CN106710014A - ETC system and charging management device thereof, and vehicle positioning method - Google Patents
ETC system and charging management device thereof, and vehicle positioning method Download PDFInfo
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- CN106710014A CN106710014A CN201611063436.0A CN201611063436A CN106710014A CN 106710014 A CN106710014 A CN 106710014A CN 201611063436 A CN201611063436 A CN 201611063436A CN 106710014 A CN106710014 A CN 106710014A
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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
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Abstract
The invention relates to an ETC system and a charging management device thereof, and a vehicle positioning method. The vehicle positioning method comprises the following steps: S10, obtaiing a positioning value of a vehicle in real time according to OBU signals received by a phased array antenna; S20, determining whether the vehicle triggers an induction apparatus, if so, executing a step S30, and otherwise, executing a step S50; S30, obtaining a current positioning value of the vehicle, according to the obtained current positioning value and prestored position information of the induction apparatus, calculating a current compensation value of the induction apparatus, and storing the current compensation value of the induction apparatus; S40, according to the current compensation value of the induction apparatus, obtaining a positioning compensation value of the induction apparatus, and storing the positioning compensation value of the induction apparatus; and S50, according to the current positioning value and the positioning compensation value of the vehicle, calculating final position information of the vehicle. By implementing such a technical scheme, the positioning precision of the vehicle can be higher, and the equipment installation and debugging are more convenient and simpler.
Description
Technical field
The present invention relates to intelligent transportation field, more particularly to a kind of ETC (Electronic Toll Collection, no
Parking electronic charging system) system and its toll administration equipment, vehicle positioning method.
Background technology
As the completion of construction and the on national network work of highway, ETC vehicles are more and more, ETC tracks demand is general
And simultaneously continuous modified car road extension a plurality of ETC tracks phenomenon is also more and more, therefore a plurality of ETC tracks pattern future will increasingly
Popularization, although current a plurality of ETC tracks model application can basic guarantee vehicle pass-through, still exist lie interference,
Being disturbed with car and be open to traffic, efficiency is slow, and be open to traffic slow phenomenon.In order to solve these problems, each main ETC producers open
The function phased array antenna with OBU (On board Unit, board units) positioning is sent, in order that equipment positioning is more accurate
Really, it is necessary to carry out installation calibrating in installation and debugging.All it is at present when rigging up and debugging, one to be taken by artificial
OBU is calibrated in several reference position points, draws the compensation for calibrating errors parameter of each reference position point, when later to the vehicle that passes through
When positioning, the coordinate value for positioning is modified by these compensation for calibrating errors parameters just, but deposited by this mode
In problems with：
1st, because the installation site of OBU, height and the producer of the vehicle that passes through are all different, such positioning result has one
Determine difference, if the compensating parameter for only using the OBU used during according to debugging to be obtained is modified, so revised car
Still can there is certain deviation in locator value；
If the 2, the roadway environments of phased array antenna change (such as aerial angle, Level Change or new track), just need
Recalibrate, so, equipment debugging is just more cumbersome.
The content of the invention
The technical problem to be solved in the present invention is, the above-mentioned vehicle location for prior art is inaccurate and equipment debugging
Cumbersome defect, there is provided a kind of ETC system and its toll administration equipment, vehicle positioning method, can make the positioning precision of vehicle more
Height, and rigging up and debugging is more convenient, simple.
The technical solution adopted for the present invention to solve the technical problems is：A kind of vehicle positioning method of ETC system is constructed,
Including：
The locator value of the OBU signal acquisition vehicles for S10. being received according to phased array antenna in real time；
S20. judge whether the vehicle triggers the induction installation being set in advance in track, if so, then performing step
S30；If it is not, then performing step S50；
S30. the current locator value of the vehicle is obtained, and according to acquired current locator value and described in prestoring
The positional information of induction installation, calculates the current value of the induction installation, and store the induction installation work as precompensation
Value；
S40. the current value according to the induction installation obtains the positioning compensation value of the induction installation；
S50. current locator value according to the vehicle and the positioning compensation value, calculate the final position letter of the vehicle
Breath.
Preferably, include in the step S30, the step of the current value of the storage induction installation：
S31. whether the current value of the induction installation for being calculated is judged more than preset value, if so, then performing step
Rapid S32；If it is not, then performing step S33；
S32. the current value of the induction installation is abandoned；
S33. the current value of the induction installation is stored.
