KR20220023683A - Method and Apparatus for Providing Multi-Modal Service Using Personal Mobility - Google Patents

Abstract

Disclosed are a method and a device for providing a multimodal service using personal mobility. According to one aspect of the present invention, in a method of operating a device for providing a multimodal service using personal mobility (PM), an operation method of the device for providing a multimodal service includes the processes of: receiving the departure and the destination from a user terminal; searching for available PM locations between the departure and the destination; generating a movement route between the departure and the destination based in part on the PM locations; and providing the user with the movement route and the PM locations.

Description

Method and Apparatus for Providing Multi-Modal Service Using Personal Mobility

Embodiments of the present invention provide a method and apparatus for linking a Personal Mobility (hereinafter referred to as PM) sharing service with other means of transportation, in particular, route and transfer information for a comprehensive means of transportation such as PMs, walking, personal vehicles, and public transportation vehicles. It relates to a method and apparatus for providing a multi-modal service that provides

The content described in this section merely provides background information on the present invention and does not constitute the prior art.

Recently, as a means of transportation or transportation, the proportion of vehicles is decreasing, and the proportion of personal mobility (PM) is increasing. Here, the PM is a moving body for 1 or 2 people, and means a moving means including an electric kickboard, a bicycle, a bike, a smart car, a vehicle, a purpose-built vehicle (PBV), an air vehicle, and the like.

As the number of PM users increases and the types of PMs diversify, the number of PM sharing service users who rent and use PMs for a certain period is increasing. Even if the PM is not owned, the PM can be used when necessary, so that the user can conveniently use the PM.

As a multi-modal service, PM, a new means of transportation, can be used together with existing means of transportation, such as personal vehicles, buses, and subways. When the moving route from the origin to the destination includes a section that cannot be moved by the existing transportation means, the user can move to the destination easily by moving using the PM. For example, when a user uses a personal vehicle and a PM, the user can move to a parking lot near the destination by using the personal vehicle and then quickly and conveniently arrive at the destination using the PM.

However, a user who currently uses a PM separately collects and uses the information on the existing means of transportation and the information on the PM. For example, the user searches for a route using public transportation means, and after determining the location of the PM, the user directly determines whether to use the PM. The user cannot obtain transfer information between the existing means of transportation and the PM, so it is difficult to use the multi-modal service including the PM smoothly.

Therefore, it is necessary to study a method for providing a multi-modal service so that users can use PM and general transportation convergence.

Meanwhile, a global navigation satellite system (GNSS) based on satellite signals is used to determine the location of the vehicle. An example of the GNSS is a global positioning system (GPS). V2X (vehicle to everything) standard technology applied to intelligent transportation systems also estimates the location of a vehicle based on GPS.

However, in an urban area where there are many high-rise buildings, the GPS signal is diffusely reflected by the high-rise buildings. GPS diffuse reflection may prevent the GPS signal from being transmitted to the destination in the shortest possible way, thereby reducing the accuracy of positioning. In addition, since it is difficult to receive a satellite signal in a GPS dead zone such as an indoor parking lot, it is more difficult to determine the location of the vehicle.

To solve this problem, an additional device is used in a GPS shadow area or an urban area. In the positioning method using GPS, in addition to the GPS technology, a map matching technology that displays the vehicle location as a location on the nearest road may be used. In addition, through an inertial navigation system (INS), it is possible to reduce the inaccuracy of the GPS and receive additional information necessary for positioning in the GPS dead zone. However, even if both GPS and INS are used, there is a limit to reducing the positioning error because the position is estimated based on the satellite signal transmitted from the satellite.

When a technology for providing signal information to a vehicle using GPS is applied to a PM, a problem due to a GPS positioning error may be further highlighted. This is because, unlike vehicles that only drive on the road, PMs can drive on various routes, such as sidewalks, roadways, bicycle paths, or alleys. That is, if traffic information is provided to the PM through GPS positioning, there is a problem in that it is difficult to deliver necessary information to the PM due to a positioning error.

Therefore, when providing a multi-modal service including a PM, it is necessary to accurately determine the location of the PM.

Embodiments of the present invention, including PM, by providing an optimal movement route to the user in consideration of all means of transportation available for the user to move from the origin to the destination, to minimize the movement time or movement distance A main object is to provide a method and apparatus for providing a modal service.

Other embodiments of the present invention promote user convenience and optimal multi-modal service by utilizing information on traffic congestion, reservation system, and user, or by continuously updating moving routes and moving means during the user's movement. An object is to provide a method and apparatus for providing.

Other embodiments of the present invention provide a method and apparatus for providing a multimodal service for providing an accurate location of a PM through a plurality of roadside devices and V2X communication even in a GNSS dead-zone or an area where diffuse reflection of satellite signals is severe. It has a purpose to provide.

