Vehicle path verification method, free-flow toll collection method and device for highways

Abstract

A vehicle path verification method, in which ETC communication equipment RSU and V2X communication equipment RSU are set at the entrance and exit toll stations of the expressway and along the road side, as ETC identification points and V2X identification points respectively; a vehicle-mounted terminal based on ETC and C-V2X fusion that can interact with the roadside communication equipment is installed on the vehicle; the vehicle-mounted terminal has a high-precision positioning function, and can record and upload the interacted ETC identification points, V2X identification points and high-precision positioning trajectory points. By utilizing C-V2X technology, the respective advantages of ETC technology and C-V2X technology are fully utilized, and the driving trajectory of the vehicle is accurately restored through mutual verification and completion of the ETC path, V2X path, and the vehicle-mounted high-precision positioning trajectory; through the free flow pre-charging of the ramp in the diversion area, the vehicles at the toll station can pass without stopping and without poles. It also involves a free-flow charging method for expressways, which uses a vehicle path verification method to determine the billing trajectory of the vehicle to be paid; and determines the expressway toll of the vehicle to be paid according to the billing trajectory.

Description

Technical Field

[0001] The invention relates to computer technology, and in particular to a vehicle path verification method, a free-flow toll collection method and a device for expressways. Background Art

[0002] With the cancellation of provincial highway toll stations across the country, ETC (Electronic Toll Collection) has gradually become the main toll collection method for highways. According to statistics from the Ministry of Transport, as of the end of 2019, the coverage rate of ETC channels at toll stations reached more than 90%, and the cumulative number of ETC users reached 204 million, accounting for about 78%.

[0003] There are currently three major problems with the application of ETC toll collection on highways.

[0004] First, the problem of accurate path identification has become increasingly prominent after the network charging. Under the conditions of a complex closed road network, there are multiple optional paths between the starting and ending points. It is difficult to accurately identify the real driving trajectory of the vehicle based only on the exit and entrance information, which leads to inaccurate vehicle charging and infringement of the interests of the car owners.

[0005] Second, the division and settlement between highway owners are unclear, and there are conflicts of interest. In the case of unclear true paths and ambiguous paths, whether the shortest path method, vehicle classification statistics method, consultation survey method, or probability statistics method is used, it is impossible to satisfy the highway investors. The ETC marking method, which is generally recognized, cannot completely solve the problem because of its limited marking effect and the loss of marking points due to the intentional removal of IC cards (Integrated Circuit Cards) by some drivers during driving.

[0006] Third, congestion frequently occurs at toll station exits, becoming a fixed bottleneck point for highway operation. At the toll station exit, vehicles need to slow down to the ETC lane and pass through after the communication transaction is completed and the barrier is raised. Therefore, toll stations often become congested under heavy traffic conditions, and in serious cases, the vehicles even queue up to the upstream section of the diversion area.

[0007] The problems of inaccurate routes and exit congestion faced by ETC toll collection on highways are mainly due to the limitations of the DSRC (Dedicated Short Range Communications) technology used in ETC toll collection: first, the communication coverage range is small, only about 15m. When the vehicle is traveling at high speed, the OBU (On board Unit) and RSU do not have enough transaction time; second, the transmission power is too low, and the full coverage of the cross-section signal is not achieved, resulting in a transaction blind spot; third, data decoding fails, and there are many abnormalities in IC card reading and writing.

[0008] In the existing technology, there are some solutions to tackle the above problems, but they all have shortcomings, such as:

[0009] A vehicle trajectory restoration method, a method and device for determining highway tolls (patent application number: 202110713689.2), proposes a method and device for determining a vehicle's driving trajectory based on the vehicle's characteristic data and historical vehicle passing data at toll stations. The characteristic data refers to the vehicle's license plate, ETC card number and other vehicle identification, as well as appearance data such as brand, model, color, and size; the vehicle passing data refers to the vehicle's passing records and passing videos. However, this method is highly dependent on the video and the success rate of ETC transactions. The video is affected by weather and lighting, and has problems with low recognition rate and low accuracy. ETC transactions have problems such as short transmission distance and easy signal obstruction. Therefore, this method cannot significantly improve the efficiency of vehicle path restoration. At the same time, this method does not involve free-flow charging.

