EP2924662B2 - Unité embarquée et procédé de surveillance du fonctionnement dans un système de péage routier - Google Patents

Unité embarquée et procédé de surveillance du fonctionnement dans un système de péage routier Download PDF

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Publication number
EP2924662B2
EP2924662B2 EP14161986.6A EP14161986A EP2924662B2 EP 2924662 B2 EP2924662 B2 EP 2924662B2 EP 14161986 A EP14161986 A EP 14161986A EP 2924662 B2 EP2924662 B2 EP 2924662B2
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Prior art keywords
onboard unit
error
satellite
position fix
generated
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EP14161986.6A
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German (de)
English (en)
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EP2924662A1 (fr
EP2924662B1 (fr
Inventor
Alexander Leopold
Christoph Abart
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Kapsch TrafficCom AG
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Kapsch TrafficCom AG
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Priority to SI201430083A priority Critical patent/SI2924662T1/sl
Priority to PT141619866T priority patent/PT2924662T/pt
Priority to PL14161986T priority patent/PL2924662T3/pl
Priority to DK14161986.6T priority patent/DK2924662T3/en
Priority to ES14161986T priority patent/ES2599783T5/es
Application filed by Kapsch TrafficCom AG filed Critical Kapsch TrafficCom AG
Priority to EP14161986.6A priority patent/EP2924662B2/fr
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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
    • G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
    • G07B15/06—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems
    • G07B15/063—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems using wireless information transmission between the vehicle and a fixed station