According to an aspect of the present invention, there is provided a method of operating an apparatus for providing a personal mobility (PM) multimodal service, the method comprising: receiving a source and a destination from a user terminal; searching for available PMs between the source and the destination; generating a movement route between the origin and the destination based in part on the positions of the PMs; and providing the moving path and the locations of the PMs to the user.

According to another aspect of this embodiment, there is provided a multi-modal service providing apparatus, the receiving unit for receiving the origin and destination from the user terminal; a search unit for searching for locations of available PMs between the source and the destination; a generator configured to generate a movement path between the origin and the destination based in part on the positions of the PMs; and a providing unit that provides the user with the movement path and the locations of the PMs.

As described above, according to an embodiment of the present invention, by providing an optimal movement route to the user, including PM, considering all means of transport available for the user to move from the origin to the destination, travel time or travel distance can be minimized.

According to another embodiment of the present invention, by utilizing information on traffic congestion, reservation system, and user, or by continuously updating the moving route and moving means during the user's movement, the user's convenience is promoted and multi-modal optimal for the user service can be provided.

According to another embodiment of the present invention, it is possible to provide a multimodal service using the exact location of the PM through V2X communication with a plurality of roadside devices even in a GNSS dead-zone or an area where diffuse reflection of satellite signals is severe.

1 is a configuration diagram illustrating components of an apparatus for providing a multi-modal service according to an embodiment of the present invention.
2A, 2B, and 2C are diagrams illustrating an operation method of an apparatus for providing a multi-modal service according to an embodiment of the present invention.
3A and 3B are diagrams for explaining a method of providing a multi-modal service to which traffic congestion and real-time update are applied according to an embodiment of the present invention.
4A and 4B are diagrams for explaining a process of estimating an exact location of a PM according to an embodiment of the present invention.
5 is a flowchart illustrating an operation method of an apparatus for providing a multi-modal service according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated on different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

In addition, in describing the components of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the elements from other elements, and the essence, order, or order of the elements are not limited by the terms. Throughout the specification, when a part 'includes' or 'includes' a certain element, this means that other elements may be further included, rather than excluding other elements, unless otherwise stated. . In addition, terms such as '~ unit' and 'module' described in the specification mean a unit that processes at least one function or operation, which may be implemented as hardware or software or a combination of hardware and software.

Hereinafter, a personal mobility device (Personal Mobility Vehicle, hereinafter referred to as PM) refers to a moving body that can be moved by one or two people. For example, Micro Mobility, Electric Bicycle, Electric Scooter, Electric Scooter, Electric Wheelchair, Electric Bike, Segway, 2-Wheel Drive, Smart Car, 1-2 Seater Shuttle, Personal There are transportation means, personal flight means, smart mobility, shared mobility, first mile, last mile, PBV (Purpose Built Vehicle), PAV (Personal Air Vehicle), vehicle, electric vehicle, etc.

In addition, all roadside units (RSUs) perform broadcasting, but may support communication methods such as unicast and multicast as needed. Hereinafter, the roadside units (Road Side Unit, RSU) are described based on performing V2X (Vehicle to Everything) communication with the PM, but is not limited thereto, and LTE-V2X, C-V2X, 5G-V2X, WAVE (Wireless Access In Vehicular Environment), DSRC (Dedicated Short Range Communication), etc. can be used. That is, a communication standard used in an intelligent transport system (ITS) may be used.

The multi-modal service providing apparatus is preferably implemented as a server located outside the PM, but is not limited thereto, and may be implemented by a device or a user terminal located inside the PM. The multi-modal service providing apparatus may store in advance at least one of a virtual map, identification information of the roadside device, location coordinates corresponding to the identification information of the roadside device, identification information of a PM, and subscriber information of a user. Here, the location coordinates mean latitude and longitude or mean two-dimensional or three-dimensional coordinates based on a specific point.

1 is a configuration diagram illustrating components of an apparatus for providing a multi-modal service according to an embodiment of the present invention.

Referring to FIG. 1 , a multi-modal service providing apparatus (hereinafter, 'providing apparatus', 10) includes a receiving unit 100, a search unit 110, a generating unit 120, and a providing unit 130. include According to an embodiment of the present invention, the providing apparatus 10 may also include an updater 140 . According to an embodiment of the present invention, the providing apparatus 10 may further include a location estimator (not shown).

The receiver 100 is a component that receives a source and a destination from a user terminal. The receiver 100 according to an embodiment of the present invention may further receive reservation information for PMs or user identification information from the user terminal.

The search unit 110 is a component that searches the locations of PMs available between the source and the destination. The search unit 110 according to an embodiment of the present invention may search the locations of all PMs available between the source and the destination, and may search for the locations of PMs located within a predetermined distance from the straight path between the source and the destination. may be

According to an embodiment of the present invention, the search unit 110 may re-search the positions of PMs located between the current location of the user terminal and the destination while the user terminal is moving. When a situation occurs such as traffic congestion or available PMs becoming unavailable while the user terminal is moving along the movement path generated by the generating unit 120, the search unit 110 responds to the change of the situation. It is possible to continuously re-search for the optimal movement route.

