KR20140001292A - System for informing vehicle operation using location correction information, apparatus thereof, and method thereof - Google Patents

Abstract

The present invention relates to a vehicle driving guide system using location correction data, a device for the same, and a method for the same. According to the present invention, a vehicle terminal is installed in a vehicle, receives location data periodically, and sends the received location data, the receiving time when the location data is received, and the identification data of the vehicle to a service server. The location data is corrected using correction data corresponding to the receiving time when the vehicle terminal receives the location data from multiple sets of correction data stored in the service server. An expected arrival time to a certain bus station is calculated using the corrected location data. The location correction data and the expected arrival time are calculated by the service server and provided to a user terminal, or the user terminal may calculate the data by obtaining data necessary for calculation from the service server.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a system for guiding vehicle operation using position correction information, an apparatus therefor,

The present invention relates to a location based service (LBS) technology, and more particularly, a system for guiding a vehicle driving using a differential global positioning system (DGPS) type correction information, an apparatus therefor and an apparatus therefor It is about a method.

Currently, global positioning system (GPS) using satellite is being utilized in various fields due to the development of satellite communication technology. Generally, the position information transmitted from the GPS satellite to the ground-based GPS receiver has a certain error due to various reasons. When two receivers are located at a close distance, the two receivers have a similar error. Differential Global Positioning System (DGPS) information is used to obtain more precise data by canceling the common error of these two receivers.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances and has as its object to provide a system for providing vehicle driving guidance that provides a service for guiding a bus operation or a bus operation time and can provide more precise and accurate information using correction information, And a method for the same.

It is another object of the present invention to provide a vehicle control system capable of providing more precise and accurate information by using correction information through another apparatus even if there is no process that can use correction information to correct position information in an individual apparatus A system for guidance, an apparatus therefor, and a method therefor.

It is another object of the present invention to provide a method and apparatus for correcting positional information by correcting position information using correction information even after a certain time delay without correcting the positional information immediately after receiving the positional information, A system for guiding vehicle operation, an apparatus therefor, and a method therefor.

A system for guiding a vehicle driving according to a preferred embodiment of the present invention for achieving the object as described above, is mounted on a vehicle, and periodically receives the location information, the received location information, receiving the location information received A vehicle terminal for transmitting time and identification information of the vehicle, and a plurality of pieces of correction information for correcting position information for each time, stored separately, and receiving the position information, the reception time, and the identification information, and correcting the correction. Correcting the position information using correction information corresponding to the reception time of the information, and using the corrected position information and the average speed at which other vehicles reach a specific stop, the vehicle is expected to arrive at the specific stop. A service server for calculating an estimated arrival time and transmitting the calculated estimated arrival time, and receiving the estimated arrival time It includes a user terminal W output.

In order to achieve the above object, a service server for guiding a vehicle in accordance with a preferred embodiment of the present invention includes location information periodically received by a vehicle terminal mounted on a vehicle, a reception time for receiving the location information, and The communication module for receiving identification information of the vehicle, a storage module for dividing and storing a plurality of pieces of correction information for correcting the position information for each time, and the correction information corresponding to the reception time among the correction information Correcting the information, calculating the estimated estimated arrival time for the vehicle to arrive at the specific stop using the corrected position information and the average speed at which the other vehicle reaches the specific stop, and calculating the estimated estimated arrival time for the communication module. It includes a control module for transmitting to the user terminal through.

According to an aspect of the present invention, there is provided a method for guiding a vehicle driving of a service server according to an exemplary embodiment of the present invention, including position information periodically received by a vehicle terminal mounted on a vehicle and reception time at which the position information is received. And receiving identification information of the vehicle, and correcting the location information by using correction information corresponding to the reception time among a plurality of correction information stored separately for each time to correct the previously stored location information. Calculating an estimated arrival time at which the vehicle is expected to arrive at the specific stop using the corrected location information and an average speed at which another vehicle reaches a specific stop, and calculating the estimated arrival time at the user terminal. Transmitting.

A system for guiding a vehicle driving according to a preferred embodiment of the present invention for achieving the above object is mounted on a plurality of service vehicles, respectively, and periodically receives location information, and receives the received location information and the location information. At least one vehicle terminal for transmitting the received time and the identification information of the vehicle and a plurality of pieces of correction information for correcting the position information for each time, and storing the received position information from the at least one vehicle terminal. A service server for receiving and storing a reception time and the identification information, and an information request message for requesting information necessary for a specific service vehicle to calculate an estimated arrival time for a specific stop, and transmitting the service server to the service server; Location of the specific service vehicle in response to the information request message from a server Receiving correction information corresponding to a beam and the reception time, correcting the position information using the received correction information, and using the corrected position information and an average speed at which another vehicle stored in advance reaches the specific stop. And a user terminal for calculating an estimated arrival time at which the vehicle is expected to arrive at the specific stop, and outputting the calculated estimated arrival time.

In order to achieve the above object, a user terminal for driving a vehicle according to an exemplary embodiment of the present invention may provide an information request message for requesting information necessary for a specific service vehicle to calculate an estimated arrival time for a specific stop. A communication unit for transmitting to the service server and receiving location information of the specific service vehicle and correction information corresponding to the reception time in response to the information request message from the service server, and the location using the received correction information. Correcting the information, calculating the estimated arrival time at which the vehicle is expected to arrive at the specific stop using the corrected position information and the average speed at which another vehicle previously stored reaches the specific stop, and calculating the calculated estimated arrival time. And a control unit for controlling the output.

In order to achieve the above object, a method for driving a vehicle of a user terminal according to an exemplary embodiment of the present invention includes an information request for requesting information necessary for a specific service vehicle to calculate an estimated arrival time for a specific stop. Transmitting a message to the service server, receiving position information of the specific service vehicle and correction information corresponding to the reception time from the service server in response to the information request message, and using the received correction information Calculating the estimated time of arrival at which the vehicle is expected to arrive at the specific stop by using the corrected position information, using the corrected position information and the average speed at which another vehicle stored in advance reaches the specific stop; And outputting the calculated estimated arrival time.

According to the present invention, it is possible to provide a bus driving guidance service, a more accurate bus driving guidance service can be provided by correcting the position information through the correction information of the DGPS method and calculating the estimated arrival time of the vehicle (bus) .

