Granted Patent B2

US 12,651,527 · App. 17/230,470 · Granted Jun 9, 2026

Inventors: Gu-min Jeong (Seoul, KR); Seung Hyeon Lee (Seoul, KR); Hyun Jung Oh (Seoul, KR); A-Reum Kang (Seoul, KR); Jae Jun Ha (Hwaseong, KR)

Assignees: Hyundai Motor Company; Kia Corporation; Kookmin University Industry Academic Cooperation Foundation

G08G1/0116G08G1/095H04B17/104H04W4/40

Abstract

Claims (85)

1 . A computer implemented method for providing traffic information to a personal mobility vehicle (PM vehicle), comprising:

estimating, by a controller, a position of the PM vehicle based on at least one of Received Signal Strength Indicators (RSSIs) or Time of Flight (ToF) values of messages between the PM vehicle and road side units (RSUs);

predicting, by the controller, a route of the PM vehicle;

determining, by the controller, one or more traffic lights among a plurality of traffic lights according to the position and the predicted route of the PM vehicle; and

transmitting, by the controller, identification information of the one or more traffic lights to the PM vehicle;

wherein estimating the position of the PM vehicle includes:

estimating a candidate position of the PM vehicle based on messages transmitted from a plurality of auxiliary RSUs; and

correcting the candidate position of the PM vehicle based on a correction data;

wherein the correction data are distance error rates being ratios of actual distance to estimated distance between a reference RSU and the plurality of auxiliary RSU, distance errors being differences between the actual distances and the estimated distances, and a position error being a difference between an estimated position and an actual position of the reference RSU;

wherein the actual distances are based on known positions of the reference RSU and the plurality of auxiliary RSUs; and

wherein the estimated distances are based on messages between the reference RSU and the plurality of auxiliary RSUs.

2 . The method of claim 1 , wherein the one or more traffic lights include:

at least one of a vehicle traffic light located on a straight path of the PM vehicle, a crosswalk traffic light located on a left turn path, or a crosswalk traffic light located on a right turn path.

3 . The method of claim 1 , wherein the predicting of the route of the PM vehicle includes:

receiving, from the PM vehicle having moved on, subsequent messages that the PM vehicle received from the RSUs; and

determining a driving direction of the PM vehicle based on at least one of the transmission time points of the messages, transmission time points of the subsequent messages, time intervals between the transmission points of the messages and the transmission points of the subsequent messages, and the pre-stored positions of the RSUs.

4 . The method of claim 3 , wherein the predicting of the route of the PM vehicle includes:

receiving, from the PM vehicle, destination information inputted from a user to the PM vehicle;

predicting the route based on the position of the PM vehicle and the destination information; and

resetting the predicted route, when the position of the PM vehicle deviates from the predicted route, based on a deviated position of the PM vehicle.

5 . The method of claim 1 , wherein the predicting of the route of the PM vehicle includes:

receiving, from the PM vehicle, subscriber information and destination information inputted by a user to the PM vehicle; and

predicting the route of the PM vehicle by using a prediction model based on the subscriber information, the destination information, and the position of the PM vehicle.

6 . The method of claim 1 , further comprising:

receiving, from an intelligent transport system (ITS), traffic information including at least one of a traffic volume along the predicted route or an accident event notification; and

outputting a notification to the PM vehicle of at least one of the traffic volume along the predicted route, the accident event notification, pre-stored sign information, or the identification information of the plurality of traffic lights.

7 . The method of claim 6 , wherein the outputting the notification to the PM vehicle includes:

mapping at least one of the identification information of the plurality of traffic lights, the traffic volume along the predicted route, the accident event notification, or the pre-stored sign information, to a high-definition map; and

transmitting a mapped high-definition map to the PM vehicle.

8 . The method of claim 1 , wherein the one or more traffic lights are configured to transmit at least one of a signal type, a remaining time to signal, or an upcoming signal.

9 . The method of claim 1 , wherein the RSUs and the plurality of traffic lights are configured to perform broadcasting.

10 . A computer implemented method for providing traffic information to a personal mobility vehicle (PM vehicle), comprising:

estimating a position of a PM vehicle based on at least one of Received Signal Strength Indicators (RSSIs) or Time-Of-Flight (ToF) values of messages between the PM vehicle and road side units (RSUs);

predicting a route of the PM vehicle;

determining one or more traffic lights among a plurality of traffic lights according to the position and the predicted route of the PM vehicle;

receiving signal information from the one or more traffic lights based on identification information of the one or more traffic lights; and

outputting the signal information of the one or more traffic lights;

wherein estimating the position of the PM vehicle includes:

estimating a candidate position of the PM vehicle based on messages transmitted from a plurality of auxiliary RSUs; and

correcting the candidate position of the PM vehicle based on a correction data;

wherein the correction data are distance error rates being ratios of actual distance to estimated distance between a reference RSU and the plurality of auxiliary RSU, distance errors being differences between the actual distances and the estimated distances, and a position error being a difference between an estimated position and an actual position of the reference RSU;

wherein the actual distances are based on known positions of the reference RSU and the plurality of auxiliary RSUs; and

wherein the estimated distances are based on messages between the reference RSU and the plurality of auxiliary RSUs.