The generating unit 120 is a component that generates a movement path between a starting point and a destination based in part on the positions of the PMs. Here, the moving path includes at least one of a PM path through which the user moves by using a PM, a sidewalk moving on foot, or a general path moving using general transportation means. The generator 120 generates a movement route based on the location of the PM and the transfer point of general transportation. In addition, the generator 120 may generate a movement path selected by the user from among the shortest distance movement path or the minimum distance movement path.

According to an embodiment of the present invention, when there is a PM selected by the user, the generator 120 may generate a route for moving to a destination by using the selected PM.

According to an embodiment of the present invention, the generation unit 120 may calculate the degree of traffic congestion of the moving route, and generate at least one of a shortest-time travel route or a shortest-distance travel route based on the traffic congestion degree. That is, a movement route may be generated after excluding a congested route among routes that can be moved on foot, PM, or general transportation.

According to an embodiment of the present invention, the generating unit 120 may generate a movement route further based on the reservation information received by the receiving unit 100 from the user terminal. Here, the reservation information means information such as identification information, use time, and destination of a PM that the user intends to use. When one user reserves a PM, other users cannot use the reserved PM.

According to an embodiment of the present invention, the reception unit 100 receives identification information for a specific PM from the user terminal, and the generation unit 120 receives the identification information corresponding to the preference for each means of transportation, the preference for each type of PM, and the PM usage information. , a movement path may be generated further based on at least one of age and gender. For example, the generator 120 may preferentially generate a route using the electric scooter rather than the electric kickboard. In addition, the generator 120 may preferentially generate a route using a PM that is easy to operate according to age or gender. Also, the generator 120 may preferentially generate a route using an alley rather than a road according to the PM usage information of the user.

The providing unit 130 is a component that provides a movement route and a location of PMs to a user. The providing unit 130 provides the user with the location of the PMs searched for by the search unit 110 , and provides the user with the movement path generated by the generating unit 120 . The providing unit 130 may provide the location and movement path of the PMs simultaneously or separately.

According to an embodiment of the present invention, the providing unit 130 may map the location, type, and movement path of the PMs to the virtual map, and provide the mapped virtual map to the user. This is to allow the user to conveniently use the multi-modal service.

According to an embodiment of the present invention, the providing unit 130 may provide the user with the moving route updated according to the searcher 110 and the updater 140 and the locations of the re-searched PMs.

The updater 140 is a component that updates the movement route based in part on the positions of the PMs re-searched during the movement of the user terminal by the searcher 110 . When the user moves along the movement path by the generator 120 , the update unit 140 takes into consideration the traffic congestion level, the location of PMs, availability of PMs, etc., the distance is shorter or shorter than the existing movement route. If there is a route to take, the existing movement route can be updated.

Hereinafter, a process in which the providing device 10 searches for the location of the PM through V2X communication will be described.

According to an embodiment of the present invention, the receiving unit 100 may receive from the plurality of PMs the plurality of PMs V2X (Vehicle-to-Everything) messages received from the plurality of roadside units (RSU). there is. Specifically, the receiver 100 may receive from the PM the V2X messages received by the PM from at least three roadside devices. V2X messages are used to estimate the location of the PM by the location estimator.

The location estimator is a component for estimating the locations of the plurality of PMs based on the V2X messages and the location coordinates previously stored for the plurality of roadside devices. Specifically, the location estimator 106 is a V2X message received signal strength (Received Signal Strength Indicator, RSSI), round trip delay time (Round Trip Time, RTT), flight time (Time of Flight, ToF), arrival time (Time) of Arrival (ToA) or Time Difference of Arrival (TDoA) may be calculated. The location estimator may measure the distance between the roadside device and the PM based on at least one of RSSI, RTT, ToF, ToA, and TDoA of the V2X message. The location estimator may estimate the location of the PM by applying triangulation to a distance between the at least three roadside devices and the PM.

2A, 2B, and 2C are diagrams illustrating an operation method of an apparatus for providing a multi-modal service according to an embodiment of the present invention.

2A, 2B and 2C , a user 200, a departure point 210, a destination 212, a plurality of transfer points 220, 221, 222, 223, a parking lot 224, and PMs 231 , 232, 233, 234, 235, 236, 237), a plurality of general transportation means 240, 242, and movement routes 250, 252, 254, 256 are shown. In FIGS. 2B and 2C , the PMs 231 , 232 , 233 , 234 , 235 , 236 , and 237 are all expressed as kickboards, but this is only one embodiment and may be implemented with the above-described PM types.

