Weigh-in-motion and ITS: Heavy Vehicle On-board weighing using Intelligent Access Program

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1 Weigh-in-motion and ITS: Heavy Vehicle On-board weighing using Intelligent Access Program Chris Koniditsiotis Chief Executive Officer, Transport Certification Australia Ltd Annie Susilo Engineer, Transport Certification Australia Ltd David Cai Engineer, Transport Certification Australia Ltd Abstract The Intelligent Access Program (IAP) is a voluntary program which provides heavy vehicles with access or improved access to the Australian road network. In return, heavy vehicles enrolled in the IAP will be monitored by vehicle telematics solutions for compliance with specific access conditions. The IAP is administered by Transport Certification Australia (TCA), on behalf of the Federal, State and Territory governments. In addition to the administration of IAP, TCA is also involved in a range of regulatory telematics development including On-Board Mass (OBM) monitoring. OBM, also known as on-board weighing, is a technology that monitors heavy vehicle weight using on-board sensors. This paper provides an update on the Australian Intelligent Access Program and the development of On-Board Mass monitoring. Key-words: WIM, IAP, OBM, Telematics Resumo Pesagem em movimento e ITS: veículos de carga com pesagem embarcada utilizando programa de acesso inteligente O Programa de Acesso Inteligente (IAP) é um programa voluntário que oferece aos veículos de carga acesso ou acesso melhorado à rede de estradas australianas. Em contrapartida, os veículos de carga matriculados no IAP são monitorados por soluções telemáticas embarcadas nos veículos para o cumprimento das condições de acesso específico. O IAP é administrado pelo órgão de Certificação dos Transportes da Austrália (TCA), sob a égide dos governos federal, estaduais e territoriais. Além da administração do IAP, o TCA também está envolvido no desenvolvimento de regulamentos voltados à telemática, incluindo o monitoramento de Sistemas Embarcados de Medição de Massa (OBM). O OBM, também conhecido como pesagem em movimento embarcada, é uma tecnologia que monitora o peso dos veículos carregados usando sensores implantados neles. Este trabalho apresenta uma atualização do Programa de Acesso Inteligente da Austrália e o desenvolvimento do monitoramento através de sistemas de pesagem embarcados. Palavras-chave: WIM, IAP, OBM, Telemática. 1. Introduction Heavy vehicle telematics has been heavily used by the private sector over the last twenty years. In recent years, governments have realised the great potential of heavy vehicle telematics and started using it as a tool in their road reform programs. The applications of telematics range from access regulation, driving hours monitoring, to toll collection. In Australia, telematics is used by the 1

2 governments to improve heavy vehicle road access via the IAP. The IAP is a voluntary program which provides heavy vehicles with access or improved access to the Australian road network. In return, heavy vehicles enrolled in the IAP will be monitored by vehicle telematics solutions for compliance with specific access conditions. The IAP is administered by TCA. There are four key players involved in the IAP business model: Jurisdictions, Transport Operators, IAP Service Providers and TCA. Jurisdictions are owners of IAP Applications which offer benefits for the Transport Operators enrolling with IAP. A Transport Operator may elect to enrol in one or more IAP Applications as they see the potential benefits. An IAP Service Provider is a commercial third party telematics company which provides IAP services. An IAP Service Provider is engaged by the Transport Operator to monitor heavy vehicles against a set of conditions, and provide Non-Compliance Reports (NCR) to jurisdictions. TCA was established by the jurisdictions and acts as an independent organisation to administer the IAP and provides certification and audit of the IAP Service Providers. The IAP technology can be broadly described in three components: the in-vehicle-unit (IVU), the IAP- SP System (Back Office), and the jurisdiction system. Figure 1 shows the data flow between these components. Figure 1: IAP data flow The IVU is installed in the vehicle. It collects location, time and speed information about the vehicle (using GPS), and transmits the information to the Back Office. The IVU is also capable of receiving data from other sources such as on-board movement sensor, mass measurement sensor and driver self declaration and comments. The Back Office stores the Intelligent Access Map (IAM) 1 as a reference and the Intelligent Access Conditions (IACs) with which the jurisdiction requires the vehicle to be monitored against. After receiving data from the IVU, the Back Office assesses the data against the IAM and conditions, and produces Non-compliance Reports (NCRs) which are sent to the associated jurisdiction. 1 Intelligent Access Map (IAM) is a map in electronic form issued by TCA as the reference against which compliance with access conditions. 2

