Highway non-inductive charging system and method based on Beidou positioning

Abstract

The invention discloses an expressway non-inductive toll collection system and method based on Beidou positioning. The system comprises a cloud charging cloud platform which is used for receiving positioning data of a vehicle, identifying a vehicle path and a driving mileage, and carrying out split settlement of highway toll; the side end computing device is used for lifting the vehicle with the confirmed identity in advance; the mobile terminal is used for providing an appointment passing service and an automatic payment service; the Beidou vehicle-mounted terminal is used for collecting vehicle position information, vehicle speed information and azimuth angle information in real time, automatically marking timestamps and then sending the timestamps; automatically recording and sending the location and the passing time of the passed RSU equipment; the checkpoint camera is used for identifying a license plate and automatically recording and sending vehicle passing time. According to the scheme, vehicle passage online reservation can be realized, vehicle path identification is realized based on Beidou high-precision positioning, vehicle passage fee splitting calculation is realized based on a cloud platform, and the vehicle can quickly pass through a toll station at a free-flow vehicle speed.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation technology, and in particular to a highway contactless toll collection system and method based on Beidou positioning. Background Art

[0002] At present, the toll collection methods of highways mainly include manual semi-automatic toll collection (MTC) and electronic toll collection (ETC). Among them, manual semi-automatic toll collection has developed from manual toll collection, combining manual operation and automated equipment. When the vehicle arrives at the toll station, the driver hands the pass card to the toll collector, who inserts the card into the card reader and the system automatically calculates the fee. After the toll collector collects the corresponding fee, he manually opens the barrier for the vehicle to pass. Although manual semi-automatic toll collection is partially automated, vehicles still need to slow down and stop when passing through highway toll stations, and the toll collection speed is limited, which seriously affects the traffic efficiency. At the same time, there are many processes that require human intervention in the manual semi-automatic toll collection mode, so a large number of people are required to participate in the normal operation of the toll station, and the labor cost and management cost are high.

[0003] The electronic toll collection system completes the toll collection through wireless communication between the on-board unit (OBU) and the roadside unit (RSU). When a vehicle passes through a toll station, the OBU and the RSU exchange information, the system automatically deducts the corresponding fee from the account bound to the vehicle, and the barrier is automatically lifted. The vehicle does not need to stop during the whole process, and only needs to slow down to pass. In recent years, the ETC pre-transaction charging mode based on the development of electronic toll collection technology has realized the advance billing and diversion of vehicles by moving the ETC toll gantry forward, so that vehicles can pass through the toll station at a faster speed, further improving the toll collection speed and the toll station traffic efficiency. However, from the perspective of cost, the ETC system requires the installation and maintenance of a large number of equipment, including OBU, RSU and background management system, and the initial investment is relatively large. In the ETC pre-transaction charging mode, it is necessary to encrypt the deployment of a large number of front-end sensing devices and induction screens, which further increases the system deployment cost. At the same time, due to the limitations of the ETC charging mode, the vehicle driving path is unclear, the split settlement is unclear, and other problems cannot accurately meet the objective needs of differentiated charging for highway sections. Summary of the invention

[0004] In order to solve the above technical problems, an embodiment of the present invention provides a highway contactless toll collection system and method based on Beidou positioning.

[0005] The technical solution of the embodiment of the present invention is achieved as follows: The embodiment of the present invention provides a highway contactless toll collection system based on Beidou positioning, the system includes a cloud toll collection cloud platform, an edge computing device and a terminal device; the terminal device includes a mobile terminal, a Beidou vehicle-mounted terminal, a roadside RSU device and a bayonet camera; The cloud-based charging cloud platform is used to receive the positioning data of the vehicle, identify the vehicle path and mileage according to the positioning data, and split and settle the highway tolls; the positioning data includes the vehicle's travel time and travel location; The edge computing device is used to verify the identity of the vehicle and to advance the clearance of the vehicle whose identity is confirmed, so as to ensure that the vehicle passes through the toll station without any feeling; The mobile terminal is used to provide a reservation service and an automatic payment service. Before traveling, the user can use the mobile terminal to make a reservation. After traveling, the user can use the mobile terminal to automatically pay the travel fee. The Beidou vehicle-mounted terminal is used to collect vehicle position information, vehicle speed information, and azimuth information in real time, and automatically mark the vehicle position information, the vehicle speed information, and the azimuth information with a timestamp and send them to the cloud charging cloud platform and the edge computing device; and to communicate with the roadside RSU device in a two-way manner, and automatically record the location and passing time of the roadside RSU device passing by, and send the recording results to the cloud charging cloud platform; The roadside RSU device is used to send confirmation information to the edge computing device when confirming that the vehicle has arrived at the toll station; and record the vehicle's passage time, and send the vehicle's passage time and its own location to the cloud toll cloud platform; The bayonet camera is used to recognize the license plate, automatically record the vehicle's passing time, and send the vehicle's passing time and its own position to the cloud charging cloud platform.

[0006] In one embodiment, the mobile terminal is also used to provide user information management, charging standard query, travel path history query, payment record query functions; and provide emergency rescue application and highway service area location query services.

[0007] In one embodiment, the edge computing device is also used to review the user's travel path data based on the roadside RSU equipment and the toll gate camera data, and automatically alarm and deal with vehicles that maliciously tamper with the Beidou vehicle-mounted terminal's travel path data.

