When vehicle road-level localization cannot satisfy people's need for convenience and safety driving, lane-level localization becomes a corner stone in Intelligent Transportation System. Existing works of tracking vehicles on lane-level mostly depend on pre-deployed infrastructures and additional hardwares. In this paper, we utilize smartphones to sense driving conditions for vehicle lane-level localization on highways. By analyzing driving traces collected from real driving environments, we find that each type of lane-change has its unique pattern on the vehicle's lateral acceleration. Based on this observation, we propose a Lane-Level Localization (L3) system, which can perform real-time vehicle localization on lane-level only using smartphones when vehicles are driving on highways. Our system first uses embedded sensors in smartphones to capture the patterns of lane-change behaviors. Then, a Finite State Machine is employed to track vehicles on lane-level leveraging the patterns. Extensive experiments demonstrate that L3is accurate and robust in real driving environments. The experimental results show that, on average, L3achieves the accuracy of 91.49 percent on lane change detection and 90.31 percent on lane-level localization.

When vehicle road-level localization cannot satisfy people's need for convenience and safety driving, lane-level localization becomes a corner stone in Intelligent Transportation System. Existing work on tracking vehicles on lane-level mostly depends on pre-deployed infrastructures and additional hardwares. In this paper, we utilize smartphone sensing of driving conditions for vehicle lane-level localization on highways. We analyze the driving traces collected from real driving environments, finding that each type of lane change has its unique pattern on the vehicle's lateral acceleration. Based on this observation, we propose a Lane-Level Localization (L3) system, which can perform real-time vehicle localization on lane-level only using smartphones when vehicles are driving on highways. Our system first uses embedded sensors in smartphones to capture the patterns of lane change behaviors. Then a Gaussian Distribution is employed to track vehicles on lane-level with tolerance of false detections. Extensive experiments demonstrate that L3 is accurate and robust in real driving environments. The experimental results show that, on average, L3 achieves accuracy of 91.49% on lane change detection and 86.94% on lane-level localization.

When road-level localization cannot satisfy people's need for convenience and safety driving, lane-level localization becomes a corner stone. In this paper, we propose a vehicle Lane-Level Localization (L^3) system, which utilizes smartphone sensors to real-time locate the vehicle on lane-level on highways. The system is based on the observation that each type of lane change has its unique pattern on the vehicle's lateral acceleration. Extensive experiments demonstrate that L^3 is both accurate and robust in real driving environments.