Further, according to the present invention, even when the vehicle or the user terminal does not have a process for correcting the positional information, the service server corrects the positional information, and accordingly, Guidance service can be provided. Therefore, it is possible to provide a consistent service regardless of the performance of the apparatus.

1 is a view for explaining a system for guiding a vehicle according to an embodiment of the present invention.
2 is a block diagram illustrating a configuration of a service server according to an embodiment of the present invention.
3 is a block diagram illustrating a configuration of a user terminal according to an embodiment of the present invention.
4 is a block diagram for explaining a configuration of a vehicle terminal according to an embodiment of the present invention.
5 is a diagram for explaining a position information correction method according to an embodiment of the present invention.
6 is a flowchart illustrating a method of storing correction information of a service server according to an embodiment of the present invention.
FIG. 7 is a flowchart for explaining a method for providing vehicle driving guidance according to the first embodiment of the present invention.
FIG. 8 is a flowchart illustrating a method for providing a vehicle operation guide of a service server according to the first embodiment of the present invention.
9 is a flowchart for explaining a method for guiding a vehicle according to a second embodiment of the present invention.
FIG. 10 is a flowchart illustrating a method for providing a vehicle driving guidance of a user terminal according to a second embodiment of the present invention.

Prior to the detailed description of the present invention, the terms or words used in the present specification and claims should not be construed as limited to ordinary or preliminary meaning, and the inventor may designate his own invention in the best way It should be construed in accordance with the technical idea of the present invention based on the principle that it can be appropriately defined as a concept of a term to describe it. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention, and are not intended to represent all of the technical ideas of the present invention. Therefore, various equivalents It should be understood that water and variations may be present.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Note that, in the drawings, the same components are denoted by the same reference symbols as possible. Further, the detailed description of known functions and configurations that may obscure the gist of the present invention will be omitted. For the same reason, some of the elements in the accompanying drawings are exaggerated, omitted, or schematically shown, and the size of each element does not entirely reflect the actual size.

In the embodiment of the present invention, the digital broadcasting or the digital multimedia broadcasting may be DMB (Digital Multimedia Broadcasting), DVB-H (Digital Video Broadcasting-Handheld), MediaFLO Digital Multimedia Broadcasting) will be described as an example. However, those skilled in the art will understand that the broadcast of the present invention can be applied to various types of digital broadcasting or digital multimedia broadcasting. Also, a broadcast channel refers to a channel for transmitting and receiving the digital broadcast.

1 is a view for explaining a system for guiding a vehicle according to an embodiment of the present invention.

Referring to FIG. 1, a system according to an embodiment of the present invention includes a plurality of reference stations 100, a collection server 200, a correction server 300, a service server 400, a broadcast transmitter 500, (600) and a user terminal (700). In addition, reference numeral 101 denotes a GPS satellite.

The running time guide service according to the embodiment of the present invention guides the current position and arrival time of a vehicle, e.g., a bus (BUS), based on precise position information. In order to provide accurate position information, the vehicle terminal 600 mounted on the vehicle (bus) receives the current position information of the vehicle through the GPS satellite signal. When correcting the positional information, the position information of the device providing the positional information in the device other than the vehicle terminal 600 receiving the positional information is corrected based on the DGPS correction information. Can be corrected. That is, this correction may be performed by any one of the service server 400, the vehicle terminal 600, and the user terminal 600. [ Further, the correction may not be performed through the correction information as soon as the position information is acquired. That is, the position information may be corrected after a predetermined time has elapsed. To this end, at least one device for providing correction information periodically acquires or generates correction information of the DGPS scheme, and divides it by time and continuously stores it. Also, when acquiring the position information through the GPS satellite, the vehicle terminal 600 stores the C / A code (Coarse / Acquisition code or Standard code) code together with the C / A code acquisition time. Therefore, since the correction of the positional information uses the C / A code and the correction information corresponding to the time at which the C / A code is acquired among the previously stored correction information, The information can be corrected, and the position information can be corrected by other apparatuses.

In order to acquire the correction information, the reference station 100 receives GPS position information transmitted from the GPS satellite 101 through a plurality of installed GPS antennas. Then, the reference station 100 generates correction information using GPS information. Here, the correction information of the reference station includes a position (correction value) for correcting the position of the reference station and the position information (GPS position information). The correction value typically includes a pseudo range correction (PRC). The reference station 100 calculates the difference between the geometric distance from each GPS satellite 101 and the pseudo distance recorded by the GPS C / A code, and this difference becomes the pseudorange correction value PRC. In addition, the correction information may include a range rate correction (RRC). RRC is the adjustment value of the pseudorange correction value based on the prediction rate of the PRC and changes over time. The RRC is a calculated value that should be reflected in the PRC at a certain time, thereby increasing the effectiveness of the PRC over time. Various other factors and parameters may be included in the correction information and basically include all factors and parameters according to the Radio Technical Commission for Maritime Services (RTCM) standard. The reference station 100 periodically generates the correction information and, when the correction information is generated, transmits the generated correction information to the collection server 200. [ This period is preferably as short as possible. It is possible to derive the time at which the correction information is generated according to such a period.

The collection server 200 is for collecting correction information from a plurality of reference stations 100. [ The collection server 200 temporarily collects the correction information of each of the plurality of reference stations 100 through a dedicated line connected to the plurality of reference stations 100 and collects correction information of each reference station 100 And provides the correction information to the correction server 300 via a dedicated line. This is also preferable in accordance with the correction information generation period of the reference station 100. Here, the dedicated line is generally referred to as an Internet line. Also, the collection server 200 is preferably an " Ntrip server ".