Hereinafter, the user 200 may mean a user terminal. The plurality of general transportation means 240 , 242 includes a bus 240 and a personal vehicle 242 . The plurality of transfer points 220 , 221 , 222 , and 223 refer to points at which the user 200 can transfer, such as a bus stop, a taxi stop, a parking lot, and a PM parking lot. The travel paths 250 , 252 , 254 , 256 include a sidewalk 250 , a first PM path 252 , a general path 254 , and a second PM path 256 .

In FIG. 2A , the providing device receives a source 210 and a destination 212 from the user 200 . In FIG. 2B , the providing apparatus searches for locations of PMs 231 , 232 , 233 , 234 , 235 , 236 , and 237 available to the user 200 between the source 210 and the destination 212 .

In FIG. 2c , the providing device is based on the positions of the PMs 231 , 232 , 233 , 234 , 235 , 236 , and 237 , and the movement path 250 , 252 , 254 , 256 between the source 210 and the destination 212 . to create Here, the movement paths 250 , 252 , 254 , and 256 include a sidewalk 250 , a first PM path 252 , a general path 254 , and a second PM path 256 . In addition, the moving paths 250 , 252 , 254 , and 256 include paths that can be moved by PM among paths that cannot be moved by general transportation. However, this is only one embodiment, and it is sufficient that the movement paths 250 , 252 , 254 , and 256 include at least one of a sidewalk, a PM path, and a general path. However, it should be a moving path through which the user 200 can move to the destination 212 in the shortest distance or in the shortest time.

The providing device provides the user 200 with the movement paths 250 , 252 , 254 , 256 and the locations of the PMs 231 , 232 , 233 , 234 , 235 , 236 , and 237 . The user 200 can use the multi-modal service to the destination 212 based on the movement paths 250, 252, 254, 256 and the positions of the PMs 231, 232, 233, 234, 235, 236, 237. there is.

The user 200 may walk to the first PM 231 and move to the first transfer point 221 using the first PM 231 . At the first transfer point 221 , the user 200 may move to the second transfer point 223 using one of the plurality of general transportation means 240 and 242 . The first transfer point 221 and the second transfer point 223 become a bus stop when the user 200 uses the bus 240 , and become a parking lot when the user 200 uses the personal vehicle 242 . The user 200 may walk from the second transfer point 223 to the location of the second PM 237 and arrive at the destination 212 using the second PM 237 .

3A and 3B are diagrams for explaining a method of providing a multi-modal service to which traffic congestion and real-time update are applied according to an embodiment of the present invention.

Referring to FIG. 3A , a user 200 , a departure point 210 , a destination 212 , a plurality of transfer points 220 , 221 , 222 , 223 , a parking lot 224 , and PMs 231 , 232 , 233 , 234 . , 235 , 236 , 237 ), a plurality of general transportation means 240 , 242 , and movement routes 250 , 252 , 254 , 256 and 300 are shown. The movement paths 250 , 252 , 254 , 256 , and 300 include a first path 254 and a second path 300 . The first path 254 is the same as the normal path 254 created in FIG. 2C .

According to an embodiment of the present invention, the providing apparatus may calculate the traffic congestion levels of several movement paths, and generate an optimal movement route based on the traffic congestion levels.

In FIG. 3A , as a route through which the user 200 can move from the first transfer point 221 to the second transfer point 225 , there are a first route 254 and a second route 300 . As an embodiment, the first path 254 is a general path, and the second path 300 is described as a PM path.

The providing device provides a time or distance for the user 200 to move to the destination 212 using the first path 254 , and the time it takes to travel to the destination 212 using the second path 300 . Or compare the distances. In FIG. 3A , if it is determined that the second route 300 is congested by other vehicles, the providing apparatus may generate a movement route including the first route 254 instead of the second route 300 .

On the other hand, referring to FIG. 3B , the user 200, the departure point 210, the destination 212, a plurality of transfer points 220, 221, 222, 223, the parking lot 224, the re-searched PMs 310, 311 , 312 , 313 , updated paths 300 , 302 , and first path 254 are shown. The updated paths 300 , 302 include the second path 300 . The first path 254 is an existing general path, and the second path 300 is an updated PM path.

As illustrated in FIG. 3B , the providing device may update the movement route while the user 200 moves. Considering that the location of the PMs changes, becomes unavailable, or a congested route changes while the user 200 is moving, the providing apparatus may provide the user with an optimal movement route updated in real time.

Specifically, the providing device rescans available PMs between the current location of the user 200 and the destination 212 . In this case, the providing device may re-search PMs according to a predetermined period, or may re-search PMs according to the request of the transfer point or the user 200 .

Thereafter, the providing apparatus may update the movement path based in part on the positions of the re-discovered PMs 310 , 311 , 312 , and 313 . Similarly, the providing device may update the movement route in consideration of traffic congestion level, reservation information, preference by means of transportation, preference by PM type, PM use information, age or gender, and the like. For example, in FIG. 3B , when the user 200 arrives at the first transfer point 221 , when the first route 254 is more congested than the second route 300 , the providing device provides the second route ( 300) can be updated to include the movement path.