[0010] A road toll evasion audit method and system based on a traffic data platform (patent application number: 202110134614.9) proposes a road toll evasion audit method and system based on a traffic data platform, which obtains vehicle image information, ETC data, and traffic flow data, and compares and analyzes abnormal data; through the traffic data platform, the validity of the abnormal data is verified, and it is stored in the database for verification at the highway exit, so as to timely detect and deal with toll-evading vehicles. However, this method is highly dependent on the success rate of video and ETC transactions, and combines traffic flow data to verify the vehicle's driving trajectory. It has high technical requirements for image processing, large amount of calculation, and cannot achieve free-flow charging. Summary of the invention

[0011] In recent years, with the development of a new generation of electronic communication technology, C-V2X technology (Cellular-V2X) was launched after DSRC technology. Compared with DSRC, C-V2X has a larger bandwidth, can better support short-distance and long-distance information transmission, and can provide Internet of Vehicles services to users within and outside the network coverage at the same time. Therefore, C-V2X is gradually being implemented on a large scale in the transportation field.

[0012] Based on the maturity of C-V2X technology, the present invention provides a vehicle path verification method, a highway free-flow charging method and device, which give full play to the respective advantages of ETC technology and C-V2X technology, and accurately restore the vehicle's driving trajectory through the mutual verification and completion of the ETC path, V2X path, and the vehicle-mounted high-precision positioning trajectory; through the pre-charging of the free-flow ramp in the diversion area, the vehicle can pass through the toll station without stopping and without poles. To achieve the purpose of solving the technical problems raised by the background technology, the present invention is further elaborated below.

[0013] A vehicle path verification method comprises the following steps:

[0014] When a vehicle enters a highway toll booth,

[0015] The RSU-V2X on the roadside of the toll station sends and writes information V0 to the V2X module of the vehicle terminal until it succeeds;

[0016] The RSU-ETC on the roadside of the toll station wakes up the vehicle terminal module and writes information E0 to the ETC module of the vehicle terminal until it succeeds;

[0017] The vehicle passes through the toll booth and enters the expressway. While driving on the expressway,

[0018] When entering the communication range of the V2X identification point, write information V0, V1, ..., V n , until the vehicle exits the highway, where V0 and V n They are the RSU-V2X identification point information of the toll station entrance and toll station exit respectively;

[0019] When entering the communication range of the ETC identification point, write information E0, E1, ..., E m , until the vehicle exits the highway, where E0 and E m The RSU-ETC identification point information of the toll station entrance and toll station exit respectively;

[0020] The vehicle terminal generates a high-precision positioning trajectory point Tp, including longitude and latitude information. Every Δt interval, a high-precision positioning trajectory point is generated and recorded, and information T0, T1, ..., T is written in sequence. p , until the vehicle exits the highway, where T0 and T p They are respectively the high-precision positioning trajectory point information of vehicles at the entrance and exit of the toll station;

[0021] When entering the highway toll booth exit,

[0022] The vehicle terminal uploads high-precision positioning trajectory points, ETC identification points and V2X identification points to the toll collection system;

[0023] The toll collection system performs the following steps to confirm the toll path:

[0024] The highway network is abstracted into a network topology diagram, and the interchange is denoted as I i point, the road section is denoted as R j Point, two adjacent interchanges I i and I i+1 The interval corresponds to a road segment R j ; The starting point and the end point of the toll station that the vehicle passes through are recorded as point S and point F respectively;

[0025] The E that is successfully read and written will be recorded in sequence m The identification information forms a set P of ETC identification points E ={E0, E1, ..., E m}, each ETC identification point E m Corresponding to a road segment R j , and obtain the vehicle driving section set R based on the ETC identification point E = {R0, R1, ..., R m};

[0026] The V that is successfully read and written will be recorded in sequence n The identification information forms a set P of V2X identification points V = {V0, V1, ..., V n}, each V2X identification point V n Corresponding to a road segment R j , and obtain the vehicle driving section set R based on the V2X identification point V = {R0, R1, ..., R n};