The correction server 300 generates correction information of a plurality of virtual reference stations through the correction information of each reference station 100 received from the collection server 200. [ The correction information of the virtual reference station can be obtained according to the position area, the state space area and the measurement area method. The position area method calculates position information based on a single reference station using a plurality of reference station correction information, and calculates an average value of the calculated position information. This method is simple, but it can be less accurate than other methods. In the state space area method, the error is modeled for each error factor using the raw data of the reference station, and the correction information of the virtual reference station is generated using the error. The factors of the GPS position information are structurally the satellite time error, the satellite position error, the ionospheric and convective refraction, the receiver noise, the multipath, and the geometric error, , And other errors due to selective availability (SA). The state space domain approach considers all of these factors. This method has high accuracy but high computational complexity. The measurement area method is a method of calculating correction information of a virtual reference station using correction information of a plurality of reference stations. Representative examples include an inverse distance weighting method and a multiple linear regression method. In addition, when calculating the correction information of the virtual reference station, the correction server 300 may use at least one reference station 100, and when using a large number of reference stations 100, the accuracy is increased. As described above, the correction server 300 generates the correction information of the virtual reference station, and then transmits the correction information of the reference station and the virtual reference station to the service server 400. [ The correction information of the reference station includes a value (correction value) for correcting the position of the reference station and the position information (GPS position information). The correction information of the virtual reference station includes information about the position of the virtual reference station, a value (correction value) for correcting the position information (GPS position information), the number of reference stations used for generating the correction information of the virtual reference station, . Here, the information on the number and the method of the reference station includes the accuracy of the correction information normalized according to the number and the method of the reference station used for generating the correction information. The correction server 300 may be a Regional Area Augmentation System (RAAS) server.

In order to provide a location-based service, in particular, a vehicle driving guidance service according to an exemplary embodiment of the present invention, the service server 400 basically includes position information corresponding to each reference station 100 transmitted by the correction server 300, (The reference station position value), the accuracy of the correction information and correction information, the position information (virtual reference station position value) corresponding to the virtual reference station, the correction information and the accuracy of the correction information periodically, do. That is, the service server 400 periodically updates the correction information of the reference station and the virtual reference station so that the position information can be corrected irrespective of the time and subject of the correction of the position information according to the embodiment of the present invention. And store them separately.

The vehicle terminal 600 basically receives the GPS signal from the GPS satellite 101 and obtains the position information in order to provide the position based service according to the embodiment of the present invention. Here, the location information includes a C / A code (Coarse / Acquisition code or Standard code). In addition, the vehicle terminal 600 with the position information obtained at the time of obtaining the position information, so that the position information can be corrected irrespective of the subject and the time to correct the position information according to an embodiment of the present invention. Save it.

The user terminal 700 provides the user with a service that guides the time (or remaining time) that a particular bus arrives at a particular stop. The user terminal 700 may be a terminal attached to a stop or a portable device that a user can carry. Such a portable device may exemplify a smart phone, a PDA, a tablet PC, and the like.

The vehicle terminal 700 periodically receives the position information of the service vehicle from the GPS satellite 101, and calculates the position information of the vehicle, the time at which the position information is received, And transmits the identification information to the service vehicle 400.

According to the first embodiment of the present invention, the service server 400 corrects the position information of the vehicle by using the correction information corresponding to the time when the vehicle terminal 700 receives the position information, and applies the corrected position information to the corrected position information. Accordingly, the estimated arrival time for the vehicle to arrive at the specific stop is calculated, and the calculated estimated arrival time is transmitted to the user terminal 600. Then, the user terminal 600 outputs the estimated arrival time.

According to the second embodiment of the present invention, the user terminal 600 receives correction information and position information of the vehicle corresponding to the time when the vehicle terminal 700 receives the position information from the service server 400, Corrects the position information of the received vehicle by using the correction information, calculates the estimated arrival time at which the vehicle arrives at the specific stop according to the corrected position information of the vehicle, and outputs the calculated estimated arrival time.

In order to provide more precise position information when the user terminal 600 or the service server 400 corrects the position information, the position information (C / A code) of the vehicle and the correction information . That is, the correction information of the reference station 100 or the virtual reference station of at least one of the plurality of reference stations 100 and the plurality of virtual reference stations close to the position information (C / A code) of the vehicle is used, The correction information generated at a time nearest to the acquired time of the correction information of one reference station or the virtual reference station is used. At this time, correction information of a plurality of reference stations 100 or virtual reference stations may be used as correction information. The number of reference stations 100 or virtual reference stations provided as correction information may vary according to the setting or the accuracy of the reference station 100 or the virtual reference station to be described in more detail below. When one reference station 100 or a virtual reference station is used, the correction information of the reference station 100 or the virtual reference station closest to the position information at the time when the vehicle terminal 700 receives the positional information can be used have. When a plurality of reference stations 100 or virtual reference stations are used, the corresponding number of the location information (C / A code) of the vehicle and the distances between the reference station 100 and the virtual reference stations are selected in descending order. When the service server 400 or the user terminal 600 corrects the position information of the service vehicle using a plurality of correction information among the plurality of virtual reference stations and the plurality of reference stations 100, Generates new correction information based on the distance from the reference station 100 or the virtual reference station to the reference station 100 or the accuracy of the correction information of the reference station 100 or the virtual reference station, The position information of the service vehicle can be corrected.

The service server 400 may provide the correction information through a broadcast network or provide it via a wireless network. When the service server 400 provides the correction information through the wireless network, the service server 400 may transmit correction information to the user terminal 600 through a base station or an access point (AP). In addition, when the service server 400 transmits the correction information through a broadcast channel, the service server 400 can provide the transport information in a TPEG (Transport Protocol Expert Group) format. At this time, the service server 400 transmits correction information to the DGI (Differential GPS-information) message according to an embodiment of the present invention. The DGI message is a type of TPEG message. The service server 400 may include the DGI message including the correction information in the data broadcast signal and provide the DGI message to the user terminal 600 through the broadcast transmitter 500. [

2 is a block diagram illustrating a configuration of a service server according to an embodiment of the present invention.

Referring to FIG. 2, the service server 400 includes a communication module 410, a storage module 420, and a control module 430.

The communication module 410 is means for transmitting and receiving data of each kind according to the embodiment of the present invention. The communication module 410 receives the correction information according to the embodiment of the present invention from the correction server 300 and transfers the correction information to the control module 430. The communication module 410 periodically receives the correction information of the reference station 100 and the virtual reference station from the correction server 300. [ The correction information of the reference station includes a value (correction value) for correcting the position of the reference station and the position information (GPS position information). The correction information of the virtual reference station includes information on the number and the method of the reference station used when generating the correction information of the virtual reference station, a value (correction value) for correcting the position of the virtual reference station, the position information Information (accuracy of the normalized correction information). The communication module 410 may also receive an information request message requesting information necessary to calculate the expected arrival time from the user terminal 600. [ The communication module 410 may receive the corresponding information from the control module 430 and transmit the received information to the user terminal 600.

