WO2005006276A1 - Procede et systeme de detection d'infraction aux reglements de la circulation - Google Patents

Procede et systeme de detection d'infraction aux reglements de la circulation Download PDF

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Publication number
WO2005006276A1
WO2005006276A1 PCT/SG2003/000158 SG0300158W WO2005006276A1 WO 2005006276 A1 WO2005006276 A1 WO 2005006276A1 SG 0300158 W SG0300158 W SG 0300158W WO 2005006276 A1 WO2005006276 A1 WO 2005006276A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
velocity
violation
region
minimum
Prior art date
Application number
PCT/SG2003/000158
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English (en)
Inventor
Chee Chung Chong
Kim Siah Ang
Yinghe Chen
Hin Cheong Leong
Original Assignee
St Electronics (Info-Comm Systems) Pte. Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by St Electronics (Info-Comm Systems) Pte. Ltd. filed Critical St Electronics (Info-Comm Systems) Pte. Ltd.
Priority to PCT/SG2003/000158 priority Critical patent/WO2005006276A1/fr
Priority to AU2003248606A priority patent/AU2003248606A1/en
Publication of WO2005006276A1 publication Critical patent/WO2005006276A1/fr

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel

Definitions

  • the present invention relates to a traffic violation method and apparatus, of particular but by no means exclusive application in providing an automated system for traffic violation enforcement, such as for automatic detection of red-light traffic violation.
  • automatic red-light enforcement systems can be divided into two sub-modules, namely, the violation detection module and the vehicle number-plate capture module.
  • the violation detection module detects the occurrence of a violation and triggers the vehicle number-plate capture module.
  • the violation detection module is on stand-by.
  • a typical existing red-light enforcement system 10 has the following main components: a violation detection module comprising inductive loops 12 and a vehicle number-plate capture module comprising a camera system 14.
  • the loop interf ce/controller for the inductive loops 12 are usually housed in the same cabinet as the camera east rn 14.
  • a video based detection red-light enforcement system as shown in figure 3 generally at 24, consists of the following components: a violation detection module comprising a detection camera (or virtual sensors) 26 and a vehicle number-plate capture module in the form of a camera system 28.
  • the image processing unit (IPU) for the detection camera 26 is housed in the same cabinet as the camera system 28. It should be noted that the placement of the detection camera 26 can be varied.
  • the detection camera 26 views a detection region 30, within which are detection regions corresponding to the inductive loops of figures 1, 2A and 2B.
  • such virtual sensors are defined by a set of pisiel coordinates, within the two- dimensional area of the digitised image (depicting the coverage of the virtual sensor) of the video signal.
  • pixel values within the virtual sensors are processed and analyzed, spatially within the image view and temporally within sequence of video images, by the image processing unit to obtain the relevant violation information such vehicle presence and speed information.
  • Figure 4 shows the typical locations of the virtual sensors 32 within the camera view 30, which correspond to the placement of the physical inductive loops 20a and 20b of figures 2A and 2B. The presence of vehicle 34 would be detected owing to its intersection of the virtual sensors 32.
  • a conventional inductive loop sensor is an active sensor and only sensitive to metallic objects, so less sensitive to non-vehicular movement.
  • a detection video camera 40 should be mounted at a very high angle *looking' directly top-down at the intended detection region 42, so that the presence of vehicle 44 can be detected accurately at its actual physical location. It can then be determined whether the vehicle 44 corresponds to a violation, on the basis of whether it lies over virtual sensors 46. In this view, vehicle 44 does not lie over virtual sensors 46, so no violation is detected.
  • a camera 50 mounted so as to be directed at an oblique angle to the vertical, providing a camera view 52, can result in the false detection of a violation.
  • Non-violation vehicle 54 is shown travelling (in traffic direction A) towards virtual presence sensors 56, but does not yet coincide with those sensors.
  • second vehicle 58 traveling in traffic direction B, out of the page in this view
  • Figure 7 is the corresponding camera view 52 from detection camera 50.
  • vehicle 58 travelling in direction B (perpendicular to direction A) falsely triggers both the presence sensors 56.
  • a false red-light violation is recorded for a vehicle travelling in direction X, *
  • the invention provides a method of checking a possible traffic violation to determine whether said possible traffic violation should be rejected or processed further, where said violation comprises the forbidden entry of a vehicle travelling in a predetermined traffic direction into a monitored region and said possible traffic violation is detected by monitoring a first portion of said region and detecting said vehicle in said first portion, the method comprising: rejecting said possible traffic violation if any one or more of the following events occur: an object is detected in at least one predetermined external region lying outside said monitored region and in the path of vehicles travelling in a different direction from said traffic direction; said vehicle is determined not to have a positive component of velocity in said traffic direction; said vehicle is determined not to have a consistent velocity; and a further vehicle or object is detected in said first portion before said vehicle is detected in a second portion of said region, said second portion being after said first portion in said traffic direction.
  • the method includes confirming said possible violation only if said vehicle is detected to be said second portion of said region after said vehicle is detected to be said first portion.
  • the method includes disregarding any detection of said vehicle in said first portion of said region while any object is detected to be in said at least one external region.
  • the method includes photographing said vehicle if said violation is confirmed.
  • the external region is one of a pair of such external regions on opposite sides of said monitored region.
  • the monitoring is performed by means of at least one video camera.