[0008] In one embodiment, the Beidou vehicle-mounted terminal includes a Beidou positioning module, a communication module and a vehicle-mounted OBU module; the Beidou positioning module is used to provide Beidou positioning services; the communication module is used to send the vehicle positioning data obtained by the Beidou positioning module to the cloud-based charging cloud platform; the vehicle-mounted OBU module is used to communicate with the roadside RSU equipment.

[0009] In one embodiment, the Beidou positioning module includes a high-precision RTK antenna module and a Beidou high-precision RTK inertial navigation board; the communication module includes a 4G / LTE-V integrated module, and the vehicle-mounted OBU module includes a vehicle-mounted electronic tag OBU; The high-precision RTK antenna module is used for collecting original observation data of the Beidou positioning system and receiving high-precision differential information; The Beidou high-precision RTK inertial navigation board is used for Beidou real-time high-precision positioning solution; The 4G / LTE-V integrated module is used to send vehicle positioning data; The on-board electronic tag OBU is used to communicate with the roadside RSU equipment.

[0010] In one embodiment, the cloud charging cloud platform includes a user management module, a data receiving module, a clearing and settlement module, a data sending module, a data management module, a database, a GIS map and a comprehensive display module; The user management module is used to complete the management of free-flow users, including registration, deregistration, credit assessment, and overdue payment alarm; when registering a user, it is also used to complete the verification of the free-flow user registration information to ensure that the vehicle information is uniquely bound to the user identity information; it is also used for simple data management functions, supporting the query, statistical analysis and report generation of various types of user information; it is also used to back up user information to the data management module; The data receiving module is used to receive the vehicle position information, vehicle speed information, and azimuth information after the automatic timestamp sent by the Beidou vehicle terminal; and receive the vehicle travel time and position information sent by the roadside RSU equipment and the bayonet camera; and receive the highway entrance and exit number and lane number information sent by the Beidou vehicle terminal; and transmit the received vehicle position information, highway entry and exit point information, and vehicle entry lane information to the clearing and settlement module; The clearing and settlement module is used to calculate the entry and exit locations and mileage of the vehicle on the highway based on the GIS map according to the vehicle location information and the coordinate information of the entry and exit points of the highway, and automatically identify the vehicle path and match the toll rate; and according to the vehicle path identification and toll rate matching results, complete the billing and clearing and settlement of the vehicle's travel itinerary, and at the same time pass the billing results to the data sending module; The data sending module is used to send the vehicle location, license plate number, name of the vehicle owner, contact information, highway entrance and exit number, lane number, and billing result information to the edge computing device, and back up the data to the data management module; The data management module is used to receive the data sent by the data sending module and store it in the database; The database is used for data storage and management; The GIS map is used to provide map services; The comprehensive display module is used to complete the mapping and display of the vehicle's positioning time, high-precision position, vehicle speed, terminal ID number, vehicle license plate, vehicle owner, and vehicle model information on a high-precision map based on a GIS map; and realize the vehicle's trajectory playback, path query, and clearing and billing amount query and display functions based on historical data in the database.

[0011] In one embodiment, the edge computing device includes a vehicle identification module, a cloud data matching module, a charging calculation module and a lifting bar control module; The vehicle identification module is used to receive the vehicle identity information, vehicle path information and billing results sent by the cloud charging cloud platform, and is used to receive the vehicle identity information and vehicle driving path information sent by the Beidou vehicle terminal; The cloud data matching module is used to perform data matching on the received information to determine whether the vehicle identity information is incorrect; The charging calculation module is used to verify the charging result after confirming that the vehicle identity information and the vehicle driving path information are correct; The bar lifting control module is used to control the release of the toll lane after confirming that the billing result is correct.

[0012] In one embodiment, the billing calculation module is also used to transmit the calculation results back to the cloud charging cloud platform.

[0013] In one embodiment, the billing accounting module is also used to automatically identify abnormal situations and provide feedback to the cloud charging cloud platform when the billing result is incorrectly calculated; and send a signal to refuse to lift the bar to release the vehicle to the bar lifting control module.

[0014] The embodiment of the present invention further provides a method for highway contactless toll collection based on Beidou positioning, which is applied to the above-mentioned highway contactless toll collection system based on Beidou positioning; the method comprises: The cloud-based charging cloud platform is used to receive the positioning data of the vehicle, and the vehicle path and mileage are identified according to the positioning data to split and settle the highway tolls; the positioning data includes the vehicle's travel time and travel location; The edge computing device is used to verify the identity of the vehicle, and the vehicle whose verification is correct and whose identity is confirmed is cleared in advance to ensure that the vehicle passes through the toll station without any feeling; The mobile terminal is used to provide a reservation service and an automatic payment service. Before traveling, the user can use the mobile terminal to make a reservation for the trip; after the trip, the user can use the mobile terminal to automatically pay the travel fee; The Beidou vehicle-mounted terminal is used to collect vehicle location information, vehicle speed information, and azimuth information in real time, and the vehicle location information, vehicle speed information, and azimuth information are automatically timestamped and sent to the cloud charging cloud platform and the edge computing device; and bidirectional communication is performed with the roadside RSU device, and the location and passing time of the roadside RSU device passing by are automatically recorded, and the recording results are sent to the cloud charging cloud platform; The roadside RSU device sends confirmation information to the edge computing device when confirming that the vehicle has arrived at the toll station; and records the vehicle's travel time, and sends the vehicle's travel time and its own location to the cloud toll cloud platform; The bayonet camera is used to recognize the license plate, automatically record the vehicle's passing time, and send the vehicle's passing time and its own position to the cloud charging cloud platform.

