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Drowsy driving is one of the biggest threats to driving safety, which has drawn much public attention in recent years. Thus, a simple but robust system that can remind drivers of drowsiness levels with off-the-shelf devices (e.g., smartphones) is very necessary. With this motivation, we explore the feasibility of using acoustic sensors on smartphones to detect drowsy driving. Through analyzing real driving data to study characteristics of drowsy driving, we find some unique patterns of Doppler shift caused by three typical drowsy behaviours (i.e., nodding, yawning and operating steering wheel), among which operating steering wheels is also related to drowsiness levels. Then, a real-time Drowsy Driving Detection system named D ³ -Guard is proposed based on the acoustic sensing abilities of smartphones. We adopt several effective feature extraction methods, and carefully design a high-accuracy detector based on …