| CPC G01C 21/3423 (2013.01) [G01C 21/3415 (2013.01); G01C 21/3492 (2013.01); G01C 21/3617 (2013.01); G06Q 10/02 (2013.01)] | 12 Claims |
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1. A method, implemented by at least one memory and at least one processor, of operating an apparatus for providing a multi-modal service using a personal mobility vehicle (PM vehicle), the method comprising:
receiving a departure point and a destination from a user terminal;
searching for positions of PM vehicles between the departure point and the destination;
generating a route between the departure point and the destination based on the positions of the PM vehicles; and
providing the route and the positions of the PM vehicles to the user terminal,
wherein searching for the positions of the PM vehicles includes:
estimating a candidate position of a PM vehicle based on messages transmitted from a plurality of auxiliary road side units around the PM vehicle to the PM vehicle; and
correcting the candidate position of the PM vehicle based on correction data,
wherein the correction data is any one of distance error ratios being ratios of actual distances to estimated distances between a reference road side unit and the plurality of auxiliary road side units, or distance errors being differences between the actual distances and the estimated distances,
wherein the actual distances are based on known positions of the reference road side unit and the plurality of auxiliary road side units, and
wherein the estimated distances are based on messages between the reference road side unit and the plurality of auxiliary road side units.
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