  • the monitoring of the first and second portions and of the external region or regions may be by other means, such as inductive loop techniques.
  • the method includes determining whether said velocity is consistent by collecting and comparing a plurality of values of said velocity.
  • the method includes monitoring for all of said events .
  • the forbidden region comprises an intersection during a red-light phase for traffic travelling in said traffic direction.
  • the method includes monitoring said intersection during a green-light phase, determining a maximum velocity of vehicles entering said intersection during said green- light phase and a minimum velocity of vehicles entering said intersection during said green-light phase, calculating a reference maximum velocity from said maximum velocity and a reference minimum velocity from said minimum velocity, and rejecting any possible violation in which said component is greater than said reference maximum velocity or less than said reference minimum velocity.
  • the reference maximum velocity equals said maximum velocity plus a predetermined first constant
  • said reference minimum velocity equals said minimum velocity plus a predetermined second constant
  • the maximum reference speed will be determined by adding a positive constant to the maximum velocity
  • the minimum reference speed will be determined by adding a negative constant to the minimum velocity.
  • this might be otherwise.
  • the method includes monitoring said intersection during a green-light phase, determining a maximum convolution output (where convolution output is defined according to equations 14 and 15 of International Patent Application No.
  • PCT/SG99/00115 (WO 01/33503)) for vehicles entering said intersection during said green- light phase and a minimum convolution output for vehicles entering said intersection during said green-light phase, calculating a reference maximum convolution output from said maximum convolution output and a reference minimum convolution output from said minimum convolution output, determining one or more vehicle convolution outputs for said vehicle during said red-light phase, and rejecting any possible violation in which one or more said vehicle convolution outputs are greater than said reference maximum convolution output or less than said reference minimum convolution output.
  • the reference maximum convolution output equals said maximum convolution output plus a predetermined first constant
  • said reference minimum convolution output equals said minimum convolution output plus a predetermined second constant
  • the invention provides a system for detecting a traffic violation comprising the forbidden entry of a vehicle travelling in a predetermined traffic direction into a monitored region, comprising: a video camera system; and a computer processor for determining whether said violation has occurred and in electronic communication with said video camera system; wherein said system is configured: to detect a possible traffic violation by monitoring a first portion of said region and detecting said vehicle in said first portion; and to reject said possible traffic violation if any one or more of the following events occur: an object is detected in at least one predetermined external iregion lying outside said monitored region and in the path of vehicles travelling in a different direction from said traffic direction; said vehicle is determined not to have a positive component of velocity in said traffic direction; said vehicle is determined not to have a consistent velocity; and a further vehicle or object is detected in said first portion before said vehicle is detected in a second portion of said region, said second portion being after said first portion in said traffic direction.
  • the processor is further configured to confirm said possible violation only if said system detects said vehicle to be in said second portion of said region after said vehicle is detected to be said first portion.
  • the processor is further configured to disregard any detection of said vehicle in said first portion of said region while any object is detected to be in said at least one external region.
  • the system includes a camera for photographing said vehicle, operable by said processor to photograph said vehicle if said vehicle is determined to have entered said forbidden region.
  • the external region is one of a pair of such external regions on opposite sides of said monitored region.
  • the system is configured to determine whether said velocity is consistent by collecting and comparing a plurality of values of said velocity.
  • the system is configured to perform all of said events .
  • the forbidden region comprises an intersection during a red-light phase for traffic travelling in said traffic direction.
  • the system is configured to monitor said intersection during a green-light phase, and said processor is configured to determine a maximum velocity of vehicles entering said intersection during said green-light phase and a minimum velocity of vehicles entering said intersection during said green-light phase, to calculate a reference maximum velocity from said maximum velocity and a reference minimum velocity from said minimum velocity, and to reject any possible violation in which said component is greater than said reference maximum velocity or less than said reference minimum velocity.
  • Figure 1 is a schematic view of a prior art inductive loop sensor red-light enforcement system
  • Figures 2 ⁇ and 2B are schematic views of the configuration of the prior art inductive loop sensor red- light violation detection of figure 1
  • Figure 3 is a schematic view of a prior art a, video based red-light enforcement system
  • Figure 4 is view of the virtual sensor configuration of the red-light violation detection system of the system of figure 3
  • Figure 5 is a view of the ideal camera mounting configuration for the virtual sensor of figure 3, to replicate physical inductive loop sensors
  • Figure 6 is a view of a false detection of a red- light violation owing to a restricted camera angle in a prior art video based system
  • Figure 7 is a view of the false detection of a red-light violation of figure 6 from the view point of the detection camera
  • Figure 8A is a schematic view of the virtual sensor configuration of a red-light violation detection system according to a
  • red-light violation detection system shown generally at 60 in figures 8A and