Definitions

  • the present invention relates to an onboard unit for a road toll system, with a satellite navigation receiver for the continuous generation of position fixes and associated quality measurements from satellite raw data, a radio transceiver and a processor connected to these components, which is designed to generate toll data from the position fixes and via the to send radio transceivers.
  • the invention also relates to a method for monitoring the function in a road toll system using such an onboard unit.
  • Onboard units based on satellite navigation systems (global navigation satellite systems, GNSS) can be e.g. "thick client” OBUs, which compare the generated position fixes with a digital road map stored in the onboard unit, thereby determining toll routes, associated ones Calculate tolls and send them as toll data via the radio transceiver, but also "thin client” OBUs, which send the position fixes directly as toll data to a control center, which uses them to calculate the tolls.
  • the functionality and performance of such GNSS OBUs largely depends on the quality of their satellite reception and the position fixes determined from it.
  • a service provider has to guarantee a specific level of performance, for example a specific level of toll collection on a toll route.
  • fleets of test vehicles are currently being used, which, for example, drive through specified toll routes at random in order to then compare the toll charges incurred at the Toll Charger headquarters with the sample drives.
  • the Toll Charger requests individual onboard units that are subject to tolls to collect position-related data on a random basis and send them as reference data directly to the Toll Charger's toll center, where the latter compares the reference data with the toll charges generated by the service provider during operation in order to determine the efficiency of the road toll system.
  • the aim of the invention is to create devices and methods for checking the function in a road toll system, which subsequently enable an improvement in the performance of the road toll system and thus an increase in the degree of toll collection.
  • an onboard unit of the type mentioned in the introduction which is characterized by a failure detector connected to the satellite navigation receiver, which is designed to respond to a drop in measured quality values below a predetermined minimum quality measure, and a the logger connected to the satellite navigation receiver and controlled by the failure detector, which is designed to generate an error data record with at least the last position fix before the response and the first position fix (pn) generated after the end of the response when the failure detector responds, the processor being designed to do this, receive the error record from the logger and send it via the radio transceiver.
  • the invention creates a method for functional measurement in a road toll system with a control center and at least one vehicle-supported onboard unit, which continuously generates position fixes and associated quality measurement values from raw satellite data and sends toll data based thereon to the control center, comprising: Detecting a drop in measured quality values below a specified minimum quality measure in the onboard unit, in the case of detection, logging an error data record with at least the last position fix before detection and the first position fix (pn) generated after the end of the response in the onboard unit, sending the error data record from the onboard unit to the control center, and evaluation of the error data record in the control center.
  • this makes it possible for the first time to make the quality of the GNSS position determination and coverage in the road toll system accessible to a central evaluation and thereby to determine critical GNSS error locations in the road network at an early stage and to assign them geographically using the last position fix.
  • position determination errors from GNSS OBUs can be evaluated immediately or only with a short transmission time delay, continuously and - if the OBUs are distributed accordingly - comprehensively in the control center.
  • different GNSS-related errors in the road toll system such as interference signals, shadowing of the Satellite signals etc. and their causes, for example local or mobile sources of interference (“jammers”) or geographic conditions such as mountains or tunnels.
  • targeted measures to eliminate errors can be initiated at the fault locations defined by the last position fixes, e.g. setting up stationary position transmitters, support beacons, satellite signal repeaters or the like, or identifying and eliminating sources of interference signals, etc.
  • the error data set generated by the onboard unit contains a time stamp of the last position fix mentioned.
  • time-dependent errors and error causes, e.g. time-varying or periodic interference signals, unfavorable satellite constellations or shadowing of the satellite signals depending on weather events or by vegetation during the growing season etc..
  • the movement of a mobile jamming signal source can be precisely tracked in order to identify, for example, "jammers" who deliberately send jamming signals to prevent correct toll collection, using traffic cameras and/or emergency vehicles.
  • the error data record also contains the first position fix generated after the response or detection has ended.
  • the error data record preferably also contains a time stamp of the first position fix mentioned.