[0015] This embodiment has the following beneficial effects: (1) In the existing mainstream toll collection technology, the construction and maintenance of the toll collection system requires a large amount of capital investment, including the installation and maintenance costs of roadside equipment (RSU) and on-board units (OBU). This embodiment is based on the existing achievements of Beidou positioning and navigation applications, fully reuses existing equipment, and does not require additional construction of large-scale front-end field equipment. It can significantly improve the traffic efficiency of toll stations and effectively reduce the construction cost of highway toll stations.

[0016] (2) In the existing mainstream toll collection technology, due to technical limitations, vehicles cannot pass through the toll collection without feeling. They still need to reduce their speed to a certain level and slow down to pass through. Although this improves the traffic efficiency to a certain extent, congestion may occur during peak hours or when there is heavy traffic, resulting in reduced traffic efficiency. This embodiment can realize online reservation for passage and cloud-based fee calculation. When a vehicle arrives at the entrance or exit of the highway, it can realize early lifting of the barrier based on vehicle positioning. When a vehicle passes through a toll station, it can quickly pass through the toll station at a free flow speed, greatly improving the traffic efficiency.

[0017] (3) In the existing mainstream toll collection technology, it is often only possible to identify the station locations where vehicles enter and exit the expressway. For semi-open expressways, it is even more so to identify the station locations where vehicles exit the expressway, but it is impossible to accurately identify and record the vehicle's path information, resulting in the inability to achieve accurate billing and differentiated charging. This embodiment can accurately record the vehicle's driving path and mileage, and can achieve accurate billing and differentiated charging for vehicle passage based on cloud computing. At the same time, the positioning data based on Beidou navigation can track the vehicle's location in real time, improve the vehicle's safety supervision capabilities, and thus improve the efficiency of accident handling and emergency rescue.

[0018] (4) In the existing mainstream toll collection technology, the toll collection organization structure is complex, the hierarchy is cumbersome, and the management is bloated. The technical limitations have led to the fact that highway toll collection management can only be carried out in different regions, which cannot adapt to the ever-changing development trend of highway toll collection. This embodiment scheme can fundamentally solve this problem, completely change the traditional fixed entrance and exit charging model, weaken the need for regional management, and solve the problem of bloated organizational management. The non-sensing toll collection technology based on Beidou positioning can realize vehicle path identification and toll splitting and settlement across the country, which can effectively promote the promotion of the national toll collection "chess game". BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the structure of a highway contactless toll collection system based on Beidou positioning according to an embodiment of the present invention; Figure 2 A schematic diagram of the system application architecture of an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the Beidou vehicle-mounted terminal according to an embodiment of the present invention; Figure 4 The present invention is a flowchart of a method for contactless toll collection on highways based on Beidou positioning according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments.

[0021] The embodiment of the present invention provides a highway non-contact toll collection system 100 based on Beidou positioning, such as Figure 1 As shown, the system includes a cloud charging cloud platform 101, an edge computing device 102 and a terminal device 103; the terminal device 103 includes a mobile terminal 1101, a Beidou vehicle terminal 1102, a roadside RSU device 1103 and a bayonet camera 1104; The cloud charging cloud platform 101 is used to receive the positioning data of the vehicle, identify the vehicle path and mileage according to the positioning data, and split and settle the highway tolls; the positioning data includes the vehicle's travel time and travel location; The edge computing device 102 is used to verify the identity of the vehicle and to advance the clearance of the vehicle whose identity is confirmed to ensure that the vehicle passes through the toll station without any disturbance. The mobile terminal 1101 is used to provide a reservation service and an automatic payment service. Before traveling, the user can use the mobile terminal to make a reservation. After traveling, the user can use the mobile terminal to automatically pay the travel fee. The Beidou vehicle-mounted terminal 1102 is used to collect vehicle position information, vehicle speed information, and azimuth information in real time, and automatically mark the vehicle position information, the vehicle speed information, and the azimuth information with a timestamp and send them to the cloud charging cloud platform 101 and the edge computing device 102; and to communicate bidirectionally with the roadside RSU device 1103, and automatically record the location and passing time of the roadside RSU device 1103 passing by, and send the recording results to the cloud charging cloud platform 101; The roadside RSU device 1103 is used to send confirmation information to the edge computing device 1102 when confirming that the vehicle has arrived at the toll station; and record the vehicle's travel time, and send the vehicle's travel time and its own location to the cloud toll cloud platform 101; The bayonet camera 1104 is used to recognize the license plate, automatically record the vehicle's passing time, and send the vehicle's passing time and its own position to the cloud charging cloud platform 101.

[0022] This embodiment can realize online reservation of vehicle passage, realize vehicle path identification based on Beidou high-precision positioning, realize vehicle toll splitting and calculation based on cloud platform, and realize vehicles passing through toll stations quickly at free-flow speed.

[0023] Specifically, in one embodiment, the mobile terminal 1101 is also used to provide user information management, charging standard query, travel path history query, payment record query functions; and provide emergency rescue application and highway service area location query services.

[0024] The edge computing device 102 is also used to review the user's travel path data based on the data of the roadside RSU device 1103 and the toll camera 1104, and automatically alarm and deal with vehicles that maliciously tamper with the Beidou vehicle-mounted terminal's travel path data.

