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EP2924662B1 - 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
EP2924662B1
EP2924662B1 EP14161986.6A EP14161986A EP2924662B1 EP 2924662 B1 EP2924662 B1 EP 2924662B1 EP 14161986 A EP14161986 A EP 14161986A EP 2924662 B1 EP2924662 B1 EP 2924662B1
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EP
European Patent Office
Prior art keywords
onboard unit
error
unit according
dataset
satellite
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Active
Application number
EP14161986.6A
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German (de)
English (en)
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EP2924662B2 (fr
EP2924662A1 (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 PL14161986T priority Critical patent/PL2924662T3/pl
Priority to EP14161986.6A priority patent/EP2924662B2/fr
Priority to PT141619866T priority patent/PT2924662T/pt
Priority to ES14161986T priority patent/ES2599783T5/es
Priority to SI201430083A priority patent/SI2924662T1/sl
Application filed by Kapsch TrafficCom AG filed Critical Kapsch TrafficCom AG
Priority to DK14161986.6T priority patent/DK2924662T3/en
Publication of EP2924662A1 publication Critical patent/EP2924662A1/fr
Publication of EP2924662B1 publication Critical patent/EP2924662B1/fr
Publication of EP2924662B2 publication Critical 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 on-board unit for a road toll system, comprising a satellite navigation receiver for the continuous generation of position fixes and associated quality measurements from raw satellite data, a radio transceiver and a processor connected to these components, which is adapted to generate toll data from the position fixes and via the Radio transceiver to send.
  • the invention further relates to a method for monitoring the function in a road toll system using such an on-board unit.
  • Onboard units based on satellite navigation systems (GNSS) may e.g. Be "Thick Client” OBUs, which match the position fixes generated with a stored in the onboard unit digital road map, thereby determine toll routes, calculate related tolls and send as toll data on the radio transceiver, but also "thin client” OBUs, which directly send the position fixes as toll data to a central office, which calculates the tolls.
  • GNSS OBUs satellite navigation systems
  • the predetermined toll routes random samples Departure to then compare the tolls incurred in the headquarters of the Toll Chargers with the random checks.
  • the Toll Charger will request individual toll onboard units to randomly collect positional data and send as reference data directly to the Toll Charger toll center where it compares the reference data with the tolls generated by the service provider during operation to improve performance of the road toll system.
  • the invention has for its object to provide devices and methods for functional testing in a road toll system, which allow as a result an improvement in the performance of the road toll system and thus an increase in Vermustungsgrades.
  • an onboard unit of the aforementioned type which is characterized by a failure detector connected to the satellite navigation receiver adapted to respond to a lack of position fixes over a predetermined minimum time period or a drop in quality measurements below a predetermined minimum quality measure; and a logger connected to the satellite navigation receiver and controlled by the failure detector, which is adapted to generate an error record with at least the last position fix before the response when the failure detector responds; wherein the processor is adapted to receive the error record from the logger and send it via the radio transceiver.
  • 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 fault locations in the road network at an early stage and to allocate them geographically on the basis of the last position fix.
  • position detection errors of GNSS OBUs can be evaluated continuously or, if the OBUs are spread, continuously and at short intervals in the control center.
  • different GNSS-related errors in the road toll system e.g. Spurious signals, shadowing of the satellite signals, etc., and their causes, e.g. local or even mobile interference sources (“jammers”) or geographical conditions such as mountains or tunnels closed.
  • measures for fault elimination for example, at the error locations respectively bounded by the last position fixes.
  • the setting up of stationary position transmitters, support beacons, satellite signal repeaters or the like, or the identification and switching off of interference signal sources, etc. are initiated.
  • the error data record generated by the onboard unit has a time stamp of the last named Contains position fixes.
  • a time stamp of the last named Contains position fixes can be inferred.
  • the movement of a mobile jamming signal source can be accurately tracked to identify, for example, "jamming" that deliberately sends jamming signals to hinder proper building, using traffic cameras and / or emergency vehicles.
  • the error data set also contains the first position fix generated after the completion of the response or detection.
  • the error data record preferably also contains a time stamp of the named first position fix.
  • the error data set also contains at least one quality measurement value generated during the response of the failure detector or detection of the failure.
  • the quality measurement contains, for example, 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 could be detected - accidentally or locally frequently.
  • the quality measured value contains the respective signal level of the satellite used to generate the associated position measured value and / or a signal / noise ratio of the satellite signals, then interference signals or signal attenuation can also be caused, for example as a result of local, possibly even mobile jammers or from weather events or shadowing by mountains or forest.
  • an error record may include not only one but also a series of quality measurements generated during the response of the failure detector, resulting in an evaluation of the history of the quality measurements and thus more accurate conclusions, e.g. allowed over possibly different error causes.
  • the error data record preferably also contains satellite raw data received during the response of the failure detector or detecting the failure and / or sensor measured values generated in a sensor element, thereby providing further bases for a later determination of possible causes of the error.
  • the failure detector contains a watchdog which is newly abuttable by each position fix generated. This represents a particularly simple, reliable component for the failure detector.
  • At least one second error data record generated and sent by a second on-board unit in the manner mentioned is received in the center, and the error data records of the at least two on-board units are validated against one another during the evaluation.
  • temporal changes of possible causes of faults can be considered more easily and individual faults or faults of individual onboard units, e.g. due to an improper arrangement in the vehicle, be compensated.
  • the number of available onboard units in the evaluation of the error data sets increases their informative value with regard to possible causes of error.
  • Fig. 1 shows a road toll system 1 based on onboard units (OBUs) 2, which are carried by vehicles 3 in order to toll their usage in a network of roads 4.
  • OBUs onboard units
  • the location use, for example, the driving of a particular segment of a road 4, crossing a border, the residence in a particular geographical area or the like. be and in any way, for example, per road segment, distance traveled, in a region of time spent (eg parking time), etc. billed.