Preferably, the step S40 includes：
Averaged after offset before the current value of the induction installation and same induction installation is added up, with
As the positioning compensation value of the induction installation.
Preferably, with the upright projection point of phased array antenna as origin, with road direction with the coordinate system of Y-axis, institute
Induction installation is stated to be arranged in Y-axis, and, the step S50 includes：
The final position information of the vehicle is calculated according to below equation：
Xz=Xa+Xr；
Yz=Ya+Yr；
Wherein, (Xz, Yz) is the final position coordinate of the vehicle, and (Xa, Ya) is that the current locator value of the vehicle is sat
Mark, (Xr, Yr) is the positioning compensation value coordinate of the induction installation.
Preferably, the quantity of the induction installation is at least two, and the step S50 includes：
S51. the communication zone of phased array antenna is carried out region by the positional information according at least two induction installation
Divide；
S52. the region where the current locator value according to the vehicle judges the vehicle, and according to where the vehicle
Region and the positioning compensation value of at least two induction installation calculate the final position information of the vehicle.
Preferably, the communication zone is with the upright projection point of phased array antenna as origin, with road direction with Y-axis
In coordinate system, at least two induction installation is successively set in Y-axis, and, the step S52 is specifically included：
S521. current locator value according to the vehicle and the positional information of at least two induction installation, judge institute
State whether vehicle is located between two induction installations, if so, then performing step S523；If it is not, then performing step S522；
S522. the final position information of the vehicle is calculated according to below equation：
Xz=Xa+Xrj；
Yz=Ya+Yrj；
Wherein, (Xz, Yz) is the final position coordinate of the vehicle, and (Xa, Ya) is that the current locator value of the vehicle is sat
Mark, (Xrj, Yrj) is the positioning compensation value coordinate of the induction installation nearest apart from the vehicle；
S523. the final position information of the vehicle is calculated according to below equation：
Xz=Xa+Xrb；
Yz=Ya+M × (H ÷ N)；
M=Yrb-Yrf；
N=Yb-Yf；
H=Ya-Yf；
Wherein, (Xrb, Yrb) is the positioning compensation value coordinate of the rear view of vehicle induction installation nearest apart from vehicle, and Yrf is
The ordinate of the positioning compensation value of the vehicle front induction installation nearest apart from vehicle, Yb is that rear view of vehicle is nearest apart from vehicle
The position ordinate of induction installation, Yf is the position ordinate of the vehicle front induction installation nearest apart from vehicle.
The present invention also constructs a kind of toll administration equipment of ETC system, is communicated to connect with induction installation, phased array antenna,
Including：
Positioning acquisition module, the locator value of the OBU signal acquisition vehicles for being received according to phased array antenna in real time；
Triggering judge module, for judging whether the vehicle triggers the induction installation being set in advance in track；
Compensation calculation module, for when induction installation is triggered, obtaining the current locator value of the vehicle, and according to being obtained
The positional information of the current locator value for taking and the induction installation for prestoring, calculate the induction installation works as precompensation
Value, and store the current value of the induction installation；
Positioning compensation acquisition module, for obtaining determining for the induction installation according to the current value of the induction installation
Position offset；
Position computation module, for when induction installation is not triggered, current locator value according to the vehicle and described fixed
Position offset, calculates the final position information of the vehicle.
Preferably, also include：
Whether comparison module, the current value of the induction installation for judging to be calculated is more than preset value；
Discard module, for when more than preset value, abandoning the current value of the induction installation.
Preferably,
The positioning compensation acquisition module, for by before the current value of the induction installation and same induction installation
Offset it is cumulative after average, as the positioning compensation value of the induction installation.
The present invention also constructs a kind of ETC system, including RSU and the induction installation that is arranged in track, and the RSU includes phase
Control array antenna, also including above-described toll administration equipment.
Implement technical scheme, by the reality for comparing locator value during vehicle triggering induction installation and induction installation
Border positional value obtains the offset of induction installation, and further obtains the positioning compensation value of induction installation, further according to acquired
Positioning compensation value the positioning of vehicle put be modified, to calculate the final position information of vehicle, so may be such that vehicle
Positioning precision it is higher, can preferably prevent lie disturb and with car disturb so that passage rate accelerates, Consumer's Experience is more
Good, it is more smooth that car is crossed by charge station.And, make the installation and debugging of RSU equipment simpler, convenient, in hgher efficiency, it is effectively saved
The cost of producer.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.In accompanying drawing：
Fig. 1 is the flow chart of the vehicle positioning method embodiment one of ETC system of the present invention；
Fig. 2 is the application scenario diagram of ETC system；
Fig. 3 is the schematic diagram of induction installation embodiment one in ETC system；
Fig. 4 is the building-block of logic of the toll administration apparatus embodiments one of ETC system of the present invention；
Fig. 5 is the building-block of logic of the toll administration apparatus embodiments two of ETC system of the present invention.