[0025] In addition, the Beidou vehicle-mounted terminal 1102 in this embodiment includes a Beidou positioning module, a communication module and a vehicle-mounted OBU module; the Beidou positioning module is used to provide Beidou positioning services; the communication module is used to send the vehicle positioning data obtained by the Beidou positioning module to the cloud-based charging cloud platform 101; the vehicle-mounted OBU module is used to communicate with the roadside RSU device 1103.

[0026] Specifically, the Beidou positioning module includes a high-precision RTK antenna module and a Beidou high-precision RTK inertial navigation board; the communication module includes a 4G / LTE-V integrated module, and the vehicle-mounted OBU module includes a vehicle-mounted electronic tag OBU.

[0027] The high-precision RTK antenna module is used for collecting raw observation data of the Beidou positioning system and receiving high-precision differential information; the Beidou high-precision RTK inertial navigation board is used for Beidou real-time high-precision positioning solution; the 4G / LTE-V integrated module is used to send vehicle positioning data; the on-board electronic tag OBU is used to communicate with the roadside RSU device 1103.

[0028] In addition, the cloud charging cloud platform 101 includes a user management module, a data receiving module, a clearing and settlement module, a data sending module, a data management module, a database, a GIS map and a comprehensive display module; The user management module is used to complete the management of free-flow users, including registration, deregistration, credit assessment, and overdue payment alarm; when registering a user, it is also used to complete the verification of the free-flow user registration information to ensure that the vehicle information is uniquely bound to the user identity information; it is also used for simple data management functions, supporting the query, statistical analysis and report generation of various types of user information; it is also used to back up user information to the data management module; The data receiving module is used to receive the vehicle position information, vehicle speed information, and azimuth information after the automatic timestamp sent by the Beidou vehicle terminal 1102; and receive the vehicle travel time and position information sent by the roadside RSU device 1103 and the bayonet camera 1104; and receive the highway entrance and exit number and lane number information sent by the Beidou vehicle terminal 1102; and transmit the received vehicle position information, highway entry and exit point information, and vehicle entry lane information to the clearing and settlement module; The clearing and settlement module is used to calculate the entry and exit locations and mileage of the vehicle on the highway based on the GIS map according to the vehicle location information and the coordinate information of the entry and exit points of the highway, and automatically identify the vehicle path and match the toll rate; and according to the vehicle path identification and toll rate matching results, complete the billing and clearing and settlement of the vehicle's travel itinerary, and at the same time pass the billing results to the data sending module; The data sending module is used to send the vehicle location, license plate number, name of the vehicle owner, contact information, highway entrance and exit number, lane number, and billing result information to the edge computing device 102, and back up the data to the data management module; The data management module is used to receive the data sent by the data sending module and store it in the database; The database is used for data storage and management; The GIS map is used to provide map services; The comprehensive display module is used to complete the mapping and display of the vehicle's positioning time, high-precision position, vehicle speed, terminal ID number, vehicle license plate, vehicle owner, vehicle model and other information on the high-precision map based on the GIS map; according to the historical data in the database, it realizes the vehicle's trajectory playback, path query and clearing and billing amount query and display functions.

[0029] In addition, the edge computing device 102 includes a vehicle identification module, a cloud data matching module, a charging calculation module and a lifting control module; The vehicle identification module is used to receive the vehicle identity information, vehicle path information and billing results sent by the cloud charging cloud platform 101, and is used to receive the vehicle identity information and vehicle driving path information sent by the Beidou vehicle terminal 1102; The cloud data matching module is used to perform data matching on the received information to determine whether the vehicle identity information is incorrect; The charging calculation module is used to verify the charging result after confirming that the vehicle identity information and the vehicle driving path information are correct; The bar lifting control module is used to control the release of the toll lane after confirming that the billing result is correct.

[0030] In addition, the charging calculation module is also used to transmit the calculation results back to the cloud charging cloud platform 101. The charging calculation module is also used to automatically identify abnormal situations when there is an error in the calculation of the charging results, and feedback to the cloud charging cloud platform 101; and send a rejection signal to the lifting control module.

[0031] This embodiment can completely change the traditional charging model, greatly simplify the management organizational structure and charging process, enable the digital transformation of infrastructure, truly realize the contactless passage and precise positioning of vehicles, and can realize automatic deduction based on the charging cloud platform, while reducing infrastructure costs and realizing safe monitoring of vehicle locations.

[0032] Below, this solution will be described in detail based on a specific application embodiment.

[0033] See also Figure 2 This embodiment proposes a highway non-contact toll collection system based on Beidou positioning. The overall network architecture system of "cloud-edge-end" is presented, including the Beidou toll collection cloud platform 1 in the cloud (i.e., cloud toll collection cloud platform), the edge terminal 2 (i.e., edge computing device), the end device 3 (i.e., terminal device), including the mobile terminal 31, the Beidou vehicle-mounted terminal 32, the roadside RSU device 33 and the bayonet camera 34.

[0034] The mobile terminal 31 is a mobile device such as a user's mobile phone or tablet computer installed with a dedicated APP or mini-program, and the terminal account is bound to the user's vehicle information.

[0035] The mobile terminal 31 provides reservation services for travel and automatic payment services. Before traveling, users can make reservations through the mobile terminal 31. The system will automatically plan the driving route and estimate the travel time, and automatically estimate the tolls. After the travel, users can automatically pay the travel fees through the mobile terminal 31.

[0036] The mobile terminal 31 has the functions of user information management, charging standard query, travel path history record query, and payment record query.