The communication module 410 may provide digital broadcasting or provide it via a wireless network when providing correction information or the like. When transmitting the correction information or the like through a broadcast channel, the communication module 410 provides the data in the form of a TPEG (Transport Protocol Expert Group), and includes correction information in a DGI (differential GPS-information) . At this time, the communication module 410 may include a DGI message including correction information and the like in the data broadcasting signal and provide the DGI message to the user terminal 600 through the broadcast transmitter 500. The communication module 410 may provide correction information to the user terminal 600 through a base station or an access point (AP) when providing correction information through a wireless network.

The storage module 420 basically stores correction information. The correction information includes correction information of the reference station 100 and correction information of the virtual reference station. The correction information of the reference station 100 includes a position (correction value) for correcting the position of the reference station 100 and the position information (GPS position information). The correction information of the virtual reference station includes the number of reference stations 100 used when generating the virtual reference station position, the value (correction value) for correcting the position information (GPS position information), and the correction information of the virtual reference station, And information on the method. The information on the number and the manner of the reference station 100 includes the accuracy of the normalized correction information determined according to the number and the method of the reference station 100 used when generating the correction information of the virtual reference station. For example, the accuracy of the normalized correction information may have a value from 0 to 1, and the higher the value, the higher the accuracy. Assuming that the correction information of the virtual reference station can be generated on the basis of one to eight reference stations 100, the correction information of the virtual reference station is generated based on one or two reference stations 100 The accuracy is 0.1, and if the correction information of the virtual reference station is generated based on 17 or 18 reference stations 100, the accuracy can be 0.9. Here, the accuracy of the reference station 100 itself is one. As described above, the correction information of the virtual reference station can be obtained according to the position domain, the state-space domain, and the measurement domain. In this case, The accuracy obtained according to the area method is the lowest, and the accuracy obtained according to the state space area method may be the highest. Also, the accuracy obtained according to the measurement area method is intermediate between the accuracy of the position area method and the state space area method. In the measurement area method, correction information of a virtual reference station can be obtained by an inverse distance weighting method, a polynomial linear regression method, and the accuracy according to the polynomial linear regression method is set to be higher than the accuracy according to the inverse distance weighting method. In this way, the accuracy of the correction information of the virtual reference station can be determined by at least one of the number of reference stations used when generating the correction information for the virtual reference station and the correction information generation method (or method) thereof.

The control module 430 receives the correction information of the reference station 100 and the virtual reference station through the communication module 410 so that the position information can be corrected regardless of the time and the subject of correction of the position information, (420) by time division and stores them.

According to one embodiment, when the control module 430 receives the location information (CA code) of the vehicle from the vehicle terminal 700, the time at which the location information is obtained, and the identification information of the vehicle, The position information is corrected using the position information (CA code) of the vehicle among the correction information stored in the storage module 420 and the correction information corresponding to the time at which the position information is acquired, and using the corrected position information , And calculates the estimated arrival time at the next stop. When calculating the estimated arrival time, it is possible to use the average speed of other vehicles that have arrived in advance at the stop.

According to another embodiment, the control module 430 may transmit the position information of the specific vehicle and the correction information corresponding to the time of receiving the position information to the user terminal 600 at the request of the user terminal 600, 410).

On the other hand, when the control module 430 provides correction information or the like (correction information corresponding to the position information of the specific vehicle and the position information thereof) to the user terminal 600, . The control module 430 may include correction information in a differential GPS-information (DGI) message in the form of a Transport Protocol Expert Group (TPEG), and transmit the differential information through the communication module 410 . At this time, the communication module 410 may include the DGI message including the correction information in the data broadcasting signal and provide the DGI message to the user terminal 600 through the broadcast transmitter 500.

3 is a block diagram illustrating a configuration of a user terminal according to an embodiment of the present invention.

Referring to FIG. 3, the user terminal 600 may be a standalone device operating by itself. This can be exemplified by a mobile communication terminal, a smart phone, a camera, a video camera, and the like.

The user terminal 600 includes a location information receiving unit 610, a broadcast signal receiving unit 620, a communication unit 630, an input unit 640, an output unit 650, a storage unit 660, and a control unit 670.

The position information receiving unit 610 is for receiving position information from a plurality of GPS satellites. This position information includes a C / A code. The location information receiving unit 610 receives the location information and transmits the received location information to the controller 670.

The broadcast signal receiving unit 620 receives the data broadcast signal. Such a data broadcast signal includes a DGI message including correction information and the like. The broadcast signal receiver 620 can extract the DGI message from the broadcast signal and extract the correction information by decoding the extracted DGI message. Then, the extracted correction information is transmitted to the control unit 670.

The communication unit 630 is for communicating through a wireless network. When the communication unit 630 receives the information request message from the control unit 670, the communication unit 630 can transmit the information request message to the service server 400. In addition, the communication unit 630 can receive the information response message from the service server 400. [ Then, the communication unit 630 transmits the received information response message to the control unit 670. [

The input unit 640 may include a plurality of input keys and function keys for receiving numeric or character information and setting various functions, as means for receiving at least one of a command, selection, data, and information of a user. The input unit 640 senses a key input of the user and transmits an input signal corresponding to the sensed key input to the control unit 670. The input unit 640 may be an input device such as a keyboard, a keypad, a mouse, a joystick, and the like.

The output unit 650 is a means for outputting information generated according to the use of the user terminal 600 so that the user can recognize the information through visual, auditory, or tactile sense. In particular, the output unit 650 may output a scheduled arrival time according to an embodiment of the present invention. The output unit 650 may include a display device for outputting visual information, an audio device for outputting auditory information, a haptic device for outputting tactile information, and the like. The display device may be a touch screen. When the display device is formed in the form of a touch screen, the display device may perform some or all of the functions of the output device 640. An audio device may represent a speaker typically. The haptic device may be a motor or the like that outputs vibration.

The storage unit 660 is an apparatus for storing data, and includes a main storage device and an auxiliary storage device. The storage unit 660 may store an operating system (OS), a firmware, an application, or the like. In addition, the storage unit 660 may store various kinds of data generated according to the use of the user terminal 600 of the user. Such data includes location information, correction information, expected arrival time, and the like. Each kind of data stored in the storage unit 660 can be deleted, changed, or added according to a user's operation.

The control unit 670 performs an operation necessary to provide a service for informing the user of the estimated arrival time of the specific vehicle. According to one embodiment, the control unit 670 receives the expected arrival time through the communication unit from the service server 400, and outputs the received estimated arrival time through the output unit. According to another embodiment, the control unit 670 receives the necessary information, the position information of the vehicle, the correction information for correcting the position information of the vehicle, and the like, corrects the position information, The time can be calculated, and the calculated estimated arrival time can be output through the output unit.