[0027] The vehicle terminal automatically generates high-precision positioning trajectory points T at intervals of Δt. p , forming a set of driving trajectory points P T ={T0, T1, ..., T p}, the longitude and latitude of the trajectory point match the longitude and latitude of the road, and each trajectory point T p Belongs to a road segment R j , when multiple trajectory points correspond to the same road segment R j When the segment R is recorded only once in the set j , we get the vehicle travel section set RT based on the positioning trajectory point = {R0, R1, ..., R p};

[0028] When a vehicle drives to the exit ramp of a highway toll station, the toll collection system obtains the possible driving section set R of the vehicle based on the ETC identification point. E, the possible road section set R of vehicles based on V2X identification points V , the possible driving section set R of the vehicle based on the positioning trajectory point T ;

[0029] Take the intersection of the possible driving sections corresponding to the ETC identification point, V2X identification point and positioning trajectory point, and record it as set R, that is: R = R E ∩R V ∩R T ;

[0030] Take the union of the possible driving sections corresponding to the ETC identification point, V2X identification point and positioning trajectory point, and record it as set R*, that is, R* = R E ∪R V ∪R T ;

[0031] The number of elements in set R is Card(R);

[0032] If and only if Card(R)=1 of set R, R is considered to be the only real path of the vehicle;

[0033] When Card(R)>1, it is considered that there are multiple vehicle driving paths, and the shortest path in the set R is taken as the billing path;

[0034] When Card(R)=0, it is considered that the system is in error and the shortest path in the set R* is taken as the billing path.

[0035] The present invention also relates to a method for free-flow toll collection on highways, the method comprising: using the vehicle path verification method described in claim 1 to determine the billing trajectory of the vehicle to be paid; and determining the highway toll of the vehicle to be paid based on the billing trajectory of the vehicle to be paid.

[0036] The present invention also relates to a vehicle-mounted terminal device based on the fusion of ETC and C-V2X, which is installed on the front windshield of the vehicle, including:

[0037] ETC module, used to interact with ETC communication equipment and ETC identification points;

[0038] V2X module, used to interact with V2X communication equipment and V2X identification points;

[0039] High-precision positioning module, used to generate vehicle driving trajectory points and record the vehicle's actual driving trajectory;

[0040] 4G / 5G module, used to transmit and receive relevant information, and upload the ETC identification points, V2X identification points and high-precision positioning trajectory points recorded by the vehicle terminal to the toll collection system at the toll station exit;

[0041] Voice broadcast module, used to play reminders or warnings to the driver;

[0042] ETC card slot, used to place IC card, IC card can be inserted or taken out;

[0043] The SIM card slot is located inside the device and is used to store the SIM card. The SIM card cannot be removed during driving;

[0044] Indicator light, used to display the equipment operation status and charging status;

[0045] The power interface is connected to the normal power supply of the vehicle OBD to supply power to the vehicle terminal.

[0046] Beneficial effect: Compared with the prior art, the present invention also relates to a device for determining free-flow tolls on highways, the device comprising: a billing trajectory determination unit, used to determine the billing trajectory of the vehicle to be paid using the vehicle path verification method described in claim 1; a communication fee determination unit, used to determine the highway toll of the vehicle to be paid based on the billing trajectory of the vehicle to be paid. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 : Schematic diagram of the functional structure of the vehicle terminal based on the fusion of ETC and C-V2X in the present invention;

[0048] Figure 2 :Flowchart of the free-flow charging method for highway vehicles based on the fusion of ETC and C-V2X in the present invention;

[0049] Figure 3 : The present invention provides an example scenario for highway vehicle real path identification and verification. DETAILED DESCRIPTION

[0050] Next, combine with Figure 1-3 A specific embodiment of the present invention is described in detail.