[0037] The mobile terminal 31 also provides personalized application services for applying for emergency rescue and querying the location of service areas along the highway.

[0038] The Beidou vehicle-mounted terminal 32 is installed on the user's vehicle, and has a built-in Beidou positioning module, a communication module and a vehicle-mounted OBU module. It is used to send vehicle location information and communicate with the roadside RSU device 33. The vehicle-mounted terminal device ID is unique and is uniquely bound to the user's vehicle.

[0039] The roadside RSU equipment 33 mainly includes toll station RSU equipment and other RSU equipment built on the roadside. The toll station RSU equipment communicates with the on-board OBU equipment to confirm that the vehicle has arrived at the toll station, and sends the confirmation information to the edge terminal 2 to control the lifting of the barrier to release the vehicle; the roadside RSU equipment 33 communicates with the on-board OBU equipment and records the vehicle's passing time at the same time. The recorded results are used as auxiliary information of the vehicle's driving path, which is mutually verified with the Beidou positioning path information.

[0040] The bayonet camera 34 mainly reuses the bayonet camera equipment already built on the expressway, and is used to recognize license plates and automatically record the vehicle's passing time and its own position. The vehicle's position and time information recorded by the bayonet camera 34 is used to verify the Beidou positioning path information.

[0041] The edge terminal 2 is mainly arranged at the exit of the toll station, and is used to analyze the communication information between the Beidou vehicle-mounted terminal 32 and the toll station RSU to perform vehicle identity recognition.

[0042] The edge terminal 2 can comprehensively review the billing results of the Beidou charging cloud platform 1 and the Beidou vehicle-mounted terminal 32 data to ensure the accuracy of the billing results.

[0043] The edge terminal 2 can review the user's travel path data based on the data from the roadside RSU device 33 and the bayonet camera 34, and can automatically issue an alarm for vehicles that maliciously tamper with the travel path data of the on-board terminal.

[0044] The edge terminal 2 is capable of performing lane control, and for vehicles whose calculations are correct and whose identities are confirmed, the lane control bar is lifted in advance to ensure that the vehicle passes through the toll station without any disturbance.

[0045] The Beidou charging cloud platform 1 can uniformly store and manage user data, realize rapid query, statistical analysis and display of user data, and can perform credit rating on users based on user behavior, and the rating results are stored together with user information.

[0046] The Beidou charging cloud platform 1 is capable of receiving vehicle positioning data, identifying the vehicle path and mileage based on the positioning data, and performing split settlement of highway tolls.

[0047] The Beidou charging cloud platform 1 can comprehensively display the vehicle operation status in the road network based on the analysis of vehicle positioning data in the road network and the identification of vehicle identity information, and assist in traffic decision-making and command.

[0048] The Beidou charging cloud platform 1 can quickly locate the position of the vehicle in need of rescue based on the alarm information submitted by the user through the mobile terminal 31, and carry out emergency rescue operations at the same time.

[0049] Furthermore, for areas such as remote areas where the Beidou positioning signal is weak, this embodiment also provides Beidou positioning enhancement services, including a Beidou reference station system and a tunnel Beidou signal full coverage system.

[0050] The base station system is capable of long-term continuous reception and analysis of satellite navigation positioning signals, and transmits the observation data to the data center in real time or at regular intervals through communication facilities.

[0051] The base station system can build a Beidou navigation ground-based augmentation network between multiple base stations, and can eliminate the satellite navigation system itself and satellite signal transmission errors through settlement analysis in the data center. The base station system uses network real-time dynamic differential technology to provide centimeter-level positioning services to users.

[0052] The Beidou signal full coverage system receives Beidou navigation satellite clock signals through the Beidou satellite signal receiver of the tunnel entrance management and control center, and sends signals to the tunnel pseudo-satellite transmitting base station through the time synchronization device. The tunnel pseudo-satellite transmitting base station of the Beidou signal full coverage system transmits simulated Beidou satellite signals, thereby achieving full coverage of Beidou positioning and navigation signals in the tunnel.

[0053] Further, see Figure 3 The Beidou vehicle-mounted terminal 22 provided in this embodiment includes a high-precision RTK antenna module 10, a Beidou high-precision RTK inertial navigation board 20, a 4G / LTE-V integrated module 30 and a vehicle-mounted electronic tag OBU40.

[0054] Specifically, the high-precision RTK antenna module 10 and the 4G / LTE-V integrated module 30 respectively realize the Beidou positioning system's original observation data collection and high-precision differential information reception; the Beidou high-precision RTK inertial navigation board 20 realizes Beidou's real-time high-precision positioning solution; the on-board electronic tag OBU40 supports data communication and information sharing with roadside RSU equipment and toll station RSU equipment.

[0055] The Beidou vehicle-mounted terminal 32 is uniquely bound to the user's vehicle and stores and records vehicle registration information, including the terminal ID number, license plate number, name of the vehicle owner, and contact information.

[0056] Furthermore, the Beidou vehicle-mounted terminal 32 is installed on the user's vehicle and is responsible for collecting and sending vehicle position information, vehicle speed information, and azimuth information to the Beidou charging cloud platform 1 in real time. The sent vehicle information will be automatically marked with a timestamp.

[0057] Furthermore, the vehicle-mounted electronic tag OBU40 of the Beidou vehicle-mounted terminal 32 can perform two-way communication with the roadside RSU equipment and the toll station RSU equipment, and automatically record the location and passing time of the roadside RSU equipment and the toll station RSU equipment passing by.

