Geolocation Process to Perform the Electronic Toll Collection Using the ITS-G5 Technology

Recent research in intelligent transportation system focus on different possible use cases. Among them are the payment applications with cooperative intelligent transport system (C-ITS) equipment. In this paper, we deal about the tolling application performed with the C-ITS equipment. These latter use the ITS-G5 technology, the Roadside Unit (RSU) and the on-board unit (OBU) with features specified by the standardization Institute ETSI. To perform this service, we highlight two mains requirements: how to have a reliable geolocation of the vehicle when it crosses the tollgate and how to secure the communication during the transaction process. In this paper, we will address the methods that is propose to solve the issue of geolocation. The proposed method takes advantage of the communications data. It uses the principle of Differential - GPS mixed with Kalman filtering and extended Kalman filtering applied to the GPS and CAN bus measurements received by the RSU from the connected vehicles. The kinematic of the vehicle is taken into account to choose the suitable system model. Here as novelties, we discuss about the whole procedure to perform the geolocation process during the tolling service and we have results when we apply the dynamic model according to the real behavior of the vehicle when approaching and crossing the toll station.