3 The jurisdiction system is set up to enable secure and automated receipt of NCRs from IAP-SPs. 2. IAP Applications Currently there are IAP Applications in four Australian states: Since July 2009, New South Wales and Queensland have provided Higher Mass Limits (HML) 2 schemes which allow heavy vehicles to carry additional load above the general mass limits on certain defined routes. IAP is one of the requirements for enrolling HML. In Victoria, heavy mobile cranes and pump trucks have been required to enrol in IAP since September From July 2010, South Australia has extended HML network to transport operators with enrolment in IAP being one of the requirements In New South Wales, IAP is a requirement for the Road Train Modernisation Program. Certain Performance Based Standard (PBS) 3 vehicles across Australia also require IAP as part of the operation conditions. As a transport operator, before making a decision to use the IAP, one needs to decide if the IAP provides a financial or operational benefit. The IAP may be relevant to a Transport Operator if: The business could benefit from carrying more mass The business could benefit from operating longer vehicles The vehicles could gain access to a specific road or network The transport operator could gain benefit from operating with additional trailers The transport operator would like to operate during specific hours The transport operator would like to replace paper-based permits The transport operator would like to be acknowledged as a compliant operator The transport operator would like to demonstrate to customers their commitment to meeting chain of responsibility obligations Since the IAP became available, many Transport Operators have been enjoying the benefits it offers. Barlow Agricultural Pty Ltd, a southern New South Wales based Transport Operator involved in grain production, trading, transport and storage, has been enjoying access to private roads and the HML network. The owner Mr Barlow says the IAP had proven to be a commercially viable proposition. Operating at HML under IAP has enabled our trucks to increase payload by about 10%. Mr Barlow also suggests that aside from efficiency gains there are safety and environmental gains from operating under IAP. The IAP Service Provider is able to provide a range of commercial services in addition to the IAP services. The operator now can check where their trucks are, whether they are on the correct route, how long have the drivers been driving or resting. The number of truck trips to the operator s major clients has also been reduced by about 10%, and that leads to a direct reduction of emissions. Mr Barlow recommends any truck operator carrying a dense product to consider the IAP because it has been shown to deliver safety, productivity and environmental benefits in the business. Riordan Grain Services, a Victoria based operator transporting grain and fertiliser in bulk, has a fleet of 10 company owned B-doubles and hires another 30 sub-contractors who also operate B-doubles. The Transport Manager Joe Strawford says that IAP has been delivering benefits even though only about 25% of its business is conducted in New South Wales where IAP is required to gain HML access. The IAP allows Riordan Grain Services to have access to its storage facility at Lake Cargelligo 2 Higher Mass Limits (HML) is an Australian nationally agreed scheme that permits approved heavy vehicles to operate with additional mass on certain types of axle groups, on a restricted road network and subject to specified conditions. (NTC, 3 PBS brings a fresh alternative approach to heavy vehicle regulation. It focuses on how well the vehicle behaves on the road, rather than how big and heavy it is (eg length and mass), through a set of safety, road wear and bridge loading standards. (NTC, 3