[0058] Further, see Figure 2 The Beidou charging cloud platform 1 in this embodiment includes a user management module 11, a data receiving module 12, a clearing and settlement module 13, a data sending module 14, a data management module 15, a database 16, a GIS map 17 and a comprehensive display module 18.

[0059] The user management module 11 is mainly used to complete the management of free-flow users, including registration, deregistration, credit assessment, and overdue payment alarm; when a user registers, it is also responsible for completing the verification of the free-flow user registration information to ensure that the vehicle information is uniquely bound to the user identity information.

[0060] The user management module 11 also has a simple data management function, supports querying, statistical analysis and report generation of various types of user information, and the user information is backed up to the data management module 15.

[0061] The data receiving module 12 is used to receive the vehicle's high-precision location information, vehicle speed information, azimuth information and positioning time information sent by the Beidou vehicle terminal 32, and can receive the communication record information between the Beidou vehicle terminal 32 and the roadside RSU device 33.

[0062] The data receiving module 12 can receive the highway entrance and exit number and lane number information sent by the Beidou vehicle-mounted terminal 32.

[0063] The data receiving module 12 can transmit the received vehicle position information, highway entry and exit point information and vehicle entry lane information to the clearing and settlement module 13.

[0064] The clearing and settlement module 13 calculates the vehicle's entry and exit locations and mileage on the highway based on the high-precision location information of the vehicle and the coordinate information of the highway entry and exit points, based on the GIS map 17, and automatically performs vehicle path identification and toll rate matching.

[0065] The clearing and settlement module 13 completes the charging and clearing and settlement of the vehicle's travel according to the vehicle path identification and charging rate matching results, and transmits the charging result to the data sending module 14.

[0066] The data sending module 14 is used to send the vehicle location, license plate number, vehicle owner's name, contact information, highway entrance and exit number, lane number, and billing result information to the edge terminal 2, and at the same time back up the data to the data management module 15.

[0067] The data management module 15 stores and manages data through the database 16 .

[0068] The comprehensive display module 18, based on the GIS map 17, completes the mapping and display of the vehicle's positioning time, high-precision position, vehicle speed, terminal ID number, vehicle license plate, vehicle owner, vehicle model and other information on the high-precision map.

[0069] The comprehensive display module 18 can realize functions such as vehicle trajectory playback, route query, and clearing and billing amount query and display based on the historical data in the database 16.

[0070] The edge terminal 2 includes a vehicle identification module 21 , a cloud data matching module 22 , a charging calculation module 23 , and a lever lifting control module 24 .

[0071] The edge terminal 2 is configured at the toll station, and is used to receive the vehicle identity information, vehicle path information and billing results sent by the Beidou toll cloud platform 1, and is used to receive the vehicle identity information and vehicle driving path information sent by the Beidou vehicle-mounted terminal 32 in the end-side device 3.

[0072] The edge terminal 2 performs data matching on the received information, confirms that the vehicle identity information and the vehicle driving path information are correct, and verifies the charging result.

[0073] After confirming that the billing result is correct, the edge terminal 2 controls the toll lane to be released through the lifting control module 24. Since the edge terminal 2 mainly communicates with the cloud platform and the Beidou vehicle terminal through wireless transmission, it is completely possible to complete identity recognition, data matching, and billing operations before the vehicle reaches the toll lane barrier, so that the toll lane can be released in advance through the lifting control module 24, so that the vehicle is not blocked when it arrives at the toll station, realizing free flow and no-feeling passage.

[0074] The edge terminal 2 will transmit the calculation results back to the Beidou charging cloud platform 1 and record them.

[0075] Furthermore, the edge terminal 2 may have incorrect calculation results, such as when a user deliberately blocks the Beidou vehicle terminal signal, resulting in incorrect matching of vehicle path information. At this time, the edge terminal 2 will automatically identify the abnormal situation, refuse to lift the bar and release it, feedback the event to the Beidou charging cloud platform 1 and notify the on-site staff to review it. For vehicle users who are found to have signal blocking behavior, the user management module 11 in the Beidou charging cloud platform 1 will mark the user as a dishonest user.

[0076] The terminal side equipment 3 includes a mobile terminal 31, a Beidou vehicle terminal 32, a roadside RSU device 33, a camera 34, and a toll station RSU device 35. Among them, although the roadside RSU device 33, the camera 34, and the toll station RSU device 35 are part of the system described in the present invention, the existing equipment on the highway can be reused without the need for new construction.

[0077] The mobile terminal 31 is a mobile device such as a user's mobile phone or tablet computer installed with a dedicated APP or applet, and the user account is uniquely bound to the user's vehicle information. Through the mobile terminal 31, the user can make an appointment for passage, implement emergency rescue alarm, and request application services and modification of user identity information from the Beidou charging cloud platform 1.

[0078] Furthermore, the mobile terminal 31 can receive and view the traffic history records and charging standard information sent by the Beidou charging terminal 1.

[0079] The Beidou vehicle-mounted terminal 32 is installed on the user's vehicle, and the terminal has a built-in Beidou positioning module, a communication module and a vehicle-mounted OBU module. It is used to send vehicle location information and communicate with the roadside RSU equipment. The vehicle-mounted terminal equipment ID is unique and is uniquely bound to the user's vehicle.

[0080] The roadside RSU device 33 communicates with the vehicle-mounted OBU device and records the vehicle's travel time. The recording result is used as auxiliary information of the vehicle's travel path and is mutually verified with the Beidou positioning path information.