  • each on-board unit 2 has a satellite navigation receiver 5, which consists of satellite signals 6 from navigation satellites 7 (FIG. Fig. 1 ) of a global navigation satellite system (GNSS) continuously determines the position of the on-board unit 2 and as position fixes p 1 , p 2 ,..., generally p i , with associated quality measurement values q 1 , q 2 , ... , generally q i , outputs.
  • GNSS global navigation satellite system
  • Each quality measurement q i of a position fix p i can contain various quality parameters, for example the number, signal level and / or signal / noise ratio of the signals 6 of the navigation satellites 7 used for determining the respective position fix p i , eg also in evaluated form The form of dilution of precision (DOP) values provided by commercially available satellite navigation receivers 5 for each position fix p i .
  • DOP dilution of precision
  • the satellite navigation receiver 5 can also output the underlying "raw" satellite data, eg sections of the satellite signals 6, or processing data formed during the generation of the position fixes p i , hereinafter "raw satellite data" r i called.
  • the output of the position fixes p i , quality measurements q i or raw satellite data r i can take place on mutually separate outputs of the satellite navigation receiver 5, on a common output in multiplexing or on a common bus in separate data packets.
  • the on-board unit 2 is further provided with a radio transceiver 8, e.g. according to a 2G, 3G, 4G or 5G mobile radio standard such as GSM, UMTS or LTE, the ITS-G5 or WAVE standard for short-range radio communication, one of the 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. according to a 2G, 3G, 4G or 5G mobile radio standard such as GSM, UMTS or LTE, the ITS-G5 or WAVE standard for short-range radio communication, one of the 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.
  • Optional may also be one or more sensor elements 10, for example, velocity or acceleration sensors, are provided, which in the onboard unit 2 itself, or - connected to the on-board unit 2 - may be arranged in the vehicle 3, and sensor measurements m i, for example, speed , Acceleration or approximate local measured values generate.
  • sensor element 10 can also be formed by the radio transceiver 8, in which case the sensor measured values m i are metadata of the radio transceiver 8, eg radio cell or received field strength data of a radio connection 11 to a radio station 12, here a base station of a mobile radio network in which the radio transceiver 8 is located.
  • the processor 9 generates toll data M from the sequence ⁇ p i ⁇ of position fixes p i in order to use the radio transceiver 8 via the radio link 11 and the radio station 12 to a central office 13 of the road toll system 1 to send.
  • the toll data M may be, for example, tolls, which are generated by a map matching of the position fix sequence ⁇ p i ⁇ with a digital toll road 4 or places stored in the on-board unit 2.
  • the toll data M could also be the position fixes p i itself, which are individually or - if desired filtered according to quality - combined into a bundle at arbitrary or predetermined times, after predetermined distances or simply with the availability of a radio link 11 via the radio transceiver 8 sent. In the latter case, card matching and billing can be done for example in the center 13.
  • Fig. 1 the vehicles 3 pass through a geographical 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, so that the quality measurements qi fall off and / or the respective satellite navigation receivers 5 do not generate position fixes p i ,
  • Fig. 3 shows in this example of waveforms of the respective signals or data of an on-board unit 2.
  • the satellite navigation receiver 5 generates the satellite navigation receiver 5 at times t 1, t 2, ..., generally i t, from the raw satellite data r i (not shown) each having a Position fix p i ( Fig. 3a ) and an associated quality measurement q i ( Fig. 3c ). If the vehicle 3 passes through said geographical area 14, the satellite navigation receiver 5 does not generate any position fixes p i over a period of time e, but in general continues to produce quality measured values q i .
  • the on-board unit 2 has a connected to the satellite navigation receiver 5 failure detector 15 which responds and an output signal s ( Fig. 3e ) generates, for example, a logical "high” signal or a logical "1" if it either (a) the absence of position fixes p i over a predetermined minimum period of time ⁇ and / or (b) a drop of quality measured values q i below predetermined minimum quality measure Q min detected.
  • the failure detector 15 may have a watchdog 16, eg in the form of a deadman or retriggerable monoflop circuit, which is triggered by each new position fix p i at its input again for the minimum period of time ⁇ and thus at its (here: inverted) output a detection signal d ( Fig. 3b ) outputs, if within the specified minimum period ⁇ no new position fix p i attains.
  • a watchdog 16 eg in the form of a deadman or retriggerable monoflop circuit, which is triggered by each new position fix p i at its input again for the minimum period of time ⁇ and thus at its (here: inverted) output a detection signal d ( Fig. 3b ) outputs, if within the specified minimum period ⁇ no new position fix p i attains.
  • the failure detector 15 for detecting the event (b) may have a comparator 17 which compares the incoming quality measurements q i with a minimum quality measure Q min , and an output c when the quality measures q i fall below the minimum quality measure Q min ( Fig. 3d ).
  • the comparator 17 may first combine a quality metric q i containing several parameters (dimensions) into a single global quality metric Q i ; alternatively, the minimum quality measure Q min could include separate single thresholds for a plurality of quality parameters included in a quality metric q i .
  • the output signals c of the watchdog 16 and d of the comparator 17 can be linked, for example, by a simple OR circuit 18 to the output signal s of the failure detector 15.
  • the OR circuit 18 may also be a complex Ausretelogik, which, for example, the timing of the signals c and d also taken into account, are provided. 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 activates a logger 19 which, in the case of said events (a) and / or (b), generates an error record F and makes it available to the processor 9 for transmission via the radio transceiver 8 to the 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 may pre-process the error record F, for example, by exiting redundant or irrelevant data, supplementing with environment data from the environment of the on-board unit 2 or internal status data of the on-board unit 2, data summary, etc. depending on the situation.
  • the received error records F are evaluated. This evaluation can on the one hand be done individually, i. the error data sets F of an on-board unit 2 are considered on their own; on the other hand, a plurality of error data sets F of different on-board units 2 can also be received, jointly evaluated and, for example, evaluated. be validated against each other.
  • the error data sets F are determined as a function of the position fixes p m , p n , ⁇ p i ⁇ and, if detected, their time stamps t m , t n , ⁇ t i ⁇ , quality measurements q m , q n , ⁇ q i ⁇ , raw satellite data ⁇ r i ⁇ and / or sensor readings ⁇ m i ⁇ are considered and analyzed for possible sources of error in order to prepare measures for their elimination.
  • geographic interference and shading regions 14 of the satellite reception as well as their time dependency may be determined.
  • the onboard unit 2 as a whole or individual ones of its components, such as the failure detector 15, the logger 19 or parts thereof both as hardware components and as software objects, e.g. 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 (15)

