# US 12,111,401 B2 · Personal mobility device, server for communicating with the same, and method of controlling the server

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- Number: US 12,111,401 B2
- Document ID: US12111401B2
- Status: Granted
- Kind: B2
- Application number: 17/537,767
- Filed: 2021-11-30
- Published: 2022-07-28
- Granted: 2024-10-08
- Earliest claimed: 2021-01-27
- Assignees: Hyundai Motor Company; Kia Corporation
- Applicants: Hyundai Motor Company; Kia Corporation
- Inventors: Hee Jin Ro; Yocheol Jang; Duck Young Kim; Donghee Seok; Ilsun Song
- Web page: https://patentgrep.com/patent/US12111401B2

## CPC

- G01S 19/07: providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
- G01S 19/40: Correcting position, velocity or attitude
- G01S 19/42: Determining position
- G06V 10/762: using clustering, e.g. of similar faces in social networks
- H04W 4/023: {using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds}
- H04W 4/025: {using location based information parameters}
- H04W 4/40: for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W 4/80: Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72)

## Abstract

An embodiment personal mobility device includes a location receiver configured to receive signals from a plurality of satellites to recognize location information, a communication module configured to perform communication in a different communication method than the location receiver and to communicate with an external communication device and a server, and a controller configured to obtain initial location information based on the signals received by the location receiver and control the initial location information to be transmitted to the server, in response to receipt of communication information by a communication module, cause the communication information to be transmitted to the server, and in response to receipt of corrected storage location information from the server, cause the received corrected storage location information to be stored.

## Claims

### Claim 1

A personal mobility device comprising:
a location receiver configured to receive signals from a plurality of satellites to recognize location information;
a communication module configured to perform communication in a different communication method than the location receiver and to communicate with an external communication device and a server; and
a controller configured to:
obtain initial location information based on the signals received by the location receiver and control the initial location information to be transmitted to the server;
in response to receipt of communication information received by a communication module, cause the communication information to be transmitted to the server;
in response to receipt of corrected storage location information received from the server, cause the received corrected storage location information to be stored; and
in response to transmitting the initial location information and not transmitting the communication information, correct the initial location information based on location error information of at least two other personal mobility devices received from the server when the personal mobility device exists within a clustering area set by information about a distance between the at least two other personal mobility devices.

### Claim 2 (depends on 1)

The personal mobility device of claim 1, wherein the communication information comprises at least one of medium access control (MAC) address information or Internet protocol (IP) address information and further comprises information about received signal strength.

### Claim 3 (depends on 1)

The personal mobility device of claim 1, further comprising an input module configured to receive a user input, wherein the controller is configured to:
attempt connection for communication with the external communication device in response to receipt of a completion command through the input module;
transmit the communication information and the initial location information to the server in response to the connection for communication with the external communication device being made; and
transmit the initial location information to the server in response to the connection for communication with the external communication device not being made.

### Claim 4 (depends on 1)

The personal mobility device of claim 1, wherein the communication module comprises a Bluetooth module, a Zigbee module, or a wireless fidelity (Wi-Fi) module.

### Claim 5

A server comprising:
a communication module; and
a controller configured to:
recognize a personal mobility device that has transmitted storage location information including communication information and initial location information among storage location information of a plurality of personal mobility devices received through the communication module as a first personal mobility device;
recognize a personal mobility device that has transmitted storage location information including the initial location information but not including the communication information as a second personal mobility device;
obtain location error information based on the communication information and the initial location information of the first personal mobility device;
correct the initial location information of the second personal mobility device based on the location error information; and
transmit the corrected initial location information to the second personal mobility device;
wherein the controller is configured to correct the initial location information of the first personal mobility device based on the location error information and to transmit the corrected initial location information to the first personal mobility device, set a radius based on the location error information and weather information, set a clustering area based on the set radius and the corrected initial location information of the first personal mobility device, and correct the initial location information of the second personal mobility device in the set clustering area based on the location error information.