[0081] The bayonet camera 34 is used to recognize the license plate and automatically record the vehicle's passing time and its own position. The vehicle's position and time information recorded by the bayonet camera is used to verify the Beidou positioning path information.

[0082] The toll station RSU device 32 mainly communicates with the on-board OBU device to confirm that the vehicle has arrived at the toll station, and sends the confirmation information to the edge terminal 2 to prompt the billing calculation and control the lifting of the barrier, so as to realize the early lifting of the barrier to allow the vehicle to pass without feeling.

[0083] The Beidou positioning-based contactless highway toll collection system provided in this embodiment can completely change the traditional toll collection model, greatly simplify the management organizational structure and toll collection process, enable the digital transformation of infrastructure, truly realize contactless passage and precise positioning of vehicles, and can realize automatic deductions based on the toll cloud platform, while reducing infrastructure costs and realizing safe monitoring of vehicle locations.

[0084] The embodiment of the present invention also provides a method for sensing freeway toll collection based on Beidou positioning, which is applied to the sensing freeway toll collection system based on Beidou positioning, see Figure 4 , methods include: Step 401: using the cloud-based charging cloud platform to receive the positioning data of the vehicle, and identifying the vehicle path and mileage according to the positioning data, and performing split settlement of highway tolls; the positioning data includes the vehicle's travel time and travel location; Step 402: The edge computing device is used to verify the identity of the vehicle, and the vehicle whose verification is correct and whose identity is confirmed is cleared in advance to ensure that the vehicle passes through the toll station without any sense; Step 403: using the mobile terminal to provide a reservation service and an automatic payment service, the user can make a reservation for travel by himself through the mobile terminal before traveling; after the travel, the user can automatically pay the travel fee through the mobile terminal; Step 404: Use the Beidou vehicle-mounted terminal to collect vehicle position information, vehicle speed information, and azimuth information in real time, and automatically mark the vehicle position information, the vehicle speed information, and the azimuth information with a timestamp and send them to the cloud charging cloud platform and the edge computing device; and perform two-way communication with the roadside RSU device, and automatically record the location and passing time of the roadside RSU device passing by, and send the recording results to the cloud charging cloud platform; Step 405: When the roadside RSU device confirms that the vehicle has arrived at the toll station, it sends confirmation information to the edge computing device; and records the vehicle's travel time, and sends the vehicle's travel time and its own location to the cloud toll cloud platform; Step 406: Use the bayonet camera to recognize the license plate, automatically record the vehicle's travel time, and send the vehicle's travel time and its own location to the cloud charging cloud platform.

[0085] The above method provided in this embodiment belongs to the same concept as the above system embodiment. The specific implementation process is detailed in the system embodiment and will not be repeated here.

[0086] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0087] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A highway non-contact toll collection system based on Beidou positioning, characterized in that: The system includes a cloud charging cloud platform, edge computing equipment and terminal equipment; the terminal equipment includes a mobile terminal, a Beidou vehicle terminal, a roadside RSU device and a bayonet camera; The cloud-based charging cloud platform is used to receive the positioning data of the vehicle, identify the vehicle path and mileage according to the positioning data, and split and settle the highway tolls; the positioning data includes the vehicle's travel time and travel location; The edge computing device is used to verify the identity of the vehicle and to advance the clearance of the vehicle whose identity is confirmed, so as to ensure that the vehicle passes through the toll station without any feeling; The mobile terminal is used to provide a reservation service and an automatic payment service. Before traveling, the user can use the mobile terminal to make a reservation. After traveling, the user can use the mobile terminal to automatically pay the travel fee. The Beidou vehicle-mounted terminal is used to collect vehicle position information, vehicle speed information, and azimuth information in real time, and automatically mark the vehicle position information, the vehicle speed information, and the azimuth information with a timestamp and send them to the cloud charging cloud platform and the edge computing device; It can communicate with the roadside RSU equipment in two directions, automatically record the location and passing time of the roadside RSU equipment, and send the recorded results to the cloud charging cloud platform; The roadside RSU device is used to send confirmation information to the edge computing device when confirming that the vehicle has arrived at the toll station; and record the vehicle's passage time, and send the vehicle's passage time and its own location to the cloud toll cloud platform; The bayonet camera is used to recognize the license plate, automatically record the vehicle's passing time, and send the vehicle's passing time and its own position to the cloud charging cloud platform.

2. The highway contactless toll collection system based on Beidou positioning according to claim 1 is characterized in that: The mobile terminal is also used to provide user information management, charging standard query, travel path history record query, payment record query functions; and provide emergency rescue application and expressway service area location query services.

3. The highway non-contact toll collection system based on Beidou positioning according to claim 1 is characterized in that: The edge computing device is also used to review the user's travel path data based on the roadside RSU equipment and the toll gate camera data, and automatically alarm and deal with vehicles that maliciously tamper with the Beidou vehicle-mounted terminal's travel path data.

4. The highway contactless toll collection system based on Beidou positioning according to claim 1 is characterized in that: The Beidou vehicle-mounted terminal includes a Beidou positioning module, a communication module and a vehicle-mounted OBU module; the Beidou positioning module is used to provide Beidou positioning services; the communication module is used to send the vehicle positioning data obtained by the Beidou positioning module to the cloud-based charging cloud platform; the vehicle-mounted OBU module is used to communicate with the roadside RSU equipment.

