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ISO22839-2013 AEB FVCMS 功能要求和测试规范.pdf

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    1 Scope
    2 Normative references
    3 Terms and definitions
    4 Symbols (and abbreviated terms)
    5 Classifications
    5.1 System classification by curve radius capability
    5.2 Classification by countermeasure types included
    5.2.1 Collision Warning (CW) countermeasure
    5.2.2 Speed Reduction Braking (SRB) countermeasure
    5.2.3 Mitigation Braking (MB) Countermeasure
    5.2.4 Combining countermeasures
    6 Requirements
    6.1 Minimum enabling capabilities
    6.1.1 Light vehicle necessary functions
    6.1.2 Heavy vehicle necessary functions
    6.2 Operating model€— State Transition Diagram
    6.2.1 State functional descriptions
    6.2.1.1 FVCMS Off
    6.2.1.2 FVCMS Inactive
    6.2.1.3 FVCMS Active
    6.3 Performance requirements
    6.3.1 Target vehicle types
    6.3.2 Collision types
    6.3.3 Operating speed
    6.3.3.1 Subject vehicle
    6.3.3.1.1 Minimum subject vehicle speed (Vmin)
    6.3.3.1.2 Maximum subject vehicle speed (Vmax)
    6.3.3.2 Target vehicle
    6.3.3.2.1 Minimum target vehicle speed
    6.3.3.2.2 Maximum target vehicle speed
    6.3.3.2.3 Maximum lateral offset (lateral discrimination)
    6.3.3.2.4 Maximum lateral speed
    6.3.3.3 Relative velocity
    6.3.4 Target vehicle detection area
    6.3.4.1 Minimum detection area
    6.3.4.2 Detection range
    6.3.4.3 Detection width and detection height
    6.3.5 Target discrimination
    6.3.5.1 Longitudinal discrimination
    6.3.5.2 Lateral discrimination
    6.3.5.3 Overhead discrimination
    6.3.6 Countermeasure requirements
    6.3.6.1 Provision of MB or SRB
    6.3.6.2 Provision of CW
    6.3.6.3 Brake light control
    6.3.6.4 Mitigation braking requirements
    6.3.6.4.1 Initiation of mitigation braking
    6.3.6.4.1.1 Light vehicles
    6.3.6.4.1.2 Heavy vehicles
    6.3.6.4.2 Minimum deceleration in mitigation braking
    6.3.6.4.2.1 Light vehicles
    6.3.6.4.2.2 Heavy vehicles
    6.3.6.4.3 Driver-commanded enhancement of mitigation braking
    6.3.6.4.4 Termination of mitigation braking
    6.3.6.4.5 Driver initiated override of mitigation braking
    6.3.6.4.6 Braking with reduced traction
    6.3.6.5 Speed reduction braking
    6.3.6.5.1 Initiation of SRB
    6.3.6.5.2 Maximum deceleration in SRB
    6.3.6.5.3 Minimum effectiveness of SRB
    6.3.6.5.4 SRB with reduced traction
    6.3.6.5.5 Driver initiated override of speed reduction braking
    6.3.6.6 Collision warning
    6.3.7 Driver controls and human interface
    6.3.7.1 Light vehicles
    6.3.7.1.1 System limitation information
    6.3.7.1.2 Driver disengagement of FVCMS
    6.3.7.1.3 FVCMS fault indication
    6.3.7.2 Heavy vehicles
    6.3.7.2.1 Target vehicle detection information
    6.3.7.2.2 FVCMS limitation information
    6.3.7.2.3 Driver disengagement of FVCMS
    6.3.7.2.4 System fault indication
    7 Validation methods
    7.1 Test target specification
    7.1.1 Detectability specifications
    7.1.1.1 Optical radar (i.e. lidar or ladar)
    7.1.1.1.1 Vehicle target
    7.1.1.1.2 Motorcycle target
    7.1.1.1.3 Overhead target
    7.1.1.2 Radio wave radar
    7.1.1.2.1 Vehicle target
    7.1.1.2.2 Motorcycle target
    7.1.1.2.3 Overhead target
    7.1.1.3 Passive optical sensor
    7.1.1.3.1 Vehicle target
    7.1.1.3.2 Motorcycle target
    7.1.1.3.3 Overhead target
    7.1.2 Test target physical constraints
    7.1.2.1 Optical radar (i.e. lidar or ladar)
    7.1.2.2 Radio wave radar
    7.1.2.3 Passive optical sensor
    7.2 Environmental conditions
    7.2.1 Driving surface
    7.2.2 Lighting conditions
    7.2.3 Ambient air temperature
    7.2.4 Horizontal visibility
    7.3 Test method for detection zone
    7.4 Test method for functional ability
    7.5 Test method for target discrimination ability
    7.5.1 Longitudinal discrimination test
    7.5.2 Straight road lateral discrimination test
    7.5.3 Straight road lateral offset discrimination test
    7.5.4 Curved road lateral target discrimination test
    7.5.5 Overhead discrimination test
    BS ISO 22839:2013 BSI Standards Publication Intelligent transport systems — Forward vehicle collision mitigation systems — Operation, performance, and verification requirements NO COPYING WITHOUT BSI PERMISSION EXCEPT AS PERMITTED BY COPYRIGHT LAW raising standards worldwide™
    BS ISO 22839:2013 BRITISH STANDARD National foreword This British Standard is the UK implementation of ISO 22839:2013. The UK participation in its preparation was entrusted to Technical Committee EPL/278, Road transport informatics. A list of organizations represented on this committee can be obtained on request to its secretary. This publication does not purport to include all the necessary provisions of a contract. Users are responsible for its correct application. © The British Standards Institution 2013. Published by BSI Standards Limited 2013 ISBN 978 0 580 71323 1 ICS 35.240.60; 43.040.99 Compliance with a British Standard cannot confer immunity from legal obligations. This British Standard was published under the authority of the Standards Policy and Strategy Committee on 30 June 2013. Amendments issued since publication Date Text affected
    INTERNATIONAL STANDARD BS ISO 22839:2013 ISO 22839 First edition 2013-06-01 Intelligent transport systems — Forward vehicle collision mitigation systems — Operation, performance, and verification requirements Systèmes intelligents de transport — Systèmes d'atténuation de collision de véhicule frontale — Exigences de fonctionnement, de performance et de vérification Reference number ISO 22839:2013(E) © ISO 2013