### Claim 6 (depends on 5)

The server of claim 5, wherein the controller is configured to transmit the corrected initial location information of the first personal mobility device and the corrected initial location information of the second personal mobility device to another server for a sharing service company.

### Claim 7 (depends on 5)

The server of claim 5, wherein the controller is configured to receive the weather information through the communication module.

### Claim 8 (depends on 5)

The server of claim 5, wherein the controller is configured to:
determine whether there is a plurality of other first personal mobility devices within a reference distance to the first personal mobility device based on the corrected initial location information of the first personal mobility device;
in response to a determination that there is the plurality of other first personal mobility devices, obtain average location error information based on location error information of the plurality of other first personal mobility devices;
set the average location error information to location error information of a virtual first personal mobility device; and
correct the initial location information of the second personal mobility device based on the set location error information of the virtual first personal mobility device.

### Claim 9 (depends on 5)

The server of claim 5 wherein the controller is configured to:
obtain information about a distance between two first personal mobility devices of the plurality of personal mobility devices with corrected initial location information based on the initial location information of the two first personal mobility devices; and
in response to the distance between the two first personal mobility devices being equal to or longer than double a preset radius based on the obtained distance information, establish a clustering area having the preset radius from a location of each of the two first personal mobility devices.

### Claim 10 (depends on 5)

The server of claim 5, wherein the controller is configured to:
obtain first distance information about a distance between two first personal mobility devices of the plurality of personal mobility devices with corrected initial location information based on the initial location information of the two first personal mobility devices; and
in response to the distance between the two first personal mobility devices being shorter than double a preset radius based on the obtained first distance information, establish a clustering area having a radius corresponding to the first distance information from a location of each of the two first personal mobility devices.

### Claim 11 (depends on 10)

The server of claim 10, wherein, in response to an obstacle being present in the established clustering area, the controller is configured to exclude an area corresponding to the obstacle from the established clustering area.

### Claim 12 (depends on 11)

The server of claim 11, wherein the communication information comprises at least one of medium access control (MAC) address information or Internet protocol (IP) address information and further comprises information about received signal strength.

### Claim 13 (depends on 12)

The server of claim 12, wherein the controller is configured to:
identify the MAC address information or the IP address information in the communication information received at the first personal mobility device;
determine location information of an external communication device based on the MAC address information or the IP address information;
obtain second distance information corresponding to received signal strength in the communication information received at the first personal mobility device; and
obtain location error information for the initial location information of the first personal mobility device based on the location information of the external communication device and the second distance information.

### Claim 14 (depends on 5)

The server of claim 5, wherein the controller is configured to set a maximum radius as a radius for the clustering area when parts of a plurality of clustering areas overlap.

### Claim 15 (depends on 5)

The server of claim 5, wherein the controller is configured to:
obtain average location error information based on location error information of the first personal mobility devices in two clustering areas when there is the second personal mobility device present in an overlapping region between the two clustering areas; and
correct initial location information of the second personal mobility device in the overlapping region based on the average location error information.

### Claim 16

A method of controlling a server, the method comprising:
recognizing a personal mobility device which has transmitted storage location information including communication information and initial location information among storage location information of a plurality of personal mobility devices received through a communication module as a first personal mobility device;
recognizing a personal mobility device which has transmitted storage location information including the initial location information and not including the communication information as a second personal mobility device;
obtaining location error information based on the communication information and the initial location information of the first personal mobility device;
correcting the initial location information of the second personal mobility device based on the location error information; and
transmitting the corrected initial location information to the second personal mobility device;
wherein correcting the initial location information of the second personal mobility device comprises:
obtaining information about a distance between two first personal mobility devices of the plurality of personal mobility devices with corrected initial location information based on the initial location information of the two first personal mobility devices;
establishing a clustering area based on the distance information;
identifying the second personal mobility device present in the established clustering area; and
correcting the initial location information of the second personal mobility device based on the location error information of the two first personal mobility devices.

### Claim 17 (depends on 16)

The method of claim 16, further comprising correcting the location error information of the first personal mobility device based on weather information in response to the weather information being received through the communication module.