Method and apparatus for providing traffic information to personal mobility vehicle

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.

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.

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.