  • the error data record also contains at least one quality measurement value generated during the response of the failure detector or the detection of the failure.
  • the quality measurement value contains the number of satellites used to generate the associated position fix or a DOP value (dilution of precision) of the associated position measurement value, an unfavorable satellite constellation—occurring randomly or locally frequently—could be recognized.
  • the measured quality value contains, for example, the respective signal level of the satellites used to generate the associated measured position value and/or a signal-to-noise ratio of the satellite signals, interference signals or signal attenuation can also be indicated - e.g. as a result of local, possibly even moving jammers or weather events or shadowing through mountains or forest - can be inferred.
  • an error data record can contain not only one, but also a sequence of quality measurement values generated during the response of the failure detector, which allows an evaluation of the course of the quality measurement values and thus even more precise conclusions, e.g. about possibly different causes of error.
  • the error data set preferably also contains raw satellite data received during the response of the failure detector or detection of the failure and/or sensor measurement values generated in a sensor element, which creates further bases for later determination of possible causes of the error.
  • the failure detector contains a watchdog which can be re-triggered by each generated position fix. This represents a particularly simple, reliable component for the failure detector.
  • At least a second error data record generated and sent by a second onboard unit in the manner mentioned is received in the control center and the error data records of the at least two onboard units are validated against one another during the evaluation.
  • a road toll system 1 which is based on onboard units (OBUs) 2, which are carried by vehicles 3 in order to use their location in one Network of roads 4 to be tolled or charged.
  • OBUs onboard units
  • the use of the location can be, for example, driving on a specific segment of a road 4, crossing a border, staying in a specific geographic area, or the like. and billed in any way you like, e.g. per road segment, distance driven, time spent in an area (e.g. parking time) etc.
  • each onboard unit 2 has a satellite navigation receiver 5, which consists of satellite signals 6 from navigation satellites 7 ( 1 ) of a global satellite navigation system (Global Navigation Satellite System, GNSS) continuously determines the position of the onboard unit 2 and as position fixes p 1 , p 2 , ..., generally p i , with associated measured quality values q 1 , q 2 , ... , generally q i .
  • GNSS Global Navigation Satellite System
  • Each measured quality value q i of a position fix p i can contain various quality parameters, for example the number, signal level and/or signal-to-noise ratio of the signals 6 from the navigation satellites 7 used to determine the respective position fix p i , e.g. also in the evaluated form of DOP values (Dilution of precision), as provided by commercial satellite navigation receivers 5 for each position fix p i .
  • DOP values Diution of precision
  • the satellite navigation receiver 5 can also output the "raw" satellite data on which they are based, e.g. sections of the satellite signals 6, or processing data formed during the generation of the position fixes p i , hereinafter referred to as "raw satellite data" r i called.
  • the position fixes p i , measured quality values q i or raw satellite data r i can be output on separate outputs of the satellite navigation receiver 5, on a common output in multiplexing or on a common bus in separate data packets.
  • the onboard unit 2 is also connected to a radio transceiver 8, e.g IEEE 802.11 standards for WLAN communication or the like, and a processor 9 connected to the satellite navigation receiver 5 and the radio transceiver 8.
  • a radio transceiver 8 e.g IEEE 802.11 standards for WLAN communication or the like
  • a processor 9 connected to the satellite navigation receiver 5 and the radio transceiver 8.
  • one or more sensor elements 10, eg speed or acceleration sensors, can also be provided, which can be arranged in the onboard unit 2 itself or--connected to the onboard unit 2--in the vehicle 3 and sensor measured values m i , eg speed , acceleration or location measurements approximated therefrom.
  • a sensor element 10 can also be formed by the radio transceiver 8, in which case the sensor measurement values are m i metadata of the radio transceiver 8, e.g 8 is located.
  • the processor 9 generates toll data M from the sequence ⁇ p i ⁇ of position fixes p i in order to send them to a control center 13 of the road toll system 1 using the radio transceiver 8 via the radio connection 11 and the radio station 12 .
  • the toll data M can be, for example, toll charges that are generated by a map comparison ("map-matching") of the fixed position sequence ⁇ p i ⁇ with a digital map of toll roads 4 or locations stored in the onboard unit 2 .
  • the toll data M could also be the position fixes p i itself, which are sent individually or—if desired, filtered according to quality—combined into a bundle at any or predetermined times, according to predetermined routes, or simply when a radio link 11 is available via the radio transceiver 8 . In the latter case, card comparison and fee calculation can take place in the control center 13, for example.
