用手机传感器数据精准检测道路异常，无需依赖视觉。

Road anomalies can be defined as irregularities on the road surface or in the surface itself. Some may be intentional (such as speedbumps), accidental (such as materials falling off a truck), or the result of roads' excessive use or low or no maintenance, such as potholes. Despite their varying origins, these irregularities often harm vehicles substantially. Speed bumps are intentionally placed for safety but are dangerous due to their non-standard shape, size, and lack of proper markings. Potholes are unintentional and can also cause severe damage. To address the detection of these anomalies, we need an automated road monitoring system. Today, various systems exist that use visual information to track these anomalies. Still, due to poor lighting conditions and improper or missing markings, they may go undetected and have severe consequences for public transport, automated vehicles, etc. In this paper, the Enhanced Temporal-BiLSTM Network (ETLNet) is introduced as a novel approach that integrates two Temporal Convolutional Network (TCN) layers with a Bidirectional Long Short-Term Memory (BiLSTM) layer. This combination is tailored to detect anomalies effectively irrespective of lighting conditions, as it depends not on visuals but smartphone inertial sensor data. Our methodology employs accelerometer and gyroscope sensors, typically in smartphones, to gather data on road conditions. Empirical evaluations demonstrate that the ETLNet model maintains an F1-score for detecting speed bumps of 99.3%. The ETLNet model's robustness and efficiency significantly advance automated road surface monitoring technologies.