  • System 60 employs a video detection camera (not shown) to provide two vehicle presence sensors 62a, 62b, one velocity sensor 64 and two horizontal traffic sensors 66a, 66b. These sensors are all virtual sensors, in that they are all provided by means of a video camera system.
  • the system 60 also includes a conventional number-plate capture (NPC) camera (not shown) , comparable to that of camera system 14 of figure 1.
  • NPC number-plate capture
  • the system 60 is operated by an electronic controller (not shown) that collects and processes data from the various sensors, and triggers the operation of the NPC camera.
  • the output of the video camera system signal is digitized into a sequence of two-dimensional images. Pixels values of the image area depicted by the various virtual sensors as defined by a set of coordinates are extracted from the sequence of digitized images. The pixels are analyzed, spatially and temporally, for the extraction of various violation parameters, such as vehicle presence status (on the virtual sensors) and vehicle speed information.
  • the two vehicle presence sensors 62a, 62b provide the presence status of vehicles crossing the stop line during a red-light period.
  • First presence sensors 62a is located just into the intersection, the second further into the intersection; their positions are thus comparable to those of conventional inductive loop sensors; so too is their role.
  • the sequence of detection of the two presence sensors 62a, 62b provides the detection logic of a possible violation. That is, a possible violation is detected when the first presence sensor 62a is triggered by a vehicle 68 entering the intersection despite facing a red light (see figure 8A) , raising a vehicle presence status flag from low to high, followed by the triggering of the second presence sensor 62b (see figure SB) if the vehicle 68 advances further into the intersection.
  • Figure 9 is a view of the scene as monitored by the video detection camera, depicting vehicle presence sensors 62a, 62b, velocity sensor 64 and horizontal traffic sensors 66a, 66b.
  • the velocity sensor 64 measures the speed and direction of any object within the overall virtual sensor detection region (cf . region 42 of figure 5) .
  • the measured velocity vector is used to determine whether a genuine violation has occurred when a possible violation is first detected by the presence sensors 62a, 62b.
  • a true violation vehicle will be travelling in the direction of the monitored traffic (direction C in figure 8A) , and this direction is defined - as the velocity sensor's direction - within the image collected by the velocity sensor 64.
  • the velocity sensor 64 determines the component of velocity only in that direction.
  • the false triggering of the presence sensors 62a, 62b by (for example) traffic moving (in the view of figure 8A) in direction D at right angles to direction C generates a perpendicular velocity vector; in the case of a vehicle moving in direction D, the velocity sensor will determine zero velocity as there is no component in direction C.
  • False triggering of the presence sensors 62a, 62b by non vehicular movement or changes of lighting condition (such as shadow, headlight reflection, pedestrian, etc.) will not generate a consistent, positive velocity vector over a sequence of image frames. By analyzing the consistency of the measured velocity vector, over several image frames, the occurrence of false detections can thereby be eliminated.
  • the horiaontal traffic sensors 66a, 66b sensors are used to detect the presence of % horizontal" traffic (i.e. crossing - often perpendicularly - the traffic direction being monitored) , and. thereby further minimise the false detection of violations due to such traffic.
  • a violation detection by presence sensors 62a, 62b is only verified as true if a consistent positive velocity is determined by the velocity sensor 64, and a null detection is provided by the horizontal traffic sensors 66a, 66b.
  • Figure 11 is a block diagram of the violation detection process using image processing techniques according to system 60, during a red-light cycle.
  • first violation detection mode the detection process is operated in either of two operational modes: first violation detection mode and second violation detection mode.
  • the system 60 continues to analyse the sequence of images for the detection of a new violation. Upon detection of a violation, the system 60 sends a trigger signal to the number-plate capture (NPC) module for the capturing of the violation vehicle's number-plate.
  • NPC number-plate capture
  • the system 60 after confirmation of a first violation trigger, operates in the second violation detection mode, that is, to continuously detecting the violation vehicle rriving ' at the second vehicle presence sensor (second VPS) 62b, and hence to provide the second violation trigger signal to the HPC module for the capturing of the second violation images.
  • HTS horizontal traffic sensors
  • the velocity sensor (VS) 64 Upon detection of a possible violation by the first VPS 62a, the velocity sensor (VS) 64 analyzes an image sequence, from image frame f- (k-l ) to frame f (where k is typically in the range 3 to 30 for a typical video frame rate of 25 to 30 frame per second), for the analysis of the vehicle's velocity.
  • the resultant velocity parameters are compared with that of standard or reference parameters to determine the validity of a true violation.
  • This comparison which also verifies the consistency of the measured speed over the sequence of image frames, enables the system 60 to eliminate false triggers caused by external factors, such as horisontal traffic, pedestrians, and shadows.
  • the variable of first violation detection is set to 0, indicating the change of detection operation to the second violation detection mode.
  • a timer variable, TC is reset to 0.
  • TC The purpose of TC is to keep track of the time lag between the first violation trigger and the second violation trigger. Keeping TC to a limited range of (time) values ensures that the first and second violations are triggered by the same violation vehicle.
  • a trigger signal is then sent to the NPC unit for the capturing of the first violation image of the vehicle.
  • the system 60 essentially keeps track of the time lag between the first violation trigger and the second violation trigger, by means of the second VPS 62b. If the time lag exceeds a maximum set value, typically in the range of 0.5 to 5 seconds depending on the intersection, the second violation trigger is not triggered and the system returns to first violation detection mode. If the time lag is within the set limit when the second VPS 62b is triggered, a second violation trigger signal is send to the NPC module for capturing the second violation vehicle number- plate images.