Specific embodiment
Fig. 1 is the flow chart of the vehicle positioning method embodiment one of ETC system of the present invention, the vehicle location side of the embodiment
Method is comprised the following steps：
The locator value of the OBU signal acquisition vehicles for S10. being received according to phased array antenna in real time.
In this step, first, the scene graph of the ETC system with reference to shown in Fig. 2, RSU20 is arranged on portal frame 60,
Be provided with RSU20 in phased array antenna (not shown), toll island 70 is the communication zone of RSU in track.RSU20 is managed with charge
Reason equipment 10 is communicated to connect.After the vehicle equipped with OBU sails the communication zone of RSU into, phased array antenna on RSU20 just with
OBU is communicated, and the OBU signals that phased array antenna will be received are sent to toll administration equipment 10, so, toll administration equipment
Just can according to the locator value of the OBU signal acquisitions vehicle, can for example use up to digital method, angle of arrival positioning mode,
Signal receiving strength positioning mode is positioned to vehicle.
S20. judge whether the vehicle triggers the induction installation being set in advance in track, if so, then performing step
S30；If it is not, then performing step S50.
In this step, illustrate first, induction installation is to be laid out in track in advance, so, its position is
The determination value known.The induction installation is, for example, ground induction coil, laser, radar equipment.With reference to Fig. 2, (set with phased array antenna
Put on RSU20) upright projection point for origin, the opposite direction travelled with vehicle with the coordinate system of Y-axis, induction installation 31,
32 are successively set in Y-axis, and each induction installation is determination value known to from the origin of coordinates.In debugging, can be by
The coordinate information of each induction installation is set in toll administration equipment 10 in the form of the parameter.When vehicle is travelled to induction installation
When at the position of (for example, induction installation 31), the induction installation 31 will be triggered, induction installation 31 just transmits signal or data
To toll administration equipment 10, so that toll administration equipment 10 just can exactly know vehicle position now, such that it is able to carry out
The relevant treatment of track logic, such as, control the Push And Release of phased array antenna, and taking pictures and flash lamp for control camera 50 is gone back
There is arguing for the sake of arguing and dropping bar etc. for lifeline 80.In order that during vehicle triggering induction installation, toll administration equipment 10 can get letter
Number, for ground induction coil or laser, because it is with level triggers form sending signal, so charge pipe can be accessed directly
The signal input part of reason equipment 10；For radar, transmitted with serial ports or network interface because it is general, so it directly and can be charged
Management equipment communicates.
S30. the current locator value of the vehicle is obtained, and according to acquired current locator value and described in prestoring
The positional information of induction installation, calculates the current value of the induction installation, and store the induction installation work as precompensation
Value.
In this step, it should be noted that, track is usually one-way road in ETC system, one sense of moment of a certain determination
Answer device only to correspond to a car, when vehicle triggers induction installation, illustrate that vehicle has been arrived at the position of induction installation, due to sensing
The position of device is known, so now may know that the physical location of vehicle.
After the locator value of moment vehicle of triggering induction installation and physical location is obtained respectively, subtract each other by by both
Just the current value of induction installation can be calculated, then the current value is stored.
S40. the current value according to the induction installation obtains the positioning compensation value of the induction installation；
In this step, it is preferable that can be by the compensation before the current value of the induction installation and the induction installation
Averaged after value is cumulative, as the positioning compensation value of the induction installation.In actual applications, whenever a car is by ETC
During induction installation in track, the offset of a calibration point (location point of the induction installation) is just obtained by this method.
As the vehicle by the ETC tracks is more and more, the offset of the calibration point for being stored is also more and more, and can be constantly
By current value and offset before carry out it is cumulative after average, and using the average value as positioning compensation value.
Certainly, in another embodiment, also can be by current value directly as positioning compensation value.
S50. current locator value according to the vehicle and the positioning compensation value, calculate the final position letter of the vehicle
Breath.
In this step, illustrate first, after vehicle enters the communication zone of RSU, the locator value of vehicle is real-time
Update, after locator value for vehicle of every acquisition, just can be used the positioning compensation value of calibration point to enter the locator value of vehicle
Row amendment.
