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Real-Time Computing LabUniversity of Michigan
Invisible Sensingof Vehicle Steering with Smartphones
Dongyao Chen Kyong-Tak Cho, Sihui Han, Zhizhuo Jin, Kang G. Shin
May 19, 2015
/23
Camera
Camera helps detect lane markers for• Detecting steering
maneuvers
Autonomous vehicles use cameras to detect• Lane markers• Objects on
road• …
Affordable, easy to
use+
VariousCV
algorithms…
1
https://www.youtube.com/watch?v=NJ8iXYZfUmA
http://www.phonearena.com/news/Nexus-5-likely-coming-with-an-OIS-camera_id47409
http://www.theguardian.com/technology/2013/jul/09/google-android-reader-why
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How’s Camera Doing?
CarSafe[MobiSys’ 13] app
2
iOnRoad app
https://play.google.com/store/apps/details?id=com.picitup.iOnRoad
Citroën DS5
http://www.mycitroen.be/nl/citroen-ds5/innovatie/
http://wallpaperswide.com/road_to_death_valley-wallpapers.html
• Performance of camera depends on the environment
/23
How’s Camera Doing?
2
Lighting Placement
http://smartphones.wonderhowto.com/how-to/keep-your-smartphone-charged-during-power-outage-0140088/
Pavement
http://www.annarbor.com/news/residents-frustrated-with-lack-of-solutions-for-pothole-ridden-north-territorial-road/
Weather
CarSafe[MobiSys’ 13] appiOnRoad app
https://play.google.com/store/apps/details?id=com.picitup.iOnRoad
Citroën DS5
http://www.mycitroen.be/nl/citroen-ds5/innovatie/
• Performance of camera depends on the environment
/23
• Real road conditionCarSafe[MobiSys’ 13] app
2
iOnRoad app
https://play.google.com/store/apps/details?id=com.picitup.iOnRoad
Citroën DS5 LDW System
http://www.mycitroen.be/nl/citroen-ds5/innovatie/
Lighting Placement
http://smartphones.wonderhowto.com/how-to/keep-your-smartphone-charged-during-power-outage-0140088/
Pavement
http://www.annarbor.com/news/residents-frustrated-with-lack-of-solutions-for-pothole-ridden-north-territorial-road/
Weather
How well a camera can see
Bottleneck of application’s performance
How’s Camera Doing?
/23
Key Idea: Camera-free Sensing of Vehicle Steering
3
Reliability-Resistant to changing environments
Accuracy-Visual similarity will not effect the detection results
Lightweight-Lower computational consumption
The challenge is to find the right signature
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V-Sense
4
Utilizes gyroscope
Works as a middleware
Differentiates maneuvers
/23
Sensing Steering with Gyroscope
• In left turns
• In lane changes
5
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• In left & right turns
• Lane changes• Lane changes• How to detect bumps? • How to relate bump detection to
different steering maneuvers?
Detect bumps in gyroscope reading
5
Understanding Vehicle Steering
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Bump Detection
• Three-state algorithm:– No bump → One bump→ Waiting for
bump
6
/23
Increase Accuracy: Steering & Curvy Road
• Horizontal displacement:– WCURVY >WLANE , WCURVY >WTURN
– Integrate horizontal displacement at each time step
7
Lane change S-shape road Turn L-shape road
/238
Calculate Horizontal Displacement
0Ts2Ts3Ts4Ts
Velocity v1v2v3v4
Time 0Ts2Ts3Ts4Ts
Velocity v1v2v3v4
θ1
θ2
θ3
θ4
Time
W4
W3
W2
W1
0Ts2Ts3Ts4Ts
Velocity v1v2v3v4
θ1
θ2
θ3
θ4
Time
Figure: Horizontal displacement of lane change
/23
Detect Horizontal Displacement on Curvy Road
102 m
59 m
9Route image adapted from Google map: https://www.google.com/maps/place/2345+Lancashire+Dr,+Ann+Arbor,+MI+48105/@42.3099558,-83.7171271,17z/data=!3m1!4b1!4m2!3m1!1s0x883cac2d8254dfbb:0x2df93ff4aa13179b
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Horizontal Displacement onCurvy Road
54 m
101.5m
10
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Horizontal Displacement onCurvy Road
54 m
101.5m
10
102 m
59 m
/23
Evaluation
• Setups– Tested V-Sense on Samsung
Galaxy S4 and S3– 5 volunteers, 2 cars– 40+h test
11
/23
Reliability and Accuracy
12
Right Turn Left Turn Lane Change Curvy Road76%
80%
84%
88%
92%
96%
100%MountedIn Pocket
Succ
ess
Rate
• Resilient to different placements:
/23
Computational Costs
13
/23
Comparison with Other Applications
14
V-Sense iOnRoad Black Sensor Drivea AD5%
20%
35%
50%
65%
80%
95%
~1,000,000
installs
~50,000installs
~50,000installs
110 ratings
Figure: Success rate of detection of lane change in urban area
Succ
ess
Rate
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When Steering your Car...
16Image: http://www.wakeforesttoday.com/voices-letters/note-to-self/4569-turn-signals-people.html#.VUPwONpViko
/23
Application I: Detection of Careless Steering
17Car icon: http://publicdomainvectors.org/en/free-clipart/Top-view-car-vector/2260.html
/23
Turn Signal Detection
18
/23
Application I: Detection of Careless Steering
!
19
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Application I: Detection of Careless Steering
19
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Application II: Fine-grained Lane Guidance
http://365stagandhenweekends.co.uk/blog/
https://idroid.us/google-maps-app-for-ios-updated-with-optimized-for-ios-8.html
20
GPS is unstable and its accuracy varies with environment
GPS Accuracy
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Application II: Fine-grained Lane Guidance
21
• Lane tracking at intersection:
Right to Left
Left to
Right
/23
Conclusion
• V–A reliable, accurate and light
weighted middleware for detecting steering maneuvers
• Two proof-of-concept apps–Careless steering warning–Fine-grained lane guidance
22
/23
Thank you!
Q&A
23