number, traffic status, device release markers, and checkpoint association markers of the violation segments are bound together to generate violation event records.

[0072] The evidence processing module links violation records, trajectory projection records, lane spatiotemporal occupancy matrix, roadside equipment display status, checkpoint images, and traffic contingency plan numbers to generate traffic enforcement certificates.

[0073] Based on the violation record, determine the vehicle license plate, violation type, event time, event location, and controlled lane number, and match the start and end time of the violation segment, lane number, traffic status, equipment release mark, and checkpoint association mark to generate an event credential index; the event credential index is used to uniquely point to the violation record of the same vehicle at the same event time and the same event location.

[0074] The trajectory projection record is retrieved based on the event credential index, and the lane keeping segment, lane entry segment, lane exit segment, and lateral transition segment that coincide with the start and end time of the violation segment are extracted from the trajectory projection record. The position of the violation segment before and after the vehicle's continuous passage is determined, and a trajectory proof record is generated. The trajectory proof record includes at least the vehicle license plate number, violation segment, traffic lane type, crossing of the preceding lane, crossing of the following lane, change in distance from the boundary of the controlled lane, and vehicle speed.

[0075] Based on the trajectory proof record, locate the comparison matrix unit in the lane spatiotemporal occupancy matrix. According to the start and end time of the illegal behavior segment, lane number, and traffic zone type in the trajectory proof record, find the comparison matrix unit in the lane spatiotemporal occupancy matrix that has the same time slice, lane number, and traffic zone type. Extract the vehicle occupancy status, lane passage status, access vehicle verification result, equipment release mark, checkpoint association mark, and right-of-way adjacency relationship from the comparison matrix unit to generate a matrix proof record.

[0076] The matrix verification record is associated with the display status of roadside equipment, checkpoint images, and traffic plan numbers to generate a control verification record. The display status of roadside equipment is used to verify the actual display content of lane indicator lights, variable speed limit signs, access traffic lights, and variable information signs during the event period. The checkpoint images are used to verify the vehicle license plate and vehicle passage position. The traffic plan number is used to verify the control lane range, control start and end time, and the source of the list of permitted vehicles. When the matrix verification record contains a pending verification mark, the control verification record simultaneously records the reason for the inconsistency between the display status of the corresponding roadside equipment and the published status of the traffic zone.

[0077] The event credential index, trajectory proof record, matrix proof record, and control proof record are encapsulated to generate a traffic enforcement credential. The traffic enforcement credential includes at least the vehicle license plate number, violation type, event time, event location, control lane number, violation behavior fragment, matrix unit to be compared, roadside equipment display status, checkpoint image, and traffic plan number. The traffic enforcement credential is used to demonstrate the consistent correspondence between vehicle behavior, lane traffic status, roadside equipment display status, and checkpoint evidence.

[0078] In summary, this invention unifies lane-level maps, traffic signs and markings, traffic plans, lists of permitted vehicles, and roadside equipment status into the same lane and time slice, giving lane traffic status clear spatial and temporal boundaries and equipment release criteria. By retaining the designation of traffic lanes and yielding lanes, it distinguishes the priority passage space for permitted vehicles from the yielding passage space for ordinary vehicles, avoiding reliance solely on fixed lane boundaries to judge vehicle violations and improving adaptability to temporary control, yielding, and priority passage scenarios. Through trajectory projection recording, it maps vehicle positioning points, license plate recognition results, lane positions, and passage times to lane-level traffic areas, dividing the continuous vehicle passage process into lane-holding segments, lane-entry segments, lane-departure segments, and lateral transition segments, providing verifiable trajectory evidence for complex behaviors such as short-term encroachment, boundary approach, and entry / departure. It uses vehicle state chains and lane spatiotemporal occupancy matrices to structurally represent the occupancy status of vehicles in ordinary traffic areas, yield lanes, reserved lanes, and controlled lanes within continuous time slices, and compares this status with the lane right-of-way table cell by cell. This eliminates reliance on a single capture point or trajectory point to determine violations, instead confirming violations based on the correspondence between vehicle behavior, lane right-of-way status, vehicle access verification results, and roadside equipment status. Furthermore, the adjacent right-of-way relationship distinguishes between normal vehicles approaching reserved lanes and vehicles actually interfering with priority traffic order. The identification of continuous entry into, exit from, and re-entry into controlled lanes improves the stability of judging evasive behavior. The pending verification marker also prevents the direct generation of enforcement conclusions when roadside equipment displays abnormalities, enhancing the accuracy, completeness, and interpretability of traffic enforcement documents.