  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 une absence de coordonnées de position (pi) au dessus d'un laps de temps minimal (δ) prédéterminé ou 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,
    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 la première coordonnée de position (pn) générée après la fin de la sollicitation.
  4. Unité embarquée selon la revendication 3, caractérisée en ce que l'ensemble de données d'erreur (F) contient également une horodatage (tn) de ladite première coordonnée de position (pn).
  5. Unité embarquée selon l'une des revendications 1 à 4, 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.
  6. Unité embarquée selon l'une des revendications 1 à 5, 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).
  7. Unité embarquée selon l'une des revendications 1 à 6, 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).
  8. 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'une absence de coordonnées de position (pi) au dessus d'un laps de temps minimal prédéterminé (δ) ou 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 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).
  9. Procédé selon la revendication 8, caractérisé en ce que l'ensemble de données d'erreur (F) contient également une horodatage (tm) de ladite dernière coordonnée de position (pm).
  10. Procédé selon la revendication 8 ou 9, caractérisé en ce que l'ensemble de données d'erreur (F) contient également la première coordonnée de position (pn) générée après la fin de la détection.
  11. Procédé selon la revendication 10, caractérisé en ce que l'ensemble de données d'erreur (F) contient également une horodatage (tn) de ladite première coordonnée de position (pn).
  12. Procédé selon l'une des revendications 8 à 11, 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.
  13. Procédé selon l'une des revendications 8 à 12, 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).
  14. Procédé selon l'une des revendications 8 à 13, 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.
  15. Procédé selon l'une des revendications 8 à 14, 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
EP14161986.6A EP2924662B2 (fr) 2014-03-27 2014-03-27 Unité embarquée et procédé de surveillance du fonctionnement dans un système de péage routier
PT141619866T PT2924662T (pt) 2014-03-27 2014-03-27 Onboard-unit e método para a vigilância de funcionamento num sistema rodoviário de portagens
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
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

