Abs ac
This pape p esen s he a chi ec u e o an eco-
d i ing assis an . The assis an e alua es he ul il-
men o classic eco-d i ing ad ices such as: main-
ain a cons an speed, d i ing a high gea , slow
down smoo hly and so on. In addi ion, he assis an
issues ad ices based on he an icipa ion. An icipa-
ion is he key o eco-d i ing. The assis an is ca-
pable o de ec ing a ic signs be o ehand and i
checks i he speed is sui able o no ha ing o
slow down sha ply. In addi ion, he sys em p opos-
es an op imal a e age speed acco ding o he con-
di ions o he oad.
To model he en i onmen whe e he ehicle is
mo ing, we use an And oid mobile de ice. These
de ices a e ideal due o o hei mul iple ne wo k
connec ions (Blue oo h, UTMS and WIFI) and sen-
so s (came a, accele a ion senso , GPS and so on).
To ob ain he ehicle’s pa ame e s (speed, uel
consump ion, RPM, e c.), we use he diagnos ic
po (OBD2).
The p oposed sys em can imp o e uel consump-
ion and sa e y. In addi ion, i is independen o he
ype o ehicle.
1 In oduc ion
The numbe o ehicles has inc eased in ecen yea s. As a
esul , i has inc eased he uel consump ion and he emis-
sion o gaseous pollu an s. The emission o gaseous pollu-
an s causes mo e dea hs han a ic acciden s. On he o he
hand, he ene gy esou ces a e limi ed and he inc ease in
demand causes hem e en mo e expensi e.
In his con ex , many solu ions ha e appea ed ha seek o
educe uel consump ion and g eenhouse gas emissions.
The e a e solu ions based on he educ ion o he weigh o
he ehicle, imp o emen s in ae odynamics, imp o emen s
in he engine, e c. Among hese solu ions, he e is one ha
has gained g ea impo ance in ecen yea s: he Eco-
D i ing. Eco-d i ing is a d i ing echnique ha sa es uel
ega dless o he echnology. This d i ing echnique consis s
on applying se o ules such as: Main aining cons an
speed, d i ing a a high gea , d i ing a 90 Km/h maximum,
a oiding speeding up and slowing down sha ply and so on.
Applying he eco-d i ing ules, we may sa e be ween 10
and 25% o uel [Mu aki and Kanoh, 2008][Ba bé and Boy,
2006][Mie lo e al., 2004][Koskinen, 2008]. Howe e , he
pe cen age o uel economy will depend on he ype o ehi-
cle. Fo example he hyb id ehicles only sa e 10% [Lind-
eld e al., 2010]
The e a e a lo o esea ch s udies on eco-d i ing. Some
au ho s y o ind pa ame e s ha a ec uel consump ion
and de e mine how hey in luence uel consump ion. [E ics-
son, 2001], sugges ed ha o sa e uel we should a oid
hea y accele a ion and high speed d i ing. [Johansson e al,
2003] p oposed main aining low decele a ion le els, mini-
mizing he use o 1s and 2nd gea s, inc easing he use o
5 h gea , and block changing gea s o sa e uel. [Kuhle and
Ka ens, 1978], iden i ied a se o en a iables ha in lu-
ence ene gy consump ion and in he emission o g eenhouse
gases.
O he au ho s e alua e he e ec o using an eco-d i ing
assis an in he uel consump ion and dis ac ions ha may
cause. [Bo iboonsomsin e al, 2009] e alua es he sui abili y
o eco-d i ing assis an o acqui e knowledge abou eco-
d i ing. [Klaue e al., 2006] concluded ha dis ac ion due
o seconda y asks like in e ac ing wi h a mobile de ice
con ibu ed o o e 22% o all c ashes. [Riene e al., 2010]
p oposed a ib o- ac ile no ifica ion sys em in o he ca sea
(ei he in he sa e y bel o he sea ing), o wa n abou he
cu en CO2 eƥciency.