Even if other variables occur during the movement of the user 200 , the user 200 can move to the destination 212 in the shortest distance or in the shortest time through real-time update of the movement route.

4A and 4B are diagrams for explaining a process of estimating an exact location of a PM according to an embodiment of the present invention.

Referring to FIG. 4A , an actual position 400 of a PM, a plurality of roadside devices 410 , 420 , 430 , 440 , 450 , and an estimated position 452 of a fifth roadside device are illustrated. The plurality of roadside devices 410 , 420 , 430 , 440 , and 450 include auxiliary roadside devices 410 , 420 , 430 , 440 and a fifth roadside device 450 . The auxiliary roadside devices 410 , 420 , 430 , and 440 include a first roadside device 410 , a second roadside device 420 , a third roadside device 430 , and a fourth roadside device 440 . 4B, the estimated position 402 of the PM and the corrected position 404 of the PM are additionally shown.

Hereinafter, the fifth roadside device 250 will be described as a reference RSU for correcting the estimated position, but this is only one embodiment, and the reference roadside device includes the first roadside device 210 and the first roadside device. It may be implemented by one or more of the second roadside device 220 , the third roadside device 230 , or the fourth roadside device 240 . Meanwhile, the auxiliary roadside devices 210 , 220 , 230 , and 240 are only an exemplary embodiment, and may consist of at least three auxiliary roadside devices. It is assumed that the location coordinates of the plurality of roadside devices 210 , 220 , 230 , 240 and 250 are known in advance.

The fifth roadside device 450 receives the V2X message from the auxiliary roadside devices 410 , 420 , 430 , and 440 . The providing device for providing a multi-modal service is based on at least one of the received signal strength of the V2X message received by the fifth roadside device 450, the flight time, or the positions of the auxiliary roadside devices (410, 420, 430, 440). The location of the fifth roadside device 450 may be estimated. The providing device may derive the estimated location 452 of the fifth roadside device 450 .

However, the actual location of the fifth roadside device 450 and the estimated location 452 may not match due to signal distortion due to weather or obstacles, errors in the roadside device, or the like. The providing apparatus may accurately derive the actual position 400 of the PM by using an estimation error of the fifth roadside apparatus 450 based on the previously known actual position of the fifth roadside apparatus 450 .

In particular, the providing apparatus may accurately derive the actual position 400 of the PM by using the distance error rate, the distance error, and the position error.

을 산출한다. 제공장치는 제5 노변 장치(450)의 실제 위치와 제1 노변 장치(410) 사이의 거리

을 더 산출한다. As a first embodiment, in order to use the distance error rate, the providing device provides an estimated position 452 of the fifth roadside device based on at least one of the received signal strength or the flight time of the V2X message received by the fifth roadside device 450 . ) and the distance between the first roadside device 410

to calculate The providing device is a distance between the actual location of the fifth roadside device 450 and the first roadside device 410 .

to calculate more

과

사이의 오차율(이하, 제1 거리 오차율)을 계산한다. 구체적으로, 제1 거리 오차율은

에 대한

의 비율을 의미한다. 즉, 거리 오차율은 추정 거리에 대한 실제 거리를 의미한다. 추가적으로, 제공장치는 제2 노변 장치(420), 제3 노변 장치(430) 및 제4 노변 장치(440)에 대해 제2 거리 오차율, 제3 거리 오차율 및 제4 거리 오차율 각각을 계산할 수 있다.the providing device

class

An error rate between them (hereinafter, a first distance error rate) is calculated. Specifically, the first distance error rate is

for

means the ratio of That is, the distance error rate means the actual distance to the estimated distance. Additionally, the providing device may calculate a second distance error rate, a third distance error rate, and a fourth distance error rate for the second roadside device 420 , the third roadside device 430 , and the fourth roadside device 440 , respectively.

Referring to FIG. 4B , the providing apparatus may derive the corrected position 404 of the PM by correcting the estimated position 402 of the PM using the distance error rate.

이다. Specifically, the PM receives the V2X message from the auxiliary roadside devices (410, 420, 430, 440). The providing device may estimate the estimated position 402 of the PM based on at least one of the received signal strength of the V2X message received by the PM, the flight time, or the positions of the auxiliary roadside devices 410 , 420 , 430 , 440 . . In detail, the providing device triangulates using the position of at least three of the auxiliary roadside devices (410, 420, 430, 440), the received signal strength of the V2X message received from the three roadside devices, and the flight time, Calculate the estimated position 402 of the PM. In this case, the distances between the estimated position 402 of the PM and the auxiliary roadside devices 410 , 420 , 430 , and 440 are respectively

am.