[0079] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A traffic law enforcement intelligent management system, characterized in that: include, The lane configuration module configures lane traffic status through lane-level maps, traffic signs and markings, traffic plans, lists of permitted vehicles, and roadside equipment status, and generates a lane right-of-way table. The traffic area publishing module calls the lane right-of-way table to delineate reserved passage lanes for permitted vehicles, delineate yield passage lanes for ordinary vehicles, and verify the display status of roadside equipment to generate lane-level traffic areas. The trajectory projection module projects the vehicle positioning point, license plate recognition result, passage time and lane position onto the lane-level passage area, dividing the lane-keeping section, the entry into the controlled lane section, the exit from the controlled lane section and the lateral transition section, and generating trajectory projection records; The violation review module arranges the vehicle state chain according to the trajectory projection record, and constructs a lane spatiotemporal occupancy matrix with continuous time slices and lane-level traffic areas. It then compares the lane spatiotemporal occupancy matrix with the lane right-of-way table cell by cell to generate violation event records. The evidence processing module links violation records, trajectory projection records, lane spatiotemporal occupancy matrix, roadside equipment display status, checkpoint images, and traffic contingency plan numbers to generate traffic enforcement certificates.

2. The intelligent traffic enforcement management system as described in claim 1, characterized in that: The generation of the lane right-of-way table specifically includes... Based on the lane boundaries, lane directions, lane connections, and traffic signs and markings in the lane-level map, the traffic constraint range of each lane is determined, forming lane rule units; Based on the lane rule unit and the controlled lane range, control start and end time and list of permitted vehicles in the traffic plan, lane traffic conditions are formed; The lane traffic status is defined by the lane traffic conditions and the status of the corresponding roadside equipment, and the lane traffic right table is generated by marking the lanes and time slots as permitted, speed limit, yield, and prohibited.

3. The intelligent traffic law enforcement management system of claim 2, wherein: The lane right-of-way table designates reserved lanes for permitted vehicles and yield lanes for ordinary vehicles, specifically including... Extract the list of permitted vehicles, the controlled lane range, the start and end times of control, and the lane traffic status from the lane right-of-way table to form the conditions for delineating the traffic zone; Based on the conditions for defining the traffic strip and the planned travel routes of permitted vehicles in the traffic plan, the sequence of reserved lanes is determined, and a primary lateral transition section connecting the boundaries of the permitted lanes and the controlled lanes is set along the reserved lane sequence to generate the reserved traffic strip. Within the lanes where ordinary vehicles are permitted to travel, the area occupied by the reserved traffic lane is avoided, and a yielding traffic lane is generated. The start and end times of the reserved traffic lane and the yielding traffic lane are controlled accordingly, and the traffic lane delineation result is generated.

4. The intelligent traffic law enforcement management system of claim 3, wherein: The verification of the roadside equipment display status generates lane-level traffic zones, specifically including... Based on the lane traffic status and the start and end times of the control measures, the traffic lane delineation results are converted into the traffic lane release status of the roadside equipment; By verifying the actual display status of the roadside equipment through the status of the traffic zone, and marking the valid release mark and the mark to be verified on the traffic zone delineation result, a traffic zone release record is formed; The reserved traffic strip, yielding traffic strip, normal traffic area and controlled lane with valid release marks are overlaid on the lane-level map to generate a lane-level traffic area.

5. The intelligent traffic law enforcement management system of claim 4, wherein: The process of projecting vehicle location points, license plate recognition results, travel time, and lane position onto the lane-level travel area specifically includes, Arrange vehicle location points according to passage time, and confirm the same vehicle through license plate recognition results and lane position to generate a vehicle passage point list; Based on the lane-level traffic area, the distance between the traffic zone, lane, and control lane boundary of the vehicle traffic point series is calculated to form a regional projection point series; The vehicle speed is determined based on the time difference between adjacent vehicle positioning points, and the traffic lane type, lane number, distance to the control lane boundary, and vehicle speed are marked on the area projection point column to obtain the vehicle projection point sequence.

