Evaluation of methods to estimate vehicle location in Electronic Toll Collection Service with C-ITS

Abstract

This paper aims to present our method to evaluate a vehicle location to perform Electronic Toll Collection transactions (ETC System) with Cooperative Intelligent Transport System (C-ITS) and to compare different model systems to evaluate the most reliable filter to have the vehicle location. We consider ITS components using the ITS-G5 technology with features specified by the European Telecommunication Standardization Institute (ETSI): RoadSide Unit (RSU) and On-Board Unit (OBU). The idea of the proposed algorithm takes advantage of the communications data. The method is inspired by the principle of Differential - GPS combined with Kalman Filtering or extended Kalman filtering applied to the GPS and CAN bus measurements performed on the RSU. The evaluation of the filter will be done according to the motion models chosen.