Reliable vehicle location in electronic toll collection service with cooperative intelligent transportation systems

This paper aims to present a method to evaluate a precise vehicle location in order to perform Electronic Toll Collection transactions (ETC System) with Cooperative Intelligent Transport System (C-ITS). This method will consider each ITS component using the technology ITS-G5, the RoadSide Unit (RSU) and the OnBoard Unit (OBU) with features specified by the standardization Institute ETSI. The proposed algorithm uses the communications data. The method is inspired by the principle of Differential - GPS combined with Kalman Filtering applied to the GPS and accelerometer measurements performed on the RSU.