[0051] A vehicle-mounted terminal device based on the fusion of ETC and C-V2X, installed on the front windshield of the vehicle, refer to the attached Figure 1 , including ETC module, V2X module, high-precision positioning module, 4G / 5G module, voice broadcast module, ETC card slot, SIM card slot, indicator light, power interface and casing; among them,

[0052] The ETC module includes an ETC antenna, supports UART, Bluetooth and DSRC communication modes, and is used to interact with ETC communication equipment and ETC identification points;

[0053] The V2X module includes an LTE-V antenna, supports 4G / 5G, Bluetooth / Wifi, and C-V2X communication modes, and is used to interact with V2X communication equipment and V2X identification points;

[0054] The high-precision positioning module includes a high-precision positioning antenna, supports centimeter-level vehicle positioning, is used to generate vehicle driving trajectory points, and records the actual driving trajectory of the vehicle;

[0055] The 4G / 5G module includes a 4G / 5G antenna, supports 4G / 5G wireless communication, and is used to transmit and receive relevant information. At the toll station exit, the ETC identification points, V2X identification points, and high-precision positioning trajectory points recorded by the vehicle terminal can be uploaded to the toll collection system;

[0056] The voice broadcast module includes a voice chip and a speaker, and is used to play reminder or warning information to the driver;

[0057] The ETC card slot is used to place an IC card, and the IC card can be inserted or removed;

[0058] The SIM card slot is located inside the device and is used to store the SIM card. The SIM card cannot be removed during driving;

[0059] The indicator light includes two modes, green and red, where green represents normal and red represents abnormal, and is used to display the equipment operation status and charging status;

[0060] The power interface is connected to the normal power supply of the vehicle OBD (On Board Diagnostics) to supply power to the vehicle terminal.

[0061] To implement the vehicle path verification method and the free-flow toll collection method of the present invention, it is necessary to set up ETC communication equipment RSU and V2X communication equipment RSU at the entrance and exit toll stations of the highway and along the road side, as ETC identification points and V2X identification points respectively. The above-mentioned vehicle-mounted terminal device based on ETC and C-V2X fusion that can interact with the roadside communication equipment is installed on the vehicle; the vehicle-mounted terminal has a high-precision positioning function, and can record and upload the interacted ETC identification points, V2X identification points and high-precision positioning trajectory points.

[0062] The roadside ETC communication equipment RSU (Road Side Unit), referred to as RSU-ETC, applies DSRC communication technology to realize high-speed toll collection services.

[0063] The roadside V2X communication equipment RSU, referred to as RSU-V2X, applies C-V2X communication technology to realize vehicle networking services.

[0064] The ETC identification point is an RSU-ETC with path coding, which supports the reading and writing of the identification point of the ETC module of the vehicle terminal and is used to mark the key points of the vehicle path; the RSU-ETC at the entrance and exit of the toll station are the starting and ending ETC identification points of the vehicle path, respectively.

[0065] The V2X identification point is an RSU-V2X with path coding, which supports the reading and writing of the identification point of the vehicle terminal V2X module and is used to mark the key points of the vehicle path; the RSU-V2X at the entrance and exit of the toll station are the starting and ending V2X identification points of the vehicle path, respectively.

[0066] A vehicle path verification method comprises the following steps:

[0067] Step 1: The vehicle equipped with the vehicle-mounted terminal drives into a highway toll station;

[0068] Step 2: The toll station roadside RSU-V2X sends and writes information V to the V2X module of the vehicle terminal n , including time and V2X identification point coding;

[0069] Step 3: The vehicle terminal successfully reads and writes the RSU-V2X information V n Then, V is sent to the RSU-V2X n Read and write successful instructions; if the reading and writing fails, continue to communicate with the RSU-V2X until the writing is successful;

[0070] Step 4: The RSU-ETC on the roadside of the toll station wakes up the vehicle terminal module and writes information E to the ETC module of the vehicle terminal m , including time and ETC identification point code;

[0071] Step 5: The vehicle terminal successfully reads and writes the RSU-ETC information E m Then, E is sent to the RSU-ETC m Read and write successful instructions; if the read and write fails, continue to communicate with the RSU-ETC until the writing is successful;