    BS ISO 22839:2013 ISO 22839:2013(E) COPYRIGHT PROTECTED DOCUMENT © ISO 2013 All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting on the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address below or ISO’s member body in the country of the requester. ISO copyright office Case postale 56  CH-1211 Geneva 20 Tel. + 41 22 749 01 11 Fax + 41 22 749 09 47 E-mail copyright@iso.org Web www.iso.org Published in Switzerland ii © ISO 2013 – All rights reserved
    BS ISO 22839:2013 ISO 22839:2013(E) Contents Page Foreword ............................................................................................................................................................. v  Introduction ........................................................................................................................................................ vi  Scope ...................................................................................................................................................... 1  1 2 Normative references ............................................................................................................................ 1  Terms and definitions ........................................................................................................................... 1  3 Symbols (and abbreviated terms) ........................................................................................................ 6  4 5 Classifications ....................................................................................................................................... 7  System classification by curve radius capability .............................................................................. 7  5.1 5.2 Classification by countermeasure types included ............................................................................ 7  5.2.1 Collision Warning (CW) countermeasure ........................................................................................... 7  5.2.2 Speed Reduction Braking (SRB) countermeasure ............................................................................ 7  5.2.3 Mitigation Braking (MB) Countermeasure .......................................................................................... 8  5.2.4 Combining countermeasures ............................................................................................................... 8  Requirements ......................................................................................................................................... 8  6 6.1 Minimum enabling capabilities ............................................................................................................ 8  6.1.1 Light vehicle necessary functions ....................................................................................................... 8  6.1.2 Heavy vehicle necessary functions ..................................................................................................... 9  6.2 Operating model — State Transition Diagram ................................................................................... 9  6.2.1 State functional descriptions ............................................................................................................. 10  6.3 Performance requirements ................................................................................................................. 11  6.3.1 Target vehicle types ............................................................................................................................ 11  6.3.2 Collision types ..................................................................................................................................... 11  6.3.3 Operating speed .................................................................................................................................. 11  6.3.4 Target vehicle detection area ............................................................................................................. 13  6.3.5 Target discrimination .......................................................................................................................... 14  6.3.6 Countermeasure requirements .......................................................................................................... 15  6.3.7 Driver controls and human interface ................................................................................................. 18  7 Validation methods ............................................................................................................................. 19  7.1 Test target specification ..................................................................................................................... 19  7.1.1 Detectability specifications ................................................................................................................ 19  7.1.2 Test target physical constraints ........................................................................................................ 20  7.2 Environmental conditions .................................................................................................................. 20  7.2.1 Driving surface .................................................................................................................................... 20  7.2.2 Lighting conditions ............................................................................................................................. 20  7.2.3 Ambient air temperature ..................................................................................................................... 20  7.2.4 Horizontal visibility .............................................................................................................................. 21  Test method for detection zone ......................................................................................................... 