The step of above-described embodiment in S30, when vehicle sails communication zone into, just the phased array antenna with RSU is handed over
Easily, phased array antenna may know that the ID of this OBU by information exchange, and vehicle is may know that by the time sequencing for receiving OBU ID
Context.For same vehicle, the positional information of its induction installation for being triggered positions what is obtained with by phased array antenna
Current locator value will not differ too big, and for example difference is no more than 0.5 meter.So, in a preferred embodiment, step S30 exists
After calculating the current value of the induction installation, also include：
S31. whether the current value of the induction installation for being calculated is judged more than preset value, if so, then performing step
Rapid S32；If it is not, then performing step S33, preset value is, for example, 0.5 meter；
S32. the current value of the induction installation is abandoned, illustrates now to trigger the vehicle and phased array of induction installation
The vehicle that antenna is positioned is not same, so, the current value should be abandoned；
S33. the current value of the induction installation is stored.
In ETC system, the layout of induction installation can have various ways, in the embodiment shown in Figure 2, set up one with
The upright projection point of phased array antenna is origin, and opposite direction is travelled with the coordinate system of Y-axis with vehicle, and two induction installations set successively
Put in Y-axis.Certainly, the quantity of induction installation is not limited to two, or one or more than two.
In a specific embodiment, with the upright projection point of phased array antenna as origin, with road direction with Y-axis
In coordinate system, and induction installation is arranged in Y-axis, and the quantity of induction installation can be one, or multiple, when for multiple,
These induction installations are successively set in Y-axis, and now, step S50 is specially：
The final position information of the vehicle is calculated according to below equation：
Xz=Xa+Xr；
Yz=Ya+Yr；
Wherein, (Xz, Yz) is the final position coordinate of the vehicle, and (Xa, Ya) is that the current locator value of the vehicle is sat
Mark, (Xr, Yr) is the positioning compensation value coordinate of the induction installation, the value on positioning compensation value coordinate (Xr, Yr),
This it should be noted that, if the quantity of induction installation be one, positioning compensation value coordinate (Xr, Yr) is to take the induction installation
Positioning compensation value coordinate；If the quantity of induction installation is at least two, the desirable institute's thoughts of positioning compensation value coordinate (Xr, Yr)
Answer the average of the positioning compensation value coordinate of device.
S51. the communication zone of phased array antenna is carried out region by the positional information according at least two induction installation
Divide；
S52. the region where the current locator value according to the vehicle judges the vehicle, and according to where the vehicle
Region and the positioning compensation value of at least two induction installation calculate the final position information of the vehicle.
Yet further, if the communication zone of phased array antenna is with the upright projection point of phased array antenna as origin, with
So that in the coordinate system of Y-axis, at least two induction installation is successively set in Y-axis, now, step S52 is specifically wrapped road direction
Include：
S521. current locator value according to the vehicle and the positional information of at least two induction installation, judge institute
State whether vehicle is located between two induction installations, if so, then performing step S523；If it is not, then performing step S522；
S522. the final position information of the vehicle is calculated according to below equation：
Xz=Xa+Xrj；
Yz=Ya+Yrj；
Wherein, (Xz, Yz) is the final position coordinate of the vehicle, and (Xa, Ya) is that the current locator value of the vehicle is sat
Mark, (Xrj, Yrj) is the positioning compensation value coordinate of the induction installation nearest apart from the vehicle；
S523. the final position information of the vehicle is calculated according to below equation：
Xz=Xa+Xrb；
Yz=Ya+M × (H ÷ N)；
M=Yrb-Yrf；
N=Yb-Yf；
H=Ya-Yf；
Wherein, (Xrb, Yrb) is the positioning compensation value coordinate of the rear view of vehicle induction installation nearest apart from vehicle, and Yrf is
The ordinate of the positioning compensation value of the vehicle front induction installation nearest apart from vehicle, Yb is that rear view of vehicle is nearest apart from vehicle
The position ordinate of induction installation, Yf is the position ordinate of the vehicle front induction installation nearest apart from vehicle.