4 is a block diagram for explaining a configuration of a vehicle terminal according to an embodiment of the present invention.

4, the vehicle terminal 700 includes a position information receiving unit 710, a communication unit 720, and a control unit 730, which are terminals mounted on a vehicle.

The position information receiving unit 710 is for receiving position information from a plurality of GPS satellites. This position information includes a C / A code. The position information receiving unit 710 periodically receives the position information, calculates the time when the position information is received each time the position information is received, and controls the control unit 730 to transmit the position information and the reception period, .

The communication unit 720 is for communication via a wireless network. The communication unit 720 receives the position information from the control unit 730, the reception time at which the position information was received, and the identification information capable of identifying the vehicle with another vehicle, and transmits it to the service server 400 have.

When the control unit 730 periodically receives the positional information and the reception time from the positional information reception unit 710, the control unit 730 transmits identification information (e.g., vehicle number, route number , And the like), and controls the communication unit 720 to transfer it to the service server 400.

5 is a diagram for explaining a position information correction method according to an embodiment of the present invention.

As described above, the position information is corrected in the control module 430 of the service server 400 or the control unit 670 of the user terminal 600. The correction of the positional information uses the correction information. The correction information is periodically received and stored by the service server 400, and the user terminal 600 can obtain such correction information upon request.

When correcting the positional information, the positional information can be corrected using the positional information of the vehicle and the correction information corresponding to the reception time obtained by acquiring the positional information. At this time, the correction information corresponding to the reception time can use the correction information of the reference station 100 or the virtual reference station. The correction information of the reference station includes a value (correction value) and an accuracy (the accuracy of the reference station is 1) for correcting the position and position information (GPS position information) of the reference station, (Accuracy of the normalized correction information) about the number and method of reference stations used when generating the values (correction values) for correcting the position of the station, the position information (GPS position information) and the correction information of the virtual reference station, .

The correction of the position information may be performed by varying the number of the reference stations and the virtual reference stations in which the correction information is used according to the correction information accuracy of the at least one virtual reference station adjacent to the position indicated by the vehicle position information. For example, if the value of the accuracy of at least one adjacent virtual reference station is higher than a predetermined reference in the order of closest to the position indicated by the vehicle position information, correction of one virtual reference station closest to the position according to the vehicle position information It is possible to correct the GPS position information using only the information. On the other hand, if the accuracy of the correction information of at least one virtual reference station in the closest order at the position indicated by the vehicle position information is lower than a preset reference, the reference station and the virtual reference station The number can be different. That is, when the GPS position information is corrected, the control unit 670 uses the correction information of a larger number of reference stations and virtual reference stations as the accuracy of the correction information is lower. The number of adjacent virtual reference stations to be referred to when checking the accuracy of correction information of an adjacent virtual reference station for this correction may vary depending on the setting. In addition, when the number of reference stations 100 is different, the value of accuracy as a reference may also vary depending on the setting.

The control module 430 of the service server 400 or the control unit 670 of the user terminal 600 may correct the positional information of the contents using the correction information of the plurality of virtual reference stations and the reference station 100, , New weighting information is given in accordance with the distance from the position information (position) of the vehicle to the reference station 100 or the virtual reference station and the accuracy of the correction information of the reference station 100 or the virtual reference station And the position information can be corrected using the newly generated correction information.

5, reference numerals 110 and 130 denote a first virtual reference station and a second virtual reference station, respectively, and a position 4 indicated by the vehicle position information indicates a reference station 100 and a first virtual reference station 110 and the second virtual reference station 130, as shown in FIG. At this time, it is assumed that the correction information of the reference station 100, the first virtual reference station 110, and the second virtual reference station 130 are K, L, and M, respectively. It is assumed that the accuracy of the reference station 100, the first virtual reference station 110, and the second virtual reference station 130 is 1, 0.7, and 0.3, respectively. The distances from the position information (position) 4 of the content to the reference station 100, the first virtual reference station 110 and the second virtual reference station 130 are assumed to be a, b, and c, respectively. Then, the newly generated correction information is expressed by Equation (1) below.

As shown in Equation (1), the newly generated correction information has a higher weight and a higher weight in proportion to the accuracy. As described above, the control unit 670 generates new correction information using a larger number of virtual reference stations or reference stations 100 in accordance with the accuracy of the virtual reference station in the vicinity from the current position, , And position information (position) 4 of the contents is corrected, accurate position information can be obtained.

6 is a flowchart illustrating a method of storing correction information of a service server according to an embodiment of the present invention. The storage of the correction information to be described with reference to FIG. 6 is repeated at a predetermined cycle, which is to use the correction information corresponding to the time at which the vehicle terminal receives the position information.

Referring to FIG. 6, the reference station 100 receives the GPS position information transmitted from the GPS satellite 101 through a plurality of installed GPS antennas in step S605, and generates correction information using the GPS position information in step S610 do. Then, the reference station 100 transmits the correction information generated in step S615 to the collection server 200. [

Accordingly, the collection server 200 collects the correction information of each of the plurality of reference stations 100 at a time through a dedicated line connected to the plurality of reference stations 100, and in step S620, And provides the information to the correction server 300 via a dedicated line. At this time, the correction information is mapped to each reference station 100 and transmitted.

In step S625, the correction server 300 receiving the correction information of each reference station 100 and each reference station 100 transmits correction information of a plurality of virtual reference stations through the correction information mapped to the reference station 100 .

After the calibration server 300 generates the calibration information of the virtual reference station, in step S630 location information (position of the reference station) and correction information corresponding to each reference station 100, location information corresponding to each virtual reference station Transmits the location of the virtual reference station and the calibration information. At this time, in the case of the virtual reference station, when generating the correction information of the virtual reference station, information on the number and method of the used reference station 100 are transmitted together.

In step S635, the service server 400 having received the information from the correction server 300 stores the correction information of the reference station 100 and the correction information of the virtual reference station. At this time, the correction information of the reference station 100 and the correction information of the virtual reference station are mapped and stored with the time when the reference station 100 acquires the correction information. This is to use the correction information corresponding to the time at which the user terminal receives the position information.