A way o add ess he eco-d i ing is o in luence in he pa-
ame e s ha he d i e con ols a any ime such as: speed,
accele a ions and gea . In [Saboohi and Fa zaneh, 2009], he
au ho s p oposed a con ol s a egy o d i e e icien ly. This
con ol s a egy de e mines he adequa e speed and adequa e
gea a any gi en ime. [Casa ola e al., 2010] analyzed wo
algo i hms o de e mine he mos e icien gea o uel
ARTEMISA: A chi ec u e o an eco-
d i ing assis an based on he an icipa ion
V.Co coba Magaña1, M.Muñoz O gane o1, A. Fe nández-Mon es2, J. A. O ega2
1Dp o. de Ingenie ía Telemá ica.
Uni e sidad Ca los III.
Leganes, Spain
[email p o ec ed],[email p o ec ed],
2Depa amen o de Lenguajes y Sis emas In o má icos
Uni e sidad de Se illa
Spain
[email p o ec ed],[email p o ec ed]
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sa ing a each ime. [Ba h and Bo iboonsomsin, 2009]
p oposed an algo i hm o de i ing he ecommended se
ehicle speed, based on eal- ime measu emen s om a
a ic measu emen sys em. In [Ke e al., 2010], he au ho s
p oposed a Min-Max an algo i hm o ind an op imized
ehicle speed and accele a ion wi h espec o uel-
e iciency.
In his pape , we p opose an eco-d i ing assis an o help
he d i e o adop ing an e icien d i ing s yle. The assis-
an will wa n he use when i does no comply wi h he
basic ules o eco-d i ing. Also, i ecommends an op imal
a e age speed. The eco-d i ing assis an uns on an And oid
mobile de ice. These de ices a e sui able due o i s mul iple
connec ions and senso s. Howe e he p esen ed a chi ec-
u e could be un on ano he pla o m.
2 Eco-d i ing Assis an
[A emisa P ojec , 2012] aims o sa e uel by modi ying
he beha io o he d i e . To do so, we can use s a ic eco-
d i ing ad ices o dynamic eco-d i ing ad ices. Some s a ic
ad ices a e: no o d i e as , no accele a e sha ply, d i ing
a high gea s, main aining speed cons an and so on.
Dynamic Eco-d i ing ad ices a e hose which ake in o
accoun he cu en condi ions such as: a ic densi y, ehi-
cle speed, wea he condi ions, a ic acciden s and so on.
The p oposed eco-d i ing assis an akes in o accoun
hese wo ypes o ad ices. The e ec i eness o eco-d i ing
assis an a endees o modi y he beha io o he d i e has
been widely p o en.
Figu e 1. A chi ec u e o eco-d i ing assis an
In Figu e 1, we can see a schema o he p oposed sys em.
Eco-d i ing assis an has he ollowing componen s:
xDa a Acquisi ion Sys em: his componen is e-
sponsible o ob aining in o ma ion abou he ehi-
cle and he en i onmen . The in o ma ion ob ained
will be used o de e mine wha eco-d i ing ad ices
should be issue.
xP ep ocessing Module: his componen is esponsi-
ble o il e ing he da a collec ed by he da a ac-
quisi ion componen and gene a ing addi ional in-
o ma ion by analyzing he da a collec ed.
xEco-d i ing ad ices: his module is esponsible o
e alua ing he d i e d i ing s yle and based on
his e alua ion issuing eco-d i ing ad ices, so ha ,
he d i e will change he nega i e aspec s o his o
he d i ing s yle. Fo example: I he d i e b akes
sha ply, he eco-d i ing assis an will issue: You
should slow down smoo hly.
xP edic i e ad ices: his module p edic s in ad ance
si ua ions ha cause an inc ease in uel consump-
ion o wa n he d i e . Also, i indica es ha ac-
ions should be aken o p e en such si ua ions.
xUse in e ace: his module is esponsible o p e-
sen ing he eco-d i ing ad ice and wa ning he us-
e .