On step S523, four induction installation 31-34 are provided with altogether with reference to Fig. 3, in Y-axis, four induction installations are by RSU
Communication zone be divided into 10 region A1-A10.When vehicle is in region A1, A6, A5, A10, the vehicle is not in two
Between induction installation, for example, when vehicle is at region A1 (or A6), the induction installation nearest apart from the vehicle is induction installation
31, when vehicle is at region A5 (or A10), the induction installation nearest apart from the vehicle is induction installation 34.When vehicle is in region
When in A2, A7, A3, A8, A4, A9, the vehicle is located between two induction installations, for example, when vehicle is at region A2 (or A7),
It is located between induction installation 31 and 32, and the rear view of vehicle induction installation nearest apart from vehicle is induction installation 31, before vehicle
Side's induction installation nearest apart from vehicle is induction installation 32；When vehicle is at region A3 (or A8), it is located at induction installation 32
And between 33, and the rear view of vehicle induction installation nearest apart from vehicle is induction installation 32, vehicle front is nearest apart from vehicle
Induction installation is induction installation 33；At region A4 (or A9), it is located between induction installation 33 and 34 vehicle, and rear view of vehicle
The induction installation nearest apart from vehicle is induction installation 33, and the vehicle front induction installation nearest apart from vehicle is induction installation
34。
Fig. 4 is the building-block of logic of the toll administration apparatus embodiments one of ETC system of the present invention, with reference to Fig. 2, toll administration
The equipment communications such as equipment 10 and RSU20, induction installation 31,32 are connected.In this embodiment, toll administration equipment specifically includes fixed
Position acquisition module 11, triggering judge module 12, compensation calculation module 13, positioning compensation acquisition module 14 and position computation module
15.Wherein, positioning acquisition module 11 is used for the locator value of the OBU signal acquisition vehicles for being received according to phased array antenna in real time；
Triggering judge module 12 is used to judge whether the vehicle triggers the induction installation being set in advance in track；Compensation calculation module
The 13 current locator values for being used to be obtained when induction installation is triggered the vehicle, and according to acquired current locator value and pre-
The positional information of the induction installation for first storing, calculates the current value of the induction installation, and store the sensing dress
The current value put；Positioning compensation acquisition module 14 is used to obtain the sensing according to the current value of the induction installation
The positioning compensation value of device；Position computation module 15 is used to, when induction installation is not triggered, prelocalization is worked as according to the vehicle
Value and the positioning compensation value, calculate the final position information of the vehicle.
Further, positioning compensation acquisition module 14 is used to fill the current value of the induction installation and same sensing
Offset before putting is averaged after adding up, as the positioning compensation value of the induction installation.
Fig. 5 is the building-block of logic of the toll administration apparatus embodiments two of ETC system of the present invention, the charge pipe of the embodiment
Compared to the embodiment one shown in Fig. 4, different is only reason equipment, also including comparison module 16 and discard module 17, wherein,
The connection compensation calculation of comparison module 16 module 13, and whether the current value of the induction installation for judging to be calculated is big
In preset value；Discard module 17 is used to, more than preset value, abandon the current value of the induction installation.
In addition, the present invention also constructs a kind of ETC system, including toll administration equipment, RSU and the sensing that is arranged in track
Device, RSU includes phased array antenna, wherein, the logical construction of toll administration equipment can refer to described previously, not do herein superfluous
State.
The preferred embodiments of the present invention are the foregoing is only, is not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All any buns within the spirit and principles in the present invention, made
Change, equivalent, improvement etc., should be included within scope of the presently claimed invention.
Claims (10)
1. a kind of vehicle positioning method of ETC system, it is characterised in that including：
The locator value of the OBU signal acquisition vehicles for S10. being received according to phased array antenna in real time；
S20. judge whether the vehicle triggers the induction installation being set in advance in track, if so, then performing step S30；If
It is no, then perform step S50；
S30. the current locator value of the vehicle is obtained, and according to acquired current locator value and the sensing for prestoring
The positional information of device, calculates the current value of the induction installation, and store the current value of the induction installation；
S40. the current value according to the induction installation obtains the positioning compensation value of the induction installation；
S50. current locator value according to the vehicle and the positioning compensation value, calculate the final position information of the vehicle.
2. the vehicle positioning method of ETC system according to claim 1, it is characterised in that in the step S30, institute
The step of stating the current value for storing the induction installation includes：
S31. whether the current value of the induction installation for being calculated is judged more than preset value, if so, then performing step
S32；If it is not, then performing step S33；
S32. the current value of the induction installation is abandoned；
S33. the current value of the induction installation is stored.
3. the vehicle positioning method of ETC system according to claim 1, it is characterised in that the step S40 includes：
Averaged after offset before the current value of the induction installation and same induction installation is added up, as
The positioning compensation value of the induction installation.