에

을 곱함으로써,

을 구할 수 있다. 추가적으로, 제공장치는

를 더 구할 수 있다.The providing apparatus may obtain corrected distances by multiplying the distance between the estimated location 402 of the PM and the auxiliary roadside devices 410 , 420 , 430 , and 440 by a distance error rate. For example, the providing device

to

By multiplying by

can be obtained Additionally, the providing device is

more can be obtained.

The distance between the corrected position 404 of the PM and the auxiliary roadside devices 410 , 420 , 430 , and 440 may be expressed as Equation 1 .

은 PM의 보정된 위치(404)와 보조 노변 장치들(410, 420, 430, 440) 간 거리다.

은 PM의 추정 위치(402)와 보조 노변 장치들(410, 420, 430, 440) 간 거리다. d는 제5 노변 장치의 추정 위치(452)와 보조 노변 장치들(410, 420, 430, 440) 간 거리다. d'은 제5 노변 장치(450)의 실제 위치와 보조 노변 장치들(410, 420, 430, 440) 간 거리다.in Equation 1

is the distance between the corrected location 404 of the PM and the auxiliary roadside devices 410 , 420 , 430 , 440 .

is the distance between the estimated location 402 of the PM and the auxiliary roadside devices 410 , 420 , 430 , 440 . d is the distance between the estimated position 452 of the fifth roadside device and the auxiliary roadside devices 410 , 420 , 430 , 440 . d' is the distance between the actual location of the fifth roadside device 450 and the auxiliary roadside devices 410 , 420 , 430 , and 440 .

중 적어도 세 개에 기초하여 삼각 측량을 통하여 PM의 보정된 위치(404)를 산출할 수 있다. 제5 노변 장치(450)와 보조 노변 장치들(410, 420, 430, 440) 간 실제 거리와 추정 거리의 오차를 PM의 추정 위치(402)에 반영하였기 때문에, PM의 보정된 위치(404)는 PM의 추정 위치(402)보다 PM의 실제 위치(400)와 더 가깝다. the providing device

A corrected position 404 of the PM may be calculated through triangulation based on at least three of Since the error between the actual distance and the estimated distance between the fifth roadside device 450 and the auxiliary roadside devices 410 , 420 , 430 , and 440 is reflected in the estimated position 402 of the PM, the corrected position 404 of the PM is closer to the PM's actual location 400 than the PM's estimated location 402 .

The providing apparatus according to an embodiment of the present invention may correct the estimated position 402 of the PM by using an error rate for one of the received signal strength and the flight time instead of the distance.

과

사이의 오차(이하, 제1 거리 오차)를 계산한다. 구체적으로, 제1 거리 오차는

에서

을 뺀 값을 의미한다. 추가적으로, 제공장치는 제2 노변 장치(420), 제3 노변 장치(430) 및 제4 노변 장치(440)에 대해 제2 거리 오차, 제3 거리 오차 및 제4 거리 오차 각각을 계산할 수 있다.As a second embodiment, in order to use the distance error, the providing device is

class

An error between the two (hereinafter, a first distance error) is calculated. Specifically, the first distance error is

at

means minus the Additionally, the providing device may calculate a second distance error, a third distance error, and a fourth distance error with respect to the second roadside device 420 , the third roadside device 430 , and the fourth roadside device 440 , respectively.

Referring to FIG. 4B , the providing apparatus may derive the corrected position 404 of the PM by correcting the estimated position 402 of the PM using the distance error.

이다.Specifically, the PM receives the V2X message from the auxiliary roadside devices (410, 420, 430, 440). The providing device is based on at least one of the received signal strength of the V2X message received by the PM, the flight time, or the location of the auxiliary roadside devices (410, 420, 430, 440) included in the V2X message, the estimated position of the PM 402 can be estimated. In this case, the distances between the estimated position 402 of the PM and the auxiliary roadside devices 410 , 420 , 430 , and 440 are respectively

am.

에

을 더함으로써,

을 구할 수 있다. 추가적으로, 제공장치는

를 더 구할 수 있다.The providing apparatus may obtain corrected distances by adding a distance error to the distance between the estimated location 402 of the PM and the auxiliary roadside devices 410 , 420 , 430 , and 440 . For example, the providing device

to

By adding

can be obtained Additionally, the providing device is

more can be obtained.

The distance between the corrected position 404 of the PM and the auxiliary roadside devices 410 , 420 , 430 , and 440 may be expressed as Equation (2).

중 적어도 세 개에 기초하여 삼각 측량을 통하여 PM의 보정된 위치(404)를 산출할 수 있다. 제5 노변 장치(450)와 보조 노변 장치들(410, 420, 430, 440) 간 실제 거리와 추정 거리의 오차를 PM의 추정 위치(402)에 반영하였기 때문에, PM의 보정된 위치(404)는 PM의 추정 위치(402)보다 PM의 실제 위치(400)와 더 가깝다. the providing device

A corrected position 404 of the PM may be calculated through triangulation based on at least three of Since the error between the actual distance and the estimated distance between the fifth roadside device 450 and the auxiliary roadside devices 410 , 420 , 430 , and 440 is reflected in the estimated position 402 of the PM, the corrected position 404 of the PM is closer to the PM's actual location 400 than the PM's estimated location 402 .