  • a maximum set value typically in the range of 0.5 to 5 seconds depending on the intersection
  • the main function of the horizontal traffic sensors 66a, 66b is to detect the presence of vehicles travelling across the monitored traffic. During a red-light, when a ''horizontal' traffic vehicle crosses the horizontal traffic sensors 66a, 66b before triggering a presence sensor 62a, 66b, it triggers an internal signal indicating the presence of a horizontal traffic vehicle at the vicinity of the vehicle presence sensors 62a, 62b. This signal, in turn, deactivates the vehicle presence sensors
  • the placement of the horizontal traffic sensors 66a, 66b is such that, during the occurrence of a true violation, the violation vehicle will not trigger the horizontal traffic sensors 66a, 66b before triggering the first and second vehicle presence sensors 62s ⁇ , 62b.
  • the vehicle detection process for both day and night detection, is implemented on the basis of the system disclosed in International Patent Application No. PCT/SG99/00115.
  • One of the main functions of the velocity sensor 64 is to determine the velocity of the possible violation vehicle. The processing technique used to do so is based on the Profile-Speed-Extraction process disclosed in Section 5.3.1 of International Patent Application No. PCT/SG99/00115.
  • the velocity sensor 64 continuously computes the velocity characteristic of the current through-traffic.
  • the updated velocity characteristics are used as reference data for subsequent red-light phase detection operation of the system. Using this continual reference update of the through traffic characteristic enables the system 60 to self-adapt to the changing operating traffic, lighting and weather conditions.
  • the following parameters, obtained from each passing vehicle, are constantly measured and updated as reference data: S M&XG I maximum speed during green-light cycle; S MING I minimum speed during green-light cycle; M ⁇ XGI maximum convolution output during green- light cycle; MING I minimum convolution output during green- light cycle.
  • convolution output range all the convolution outputs, for frames £ to f- (k-l ) , must lie between the minimum and maximum Reference value, C MAXE / CMINR respectively;
  • the first condition of a Violation is:
  • S M&XG an ⁇ 3.
  • S MIHG are variables obtained during the green-light cycle.
  • S ⁇ and S B are configurable constants such that
  • the maximum speed of a vehicle is typically set at about 120 km/h, but otherwise as preferred by users of the system 60.
  • the minimum speed is set such that only moving vehicles, with at least the minimum speed, are detected.
  • the ranges of convolution outputs of the speed measurement varies.
  • the convolution output varies within a limited range, as lighting, weather, road surface texture and video image quality conditions are assumed to be constant.
  • the convolution output values will fall within the same limited range of values.
  • one way to verify the validity of a violation is to check if the convolution output of the speed measurement of the violation vehicle lies within a narrow range of reference values .
  • the reference values of the convolution output are obtained from passing vehicles during the green-light period.
  • the convolution output is obtained using the equations 14 and 15 of International Patent Application No. PCT/SG99/00115.
  • the second condition of a violation is:
  • C M& ⁇ G and C ⁇ m are variables obtained during the green-light cycle
  • C ⁇ and C B are delta values to control the sensitivity of the verification.
  • the third condition used for the violation verification is to determine the consistencies of the speed measurement parameters, obtained within the k frames of image sequence. Two types of consistencies are employed: the speed consistency and the convolution output consistency.
  • the speed consistency is used to ensure that the measured speeds of the violation vehicle, .within the k number of consecutive image frames, remain consistent.
  • the third condition of a violation for speed is:
  • the convolution output consistency is to ensure that the convolution output of the measured speeds of the violation vehicle, within the k number of consecutive image frames, remains consistent.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé et un système permettant de détecter une infraction aux règlements de la circulation. Ledit système comprend un système de vidéo caméra et un processeur informatique permettant de déterminer si une infraction a été commise. Ce système est configuré afin d'exécuter les trois étapes suivantes ou plus qui consistent: à surveiller une première partie (62a) de région permettant l'entrée initiale d'un véhicule dans ladite région; à détecter l'entrée initiale correspondant à la présence d'une infraction; à surveiller, dans le cas où l'entrée initiale a été détectée, une seconde partie (62b) de la région permettant une nouvelle entrée du véhicule (68) dans ladite région, la détection de cette nouvelle entrée correspondant à la présence d'une infraction; à surveiller au moins une région externe (66a, 66b) située à l'extérieur de la région surveillée et dans le chemin de véhicules circulant dans un sens différent (D) du sens de circulation (C), la détection d'un objet dans cette région externe (66a, 66b) correspondant à l'absence d'infraction; à déterminer si le véhicule (68) circule dans le sens de circulation (C) par détermination d'un composant de vitesse dudit véhicule (68) dans le sens de circulation (C), un composant supérieur à zéro correspondant à la présence d'une infraction; à déterminer si le véhicule (68) présente une vitesse constante par collecte et comparaison d'une pluralité de valeurs de vitesse, une vitesse constante correspondant à la présence d'une infraction; et à déterminer si une entrée initiale supplémentaire de véhicule (68) dans la région est détectée avant la détection de la nouvelle entrée du véhicule, la détection d'une entrée initiale supplémentaire correspondant à l'absence d'infraction; l'infraction étant commise si toutes les étapes exécutées par le système correspondent à la présence d'une infraction.
PCT/SG2003/000158 2003-07-09 2003-07-09 Procede et systeme de detection d'infraction aux reglements de la circulation WO2005006276A1 (fr)