2 Da a Acquisi ion Sys em
Da a Acquisi ion Sys em ob ains he alue o all a iables
ha in luence uel consump ion o ha can help o p edic
he ac ions o be pe o med by he d i e o sa e uel. I uses
as in o ma ion sou ces he ollowing means:
xIn e ne : S a e o he oad and wea he condi ions
xCame a: T a ic Signs De ec ion
xGPS: Vehicle Loca ion
xOBD2: Vehicle speed, RPM, uel consump ion and
a el dis ance
In e ne in o ma ion
T a ic Densi y and Wea he Condi ions a e ob ained om
he [DGT, 2012] web se ice and [AEMET, 2012] web
se ice. The in o ma ion is p o ided in XML o ma . The
And oid XMLNull lib a y is used o p ocessing he ile
XML.
Came a
Eco d i ing assis an uses [OpenCV p ojec , 2012] lib a y o
ake he pho og aph om he oad. OpenCV is c oss-
pla o m, he e a e e sions o GNU / Linux, Mac OS X ,
Windows and And oid. I con ains o e 500 unc ions co -
e ing a wide ange o a eas in he ision p ocess as objec
ecogni ion ( ace ecogni ion). This lib a y makes in e nal
use o And oid na i e lib a ies o access o he came a.
Use In e ace
Holo Fon
TTS
Eco-d i ing ips
Eco-d i ing Ad ices
Da a Acquisi ion
Sys em
In o ma ion
Gene a o
OBD2 Fil e In e ne Fil e
Op imal A e age
Speed Module
T a ic Signs
De ec ion
P e en i e
Eco-d i ing ips
P e-P ocessing
Module
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Loca ion
Geog aphical Coo dina es a e ob ained h ough he GPS
om And oid mobile de ice o iangula ion o an ennas.
Eco-d i ing assis an uses he geog aphical coo dina es o
de e mine he ehicle loca ion. Vehicle loca ion is used o
ob ain he oad condi ions. In addi ion, i also used o sa e
he loca ion o he de ec ed a ic signs.
OBD2
Vehicle speed, RPM, uel consump ion and a el dis ance
a e ob ained om ehicle diagnos ic po (OBD2). OBD
po [Goda a y e al., 2000][OBD2 Adap e , 2012], was
p oposed in 1984 and i is known as he s anda d OBDI.
OBDI is s ong mind ocused on he assessmen o he emis-
sion o gaseous pollu an s om he ehicle. In 1988, OBD
was imp o ed and i was named as OBD2. OBD2 p o ides
much mo e in o ma ion han OBDI because i s aim is no
only o e alua e he emission o gas pollu an s, bu also o
be able o do in-dep h diagnos ic abou he ope a ion o
ehicle. This diagnos ic ehicle po (OBDII) is included in
mos o oday's ehicles.
To ob ain he ehicle diagnos ic alues, we connec ed a
Blue oo h adap e o he OBDII po and he adap e sends
da a o an And oid Mobile De ice. Figu e 2 shows he da a
acquisi ion sys em.
Figu e 2. Da a Acquisi ion Sys em
3 P e-P ocessing module
This module is esponsible o il e ing and ex ac ing in-
o ma ion om he da a collec ed by he da a acquisi ion
sys em.
OBD Fil e
On some occasions, he da a ob ained h ough he OBD2
po a e unusual. Fo example, when he ehicle is s opped
he a el dis ance alue supplied by he diagnos ic po is
inco ec . This il e is esponsible o emo ing he alues
ha exceed a h eshold.
Wea he Fil e
This il e is esponsible o ca ego izing wea he condi ions
in o h ee classes: good, egula and bad.
T a ic Fil e
This il e is esponsible o ca ego izing he a ic densi y
in h ee classes: smoo h, mode a e and hea y.
Image In e pola ion
We esize he cap u ed image 10x using cubic in e pola ion.