A method of providing a location-based service through the stored correction information will now be described.

FIG. 7 is a flowchart for explaining a method for providing vehicle driving guidance according to the first embodiment of the present invention. According to the embodiment of the present invention, the expected arrival time is guided through the process as shown in FIG. 7 for a plurality of vehicles, but the description will be made on the basis of one vehicle in FIG. In this embodiment, one vehicle whose operation is guided is referred to as a "service vehicle ", and according to a preferred embodiment, the service vehicle may be a bus.

Referring to FIG. 7, in step S705, the service server 400 continuously receives and stores correction information in the manner described above with reference to FIG.

On the other hand, the vehicle terminal 700 mounted on the service vehicle receives position information at the current position from the GPS satellite 101 in step S710. When receiving the position information (C / A code), the vehicle terminal 700 acquires the time at which the position information was received. Then, the vehicle terminal 700 transmits the position information and the time at which the position information was received to the service server 400 in step S715. At this time, the vehicle terminal 700 maps the vehicle number and the route number for identification between the service vehicle and another vehicle, and transmits the same.

In step S720, the service server 400 receives the location information and the location information, and corrects the location information using the previously stored correction information. At this time, by using the correction information of at least one of the plurality of reference stations and the plurality of virtual reference stations corresponding to the position information transmitted by the vehicle terminal 700 and the time at which the vehicle terminal 700 received the position information, . That is, at least one correction information among a plurality of reference stations and a plurality of virtual reference stations is used in descending order of the position indicated by the position information transmitted by the vehicle terminal 700. When the vehicle terminal 700 receives the position information The position information is corrected using the correction information corresponding to the time. As described above, the number of reference stations and virtual reference stations used for correction can be determined according to the accuracy of correction information. When the service server 400 corrects the position information of the service vehicle using a plurality of correction information among a plurality of virtual reference stations and a plurality of reference stations 100, The new correction information is weighted according to the distance from the base station 100 or the virtual reference station and the accuracy of the correction information of the reference station 100 or the virtual reference station, The position information can be corrected.

After correcting the positional information, the service server 400 calculates a scheduled arrival time of the service vehicle in step S725 and stores the calculated arrival scheduled time in an identifier (for example, a vehicle number and a route number) capable of identifying the service vehicle And stores them together. The expected arrival time is to calculate the time at which the service vehicle is scheduled to arrive at the next stop from the current location. That is, the service server 400 can continuously receive the position information received from the vehicle terminal 700 mounted on each of the plurality of vehicles and the time at which the position information was received, in the same manner as described above. Therefore, the service server 400 can calculate the average speed of at least one other vehicle that arrives at the next stop ahead of the service vehicle. Then, the calculated average speed is applied to the service vehicle, and it is possible to calculate the time taken to reach the next stop from the position indicated by the corrected position information of the current service vehicle, thereby calculating the estimated arrival time.

Then, the service server 400 transmits the estimated arrival time calculated in the step S730 to the user terminal 600. [ Such transmission may be provided by the service server 400 through the broadcasting network or via the wireless network when the scheduled arrival time is transmitted. When the service server 400 provides the scheduled arrival time through the wireless network, the service server 400 may transmit correction information to the user terminal 600 through a base station or an access point (AP). In addition, the service server 400 may provide a TPEG (Transport Protocol Expert Group) format through the broadcast transmitter 500 when the scheduled arrival time is transmitted.

The user terminal 600 having received the estimated arrival time can store it. At this time, it may be mapped to an identifier (for example, a bus route number) capable of identifying the vehicle. Also, the user terminal 600 may output the estimated arrival time in step S735.

FIG. 8 is a flowchart illustrating a method for providing a vehicle operation guide of a service server according to the first embodiment of the present invention.

In FIG. 8, it is assumed that the service server 400 continuously receives and stores the correction information in the manner described above with reference to FIG.

On the other hand, the vehicle terminal 700 mounted on the service vehicle can periodically receive position information at the current position from the GPS satellite 101, and the vehicle terminal 700 receives the position information (C / A code) , It is possible to acquire the time at which the position information is received. Accordingly, the vehicle terminal 700 maps the time, the car number, and the route number of the location information and the location information to the service server 400.

Then, in step S810, the control module 430 of the service server 400 receives the location information and the time, the vehicle number, and the route number of the location information received through the communication module 410. [ Then, the control module 430 corrects the position information using the correction information previously stored in step S820. At this time, by using the correction information of at least one of the plurality of reference stations and the plurality of virtual reference stations corresponding to the position information transmitted by the vehicle terminal 700 and the time at which the vehicle terminal 700 received the position information, . That is, the control module 430 uses correction information of at least one of a plurality of reference stations and a plurality of virtual reference stations in the order close to the position of the current service vehicle indicated by the position information received from the vehicle terminal 700, The position information is corrected using the correction information corresponding to the time when the terminal 700 receives the position information. In particular, when the position information of the service vehicle is corrected using the correction information of at least one of the plurality of virtual reference stations and the plurality of reference stations 100, The new correction information is weighted according to the distance from the station 100 or the virtual reference station and the accuracy of the correction information of the reference station 100 or the virtual reference station, May be corrected.

After correcting the location information, the control module 430 calculates a scheduled arrival time of the service vehicle in step S830, and stores the calculated estimated arrival time in an identifier (e.g., a car number and a route number) And stores them together. That is, the control module 430 obtains the average speed of at least one other vehicle arriving at the next stop ahead of the service vehicle, applies the obtained average speed to the service vehicle, It is possible to calculate the time taken to reach from the position to the next stop. Then, the control module 430 can calculate the estimated arrival time of the next stop of the service vehicle.

Next, the control module 430 transmits the calculated estimated arrival time to the user terminal 600 in step S840. Such transmission may be provided by the service server 400 through the broadcasting network or via the wireless network when the scheduled arrival time is transmitted.

9 is a flowchart for explaining a method for guiding a vehicle according to a second embodiment of the present invention. In the first embodiment described with reference to FIGS. 7 and 8, the service server 400 has performed processes such as correction of positional information and calculation of estimated arrival time. However, in the second embodiment, the user terminal 600 performs processes such as correction of positional information and calculation of a scheduled arrival time. 7 and 8, the target vehicle to which the vehicle is guided will be referred to as a "service vehicle ".

Referring to FIG. 9, the service server 400 continuously receives and stores correction information in the manner described above with reference to FIG. 6 in step S905.