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)

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

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EP14161986.6A Active EP2924662B2 (fr) 2014-03-27 2014-03-27 Unité embarquée et procédé de surveillance du fonctionnement dans un système de péage routier

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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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DE102016002768C5 (de) 2016-03-05 2024-05-02 Audi Ag Verfahren zum Betreiben eines mehrere Kraftfahrzeuge umfassenden Kommunikationsnetzes und Kraftfahrzeug
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
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
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
US11892546B2 (en) 2020-07-30 2024-02-06 Qualcomm Incorporated Systems and methods for detecting and mitigating spoofed satellite navigation signals
US11815607B2 (en) 2020-07-30 2023-11-14 Qualcomm Incorporated Global navigation satellite system (GNSS) receiver operation during spoofing
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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EP2187229A1 (fr) 2008-11-06 2010-05-19 Robert Bosch GmbH Appareil de détection de brouilleurs GNSS
EP2487506A1 (fr) 2011-02-10 2012-08-15 Toll Collect GmbH Dispositif de détermination de position ainsi que procédé et produit de programme informatique pour la signalisation d'une capacité de fonctionnement manquante d'un dispositif de détermination de position

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WO2006105380A1 (fr) 2005-03-31 2006-10-05 Trimble Navigation Limited Dispositif de signalisation de position portatif active au mouvement
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SI2924662T1 (sl) 2016-12-30
ES2599783T3 (es) 2017-02-03
PT2924662T (pt) 2016-10-27
EP2924662B2 (fr) 2022-08-10
ES2599783T5 (es) 2022-11-28
DK2924662T3 (en) 2016-11-21
PL2924662T3 (pl) 2017-01-31
EP2924662A1 (fr) 2015-09-30

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