[0072] Step 6: The vehicle terminal successfully writes V n and E m After that, the vehicle indicator light changes from red to green, and the voice "Welcome to the expressway" is broadcasted. The vehicle passes through the toll station and enters the expressway. If the writing is not successful, go to step 7;

[0073] Step 7: The vehicle terminal successfully writes V n and E mAfter that, the vehicle terminal starts to generate high-precision positioning trajectory points Tp, including longitude and latitude information; a high-precision positioning trajectory point is generated and recorded every interval Δt, and information T0, T1, ..., T is written in sequence. p , until the vehicle exits the highway, where T0 and T p They are respectively the high-precision positioning trajectory point information of vehicles at the entrance and exit of the toll station;

[0074] Step 8: After the vehicle terminal enters the expressway and enters the communication range of the V2X identification point, repeat steps 2 and 3 to write information V0, V1, ..., V n , until the vehicle exits the highway, where V0 and V n They are the RSU-V2X identification point information of the toll station entrance and toll station exit respectively;

[0075] Step 9: After the vehicle terminal enters the expressway and enters the communication range of the ETC identification point, repeat steps 4 and 5 to write information E0, E1, ..., E1 in sequence. m , until the vehicle exits the highway, where E0 and E m The RSU-ETC identification point information of the toll station entrance and toll station exit respectively;

[0076] Step 10: When the vehicle terminal enters the exit of the highway toll station, the vehicle terminal uploads the high-precision positioning trajectory points, ETC identification points and V2X identification points to the toll collection system, and the toll collection system identifies the vehicle path and verifies and confirms each other;

[0077] Step 11: The toll collection system successfully deducts the vehicle toll;

[0078] Step 12: The indicator light on the vehicle terminal turns green and announces "Payment successful, wish you a safe journey";

[0079] Step 13: The vehicle exits the toll station.

[0080] Among them, step ten involves the vehicle path verification method, and the specific scheme is as follows:

[0081] The highway network is abstracted into a network topology diagram, and the interchange is denoted as I i point, the road section is denoted as R j Point, two adjacent interchanges I i and I i+1 The interval corresponds to a road segment R j .

[0082] The vehicle has only one real driving path in the expressway network. The starting point and end point of the toll station passed by the vehicle are recorded as point S and point F respectively. The vehicle terminal communicates with the ETC identification point and the V2X identification point at point S and writes the E0 and V0 identification information; the vehicle terminal communicates with the ETC identification point and the V2X identification point at point F and writes the E0 and V0 identification information. m and V n Identification information.

[0083] Along the expressway, the vehicle terminal communicates with the ETC identification points and records the ETC points that are successfully read and written. m Identification information, forming a set P of ETC identification points E ={E0, E1, ..., E m}, ETC identification points that have not been successfully communicated and read and written will not be counted in the set P E In the road database, each ETC identification point E m Corresponding to a road segment R j Therefore, the vehicle travel section set R based on the ETC identification point can be obtained E = {R0, R1, ..., R m}.

[0084] Along the highway, the vehicle terminal communicates with the V2X identification points and records the V2X points that are successfully read and written. n Identification information, forming a set P of V2X identification points V = {V0, V1, ..., V n}, the V2X identification points that have not been successfully communicated and read and written will not be counted in the set P V In the road database, each V2X identification point V n Corresponding to a road segment R j , therefore, the vehicle driving section set R based on the V2X identification point can be obtained V = {R0, R1, ..., R n}.

[0085] Along the highway, the vehicle terminal automatically generates high-precision positioning trajectory points T at intervals of Δt. p , and form a set of driving trajectory points P T ={T0, T1, ..., T p}, unsuccessfully located or null trajectory points will not be counted in the set P T In the map database, the longitude and latitude of the track point are matched with the longitude and latitude of the road. Each track point T p Belongs to a road segment R j , when multiple trajectory points correspond to the same road segment R j When the segment R is recorded only once in the setj Therefore, the vehicle travel section set RT based on the positioning trajectory point can be obtained as follows: RT = {R0, R1, ..., R p}.