On the other hand, the vehicle terminal 700 mounted on the service vehicle receives the position information of the current service vehicle from the GPS satellite 101 in step S910. When receiving the position information (C / A code), the vehicle terminal 700 acquires the time at which the position information was received. Then, the vehicle terminal 700 transmits the position information of the service vehicle and the time at which the position information was received to the service server 400 in step S915, and the identification information (e.g., vehicle number And the route number) and transmits them together. In step S920, the service server 400 receives the location information, the time when the location information is received, and the identification information corresponding thereto.

Here, it is assumed that the user of the user terminal 600 operates the user terminal 600 to request a scheduled arrival time of the service vehicle at a specific stop. In step S925, the user terminal 600 transmits an information request message including a stoppage to be used by the user and a route number of the service vehicle to the service server 400 in order to calculate a scheduled arrival time of the service vehicle.

In step S930, the service server 400 having received the information request message transmits an information response message including information on the service vehicle that is closest to the stopping point to be used by the user among the plurality of vehicles having the route number of the information request message To the user terminal (600). When the service server 400 transmits an information response message, the service server 400 can provide the information response message through a broadcast network or provide it through a wireless network. When the service server 400 provides the scheduled arrival time through the wireless network, the service server 400 may transmit correction information to the user terminal 600 through a base station or an access point (AP). In addition, the service server 400 may provide a TPEG (Transport Protocol Expert Group) format through the broadcast transmitter 500 when the scheduled arrival time is transmitted. At this time, the provided information provides the location information of the service vehicle, and also provides the location information of the service vehicle and the correction information corresponding to the time of receiving the location information. Here, the correction information includes at least one of correction information of a plurality of reference stations and a plurality of virtual reference stations corresponding to the position information transmitted by the vehicle terminal 700 and the time at which the vehicle terminal 700 received the position information do. That is, the correction information is at least one of a plurality of reference stations and a plurality of virtual reference stations in the order of the position indicated by the position information transmitted by the vehicle terminal 700, Corresponding correction information. As described above, the number of correction information of the reference station and the virtual reference station used for the correction can be determined according to the accuracy of the correction information.

The user terminal 600 having received the information response message corrects the position information of the received service vehicle using the correction information received in step S935. At this time, when correcting the position information of the service vehicle using the correction information of at least one of the plurality of virtual reference stations and the plurality of reference stations 100, the position information of the service vehicle from the position information (position) New weighting information is generated according to the distance to the reference station and the accuracy of the correction information of the reference station 100 or the virtual reference station and the position information of the service vehicle is corrected using the newly generated correction information It is possible. After correcting the positional information, the user terminal 400 calculates a scheduled arrival time of the service vehicle in step S940. The expected arrival time is to calculate the time at which the service vehicle is scheduled to arrive at the next stop from the current location. According to an embodiment of the present invention, the user terminal 600 or the service server 400 can calculate the average time taken for the service vehicle to move from one stop to the next stop, the distance between the two stops, Can be stored. In the case where only the service server 400 stores the above-described stop-related information, although not shown, the user terminal 600 selectively requests only the necessary information (stop-related information related to the stop where the user is located) And receive it. Accordingly, the user terminal 600 calculates the time taken from the current position of the service vehicle to the stopping point where the user is located, using the above-described stop-related information, in particular, the average speed, can do. After calculating the estimated arrival time, the user terminal 600 outputs the estimated arrival time calculated in step S945.

FIG. 10 is a flowchart illustrating a method for providing a vehicle driving guidance of a user terminal according to a second embodiment of the present invention.

In Fig. 10, it is assumed that the service server 400 continuously receives and stores the correction information in the manner described above with reference to Fig. On the other hand, the vehicle terminal 700 mounted on the service vehicle can periodically receive position information at the current position from the GPS satellite 101, and the vehicle terminal 700 receives the position information (C / A code) , It is possible to acquire the time at which the position information is received. Accordingly, it is assumed that the vehicle terminal 700 has mapped the time, the car number, and the route number of the location information and the location information, and transmitted to the service server 400.

At this time, it is assumed that the user of the user terminal 600 requests a scheduled arrival time of the service vehicle at a specific stop. In step S1005, the control unit 670 detects the presence of the service vehicle through the input unit 640. In step S1010, the control unit 670 includes a route number of the service vehicle and a stopping point to be used by the user to obtain information for calculating the estimated arrival time of the service vehicle To the service server 400 through the communication unit 630. The service server 400 transmits the information request message to the service server 400 via the communication unit 630. [

Upon receiving the information request message, the service server 400 transmits an information response message including information on a service vehicle, which is closest to the stopping point to be used by the user, among the plurality of vehicles having the route number of the information request message, 600). That is, the information response message includes position information (latest received position information) of the service vehicle approaching the stop closest to the stopping place to be used by the user among the plurality of vehicles having the route number in the information request message, Reception time, and identification information. The information response message further includes correction information corresponding to the reception time to correct the position information.

When the service server 400 transmits an information response message, the service server 400 can provide the information response message through a broadcast network or provide it through a wireless network. Accordingly, the control unit 670 receives the information response message through either the broadcast signal receiving unit 620 or the communication unit 630 in step S1015. At this time, the information provided by the service server 400 to the user terminal 600 provides the position information of the service vehicle, and provides correction information corresponding to the position information of the service vehicle and the time of receiving the position information. Here, the correction information includes at least one of correction information of a plurality of reference stations and a plurality of virtual reference stations corresponding to the position information transmitted by the vehicle terminal 700 and the time at which the vehicle terminal 700 received the position information do. That is, the correction information provides at least one of a plurality of reference stations and a plurality of virtual reference stations in the order of closest to the position indicated by the position information transmitted by the vehicle terminal 700. [ The correction information is correction information corresponding to the time at which the vehicle terminal 700 received the position information. As described above, the number of correction information of the reference station and the virtual reference station used for the correction can be determined according to the accuracy of the correction information.