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PCT/SG2003/000158 WO2005006276A1 (fr) 2003-07-09 2003-07-09 Procede et systeme de detection d'infraction aux reglements de la circulation
AU2003248606A AU2003248606A1 (en) 2003-07-09 2003-07-09 Traffic violation method and system

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PCT/SG2003/000158 WO2005006276A1 (fr) 2003-07-09 2003-07-09 Procede et systeme de detection d'infraction aux reglements de la circulation

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Cited By (3)

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Publication number Priority date Publication date Assignee Title
FR2885438A1 (fr) * 2005-05-09 2006-11-10 Michel Mesclier Dispositif de detection de non respect par un vehicule d'un signal lumineux et un procede de fourniture d'informations relatives a ce non respect d'un signal lumineux
WO2012013724A1 (fr) * 2010-07-30 2012-02-02 Morpho Systeme de detection d'un franchissement d'un feu rouge, procede correspondant
CN114659555A (zh) * 2022-03-01 2022-06-24 杭州智诚惠通科技有限公司 一种违规车辆的拦截方法、***及装置

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Publication number Priority date Publication date Assignee Title
FR2885438A1 (fr) * 2005-05-09 2006-11-10 Michel Mesclier Dispositif de detection de non respect par un vehicule d'un signal lumineux et un procede de fourniture d'informations relatives a ce non respect d'un signal lumineux
WO2012013724A1 (fr) * 2010-07-30 2012-02-02 Morpho Systeme de detection d'un franchissement d'un feu rouge, procede correspondant
FR2963464A1 (fr) * 2010-07-30 2012-02-03 Morpho Systeme de detection d'un franchissement d'un feu rouge, procede correspondant
CN114659555A (zh) * 2022-03-01 2022-06-24 杭州智诚惠通科技有限公司 一种违规车辆的拦截方法、***及装置

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