4 as well as to a range of grain receival sites. The company has also secure access to three sites in Sydney and six in the Newcastle region. Mr Strawford said that they have been using GPS tracking for about six years. Enrolling in the IAP and changing their hardware to IAP compatible ones was purely a commercial decision. While this led to interruptions to the business, the transaction was conducted smoothly and the back office systems and existing fleet management systems were improved. Since enrolling in the IAP, Riordan Grain Services has been able to generate a range of benefits and as a result, has improved the levels of customer service. Industry feedback has shown that the IAP lifts the standards of telematics and provides positive contribution to fleet management services. The IAP Specification was developed in close consultation with both telematics and transport industries. Therefore, it does not only address a specific public policy outcome, but also the needs of transport industry. The key driver for the program, is the expanded network for use by heavy vehicles. 3. On-Board Mass Monitoring (OBM) A review of the industry capability in OBM was undertaken in 2007, with focus on the current and expected future technologies as well as products and services associated with OBM (Karl & Han 2007). The review identified two OBM sensors that are commonly used on heavy vehicles, air pressure transducer (APT) and load cell as shown in Figure 2. APT is suitable for vehicles with airbag suspension, while load cell is designed for vehicles with mechanical suspension. The review also addressed a number of issues including installation, calibration, operation and maintenance of OBM systems. APT measures the pressure in the airbag suspension and converts the pressure reading to a mass value. Note that the pressure in the airbag suspension is proportional to the weight of the axle group (hence the vehicle). Load cell is generally mounted under the turntable (fifth wheel) or above the chassis. Load cell directly measures the weight exerted on it, similar to a bath room scale. Figure 2: APTs (left) and load cell (right) In 2008, TCA conducted a test program on commercially available OBM systems in Australia. The program received full support from the domestic OBM industry. A total of twelve OBM systems from eight suppliers were tested across five Australian states in the course of seven months, commencing in April and finishing in October Both APT and load cell based systems were involved in the test. Accuracy and repeatability of the OBM systems were tested against a static weighbridge as well as an on-board reference system (also an OBM system), by axle group and by gross mass. Multiple load conditions were tested for each system to examine their accuracy at different weights. Measurements were taken on level (flat) ground with brakes off and engine running. The overall results were positive. 4

5 All systems tested provided an accuracy of ± 500kg for any axle group compared to the weighbridge. This accuracy is equivalent to ± 2.5% on a 20 tonne axle group. The result is depicted in the box and whisker plot in Figure 3 (Karl et al 2009). Figure 3: Accuracy of OBM systems (Karl et al 2009) Since an OBM system is installed on board with the vehicle, it is possible to continuously capture the weight even when the vehicle is moving. A study on the dynamic OBM measurement was also carried out with an aim to develop quality indicators for static OBM measurement. In the commercial world, OBM system has been used as an aid to the driver in making sure that the vehicle is within legal mass limit. In this case, it is for the driver s best interest to take an accurate measurement using the OBM system. However, in a regulatory environment, one may create incentive for the driver to obtain a misleading measurement (by tampering with the system or violating operation procedure). Therefore, quality indicators are critical as a measure of the integrity of OBM data. Figure 4 shows an example of dynamic OBM data captured during the test. The data was captured in a frequency above 40Hz mass (kg) GCM mass (kg) Drive Drive Trailer 1 Trailer 1 Trailer 2 Trailer 2 Dolly Dolly GCM GCM time (s) Figure 4: Dynamic OBM data (Karl et al 2009) 5

6 It was observed that while the dynamic OBM data shows much fluctuation, and any instantaneous measurement may not provide useful information, many instantaneous measurements over a period of time can be averaged to provide an estimated static measurement. Under this observation, analysis was undertaken in averaging dynamic data and it was found that the 30 second average of dynamic data was able to provide an accuracy of ± 750kg. Another investigation was carried out on the body bounce frequency of the vehicles. By assuming that road input is approximately equivalent to white noise in the frequency band of interest, it is possible to estimate the frequency response function of the system from analysis of the OBM system measurements. From this, it is possible to identify fundamental frequencies of the system, including the body bounce and axle hop frequencies. The body bounce frequency is most prominent and is fundamentally related to vehicle mass, but in a way that is completely independent of the magnitude of the measurement (Karl et al 2009). The body bounce frequency is given approximately by where f is the body bounce frequency, k is the airbag stiffness and m is the sprung mass on that suspension. The airbag stiffness, k, can be considered a constant as it depends only on the diameter of the airbags. Consequently, the frequently can be used to determine the mass and would be expected to vary with the square root of mass ratio. That is, if mass doubles, frequency would be reduced by a factor of 2 (Karl et al 2009). This theory is demonstrated by a frequency analysis of dynamic OBM data as shown in Figure 5. It can be seen that as the load decreases, the peak body bounce frequency increases. Figure 5: Frequency shifts with changing mass (Karl et al 2009) With the learnings from the feasibility study, TCA developed a draft OBM specification in August 2009 (Karl & Cal 2009). The specification covers a range of requirements including accuracy of OBM systems, quality indicators, and procedures for installation, calibration, operation and maintenance. 6