After receiving the information response message, the controller 670 corrects the position information of the received service vehicle using the correction information received in step S1020. At this time, when correcting the position information of the service vehicle using the correction information of at least one of the plurality of virtual reference stations and the plurality of reference stations 100, the position information of the service vehicle from the position information (position) New weighting information is generated according to the distance to the reference station and the accuracy of the correction information of the reference station 100 or the virtual reference station and the position information of the service vehicle is corrected using the newly generated correction information It is possible. After correcting the positional information, the control unit 670 calculates a scheduled arrival time of the service vehicle in step S1025. The expected arrival time is to calculate the time at which the service vehicle is scheduled to arrive at the next stop from the current location. According to an embodiment of the present invention, the user terminal 600 or the service server 400 can calculate the average time taken for the service vehicle to move from one stop to the next stop, the distance between the two stops, Can be stored. In the case where only the service server 400 stores the above-described stop-related information, although not shown, the user terminal 600 selectively requests only the necessary information (stop-related information related to the stop where the user is located) And receive it. Therefore, the control unit 670 calculates the time taken from the current position of the service vehicle to the stopping point where the user is located, using the previously stored stop-related information, in particular, the average speed, Can be calculated. After calculating the estimated arrival time, the controller 670 outputs the estimated arrival time through the output unit 650 in step S1030.

It has been described that the collection server 200, the correction server 300, and the service server 400 are implemented as independent devices, respectively, and perform unique functions. However, at least two of the collection server 200, the correction server 300, and the service server 400 may be implemented in one device, or may be implemented in different devices as described in the embodiment . In addition, some or all of the functions described as being performed by the servers 200, 300, and 400 may be performed by servers 200, 300, and 400 other than the server. As a representative example, the correction server 300 may perform some or all of the functions performed by the service server 400, and the service server 400 may perform some or all of the functions of the correction server 300 .

The location information providing method according to an embodiment of the present invention may be implemented in a form of a program readable by various computer means and recorded in a computer-readable recording medium. Here, the recording medium may include program commands, data files, data structures, and the like, alone or in combination. Program instructions to be recorded on a recording medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software. For example, the recording medium may be a magnetic medium such as a hard disk, a floppy disk and a magnetic tape, an optical medium such as a CD-ROM or a DVD, a magneto-optical medium such as a floppy disk magneto-optical media, and hardware devices that are specially configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions may include machine language code such as those generated by a compiler, as well as high-level language code that may be executed by a computer using an interpreter or the like. Such a hardware device may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

While the present invention has been described with reference to several preferred embodiments, these embodiments are illustrative and not restrictive. It will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit of the invention and the scope of the appended claims.

100: base station 200: collection server
300: correction server 400: service server
410: communication module 420: storage module
430: Theft information module 500: Broadcasting transmitter
600: User terminal 610: Position information receiver
620: broadcast signal receiving unit 630:
640: input unit 650: output unit
660: storage unit 650: control unit
700: vehicle terminal 710: position information receiving unit
720: communication unit 730: control unit

Claims (6)

In the system for vehicle driving guidance,
A vehicle terminal mounted on a vehicle and periodically receiving location information, the vehicle terminal transmitting the received location information, a reception time of receiving the location information, and identification information of the vehicle;
A plurality of pieces of correction information for correcting the position information are classified and stored for each time, the position information, the reception time, and the identification information are received, and the correction information corresponding to the reception time among the correction information is used. Correcting the location information, calculating the estimated estimated arrival time for the vehicle to arrive at the specific stop using the corrected location information and the average speed at which the other vehicle reaches the specific stop, and transmitting the calculated estimated arrival time. A service server; And
And a user terminal for receiving and outputting the estimated time of arrival. In the service server for vehicle driving guidance,
A communication module configured to periodically receive location information received by a vehicle terminal mounted on a vehicle, a reception time of receiving the location information, and identification information of the vehicle;
A storage module for classifying and storing a plurality of correction information for correcting the position information for each time; And
Using the correction information corresponding to the reception time of the correction information, the position information is corrected, and the vehicle is connected to the specific stop by using the corrected position information and an average speed at which another vehicle reaches a specific stop. And a control module for calculating an estimated arrival time to arrive, and transmitting the calculated estimated arrival time to a user terminal through the communication module. In the method for vehicle driving guidance of the service server,
Receiving location information periodically received by a vehicle terminal mounted on a vehicle, a reception time of receiving the location information, and identification information of the vehicle;
Correcting the position information by using correction information corresponding to the reception time among a plurality of correction information classified and stored for each time to correct the previously stored position information;
Calculating an estimated time of arrival at which the vehicle is expected to arrive at the specific stop using the corrected position information and an average speed at which another vehicle reaches a specific stop; And
And transmitting the calculated estimated time of arrival to a user terminal. In the system for vehicle driving guidance,
At least one vehicle terminal, each mounted in a plurality of service vehicles, periodically receiving location information, and transmitting received location information, a reception time of receiving the location information, and identification information of the vehicle;
A service server configured to store a plurality of pieces of correction information for correcting location information for each time, and receive and store the location information, the reception time, and the identification information from at least one vehicle terminal; And
An information request message for requesting information necessary for a specific service vehicle to calculate an estimated time of arrival for a specific stop, is transmitted to the service server, and the location information of the specific service vehicle in response to the information request message is transmitted from the service server; Receiving correction information corresponding to the reception time, correcting the position information using the received correction information, and using the averaged speed at which the corrected position information and another vehicle stored in advance reach the specific stop, And a user terminal that calculates an estimated arrival time at which the vehicle is expected to arrive at the specific stop, and outputs the calculated estimated arrival time. In the user terminal for vehicle driving guidance,
An information request message for requesting information necessary for a specific service vehicle to calculate an estimated time of arrival for a specific stop, is transmitted to the service server, and the location information of the specific service vehicle in response to the information request message is transmitted from the service server; A communication unit for receiving correction information corresponding to the reception time;
The position information is corrected using the received correction information, and the estimated arrival time at which the vehicle is expected to arrive at the specific stop is obtained by using the corrected position information and the average speed at which another vehicle stored in advance reaches the specific stop. And a controller configured to calculate and output the calculated estimated arrival time. In the method for vehicle driving guidance of the user terminal,
Transmitting, to the service server, an information request message requesting information required for a specific service vehicle to calculate an estimated arrival time for a specific stop;
Receiving position information of the specific service vehicle and correction information corresponding to the reception time from the service server in response to the information request message;
Correcting the position information by using the received correction information;
Calculating an estimated estimated time of arrival at which the vehicle is expected to arrive at the specific stop using the corrected position information and an average speed at which another vehicle stored in advance reaches the specific stop; And
And outputting the calculated estimated time of arrival of the vehicle.

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