11 . The method of claim 10 , wherein the one or more traffic lights include:

at least one of a vehicle traffic light located on a straight path of the PM vehicle, a crosswalk traffic light located on a left turn path, or a crosswalk traffic light located on a right turn path.

12 . The method of claim 10 , wherein the predicting of the route of the PM vehicle includes:

receiving, after the PM vehicle moves, subsequent messages from the RSUs; and

determining a driving direction of the PM vehicle based on at least one of the transmission time points of the messages, transmission time points of the subsequent messages, time intervals between the transmission points of the messages and the transmission points of the subsequent messages, and the pre-stored positions of the RSUs.

13 . The method of claim 12 , wherein the predicting of the route of the PM vehicle includes:

receiving destination information from a user;

predicting the route based on the position of the PM vehicle and the destination information; and

resetting the predicted route when the position of the PM vehicle deviates from the predicted route, based on a deviated position of the PM vehicle.

14 . The method of claim 10 , wherein the predicting of the route of the PM vehicle includes:

receiving subscriber information and destination information from a user; and

predicting the route of the PM vehicle using a prediction model based on the subscriber information, the destination information, and the position of the PM vehicle.

15 . The method of claim 10 , further comprising:

receiving, from a server, traffic information including at least one of a traffic volume along the predicted route or an accident event notification,

wherein the outputting of the signal information further includes outputting at least one of the traffic volume along the predicted route, the accident event notification, the signal information received from the plurality of traffic lights, or pre-stored sign information.

16 . The method of claim 10 , wherein the one or more traffic lights are configured to transmit at least one of a signal type, a remaining time to signal, or an upcoming signal.

17 . A device for providing traffic information to a personal mobility vehicle (PM vehicle), comprising:

at least one memory storing computer-executable instructions; and

at least one processor configured to execute the computer-executable instructions to:

estimate a position of the PM vehicle based on at least one of Received Signal Strength Indicators (RSSIs) or Time of Flight (ToF) values of messages between the PM vehicle and road side units (RSUs); and

predict a route of the PM vehicle;

determine one or more traffic lights among a plurality of traffic lights according to the position and the predicted route of the PM vehicle; and

transmit identification information of the one or more traffic lights to the PM vehicle; wherein estimating the position of the PM vehicle includes:

estimating a candidate position of the PM vehicle based on messages transmitted from a plurality of auxiliary RSUs; and

correcting the candidate position of the PM vehicle based on a correction data;

wherein the correction data are distance error rates being ratios of actual distance to estimated distance between a reference RSU and the plurality of auxiliary RSU, distance errors being differences between the actual distances and the estimated distances, and a position error being a difference between an estimated position and an actual position of the reference RSU;

wherein the actual distances are based on known positions of the reference RSU and the plurality of auxiliary RSUs; and

wherein the estimated distances are based on messages between the reference RSU and the plurality of auxiliary RSUs.

18 . A device for providing traffic information to a personal mobility vehicle (PM vehicle), comprising:

at least one memory storing computer-executable instructions; and

at least one processor configured to execute the computer-executable instructions to:

estimate a position of a PM vehicle based on at least one of Received Signal Strength Indicators (RSSIs) or Time-Of-Flight (ToF) values of messages between the PM vehicle and t; and

predict a route of the PM vehicle;

determine one or more traffic lights among a plurality of traffic lights according to the position and the predicted route of the PM vehicle;

receive signal information from the one or more traffic lights based on identification information of the one or more traffic lights; and

output the signal information of the one or more traffic lights;

wherein estimating the position of the PM vehicle includes:

estimating a candidate position of the PM vehicle based on messages transmitted from a plurality of auxiliary RSUs; and

correcting the candidate position of the PM vehicle based on a correction data;

wherein the correction data are distance error rates being ratios of actual distance to estimated distance between a reference RSU and the plurality of auxiliary RSU, distance errors being differences between the actual distances and the estimated distances and a position error being a difference between an estimated position and an actual position of the reference RSU;

wherein the actual distances are based on known positions of the reference RSU and the plurality of auxiliary RSUs; and

wherein the estimated distances are based on messages between the reference RSU and the plurality of auxiliary RSUs.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (18)