Due o he limi ed p ocessing capabili ies o cu en mobile
de ices, we esize only he igh hal o he image. We
esize his egion o he image because in Spain he a ic
signs a e loca ed on his side o he oad.
Gene a ion o in o ma ion
We can ob ain ele an in o ma ion abou he d i ing i we
look a he da a collec ed by he da a acquisi ion sys em. Fo
example, i we obse e ha he dis ance a eled emains
cons an o e a pe iod, we can deduce ha he ehicle is
s opped. I he ehicle is s opped o mo e han wo minu es,
we could issue an Eco-d i ing ad ice as: You mus u n o
he ehicle engine du ing p olonged s ops.
4 Eco-d i ing Ad ices
This componen assesses compliance wi h he ollowing
eco-d i ing ad ices:
xVehicle Speed should no exceed 110 km / h
xAccele a ions should no exceed 1.5 m / s ^ 2
xSlowdowns should no be less han -1.5 m / s ^ 2
xD i e mus u n o he ehicle engine when ehi-
cle is s opped o mo e han wo minu es
xThe d i e is d i ing a low gea
5 P edic ion Module
The e a e nume ous s udies on eco-d i ing, which s a es ha
he key o eco-d i ing is he an icipa ion. Ou sys em ana-
lyzes he en i onmen and i p edic s whe he he d i e
ac ions will cause an inc ease in uel consump ion o no . To
achie e his goal, he sys em has wo componen s:
T a ic Signs De ec ion
Sha p accele a ions cause a conside able inc ease in he
demand o ene gy, and he e o e, an inc ease in uel con-
sump ion. On he o he hand, sha p slowdowns cause a g ea
was e o ene gy.
A la ge p opo ion o ab up decele a ions and unneces-
sa y accele a ion a e due o he d i e dis ac ions. These
dis ac ions make he d i e ails o comply wi h a ic
signals ha equi e o may equi e s opping.
The eco-d i ing assis an wa ns he use when he speed
a which he o she ci cula es is no app op ia e due o he
p oximi y o a a ic signal ha equi es o may equi e
s opping. The "adequa e" speed is de ined as he one ha
allows he ehicle o s op upon eaching he a ic signal
OBD2 Cable
Scan ool
UTMS/LTE
Blue oo h
GPS
Wea he
Se ice
T a ic Se ice
Wea he XML
T a ic XML
Road Image
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wi hou exceeding a h eshold in he slowdown. We ha e se
he h eshold a 1.5 m/s2. G ea e decele a ions make uel
consump ion inc ease exponen ially as we ha e obse ed in
se e al es s.
Ou eco-d i ing assis an de ec s h ee ypes o a ic
signs: s op signals, yield and pedes ian c ossing. To de ec
hese a ic signs, we use he me hod p oposed by Viola &
Jones [18] ha uses a cascade o s ong classi ie s. This
p oposal is he i s objec de ec ion algo i hm o p o ide
compe i i e objec de ec ion a es in eal- ime.
Viola & Jones p opose o de ec objec s based on he
change o in ensi y. The me hod employs ea u es ha in-
ol e he sums o image pixels wi hin ec angula a eas. A
lea ning algo i hm, based on AdaBoos , selec s a small
numbe o c i ical isual ea u es and builds a se o s ong
classi ie s (cascade) using hese ea u es.
The e iciency o his me hod is due o:
•A new image ep esen a ion o e y as ea u e
e alua ion.
•A any s age i a classi ie ejec s he sub-window
unde inspec ion, no u he p ocessing will be pe -
o med and i will con inue on sea ching he nex
sub-window. So in he ea ly s ages, many sub-
windows ( he easies ) a e emo ed wi h e y li le
p ocessing.
Figu e 3. Schema o a ic signs sys em
In Figu e 3, we can see a schema o he T a ic Signs De-
ec ion Sys em. Ou p oposal uses as inpu a iables: ehi-
cle speed, ehicle loca ion and in e pola ed image.