21  7.3 Test method for functional ability ...................................................................................................... 21  7.4 7.5 Test method for target discrimination ability ................................................................................... 22  7.5.1 Longitudinal discrimination test ........................................................................................................ 22  7.5.2 Straight road lateral discrimination test ........................................................................................... 23  7.5.3 Straight road lateral offset discrimination test ................................................................................ 23  7.5.4 Curved road lateral target discrimination test ................................................................................. 24  7.5.5 Overhead discrimination test ............................................................................................................. 24  Annex A (informative) ........................................................................................................................................ 26  Mitigation effectiveness and the potential for collision avoidance ............................................... 26  A.1 Minimum relative speed capability and assumed sensor capability ............................................. 26  A.2 A.3 Operating velocity range minimum upper bound ............................................................................ 28  © ISO 2013 – All rights reserved iii
    BS ISO 22839:2013 ISO 22839:2013(E) A.4 Reference data on global speed distribution of rear-end collisions ..............................................28  A.4.1 USA .......................................................................................................................................................29  A.4.2 Canada ..................................................................................................................................................29  A.4.3 Japan .....................................................................................................................................................30  A.5 Vehicle classifications ........................................................................................................................31  Derivation of ETTC...............................................................................................................................31  A.6 A.7 Relationship between ACC (ISO 15622), FSRA (ISO 22179), and FVCMS ......................................31  Bibliography ......................................................................................................................................................33  iv © ISO 2013 – All rights reserved
    BS ISO 22839:2013 ISO 22839:2013(E) Foreword ISO (the International Organization for Standardization) is a worldwide federation of national standards bodies (ISO member bodies). The work of preparing International Standards is normally carried out through ISO technical committees. Each member body interested in a subject for which a technical committee has been established has the right to be represented on that committee. International organizations, governmental and non-governmental, in liaison with ISO, also take part in the work. ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization. The procedures used to develop this document and those intended for its further maintenance are described in the ISO/IEC Directives, Part 1. In particular the different approval criteria needed for the different types of ISO documents should be noted. This document was drafted in accordance with the editorial rules of the ISO/IEC Directives, Part 2. www.iso.org/directives Attention is drawn to the possibility that some of the elements of this document may be the subject of patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of any patent rights identified during the development of the document will be in the Introduction and/or on the ISO list of patent declarations received. www.iso.org/patents Any trade name used in this document is information given for the convenience of users and does not constitute an endorsement. The committee responsible for this document is ISO/TC 204, Intelligent transport systems. © ISO 2013 – All rights reserved v
    BS ISO 22839:2013 ISO 22839:2013(E) Introduction Forward Vehicle Collision Mitigation Systems (FVCMS) reduce the severity of forward vehicle collisions that cannot be avoided, and may reduce the likelihood of collision with forward vehicles. FVCMS require information about range to forward vehicles, motion of forward vehicles, motion of the subject vehicle, driver commands and driver actions. FVCMS detect vehicles ahead, determine if detected vehicles represent a hazardous condition, and warn the driver if a hazard exists. They estimate if the driver has an adequate opportunity to respond to the hazard. If there is inadequate time available for the driver to respond, and if appropriate criteria are met, FVCMS determine that a collision is imminent. Based upon this assessment, the FVCMS will activate vehicle brakes to mitigate collision severity. Subject Vehicle Motion Determination Forward Vehicle Sensing and Motion Determination FVCMS Action Strategy Driver Warnings and Vehicle Controls Activation Figure 1 — Forward Vehicle Collision Mitigation Systems (FVCMS) Functional Elements System designers and other users of this International Standard may apply it to stand-alone FVCMS or to the integration of the FVCMS functions into other driving assistance and support systems. vi © ISO 2013 – All rights reserved
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