7 In 2010, the National Measurement Institute (NMI) of Australia conducted a review on the draft OBM specification developed by TCA. NMI is the national body which approves measurement equipment for trade. NMI in the review acknowledged that The Specification establishes a very detailed and comprehensive set of requirements in relation to records related to the OBMMS (i.e. OBM system) and its relationship to the IAP, however it appears that there is a lack of detail particularly in regard to calibration procedures. It is possible that it is intended that the detail would be left to each OBM supplier and this may be adequate for uses not requiring trade/legal approval however for trade use much more detailed procedures would be required. These would be dependent on the maximum permissible errors and test procedures decided, however it is expected that they would include matters such as the calibration status (traceability) and characteristics of the weighbridge used (e.g. scale interval relative to that of the OBMMS). It is also expected that testing at more than just empty and full conditions would be required. (NMI 2010). NMI also acknowledged that Although this report is aimed at the use of the OBMMS for static measurement (vehicle stationary), it is noted that The Specification includes provision for the collection of dynamic data, with the intention of potentially using this data as an additional means to identify possible tampering with the equipment, fraudulent activity (e.g. wedging to prevent the full load being applied to the OBMMS), or simply determining that equipment requires maintenance. NMI does not have previous experience with such an approach, but it does seem a worthwhile idea to pursue in the OBMMS context. (NMI 2010). 4. OBM trials Since the draft OBM Specification was developed, opportunities for Jurisdictions to initiate trials have emerged as higher productivity can be offered with greater confidence in heavy vehicle mass compliance. In December 2010, Queensland Department of Transport and Main Roads (TMR) made a decision to approve the operation of Performance Based Standard (PBS) 2B vehicles (an example of these vehicles is shown in Figure 6) on the route from Port of Brisbane to Toowoomba, with IAP and OBM as part of the conditions. This transport route is particularly important to the regional Queensland economy. The approval of PBS 2B vehicles operation on this route is expected to bring big benefits for industry, the community and the environment. Transport Operators can now carry up to two 40 foot containers on a PBS 2B vehicle whereas previously they could only operate on a single combination. Modelling undertaken by TMR has indicated that a Transport Operator would have needed to make 4,800 trips between Toowoomba and the Port of Brisbane to carry 120,000 tonne per annum. With PBS 2B vehicle those trips could be reduced by up to 50% to 2,400 trips. Chairman of the Queensland Transport and Logistic Council, Neil Findlay, has supported and welcomed the decision, and acknowledged that this is a prime example of how government and industry can work together to deliver significant improvement in the freight sector (TCA, Figure 6: PBS 2B vehicle 7

8 Other Australian Jurisdictions are also investigating OBM trials on other vehicles including buses. 5. OBM data analysis 4 Since OBM trials were deployed, data has been collected from systems installed on operational vehicles. Based on data collected from one truck and two buses installed with APT based OBM systems, TCA has performed a series of analysis trying to understand any operational issues. Data used in the analysis are 30 second averages of high frequency dynamic OBM data with GPS locations and speed. It was found that although the data generally agreed with the actual operational situations, filtering (or cleaning) of data is required in order to remove noise. The basic assumptions for data filtering are: When a vehicle moves at low speed, it implies that frequent braking activities might have been applied. This in term affects the air supplied to the airbag suspensions hence the OBM system is not able to measure the correct air pressure. A vehicle cannot be loaded and unloaded in a short period of time (e.g. 30 seconds). Hence a single OBM reading that is significantly different from a series of consecutive readings may be caused by certain vehicle operations and does not represent a reliable value of vehicle mass. Based on the above assumptions, two filtering processes were created: 1. Filtering of data with vehicle speed < 20 km/h (vehicle speed is captured by GPS) 2. Filtering of data which is significantly different from the preceding and succeeding data. The filtering processes were found to be effective in improving the data quality for all three vehicles. An example is shown throughout Figure 7, Figure 8 and Figure 9. Figure 7 shows all data collected for the truck for one day. Figure 8 shows the data with speed < 20 km/h removed. Figure 9 shows the data with spikes further removed. Total Combination Mass (kg) Truck total mass for one day Number of records Figure 7: Truck total mass data at 30 second interval 4 These data were provided to TCA for research purposes. 8