The de ec ion module looks o a ic signs on he in-
e pola ed image using he me hod o Viola & Jones. I ´s
impo an o highligh ha he se o classi ie s is buil on a
PC due o low p ocessing powe o he mobile phone. Clas-
si ie s a e sa ed on he And oid mobile de ice as an xml
ile.
I he de ec ion module de ec s any a ic signal, i will
sa e i s geog aphical coo dina es in a nAnd oid SQL da a-
base. The objec i e is o de ec he a ic signs in ad ance
because he sys em is only able o de ec signals up o 20
me e s dis an due o he limi a ions o he came as on mo-
bile de ices.
Then, he Nea es T a ic Sign Module ge s he dis ance
o he closes a ic signal. Finally, he Speed Check Mod-
ule is esponsible o checking i he cu en speed is app o-
p ia e using he cu en ehicle speed and he dis ance o he
nea es a ic signal.
Op imal A e age Speed Module
This module ob ains he op imal a e age speed o minimize
uel consump ion and inc ease sa e y. Al hough, ehicle
speed is no he only pa ame e in luencing in uel consump-
ion, i is one o he mos decisi e because i in luences
o he ac o s such as accele a ion, decele a ions and secu i y
(con ol o e he ehicle).
To ge he op imal speed, his module uses an algo i hm
based on gene ic algo i hms (ASGA). ASGA de ines he
p oblem as a combina o ial op imiza ion p oblem whe e he
indi iduals a e ep esen ed as ec o s. Each posi ion o he
ec o ep esen s a sec ion o he ip. In addi ion, he posi-
ion o he ec o con ains an a e age speed alue and a el
ime. Fo example, in Table 1, he 2-posi ion o he ec o
indica es ha he ehicle mus un a 90 km / h and a el
ime is 200 seconds.
Table 1
Encoding o an indi idual o he ASGA Algo i hm
Va iables
S age
0
1
2
Speed
20
90
45
T a el ime
500
200
300
The algo i hm has as inpu pa ame e s: speed, a ic low,
wea he condi ions, R.P.M and he numbe o es ima ed
s ops. The i ness unc ion is de ined as:
ܨ௡=ቌ൭൬ேೄ೟೚೛ೞכଵ଴଴଴
ௌ೏ೄ೟೚೛ೞ ൰כሺ௏
ଵ଴ሻ൱൅ሺሺܨ௪൅ܨ்ሻכܸሻቍ൅ܨ஼
Da a Acquisi ion
Sys em
T a ic Signs
Recogni ion Module
Nea es T a ic Signs
Module
Speed Check
Module
T a ic signs
da abase
P e-P ocessing
Module
Geog aphic Coo dina es, Image and
Vehicle Speed
Geog aphic Coo dina es,
In e pola ed Image and Vehicle
Speed
T a ic Signal De ec ed,
Geog aphic Coo dena es
T a ic Signs
Dis ance o he
nea es a ic signal
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whe e ܨ௖ is he es ima ion uel consump ion(L/100Km)
gi en by Eqs.1, ܵௗ is he sec ion dis ance(me e s), ܰௌ௧௢௣௦ is
he es ima ed numbe o s ops, ܨ௪ is a wea he ac o gi en
by Eqs.2, ܨ் is a a ic densi y ac o gi en by Eqs. 3 and ݒ
is he ehicle speed (Km/h).
ܨ஼ൌܨ௠כሺሺܴܲܯாכܲ௠ሻȀ͹ͲʹͶሻݒ(1)
whe e ܨ௠ is he uel consump ion measu ed using he es
ECE-15 cycle. This cycle was in oduced by he EEC Di-
ec i e 90/C81/01 in 1999,ݒ is he ehicle speed,ܲ௠ is he
maximum o que alue (Nm) and ܴܲܯா is he es ima ed
e olu ion pe minu es a ݒ ehicle speed.
