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Requirements and Evaluation of a Smartphone Based Dead Reckoning Pedestrian Localization for Vehicle Safety Applications Johannes Rünz, Folko Flehmig, Wolfgang Rosenstiel and Michael Knoop Abstract The objective of this paper is to propose a smartphone based outdoor dead reckoning localization solution, show its experimental performance and classify this performance into the context of Vehicle-to-X (V2X) based pedestrian protection systems for vehicle safety applications. The proposed approach estimates the position, velocity and orientation with inertial measurement unit (IMU) sensors, a global navigation satellite system (GNSS) receiver and an air pressure sensor without any restriction to pedestrians, like step length models or a relationship between smartphone orientation and walking direction. Thus, an application makes sense in handbags, trouser pockets or school bags. The dead reckoning localization filter was evaluated in measurements and compared with a highly accurate reference system. Furthermore, the requirements of measurement and modelling uncertainties in a pedestrian protection system with a low false-positive rate were derived and compared with the reference measurements. The results demonstrated that an appropriate use of the proposed system approach is only possible with more accurate positioning solutions from the GNSS receiver. According to this the necessity of differential GNSS methods was predicted. J. Rünz (&) F. Flehmig M. Knoop Chassis Systems Control, Robert Bosch GmbH, Robert-Bosch-Allee 1, 74232 Abstatt, Baden-Württemberg, Germany e-mail: johannes.ruenz@de.bosch.com F. Flehmig e-mail: folko.flehmig@de.bosch.com M. Knoop e-mail: michael.knoop@de.bosch.com W. Rosenstiel Computer Engineering Department, Eberhard Karls Universität Tübingen, Auf der Morgenstelle 8, 72076 Tübingen, Baden-Württemberg, Germany e-mail: rosenstiel@informatik.uni-tuebingen.de M. Knoop Institute of Measurement and Control, Karlsruhe Institute of Technology, Karlsruhe, Germany © Springer International Publishing AG 2016 T. Schulze et al. (eds.), Advanced Microsystems for Automotive Applications 2016, Lecture Notes in Mobility, DOI 10.1007/978-3-319-44766-7_1 3
4 J. Rünz et al. Keywords Smartphone based pedestrian protection Pedestrian dead reckoning Vehicle safety 1 Introduction To improve advanced pedestrian protection systems in future vehicles, it is necessary to obtain better knowledge about the pedestrian behavior and the perception to recognize pedestrians in the vehicle’s environment [1]. Situations which include visually obstructed pedestrians or pedestrians that cannot be detected by the limited field of view (e.g. in curves), are especially challenging. A possible solution is the cooperative usage of the pedestrian’s smartphone with its internal localization sensors and V2X technology to better protect the pedestrian. Besides, the modeling of the pedestrian’s intention and behavior might be supported by information from the smartphone. General analysis about the possible system architectures, communication strategies as well as limitations and feasible benefits of pedestrians’ smartphones as cooperative sensors are described in [2–5]. Moreover, an experimental proof of benefit for safety applications with bicycles using their smartphones is presented in [6]. The author states that the accuracy of the smartphone’s global navigation satellite system (GNSS) receiver is improved with a map-matching algorithm and context knowledge. As later described in this work, the requested low false-positive rates of pedestrian protection systems lead to strict requirements on the position accuracy of the pedestrian. A survey is given in [7], which shows the accuracy of smartphone GNSS sensors and compares them with a Differential GNSS (DGNSS) system. According to [8], the GNSS sensor is combined with a velocity and orientation estimation through step detection, a gyroscope and a magnetic field sensor in order to further improve the localization performance. A similar approach to improve the GNSS measurements in outdoor environments is used by [9]. The challenge of such approaches is that the orientation of the smartphone must be rigidly coupled with the walking direction, which is not given in its daily use. Thus, the sensor data fusion can deteriorate the accuracy of the GNSS measurements in wrong use cases. Typical localization problems occur in the field of aerospace engineering with six degrees of freedom: three position and three orientation dimensions. In these surroundings, highly accurate acceleration sensors and gyroscopes are used to derive the position, velocity and orientation of an object. Furthermore in inertial navigation systems (INS) the determined position, velocity and orientation are corrected by GNSS measurements with e.g. a Kalman filter (KF). In [10] implementations of such systems are presented. These methods are then adopted to a drone equipped with MEMS acceleration and gyroscope sensors in [11]. In this work, methods from aerospace engineering are evaluated for INS by using the smartphone’s internal sensors. The ambition is to show the localization performance of such a system and classify the results in the context of vehicle safety applications for pedestrians.
Page 1 and 2: Lecture Notes in Mobility Tim Schul
Page 3 and 4: More information about this series
Page 5 and 6: Editors Tim Schulze VDI/VDE Innovat
Page 7 and 8: vi Preface cross-sectorial roadmap
Page 9 and 10: Steering Committee Mike Babala, TRW
Page 11 and 12: xii Contents Robust Facial Landmark
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