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MARVEL: Multiple Antenna based Relative Vehicle Localizer
Dong Li+, Tarun Bansal+, Zhixue Lu+, Prasun SinhaComputer Science and Engineering Department
The Ohio State University{lido, bansal, luz, prasun}@cse.ohio-state.edu
+Co-primary authors
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Why important to know lanes?
Hard Brakes, Sudden Deceleration and Potholes
Inform rear vehicles in the same lane
Blind spotsVisualization and Driver alert
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Contents
ObjectiveSystem DesignExperimentsAggregation and SimulationsConclusion & future work
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Objective
To design a system, that estimates the relative location of given two vehicles.
V1
V2
Dire
ction
of T
rave
l
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Vehicular Localization Techniques
GPS Experiment: 46% accuracyLow accuracy in urban canyons and tunnels.
Radar, CameraAlready deployed by Lexus, BMW etc.Can only detect neighboring vehicles
Our Solution: Radio on vehicle’s body
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Challenges
Currently deployed technologies do not work wellGPS – Low accuracyCamera – Light/weather conditions, Localizes only vehicles in sightRadar – Localizes only vehicles in sight
Robust to noise/obstaclesDifferent light/weather conditionsParked vehicles may affect localization accuracy
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Contents
Motivation & ObjectiveSystem DesignExperimentsAggregation and SimulationsConclusion & future work
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Devices Used
Smartphone48% Americans have smartphones [Nielsen 2012]
Monitors turn/ lane change eventsDiscovers neighboring vehiclesControls activity of radiosComputes relative locations
RadioSend/Receive beaconsReport RSSI to smartphone
Nielsen 2012: http://blog.nielsen.com/nielsenwire/?p=30950
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How Radios Work
Two radios: distinguish Left, Same, and Right lane
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Same Lane
Link L2
Link L1
Radio
Front car in right laneFront car in left lane
How Radios Work
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Link L1
Link L2
Link L1
Link L2
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How Radios Work
Two radios: distinguish Left, Same, and Right laneFour radios
Distinguish front and backAdd robustness
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How the System Works
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Monitor Phase:Monitor
accelerometer &Look for new vehicles
Beacon Phase:Direct wireless radios to send/recv beacons
Analyze Phase:Determine
Relative location and share locations
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Monitor Phase
Discover vehicles in neighborhoodSmartphone sends/receives discover beacons
Detect lane change and turn events:
Using accelerometerCancel out noise by taking an average of last 0.5sMaintain max and min values within last 3s. t
m/s2
-2
0
2
Accy
Accy
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Monitor Phase
Time (second)
Max
-Min
diff
eren
ce
Trigger if the Max-Min diff. exceeds the
threshold
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1.08 m/s2
Monitor Phase
Precision: Fraction of detected change/turn events that are true.Recall: Fraction of change/turn events that are detected.
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How the System Works
Monitor Phase: Smartphones discover each other
Beacon Phase: Schedule a transmission
Send Beacons
Analyze Phase: Report RSSI Find relative lanes
Share results
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Contents
Motivation & ObjectiveSystem DesignExperimentsAggregation and SimulationsConclusion & future work
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Experiment Settings
Zigbee
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Data Processing
{RSSI, Label}
Train withSVM
Model
Accuracy
50%Train
50%Test
Model trained with SVM classifier in RapidMinerTrain and test using different datasets when cross validation.
label
Dataset A
Dataset B
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Radios installation: How many and where?
Other radio configurations tried in driving testsVarying number of radios: 2/3/4Radios inside/outside vehicle’s bodySymmetric/ Asymmetric placement of radios
99.8% 94.7%
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Driving Experiments
Cars: Sedan, SUV, Coupe
Roads: Local & Freeway
Light Traffic & Heavy Traffic
>800 miles
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Experiment Results: Road Types
Local roads & freeways have similar path loss pattern
Training Dataset Test Dataset AccuracyLocal Drive Freeway 97.3%Freeway Local Drive 99.4%
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Experiment Results: Traffic Conditions
Light traffic pattern ≠ Heavy traffic patternMust train if traffic conditions are significantly differentNo need to provide traffic condition as an input to the classifier
Training Dataset Test Dataset AccuracyLight traffic Heavy traffic 25.2%Heavy traffic Light traffic 38.7%
Mix light traffic and heavy traffic
Mix light traffic and heavy traffic 97.2%
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Experiment Results: Vehicle Bodies
The bodies of the tested cars have similar path loss patternImportant to train on different car bodiesNo need to provide car body as an input to the classifier
Training Dataset Test Dataset Accuracy
Two Sedans Coupe & SUV 88.3%
Coupe & SUV Two Sedans 92.7%
Mix car types Mix car types 99.8%
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Contents
Motivation & ObjectiveSystem DesignExperimentsAggregation and SimulationsConclusion & future work
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Information Aggregation
Aggregation: Left-Same-Right relation OR Front-Back relationImproves localization accuracyChallenges:
DistributedRapidly changing set of neighborsSVM classifier can be incorrect
Right RightRight
Right
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Left-Same-Right Aggregation: Lane Coordinate System
Lane Coordinate System (CreateTime, CreatorId)Every vehicle has a lane number (or coordinate) in its coordinate systemJoin coordinate system with the earliest CreateTimeSame coordinate system ↔ Lane numbers comparable
Lane 1
(Created at 8:00AM, Blue car)
(Created at 9:00AM, Red car)
Lane 3
Lane 1
(Created at 8:00AM, Blue car)
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Left-Same-Right Aggregation: Algorithm
Find neighboring vehicles in the earliest coordinate system
Determine relative location with these vehicles
Determine lane number that maximizes overall confidence
SAME, 2
SAME, 3
LEFT, 3
Lane number is 2
LEFT
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Front-Back Aggregation
Reduce local neighborhood information to a graphCycle → Inconsistent informationAlgorithm to remove all cycles
Eliminates cycles while maximizing the confidence
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Red in Front of Green
Green inFront of Blue
Blue inFront of red
Edge from rear vehicle to vehicle in front
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Simulation
Trace-driven simulations using ns-3 and SUMOSUMO: A simulator for VANETs which given a road network, generates a pre-determined number of routes for vehicles
Extracted position of each vehicle at each instance from SUMOIn ns-3, the trace of RSSI readings from driving experiments were plugged
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Simulation Results
Increase in prediction accuracy is not significant
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Incremental Deployment
MARVEL can provide incremental benefit to vehicles that are equipped with 4 radios.Dedicated Short Range inter-vehicle Communication (DSRC)
All vehicles expected to be equipped with at least one antenna.
Experiment ResultAccuracy of relative localization between a vehicle with one antenna and a vehicle with 4 antenna: 64%
Simulation Result: When 50% vehicles have single antenna, 50% have four antenna, with aggregation:
Accuracy of 4 antenna vehicle with one antenna vehicle: 87.1%Incentive for drivers to install 4 radios due to increased accuracy
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Conclusions
Relative lane localization using radiosHigh accuracy observed through experiments and simulationsAggregating information improves accuracy
Pros: Independent of light/weather conditionsCons: Need both vehicles to install radios for higher accuracy
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Discussion & Future Work
Determining absolute lane locationLane-level navigation alerts
Work with cameras, radars to improve accuracy
“Live training” possible using aggregation
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Thank you