  • the vehicles 3 drive through a geographic area 14 on their respective routes on the roads 4, in which the satellite signals 6 received by the satellite navigation receivers 5 are disturbed or shadowed, so that the measured quality values qi drop and/or the respective satellite navigation receivers 5 do not generate any position fixes p i .
  • the satellite navigation receiver 5 generates at times t 1 , t 2 , ..., generally t i , from the satellite raw data r i (not shown). position fix p i ( Figure 3a ) and an associated quality measure q i ( 3c ). If the vehicle 3 travels through the geographical area 14 mentioned, the satellite navigation receiver 5 does not generate any position fixes p i over a period of time e, but generally continues to generate measured quality values q i .
  • the following components and methods are used to detect and measure errors in the position determination of the onboard unit 2 and thus the toll payment function of the road toll system 1, e.g. as a result of signal interference and/or shadowing of the satellite signals 6.
  • the onboard unit 2 has a failure detector 15 connected to the satellite navigation receiver 5, which responds and generates an output signal s ( Figure 3e ) generates, for example, a logical "high” signal or a logical "1" when it detects a drop in measured quality values q i below a predetermined minimum quality measure Q min .
  • the failure detector 15 can have a watchdog 16, for example in the form of a deadman or retriggerable monoflop circuit, which starts with each new position fix p i is triggered again at its input for the minimum period of time ⁇ and thus at its (here: inverted) output a detection signal d ( Figure 3b ) if no new position fix p i arrives within the stated minimum time period ⁇ .
  • a watchdog 16 for example in the form of a deadman or retriggerable monoflop circuit, which starts with each new position fix p i is triggered again at its input for the minimum period of time ⁇ and thus at its (here: inverted) output a detection signal d ( Figure 3b ) if no new position fix p i arrives within the stated minimum time period ⁇ .
  • the failure detector 15 can have a comparator 17 for detecting event (b), which compares the incoming measured quality values q i with a minimum quality measure Q min and, if the measured quality values q i fall below the minimum quality measure Q min , generates an output signal c ( 3d ) outputs.
  • the comparator 17 it could be desirable to simplify this comparison for the comparator 17 to first combine a measured quality value qi containing a number of parameters (dimensions) into a single global quality measure Qi ; alternatively, the minimum quality measure Q min could have separate individual threshold values for a number of quality parameters contained in a quality measurement value q i .
  • the output signals c of the watchdog 16 and d of the comparator 17 can, for example, be linked by a simple OR circuit 18 to form the output signal s of the failure detector 15.
  • a complex evaluation logic can also be provided which, for example, also takes into account the time behavior of the signals c and d. If the failure detector 15 contains only one of the components watchdog 16 or comparator 17, the circuit 18 is omitted and the output signal s coincides with the signal c or d.
  • the output signal s generated by the failure detector 15 controls a logger 19, which generates an error data set F in the event of the aforementioned events (a) and/or (b) and keeps it ready for the processor 9 to send via the radio transceiver 8 to the control center 13.
  • the logger 19 is, for example, a recording unit 20 with a buffer memory 21 connected to one or more outputs of the satellite navigation receiver 5.
  • the logger 19 can preprocess the error data record F, for example by separating redundant or irrelevant data, adding environment data from the environment of the onboard unit 2 or internal status data of the onboard unit 2, data summary etc. depending on the situation.
  • the error data records F received are evaluated in the control center 13 .
  • this evaluation can be carried out individually, i.e. the error data records F of an onboard unit 2 are considered individually, on the other hand, several error data records F of different onboard units 2 can also be received, evaluated together and, for example, validated against one another.
  • the error data records F are determined depending on the location of the position fixes p m , p n , ⁇ p i ⁇ specified therein and, if recorded, their time stamps t m , t n , ⁇ t i ⁇ , quality measurement values q m , q n , ⁇ q i ⁇ , satellite raw data ⁇ r i ⁇ and/or sensor readings ⁇ m i ⁇ are considered and analyzed for possible sources of error in order to prepare measures to eliminate them.
  • geographical interference and shadowing areas 14 of the satellite reception as well as possibly their time dependency can be determined during the evaluation by comparing the error data sets F with a digital map.
  • permanent shadowing e.g.
  • the onboard unit 2 as a whole or its individual components, such as the failure detector 15, the logger 19 or parts thereof, can be implemented both as hardware components and as software objects, for example in the processor 9.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Business, Economics & Management (AREA)
  • Finance (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Devices For Checking Fares Or Tickets At Control Points (AREA)
  • Navigation (AREA)