ܨ௪ቐͲ݂݅ݓ݁ܽݐ݄݁ݎൌ݃݋݋݀
ͲǤͲͷ݂݅ݓ݁ܽݐ݄݁ݎൌݎ݁݃ݑ݈ܽݎ
ͲǤͳ݂݅ݓ݁ܽݐ݄݁ݎൌܾܽ݀ (2)
ܨ்ቐͲ݂݅ݓ݁ܽݐ݄݁ݎൌ݈݋ݓ
ͲǤͲͷ݂݅ݓ݁ܽݐ݄݁ݎൌ݉݋݀݁ݎܽݐ݁
ͲǤͳ݂݅ݓ݁ܽݐ݄݁ݎൌ݄݁ܽݒݕ (3)
Figu e 4 shows a schema o he ASGA algo i hm.
Ini ial
Popula ion
P1,P2,...PN
Selec ion 1
(Bes Fi ness)
P2,P12, P20, P35
Selec ion 2
(Bes T a el
Time)
P2,P12, P20, P35
C ossO e
h1 = (P2+x35)/2
h2=(P12+P20)/2
Mu a ion
h1 = (60+56/2)
h2=h2
Figu e 4. ASGA Algo i hm
6 Use In e ace
Dis ac ions o manipula e de ices such as GPS o mobile
a e he cause o a la ge numbe o acciden s (Map e, 2006).
The use in e ace module is in ended ha he eco-d i ing
ad ices a e as leas in usi e as possible.
Use in e ace module is esponsible o showing eco-
d i ing ad ices wi h clea ypog aphic, and also, i con e s
ex o oice. D i e does no ha e o look a he sc een.
We use he ROBOTO on o show he Eco-d i ing ad-
ices. This ypog aphy was in oduced on And oid 4.0 o
imp o e isibili y on de ices wi h small sc een. To con e
he ad ices o oice, we use he TTS lib a y ha suppo s
And oid since e sion 2.1.
7 Conclusions
In his pape , we ha e p esen ed he a chi ec u e o an eco-
d i ing assis an de eloped inside he ARTEMISA p ojec .
The p oposed eco-d i ing assis an e alua es eco-d i ing
ules whose e ec i eness has been widely es ed. On he
o he hand, he eco-d i ing assis an is di ec ly in luencing
he d i e h ough he speed pa ame e .
In addi ion, he use o he assis an inc eases sa e y be-
cause he p oposed speed o he ehicle is sui ed and
adap ed o he cu en condi ions o he oad. A la ge p o-
po ion o acciden s o a ic a e due o an inadequa e speed
The p oposed assis an uns on an And oid mobile de ice.
Today's mobile de ices a e sui able o modeling he en i-
onmen due o o hei mul iple ne wo k connec ions (Blue-
oo h, Wi-Fi, UTMS) and senso s (GPS, Ligh Senso , Ac-
cele a ions senso ). In addi ion, he cos o implemen ing he
solu ion is low. We can ind And oid mobile de ices o
less han $ 100. Fu he mo e, he p oposed a chi ec u e
could be easily mo ed o ano he pla o m.
As u u e wo k, we wan o imp o e he eco d i ing assis-
an ca ying ou an exchange o in o ma ion be ween he
ehicles on he oad. In his way, we can issue new eco-
d i ing ad ices based on he an icipa ion. Fo example, i a
ehicle is ci cula ing a an unusual speed and i issues his
in o ma ion o ehicles ha ollow, hese can shape slow-
downs mo e smoo hly.
Acknowledgmen s
The esea ch leading o hese esul s has ecei ed unding
om he ARTEMISA p ojec TIN2009-14378-C02-02 wi h-
in he Spanish "Plan Nacional de I+D+I", om he Eu ope-
an Union's Se en h F amewo k P og amme managed by
REA-Resea ch Execu i e Agency (FP7/2007-2013) unde
g an ag eemen n° 286533 and om he Spanish unded
HAUS IPT-2011-1049-430000 p ojec .
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