[0086] When the vehicle drives to the exit ramp of the highway toll station, the vehicle terminal transmits the vehicle license plate, vehicle model, and ETC identification point set P to the mobile Internet. E 、The set of V2X identification points P V , the set of driving trajectory points P T Upload to the toll collection system. The toll collection system can obtain the possible road section set R of the vehicle based on the ETC identification point by matching with the road database and map database. E , the possible road section set R of vehicles based on V2X identification points V , the possible driving section set R of the vehicle based on the positioning trajectory point T .

[0087] Take the intersection of the possible driving sections corresponding to the ETC identification point, V2X identification point and positioning trajectory point, and record it as set R, that is: R = R E ∩R V ∩R T

[0088] Take the union of the possible driving sections corresponding to the ETC identification point, V2X identification point and positioning trajectory point, and record it as set R*, that is, R* = R E ∪R V ∪R T

[0089] The number of elements in set R is Card(R).

[0090] The vehicle path verification is based on:

[0091] If and only if Card(R)=1 of set R, R is considered to be the only real path of the vehicle;

[0092] When Card(R)>1, it is considered that there are multiple vehicle driving paths, and the shortest path in the set R is taken as the billing path;

[0093] When Card(R)=0, it is considered that the system is in error and the shortest path in the set R* is taken as the billing path.

[0094] It can be seen that the implementation of the present invention is based on the following assumptions:

[0095] 1) All communication modes do not interfere with each other and the transmission rate is normal;

[0096] 2) At the entrance and exit of the highway toll station, the vehicle can pass only after the on-board terminal successfully communicates and reads and writes with the roadside ETC identification point and RSU identification point;

[0097] 3) Along the expressway, the communication and reading and writing between the vehicle terminal and each roadside ETC identification point may succeed or fail, and the ETC identification point that failed to communicate and read and write will not be counted in the collection;

[0098] 4) Along the expressway, the communication and reading and writing between the vehicle terminal and each roadside RSU identification point may succeed or fail, and the V2X identification points that failed to communicate and read and write will not be counted in the set;

[0099] 5) Along the expressway, the high-precision positioning trajectory points generated by the vehicle-mounted terminal at every interval Δt may be non-null values ​​or null values, and trajectory points that are not successfully recorded will not be counted in the set.

[0100] Reference Figure 3 This embodiment provides an example scenario of real path recognition of a highway vehicle: a vehicle travels from toll station S to toll station F. Due to the missing of some ETC identification points, V2X identification points or trajectory points, the identified driving path is incomplete and there may be two or more paths.

[0101] The set P of known ETC landmarks E ={E0, E1, E2, E m}, then the corresponding possible driving section set is R E = {R1-R4-R9-R 12 , R1-R2-R 11 -R9-R 12}, Card(R E )=2;

[0102] The set P of known V2X identification points V = {V0, V1, V2, V n}, then the corresponding possible driving section set is R V = {R1-R4-R9-R 12 , R1-R4-R 13 -R 14 -R 12}, Card(R V )=2;

[0103] The set P of known driving trajectory points T ={T1, T2, T3, T4, T5, T6}, then the corresponding possible driving section set is R T = {R1-R4-R9-R 12 , R1-R2-R11 -R9-R 12 , R1-R2-R 11 -R9-R 14 -R 10}, Card(R T )=3.

[0104] Take the intersection of the possible driving sections corresponding to the ETC identification point, V2X identification point and positioning trajectory point, and record it as set R, that is: R = R E ∩R V ∩R T = {R1-R4-R9-R 12};

[0105] Calculate Card(R)=1;

[0106] Therefore, R is considered to be the only real path of the vehicle, and the subsequent paths are used as the billing paths.

[0107] The present invention gives full play to the respective advantages of ETC technology and C-V2X technology, and accurately restores the vehicle's driving trajectory through mutual verification and completion of ETC path, V2X path, and vehicle-mounted high-precision positioning trajectory; and realizes non-stop and pole-free passage of vehicles at toll stations through free-flow pre-collection of ramps in the diversion area.