6. The intelligent traffic law enforcement management system of claim 5, wherein: The generated trajectory projection record specifically includes, The status of the trajectory segment is determined based on the type of traffic strip and the distance to the control lane boundary in the vehicle projection point sequence. When consecutive vehicle projection points maintain the same lane number and do not cross the boundary of the controlled lane, they are marked as a lane segment that maintains the lane number. When a vehicle's projection point crosses from the yielding lane into the controlled lane, it is marked as entering the controlled lane segment; When a vehicle's projection point returns from the controlled lane to the yielding lane, it is marked as having left the controlled lane section; When the vehicle projection point is pressed into the boundary of the reserved traffic strip but does not cross the boundary of the controlled lane into the controlled lane, it is marked as a lateral transition section. The start and end times of each trajectory segment, the preceding lane crossed, the following lane crossed, and the type of traffic lane are bound together to generate trajectory projection records.

7. The intelligent traffic law enforcement management system of claim 6, wherein: The arrangement of the vehicle state chain specifically includes, Extract the trajectory segment status, start and end time, lane number, traffic strip type and crossing direction from the trajectory projection record to obtain the status node; Connect the state nodes according to the start time, and merge adjacent state nodes that have the same trajectory segment status, lane number and traffic zone type to obtain the vehicle state chain. Mark the state change time and checkpoint passage time to the vehicle state chain to obtain the state chain time sequence index.

8. The intelligent traffic law enforcement management system of claim 7, wherein: The construction of the lane spatiotemporal occupancy matrix specifically includes, The vehicle passage process is divided into continuous time slices by using the state change time and checkpoint passage time in the state chain time index; Based on the lane number, the ordinary traffic area, yielding lane, reserved traffic lane and controlled lane in the lane-level traffic area are expanded to obtain the area column sequence; The vehicle state chain is positioned between continuous time slices and regional column sequences to form an initial occupancy matrix. The vehicle occupancy status, traffic strip type, lane traffic status, access vehicle verification result, equipment release mark and checkpoint association mark are simultaneously labeled for each intersection cell of the initial occupancy matrix to generate a lane spatiotemporal occupancy matrix. Within the same time slice, the regional contact relationship between the reserved traffic lane and the yielding traffic lane is compared, and the right-of-way adjacency relationship is marked by combining the occupancy change order of adjacent time slices, so as to obtain the lane spatiotemporal occupancy matrix with matrix units to be compared.

9. The intelligent traffic law enforcement management system of claim 8, wherein: The process of comparing the lane spatiotemporal occupancy matrix with the lane right-of-way table cell by cell specifically includes: The lane right-of-way table is retrieved using the time slice and lane number of the matrix cell to be compared, and the cell right-of-way record is obtained. Based on vehicle occupancy status, unit right-of-way records, access vehicle verification results, and equipment-issued markers, right-of-way conflicts are determined and right-of-way conflict markers are generated. When a matrix cell to be compared carries a verification mark, the corresponding passage conflict mark is limited to a verification mark; By marking the traffic conflict back to the corresponding trajectory segment in the vehicle's state chain, the fragment of the illegal behavior can be obtained. When the video of the violation shows that a non-permitted vehicle is entering a controlled lane while in a yielding or prohibited state, it is confirmed that the vehicle has illegally entered the controlled lane. When the footage of the illegal act shows that the transverse transition section occupies the reserved passage and triggers the right-of-way relationship, it is confirmed that the order of priority passage is being disrupted. When the violation footage shows entering the controlled lane segment, leaving the controlled lane segment, and re-entering the controlled lane segment consecutively, it is confirmed as evading traffic control. When the speed of a vehicle corresponding to a checkpoint marker is higher than the actual speed displayed by the variable speed limit sign and the checkpoint image corresponds to the vehicle's license plate, it is confirmed that the vehicle is violating the speed limit. The start and end times, lane number, traffic status, device release markers, and checkpoint association markers of the violation segments are bound together to generate violation event records.

10. The intelligent traffic law enforcement management system of claim 9, wherein: The generation of traffic enforcement certificates specifically includes... Based on the violation records, determine the vehicle license plate number, violation type, incident time, incident location, and controlled lane number, and generate an incident credential index; Based on the trajectory proof record, locate the matrix unit to be compared in the lane spatiotemporal occupancy matrix, generate a matrix proof record, and associate the matrix proof record with the roadside equipment display status, checkpoint image and traffic plan number to generate a control proof record; The event credential index, trajectory proof record, matrix proof record, and control proof record are encapsulated to generate traffic enforcement credentials.

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