Possibilities of OBD data usage for the retrieval of vehicle trajectory

The paper presents a recording device fitted in vehicles accumulating data from on-board diagnostic devices such as OBDII or EOBD (On Board Diagnostic/European OBD) and, supposedly in the future, from other on board devices. The recording device also registers linear and angular acceleration of the vehicle. The paper also describes the algorithms used to describe and reconstructs the actual movement of the vehicle. The device was designed as an integrated module fitted in a solid metal casing to be used prospectively as a “black box”. The module enables a measurement of a multitude of parameters of a vehicle in motion. The here applied integrated accelerometers ensure the measurement of acceleration in three mutually perpendicular axes. Two circuits of integrated gyroscopes– fitted in optimal locations – enable the measurement of angular velocity of a vehicle. Such an array of sensors and the information retrieved from the OBD systems facilitate the determining of the motion parameters and vehicle trajectory including vehicle skids or rollovers.