Lane detection method based on smartphone sensor

A lane detection and smart phone technology, applied in instruments, measuring devices, surveying and navigation, etc., can solve the problems of low popularity, high impact and high cost of vehicle owners, and achieve the occupation of mobile phone resources and good power consumption, The effect of reducing quantity and low cost

Inactive Publication Date: 2017-04-05
NANJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0003] Existing lane positioning methods still have the following deficiencies: first, some methods need to utilize special enhanced GPS positioning equipment, which is expensive and popular among car owners. For example, the publication number is CN105444770A and the The invention of "Smartphone-based lane-level map generation and positioning system and method" provides a smart phone-based lane-level map generation and positioning system and method, including GPS, acceleration sensor, and direction sensor built into the mobile phone Obtain the real-time GPS, acceleration, and direction data of the vehicle; then the mobile client identifies the action point when the vehicle ch

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  • Lane detection method based on smartphone sensor
  • Lane detection method based on smartphone sensor
  • Lane detection method based on smartphone sensor

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[0035] The invention is described in further detail with reference to the accompanying drawings of the specification. Prior to this, the symbols used in the present invention and their meanings are explained as follows:

[0036]

[0037]

[0038] The invention utilizes the location service function of the smart phone, and the two sensors of the three-axis acceleration sensor and the gyroscope, without using other hardware devices. When a turning event occurs when a vehicle passes through a certain intersection, the vehicle movement is regarded as a phased circular movement during the turning process. First of all, in the sampling stage, since the readings of the mobile phone sensors cannot be directly used in the vehicle coordinate system, the acquired sensor readings must be processed to obtain useful physical quantities in the vehicle coordinate system: the centripetal acceleration and angular velocity of circular motion. Obtain the reading X of the three-axis acceleration sen...

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Abstract

The invention discloses a lane detection method based on a smartphone sensor. The method comprises a sampling phase and a positioning and matching phase. The sampling phase comprises acquisition of training data, obtaining of rotation matrix R, and obtaining of corresponding threshold of target lane. Three-axis acceleration sensor data and gyroscope data of a cell phone are acquired on a known driving path, and centripetal acceleration and angular velocity and its radius-time characteristic curve of a vehicle are obtained, and the threshold is selected as the maximum radius value of the corresponding target lane; and the correspondence between the lane and the threshold is uploaded to a server. In the positioning and matching phase, the maximum radius value in the obtained radius-time characteristic curve matches the correspondence between the lane and the threshold obtained by a sampling module so as to determine the target lane. Without additionally arranging hardware equipment in the vehicle, the detection can be realized only by the use of the sensor in the smartphone. Thus, the detection method is low-cost and is easy to popularize.

Description

technical field [0001] The invention belongs to the technical field of road network navigation, and in particular relates to a smart phone-based lane detection method and system thereof. Background technique [0002] As unmanned vehicles become a reality, technologies related to unmanned driving have become a current hot research field, including precise lane positioning technology. The precise positioning of lanes has very important applications in the assisted driving system technology and the field of driverless driving, so it has become a research hotspot. [0003] Existing lane positioning methods still have the following deficiencies: first, some methods need to utilize special enhanced GPS positioning equipment, which is expensive and popular among car owners. For example, the publication number is CN105444770A and the The invention of "Smartphone-based lane-level map generation and positioning system and method" provides a smart phone-based lane-level map generation...

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Application Information

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IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 沈毅仁王玉峰
Owner NANJING UNIV OF POSTS & TELECOMM
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