Claims (13)

  1. Unité embarquée pour un système de péage routier (1), avec
    un récepteur de navigation satellite (5) pour la génération continue de coordonnées de positions (pi) et des valeurs de mesures de qualité (qi) correspondantes à partir de données brutes du satellite (ri),
    un émetteur-récepteur radio (8) et
    un processeur (9) associé à ces composants (5, 8) qui est conçu pour générer des données de péage (M) à partir des coordonnées de positions (pi) et les envoyer par l'intermédiaire de l'émetteur-récepteur radio (8),
    caractérisé par
    un détecteur de défaillance (15) associé au récepteur de navigation satellite (5), lequel est conçu pour être sollicité suite à un descent de valeurs de mesure de qualité (qi) en dessous d'une mesure de qualité minimale (Qmin) prédéterminée, et
    un enregistreur (19) associé au récepteur de navigation satellite (5) et commandé par le détecteur de défaillance (15), lequel est conçu, lors de la sollicitation du détecteur de défaillance (15), pour générer un ensemble de données d'erreur (F) avec au moins la dernière coordonnée de position (pm) avant la sollicitation et la première coordonnée de position (pn) générée après la fin de la sollicitation,
    où le processeur (9) est conçu pour recevoir l'ensemble de données d'erreur (F) de l'enregistreur (19) et l'envoyer par l'intermédiaire de l'émetteur-récepteur radio (8).
  2. Unité embarquée selon la revendication 1, caractérisée en ce que l'ensemble de données d'erreur (F) contient également une horodatage (tm) de ladite dernière coordonnée de position (pm) .
  3. Unité embarquée selon la revendication 1 ou 2, caractérisée en ce que l'ensemble de données d'erreur (F) contient également une horodatage (tn) de ladite première coordonnée de position (pn) .
  4. Unité embarquée selon l'une des revendications 1 à 3, caractérisée en ce que l'ensemble de données d'erreur (F) contient également une valeur de mesure de qualité (qi) générée lors de la sollicitation.
  5. Unité embarquée selon l'une des revendications 1 à 4, caractérisée en ce que l'ensemble de données d'erreur (F) contient également des données brutes du satellite (ri) reçues pendant la sollicitation et/ou des valeurs de capteur (mi) générées dans un élément capteur (10).
  6. Unité embarquée selon l'une des revendications 1 à 5, caractérisée en ce que le détecteur de défaillance (15) contient un chien de garde (16), lequel peut être de nouveau poussé par chaque coordonnée de position générée (pi).
  7. Procédé de surveillance du fonctionnement dans un système de péage routier (1) avec un central (13) et au moins une unité embarquée (2) montée dans un véhicule, quelle unité embarquée génère continuellement des coordonnées de position (pi) à partir de données brutes du satellite (ri) et des valeurs de mesure de qualité (qi) correspondantes et qui envoie des données de péage (M) basées dessus vers le central (13), comprenant :
    la détection d'un descent de valeurs de mesure de qualité (qi) en dessous d'une mesure de qualité minimale (Qmin) prédéterminée dans l'unité embarquée (2),
    dans le cas de la détection, l'enregistrement d'un ensemble de données d'erreur (F) avec au moins la dernière coordonnée de position (pm) avant la détection et la première coordonnée de position (pn) générée après la fin de la détection dans l'unité embarquée (2),
    l'envoi de l'ensemble de données d'erreur (F) de l'unité embarquée (2) au central (13), et
    l'évaluation de l'ensemble de données d'erreur (F) dans le central (13).
  8. Procédé selon la revendication 7, caractérisé en ce que l'ensemble de données d'erreur (F) contient également une horodatage (tm) de ladite dernière coordonnée de position (pm).
  9. Procédé selon la revendication 7 ou 8, caractérisé en ce que l'ensemble de données d'erreur (F) contient également une horodatage (tn) de ladite première coordonnée de position (pn).
  10. Procédé selon l'une des revendications 7 à 9, caractérisé en ce que l'ensemble de données d'erreur (F) contient également au moins une valeur de mesure de qualité (qi) générée pendant la détection.
  11. Procédé selon l'une des revendications 7 à 10, caractérisé en ce que l'ensemble de données d'erreur (F) contient également des données brutes du satellite (ri) reçues pendant la détection et/ou des valeurs de mesures de capteur (mi) générées dans un élément capteur (10).
  12. Procédé selon l'une des revendications 7 à 11, caractérisé en ce que, dans le central (13), au moins un deuxième ensemble de données d'erreur (F) généré et envoyé par une deuxième unité embarquée (2) de la manière citée est reçu et que les ensembles de données d'erreur (F) des au moins deux unités embarquées (2) sont validés les uns par rapport aux autres lors de l'évaluation.
  13. Procédé selon l'une des revendications 7 à 12, caractérisé en ce que, lors de l'évaluation, des zones d'interférence et d'occultation (14) géographiques de la réception satellite sont déterminées par une comparaison des ensembles de données d'erreur (F) par rapport à une carte géographique numérique.
EP14161986.6A 2014-03-27 2014-03-27 Unité embarquée et procédé de surveillance du fonctionnement dans un système de péage routier Active EP2924662B2 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
PT141619866T PT2924662T (pt) 2014-03-27 2014-03-27 Onboard-unit e método para a vigilância de funcionamento num sistema rodoviário de portagens
PL14161986T PL2924662T3 (pl) 2014-03-27 2014-03-27 Jednostka pokładowa i sposób nadzorowania działania w systemie poboru opłat drogowych
DK14161986.6T DK2924662T3 (en) 2014-03-27 2014-03-27 ONBOARD DEVICE AND PROCEDURE FOR FUNCTION MONITORING IN A ROAD CIRCUIT SYSTEM
ES14161986T ES2599783T5 (es) 2014-03-27 2014-03-27 Equipo de a bordo y procedimiento para el control funcional en un sistema de peaje vial
SI201430083A SI2924662T1 (sl) 2014-03-27 2014-03-27 Enota v vozilu in postopek nadzora delovanja v cestninskem sistemu
EP14161986.6A EP2924662B2 (fr) 2014-03-27 2014-03-27 Unité embarquée et procédé de surveillance du fonctionnement dans un système de péage routier