The providing apparatus according to an embodiment of the present invention may correct the estimated position 402 of the PM by using an error with respect to one of the received signal strength or the flight time instead of the distance.

As a third embodiment, in order to use the position error, the providing device calculates a difference (hereinafter, referred to as a position error) between the actual position of the fifth roadside device 450 and the estimated position 452 of the fifth roadside device. Here, the position may mean two-dimensional position coordinates or three-dimensional position coordinates. The position error is calculated by calculation for each dimension.

After estimating the estimated position 402 of the PM, the providing apparatus may derive the corrected position 404 of the PM by correcting the estimated position 402 of the PM by a position error with respect to the fifth roadside apparatus 450 . .

On the other hand, the providing device provides at least one of the received signal strength of the V2X message received by the fifth roadside device 450, the flight time, or the location of the auxiliary roadside devices 410, 420, 430, 440 included in the V2X message. 5 may be received from the roadside device 450 . In addition, the providing device may receive from the PM at least one of the received signal strength of the V2X message received by the PM, the flight time, or the positions of the auxiliary roadside devices 410 , 420 , 430 , 440 included in the V2X message.

The providing device may calculate the distance error rate, distance error, and position error between the fifth roadside device 450 and the auxiliary roadside devices 410 , 420 , 430 , and 440 in real time, or may calculate and store it in advance. Also, the providing apparatus may receive error information previously calculated by the fifth roadside apparatus 450 from the fifth roadside apparatus 450 .

Through the above three error correction, the providing device may derive the exact position of the PM.

5 is a flowchart illustrating an operation method of an apparatus for providing a multi-modal service according to an embodiment of the present invention.

Referring to FIG. 5 , the providing apparatus receives a departure point and a destination from the user terminal (S500). According to an embodiment of the present invention, the providing apparatus may receive reservation information or identification information for PMs from the user terminal. The identification information is received in order to use at least one of preference for each transportation means, preference for each type of PM, PM usage information, and age or gender corresponding to the identification information. At least one of preference for each transportation means, preference for each type of PM, PM usage information, age, or gender corresponding to the identification information may be stored in advance or collected in real time.

The providing device searches for the locations of available PMs between the source and destination (S502).

The providing device generates a movement path between the origin and the destination based in part on the positions of the PMs (S504). Here, the moving path includes at least one of a PM path through which the user moves by using a PM, a sidewalk moving on foot, or a general path moving using general transportation means. In addition, the moving path includes a moving path selected by the user from among a moving path according to the shortest time or a moving path according to the shortest distance.

According to an embodiment of the present invention, the providing device is based on at least one of traffic congestion level, reservation information, preference for each transportation means, preference for each PM type, PM usage information, age or gender, the shortest travel path or the shortest travel path At least one of them can be created.

The providing device provides the user with the movement path and the location of the PMs (S506). According to an embodiment of the present invention, the providing apparatus may map the location, type, and movement path of the PMs to the virtual map, and provide the mapped virtual map to the user.

According to an embodiment of the present invention, when the user terminal is moving, the providing apparatus may re-search the positions of PMs located between the current location of the user terminal and the destination. The providing apparatus may update the moving route based in part on the positions of the re-discovered PMs, and provide the updated moving path and the re-discovered positions of the PMs to the user.

Although it is described that steps S500 to S506 are sequentially executed in FIG. 5, this is merely illustrative of the technical idea of an embodiment of the present invention. In other words, one of ordinary skill in the art to which an embodiment of the present invention pertains may change the order described in FIG. Since the above process may be variously modified and applied by executing the above process in parallel, FIG. 5 is not limited to a time-series order.

Meanwhile, the processes illustrated in FIG. 5 can be implemented as computer-readable codes on a computer-readable recording medium. The computer-readable recording medium includes all types of recording devices in which data readable by a computer system is stored. That is, the computer-readable recording medium may be a non-transitory medium such as a ROM, RAM, CD-ROM, magnetic tape, floppy disk, or optical data storage device. In addition, the computer-readable recording medium is distributed in a network-connected computer system so that the computer-readable code can be stored and executed in a distributed manner.

In addition, the components of the present invention may use an integrated circuit structure such as a memory, a processor, a logic circuit, a look-up table, and the like. This integrated circuit structure implements each of the functions described herein through the control of one or more microprocessors or other control devices. In addition, the components of the present invention may be specifically implemented by a part of a program or code including one or more executable instructions for performing a specific logical function and executed by one or more microprocessors or other control devices. In addition, the components of the present invention may include or be implemented by a central processing unit (CPU), a microprocessor, etc. that perform respective functions. In addition, the components of the present invention may store instructions executed by one or more processors in one or more memories.