4. the vehicle positioning method of ETC system according to claim 1, it is characterised in that in hanging down with phased array antenna
Straight subpoint is origin, with road direction with the coordinate system of Y-axis in, the induction installation is arranged in Y-axis, and, the step
Rapid S50 includes：
The final position information of the vehicle is calculated according to below equation：
Xz=Xa+Xr；
Yz=Ya+Yr；
Wherein, (Xz, Yz) is the final position coordinate of the vehicle, and (Xa, Ya) is the current locator value coordinate of the vehicle,
(Xr, Yr) is the positioning compensation value coordinate of the induction installation.
5. the vehicle positioning method of ETC system according to claim 1, it is characterised in that the quantity of the induction installation
It is at least two, and the step S50 includes：
S51. the communication zone of phased array antenna is carried out region division by the positional information according at least two induction installation；
S52. the region where the current locator value according to the vehicle judges the vehicle, and the area according to where the vehicle
The positioning compensation value of domain and at least two induction installation calculates the final position information of the vehicle.
6. the vehicle positioning method of ETC system according to claim 5, it is characterised in that the communication zone is with phase
Control array antenna upright projection point be origin, with road direction with the coordinate system of Y-axis in, at least two induction installation is successively
It is arranged in Y-axis, and, the step S52 is specifically included：
S521. current locator value according to the vehicle and the positional information of at least two induction installation, judge the car
Whether it is located between two induction installations, if so, then performing step S523；If it is not, then performing step S522；
S522. the final position information of the vehicle is calculated according to below equation：
Xz=Xa+Xrj；
Yz=Ya+Yrj；
Wherein, (Xz, Yz) is the final position coordinate of the vehicle, and (Xa, Ya) is the current locator value coordinate of the vehicle,
(Xrj, Yrj) is the positioning compensation value coordinate of the induction installation nearest apart from the vehicle；
S523. the final position information of the vehicle is calculated according to below equation：
Xz=Xa+Xrb；
Yz=Ya+M × (H ÷ N)；
M=Yrb-Yrf；
N=Yb-Yf；
H=Ya-Yf；
Wherein, (Xrb, Yrb) is the positioning compensation value coordinate of the rear view of vehicle induction installation nearest apart from vehicle, and Yrf is vehicle
The ordinate of the positioning compensation value of the front induction installation nearest apart from vehicle, Yb is the rear view of vehicle sensing nearest apart from vehicle
The position ordinate of device, Yf is the position ordinate of the vehicle front induction installation nearest apart from vehicle.
7. a kind of toll administration equipment of ETC system, communicates to connect, it is characterised in that bag with induction installation, phased array antenna
Include：
Positioning acquisition module, the locator value of the OBU signal acquisition vehicles for being received according to phased array antenna in real time；
Triggering judge module, for judging whether the vehicle triggers the induction installation being set in advance in track；
Compensation calculation module, for when induction installation is triggered, obtaining the current locator value of the vehicle, and according to acquired
The positional information of current locator value and the induction installation for prestoring, calculates the current value of the induction installation, and
Store the current value of the induction installation；
Positioning compensation acquisition module, the positioning for obtaining the induction installation according to the current value of the induction installation is mended
Repay value；
Position computation module, for when induction installation is not triggered, current locator value and the positioning according to the vehicle to be mended
Value is repaid, the final position information of the vehicle is calculated.
8. the toll administration equipment of ETC system according to claim 7, it is characterised in that also include：
Whether comparison module, the current value of the induction installation for judging to be calculated is more than preset value；
Discard module, for when more than preset value, abandoning the current value of the induction installation.
9. the toll administration equipment of ETC system according to claim 7, it is characterised in that
The positioning compensation acquisition module, for by the benefit before the current value of the induction installation and same induction installation
Repay after value adds up and average, as the positioning compensation value of the induction installation.
10. a kind of ETC system, including RSU and the induction installation being arranged in track, the RSU include phased array antenna, and it is special
Levy and be, also including the toll administration equipment described in claim 7-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611063436.0A CN106710014B (en) | 2016-11-28 | 2016-11-28 | ETC system and its toll administration equipment, vehicle positioning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611063436.0A CN106710014B (en) | 2016-11-28 | 2016-11-28 | ETC system and its toll administration equipment, vehicle positioning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106710014A true CN106710014A (en) | 2017-05-24 |
| CN106710014B CN106710014B (en) | 2019-05-10 |
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