5. The highway contactless toll collection system based on Beidou positioning according to claim 4 is characterized in that: The Beidou positioning module includes a high-precision RTK antenna module and a Beidou high-precision RTK inertial navigation board; the communication module includes a 4G / LTE-V integrated module, and the vehicle-mounted OBU module includes a vehicle-mounted electronic tag OBU; The high-precision RTK antenna module is used for collecting original observation data of the Beidou positioning system and receiving high-precision differential information; The Beidou high-precision RTK inertial navigation board is used for Beidou real-time high-precision positioning solution; The 4G / LTE-V integrated module is used to send vehicle positioning data; The on-board electronic tag OBU is used to communicate with the roadside RSU equipment.

6. The highway contactless toll collection system based on Beidou positioning according to claim 1 is characterized in that: The cloud charging cloud platform includes a user management module, a data receiving module, a clearing and settlement module, a data sending module, a data management module, a database, a GIS map and a comprehensive display module; The user management module is used to complete the management of free-flow users, including registration, deregistration, credit assessment, and overdue payment alarm; when registering a user, it is also used to complete the verification of the free-flow user registration information to ensure that the vehicle information is uniquely bound to the user identity information; it is also used for simple data management functions, supporting the query, statistical analysis and report generation of various types of user information; it is also used to back up user information to the data management module; The data receiving module is used to receive the vehicle position information, vehicle speed information and azimuth information automatically marked with timestamps sent by the Beidou vehicle-mounted terminal; Receive vehicle travel time and location information sent by roadside RSU equipment and bayonet cameras; receive highway entrance and exit number and lane number information sent by Beidou vehicle-mounted terminals; and transmit the received vehicle location information, highway entry and exit point information and vehicle entry lane information to the clearing and settlement module; The clearing and settlement module is used to calculate the entry and exit locations and mileage of the vehicle on the highway based on the GIS map according to the vehicle location information and the coordinate information of the entry and exit points of the highway, and automatically identify the vehicle path and match the toll rate; and according to the vehicle path identification and toll rate matching results, complete the billing and clearing and settlement of the vehicle's travel itinerary, and at the same time pass the billing results to the data sending module; The data sending module is used to send the vehicle location, license plate number, name of the vehicle owner, contact information, highway entrance and exit number, lane number, and billing result information to the edge computing device, and back up the data to the data management module; The data management module is used to receive the data sent by the data sending module and store it in the database; The database is used for data storage and management; The GIS map is used to provide map services; The comprehensive display module is used to complete the mapping and display of the vehicle's positioning time, high-precision position, vehicle speed, terminal ID number, vehicle license plate, vehicle owner, and vehicle model information on a high-precision map based on a GIS map; and realize the vehicle's trajectory playback, path query, and clearing and billing amount query and display functions based on historical data in the database.

7. The highway contactless toll collection system based on Beidou positioning according to claim 1 is characterized in that: The edge computing device includes a vehicle identification module, a cloud data matching module, a charging calculation module and a lifting control module; The vehicle identification module is used to receive the vehicle identity information, vehicle path information and billing results sent by the cloud charging cloud platform, and is used to receive the vehicle identity information and vehicle driving path information sent by the Beidou vehicle terminal; The cloud data matching module is used to perform data matching on the received information to determine whether the vehicle identity information is incorrect; The charging calculation module is used to verify the charging result after confirming that the vehicle identity information and the vehicle driving path information are correct; The bar lifting control module is used to control the release of the toll lane after confirming that the billing result is correct.

8. The Beidou positioning-based highway contactless toll collection system according to claim 7 is characterized in that: The billing calculation module is also used to transmit the calculation results back to the cloud charging cloud platform.

9. The highway contactless toll collection system based on Beidou positioning according to claim 7 is characterized in that: The billing calculation module is also used to automatically identify abnormal situations when the billing results are calculated incorrectly, and feedback to the cloud charging cloud platform; and send a signal of refusing to lift the bar to release the vehicle to the bar lifting control module.

10. A method for sensing highway toll collection based on Beidou positioning, characterized in that: The method is applied to the Beidou positioning-based highway contactless toll collection system as described in any one of claims 1 to 9; the method comprises: The cloud-based charging cloud platform is used to receive the positioning data of the vehicle, and the vehicle path and mileage are identified according to the positioning data to split and settle the highway tolls; the positioning data includes the vehicle's travel time and travel location; The edge computing device is used to verify the identity of the vehicle, and the vehicle whose verification is correct and whose identity is confirmed is cleared in advance to ensure that the vehicle passes through the toll station without any feeling; The mobile terminal is used to provide a reservation service and an automatic payment service. Before traveling, the user can use the mobile terminal to make a reservation for the trip; after the trip, the user can use the mobile terminal to automatically pay the travel fee; The Beidou vehicle-mounted terminal is used to collect vehicle location information, vehicle speed information, and azimuth information in real time, and the vehicle location information, vehicle speed information, and azimuth information are automatically timestamped and sent to the cloud charging cloud platform and the edge computing device; and bidirectional communication is performed with the roadside RSU device, and the location and passing time of the roadside RSU device passing by are automatically recorded, and the recording results are sent to the cloud charging cloud platform; The roadside RSU device sends confirmation information to the edge computing device when confirming that the vehicle has arrived at the toll station; and records the vehicle's travel time, and sends the vehicle's travel time and its own location to the cloud toll cloud platform; The bayonet camera is used to recognize the license plate, automatically record the vehicle's passing time, and send the vehicle's passing time and its own position to the cloud charging cloud platform.

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