After escaping jail for missing a pre-trial hearing earlier this week, R&B singer R. Kelly is at long last going to trial in May next year, a judge ruled on Friday.

Cook County Judge Vincent Gaughan, who threatened to revoke Kelly’s bail, allowed him to remain free pending his trial on child pornography charges, even though the star missed a court appearance on Wednesday because his tour bus got pulled over for speeding. Police officers ordered the driver to stop for eight hours after the bus log book failed to document enough rest time for him.

The singer, who pleaded not guilty to charges of videotaping himself while having sex with a teenager almost six years ago, apologized to the court.

"I'd like to say I'm sorry for this whole incident, and next time, I would get a plane," Kelly, who is known for his fear of flying, told the court.

Kelly's lawyer, Ed Genson, told the judge his client had always appeared on time in court before and had adhered to other rules and restrictions that had been set.

"He's not violated your honor’s trust," he said.

Arguing his decision, Gaughan said he didn’t want to interfere with Kelly’s nine-week concert tour promoting his new album "Double Up," which would have led to disappointment of the fans and a loss of income for venue workers.

"You are a role model, whether you like it or not," Gaughan said.

However, he did order Kelly to cancel a January 13 concert in Hampton, Virginia, to ensure he doesn't miss his next court appearance on January 14. On Friday night, Kelly performed in Chicago.

During Friday's brief proceedings, besides scolding Kelly for his speeding bus, the judge also set a new trial date in the singer's case, penciling in a May 9 start.