9 Truck total mass with speed >20km/hr for one day Total Combination Mass (kg) Number of records Figure 8: Truck total mass for speed >20km/hr Truck total mass with speed >20km/hr and after spikes filtering for one day Total Combination Mass (kg) Number of records Figure 9: Truck total mass with speed >20km/hr and after spikes filtering Figure 9 also clearly identifies three round trips the truck conducted between the mill and the port. The truck can legally carry a total mass (including the truck) up to 78 tonnes. Area A in Figure 9 shows the mass (78 tonnes) of the truck carrying two fully loaded containers from the mill to the port. Areas B, C and D show the return trips from the port to the mill. It was observed that the truck carried a higher mass in trip B than in trip C and D. One possible reason for this observation is that the truck might carry one empty container in trip B, and carry no container in trip C and D. At the beginning of trip C, it was also observed that a couple of downward spikes which went under the tare mass (about 22 tonnes) of the vehicle remained after the filtering processes. One reason for this could be that at the begging of the trip the airbag suspensions were not pumped up to the default level. 9

10 Furthermore, it was found that the accuracy of the OBM system was in alignment with the Draft OBM Specification. The data for the two buses were also investigated to validate their operational behaviours. Figure 10 shows a full day of data from a trip bus which transported people and lungages between two fixed points. Unlike a truck, a trip bus can be expected to carry different number of people and different amount of lungages in any single trip. Hence, the vehicle mass varied in all trips. Area E and F in Figure 10 shows two trips with relatively high mass. Total Vehicle Mass (kg) Trip bus total mass with speed >20km/hr and after spikes filtering for one day E F Number of records Figure 10: Trip bus total mass with speed >20km/hr and after spikes filtering Data collected from a route bus were also investigated. A route bus operates on a fixed route with many stops along the route. Passengers get on and off at each stop so that the mass of the bus can be expected to be almost random at any time, except at peak hours when the bus is usually at full. Figure 11 shows this unique behaviour of a route bus. Total Vehicle Mass (kg) Route bus total mass with speed>20 km/hr and after spikes filtering for one day Number of records Figure 11: Route bus total mass with speed >20km/hr and after spikes filtering 10

11 6. OBM and WIM There are many similarities between OBM and on road Weigh-in-Motion (WIM). For example, both technologies measure heavy vehicle mass (or weight) without stopping the vehicle and hence reduce the inefficiency in compliance checking. However, compared to WIM, OBM has a number of unique aspects: OBM can provide continuous mass monitoring of vehicle OBM can provide mass monitoring regardless of the vehicle location OBM can provide higher accuracy (if procedures are followed) OBM stays with the vehicle, hence tamper monitoring is required for regulatory use Calibration of OBM needs to be regularly verified. The period of verification typically varies from three to twelve months depending on the operating environment It is important to notice these differences and realise the great opportunities in integrating the two technologies. There is a huge possibility that OBM and on road WIM can be used to cross check with each other. For example, multiple OBM installed vehicles running pass a WIM site can be used to calibrate the WIM. On the other hand, WIM can be used to identify potential faulty or tampered OBM systems, i.e. if only one vehicle reports OBM data that is significantly different from the WIM data, further investigation on this vehicle may be required. Since WIM is operated and maintained by government while OBM is kept by transport operators, there is also a potential to use WIM to calibrate OBM systems. 7. Conclusion The Intelligent Access Program (IAP) serves as a nexus between the needs of the road transport industry - improved access, reduced trip times, higher permitted loads - and the requirement of road authorities and government to protect their infrastructure assets, and the industry compliance needed to achieve this. The development of regulatory On-Board Mass (OBM) Monitoring enhances the use of IAP and provides further benefits for both the government and industries. OBM also has a great future in complementing on road WIM to provide better visibility of vehicle mass. 8. Reference Karl, C.A. and Han, C., Heavy Vehicle On-Board Mass-Monitoring Capability Review. ARRB Group, for Transport Certification Australia Ltd, Melbourne, Vic., Aus., September Karl, C.A., Davis, L., Cai, D., Blanksby, C., Germanchev, A., Eady, P. and Harcourt, R., On-Board Mass Monitoring Test Report (Final). Transport Certification Australia Ltd, Melbourne, Vic., Aus., May Karl, C.A. and Cai, D., On-Board Mass Monitoring System Specification (Draft). Transport Certification Australia Ltd, Melbourne, Vic., Aus., August NMI, Re: TCA On-Board Mass Monitoring System Specification. National Measurement Institute, Pattern Approval Section, Lindfield, NSW., Aus., June