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP14161986.6A EP2924662B2 (fr) 2014-03-27 2014-03-27 Unité embarquée et procédé de surveillance du fonctionnement dans un système de péage routier

Publications (3)

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EP2924662A1 EP2924662A1 (fr) 2015-09-30
EP2924662B1 EP2924662B1 (fr) 2016-08-03
EP2924662B2 true EP2924662B2 (fr) 2022-08-10

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EP (1) EP2924662B2 (fr)
DK (1) DK2924662T3 (fr)
ES (1) ES2599783T5 (fr)
PL (1) PL2924662T3 (fr)
PT (1) PT2924662T (fr)
SI (1) SI2924662T1 (fr)

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EP3279692B1 (fr) * 2016-08-01 2023-10-11 Toll Collect GmbH Dispositif de traitement de donnees, systeme et procede de controle de realisation de la fonction conforme d'un dispositif de determination de position
EP3279870A1 (fr) * 2016-08-01 2018-02-07 Toll Collect GmbH Dispositif de traitement de donnees, systeme et procede de controle de realisation de la fonction conforme d'un dispositif de determination de position
EP3339906B1 (fr) * 2016-12-22 2023-03-29 Toll Collect GmbH Procédé, système, dispositif et produit-programme informatique de signalisation d'une capacité de fonctionnement défaillante imminente d'un dispositif de détermination de position, et système de péage
DE102018220793A1 (de) * 2018-12-03 2020-06-04 Robert Bosch Gmbh Erkennung von fehlerhaften Positionsbestimmungen
US11815607B2 (en) 2020-07-30 2023-11-14 Qualcomm Incorporated Global navigation satellite system (GNSS) receiver operation during spoofing
US11892546B2 (en) 2020-07-30 2024-02-06 Qualcomm Incorporated Systems and methods for detecting and mitigating spoofed satellite navigation signals
GB202111274D0 (en) 2021-08-04 2021-09-15 Q Free Norge As Vehicle movement tracking
CN115183783B (zh) * 2022-09-09 2022-12-13 中国人民解放军32035部队 一种群卫星发射入轨后的测轨数据关联方法

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"Produkte zur Mauterhebung - Mobility - Siemens", MOBILITY.SIEMENS.COM, 23 June 2013 (2013-06-23), pages 1 - 2, Retrieved from the Internet <URL:http://www.mobility.siemens.com/mobility/qlobal/de/nahverkehr/strassenverkehr/ mautsysteme-fuer-staedte/produkte-mauterhebung/Seiten/produkte-zur-mauterhebung.aspx> †
"Watchdog", WIKIPEDIA, 23 May 2013 (2013-05-23), pages 1 - 2, Retrieved from the Internet <URL:https://de.wikipedia.org/wiki/Watchdog> †

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EP2924662A1 (fr) 2015-09-30
EP2924662B1 (fr) 2016-08-03
SI2924662T1 (sl) 2016-12-30
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