The above description is merely illustrative of the technical idea of this embodiment, and a person skilled in the art to which this embodiment belongs may make various modifications and variations without departing from the essential characteristics of the present embodiment. Accordingly, the present embodiments are intended to explain rather than limit the technical spirit of the present embodiment, and the scope of the technical spirit of the present embodiment is not limited by these embodiments. The protection scope of this embodiment should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be interpreted as being included in the scope of the present embodiment.

100: receiver 110: search unit
120: generating unit 130: providing unit
140: update

Claims (16)

A method of operating an apparatus for providing a personal mobility (PM) multimodal service, the method comprising:
receiving a source and a destination from a user terminal;
searching for available PMs between the source and the destination;
generating a movement route between the origin and the destination based in part on the positions of the PMs; and
The process of providing the movement route and the locations of the PMs to the user
A method of operating a multi-modal service providing apparatus comprising a. According to claim 1,
The movement path is
Method of operating a multi-modal service providing apparatus, characterized in that it includes at least one of a PM path through which the user moves using the PM, a sidewalk moving on foot, or a general path moving using general transportation means . According to claim 1,
The method of operation of the multi-modal service providing apparatus, characterized in that the moving path includes a moving path selected by a user from among a moving path according to a shortest time or a moving path according to the shortest distance. According to claim 1,
The process of generating the movement path is,
calculating the traffic congestion level of the moving route; and
The process of generating at least one of a shortest-time travel route or a shortest-distance travel route based on the traffic congestion degree
A method of operating a multi-modal service providing apparatus comprising a. According to claim 1,
The process of generating the movement path is,
providing the location of the PMs to the user terminal;
receiving reservation information for the PMs from the user terminal; and
The process of generating the moving route further based on the reservation information
A method of operating a multi-modal service providing apparatus comprising a. According to claim 1,
The process of generating the movement path is,
receiving identification information from the user terminal; and
A process of generating the movement path further based on at least one of a preference for each transportation means corresponding to the identification information, a preference for each PM type, PM usage information, and age or gender
A method of operating a multi-modal service providing apparatus comprising a. According to claim 1,
The process provided above is,
mapping at least one of the location, type, and movement path of the PMs to a virtual map; and
providing the virtual map to the user
A method of operating a multi-modal service providing apparatus comprising a. According to claim 1,
a process of re-searching the positions of PMs located between the current location of the user terminal and the destination when the user terminal is moving;
updating the movement path based in part on the positions of the re-discovered PMs; and
The process of providing the updated moving route and the locations of the re-searched PMs to the user
Method of operation of a multi-modal service providing apparatus further comprising a. In the multi-modal service providing device,
a receiver for receiving a source and a destination from the user terminal;
a search unit for searching for locations of available PMs between the source and the destination;
a generator configured to generate a movement path between the origin and the destination based in part on the positions of the PMs; and
A providing unit that provides the user with the movement path and the locations of the PMs
A multi-modal service providing device comprising a. 10. The method of claim 9,
The movement path is
The multi-modal service providing apparatus, characterized in that it includes at least one of a PM path through which the user moves using the PM, a sidewalk moving on foot, or a general path moving using general transportation means. 10. The method of claim 9,
The moving path is a multi-modal service providing apparatus, characterized in that it includes a moving path selected by a user from among a moving path according to a shortest time or a moving path according to the shortest distance. 10. The method of claim 9,
The generating unit,
Multi-modal service providing apparatus, characterized in that calculating the traffic congestion degree of the moving path, and generating at least one of a shortest time moving path or a shortest moving path based on the traffic congestion level. 10. The method of claim 9,
The receiving unit,
Receiving reservation information for the PMs from the user terminal,
The generating unit,
Multi-modal service providing apparatus, characterized in that further based on the reservation information to generate the movement route. 10. The method of claim 9,
The receiving unit,
Receiving identification information from the user terminal,
The generating unit,
The apparatus for providing a multi-modal service, characterized in that the moving path is generated further based on at least one of a preference for each moving means corresponding to the identification information, a preference for each PM type, PM usage information, and age or gender. 10. The method of claim 9,
The providing unit,
The multimodal service providing apparatus of claim 1, wherein at least one of the location, type, and movement path of the PMs is mapped to a virtual map, and the mapped virtual map is provided to the user. 10. The method of claim 9,
further comprising an update,
The search unit,
When the user terminal is moving, the location of PMs located between the current location of the user terminal and the destination is re-searched,
The update unit,
updating the movement path based in part on the positions of the rescanned PMs,
The providing unit,
The apparatus for providing a multimodal service, characterized in that it provides the user with the updated moving route and the positions of the re-discovered PMs.

Images