[0108] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A vehicle path verification method, characterized in that: The following steps are involved: When a vehicle enters a highway toll booth, The RSU-V2X on the roadside of the toll station sends and writes information V0 to the V2X module of the vehicle terminal until it succeeds; The RSU-ETC on the roadside of the toll station wakes up the vehicle terminal module and writes information E0 to the ETC module of the vehicle terminal until it succeeds; The vehicle passes through the toll booth and enters the expressway. While driving on the expressway, When entering the communication range of the V2X identification point, write information V0, V1, ..., V n , until the vehicle exits the highway, where V0 and V n They are the RSU-V2X identification point information of the toll station entrance and toll station exit respectively; When entering the communication range of the ETC identification point, write information E0, E1, ..., E m , until the vehicle exits the highway, where E0 and E m The RSU-ETC identification point information of the toll station entrance and toll station exit respectively; The vehicle terminal generates a high-precision positioning trajectory point Tp, including longitude and latitude information. Every Δt interval, a high-precision positioning trajectory point is generated and recorded, and information T0, T1, ..., T is written in sequence. p , until the vehicle exits the highway, where T0 and T p They are respectively the high-precision positioning trajectory point information of vehicles at the entrance and exit of the toll station; When entering the highway toll booth exit, The vehicle terminal uploads high-precision positioning trajectory points, ETC identification points and V2X identification points to the toll collection system; The toll collection system performs the following steps to confirm the toll path: The highway network is abstracted into a network topology diagram, and the interchange is denoted as I i point, the road section is denoted as R j Point, two adjacent interchanges I i and I i+1 The interval corresponds to a road segment R j ; The starting point and the end point of the toll station that the vehicle passes through are recorded as point S and point F respectively; The E that is successfully read and written will be recorded in sequence m The identification information forms a set P of ETC identification points E ={E0, E1, ..., E m }, each ETC identification point E m Corresponding to a road segment R j , and obtain the vehicle driving section set R based on the ETC identification point E ={R0, R1, ..., R m }; The V that is successfully read and written will be recorded in sequence n The identification information forms a set P of V2X identification points V = {V0, V1, ..., V n }, each V2X identification point V n Corresponding to a road segment R j , and obtain the vehicle driving section set R based on the V2X identification point V ={R0, R1, ..., R n }; The vehicle terminal automatically generates high-precision positioning trajectory points T at intervals of Δt. p , forming a set of driving trajectory points P T ={T0, T1, ..., T p }, the longitude and latitude of the trajectory point match the longitude and latitude of the road, and each trajectory point T p Belongs to a road segment R j , when multiple trajectory points correspond to the same road segment R j When j , we get the vehicle driving section set RT={R0, R1, ..., R p }; When a vehicle drives to the exit ramp of a highway toll station, the toll collection system obtains the possible driving section set R of the vehicle based on the ETC identification point. E , the possible road section set R of vehicles based on V2X identification points V , the possible driving section set R of the vehicle based on the positioning trajectory point T ; Take the intersection of the possible driving sections corresponding to the ETC identification point, V2X identification point and positioning trajectory point, and record it as set R, that is: R = R E ∩R V ∩R T ; Take the union of the possible driving sections corresponding to the ETC identification points, V2X identification points and positioning trajectory points, and record it as set R*, that is, R*=R E ∪R V ∪R T ; The number of elements in set R is Card(R); If and only if Card(R)=1 of set R, R is considered to be the only real path of the vehicle; When Card(R)>1, it is considered that there are multiple vehicle driving paths, and the shortest path in the set R is taken as the billing path; When Card(R)=0, the system is considered to be in error and the shortest path in the set R* is taken as the billing path.

2. A free-flow toll collection method for highways, characterized in that: The method comprises: Determine the charging track of the vehicle to be paid by using the vehicle path verification method described in claim 1; The highway toll of the vehicle to be paid is determined according to the charging track of the vehicle to be paid.

3. A device for determining free-flow charges on a highway, characterized in that: The device comprises: A charging track determination unit, used to determine the charging track of the to-be-paid vehicle using the vehicle path verification method according to claim 1; The communication fee determination unit is used to determine the highway toll of the vehicle to be paid according to the billing track of the vehicle to be paid.

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