SAE J 2399-2014 Adaptive Cruise Control (ACC) Operating Characteristics and User Interface.pdf

1、SURFACE VEHICLERECOMMENDED PRACTICEJ2399 SEP2014Issued 2003-12Revised 2014-09Superseding J2399 DEC2003Adaptive Cruise Control (ACC)Operating Characteristics and User InterfaceRATIONALEThis Surface Vehicle Recommended Practice contains the basic minimum recommended practices for the control strategy,

2、 functionality, driver interface elements, system diagnostics, and vehicle response to recognized failure for Adaptive Cruise Control (ACC) systems, with a focus on the ACC system operating characteristics and elements of the user interface. ACC is intended to provide longitudinal control of equippe

3、d vehicles under free-flowing traffic conditions. Both (i) ISO 15622 Transport information and control systems Adaptive Cruise Control systems Performance requirements and test procedures 2009-08-28 and (ii) ISO 22179 Intelligent Transport Systems Full Speed Range Adaptive Cruise Control Systems Per

4、formance requirements and test procedures 2007-06-14 documents were reviewed. Updates in this version of J2399 represent a consensus, based on (i) the latest publications and references pertaining to ACC, (ii) a service brake definition, (iii) clearer explanations and/or definitions of ACC operation

5、al characteristics, and (iv) possible ACC test procedures.TABLE OF CONTENTS1. Scope . 22. References. 22.1 Applicable Documents . 22.2 Related Publications 23. Definitions. 44. Requirements. 64.1 Sensor Capability . 64.2 Operational Characteristics 64.3 Operating State Transitions . 84.4 Displays 94

6、.5 Performance Evaluation Test Methods 95. Notes 105.1 Marginal Indicia 10_SAE Technical Standards Board Rules provide that: “This report is published by SAE to advance the state of technical and engineering sciences. The use of this report is entirely voluntary, and its applicability and suitabilit

7、y for any particular use, including any patent infringement arising therefrom, is the sole responsibility of the user.”SAE reviews each technical report at least every five years at which time it may be revised, reaffirmed, stabilized, or cancelled. SAE invites your written comments andsuggestions.C

8、opyright 2014 SAE InternationalAll rights reserved. No part of this publication may be reproduced, stored in a retrieval system or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise, without the prior written permission of SAE.TO PLACE A DOCUMENT

9、ORDER: Tel: 877-606-7323 (inside USA and Canada)Tel: +1 724-776-4970 (outside USA)Fax: 724-776-0790Email: CustomerServicesae.orgSAE WEB ADDRESS: http:/www.sae.orgSAE values your input. To provide feedbackon this Technical Report, please visithttp:/www.sae.org/technical/standards/J2399_201409SAE INTE

10、RNATIONAL J2399 Revised SEP2014 Page 2 of 13APPENDIX A ACC SYSTEM CHARACTERIZATION PROCEDURE. 11 APPENDIX B STANDARD SYMBOLS REGARDING ACC FUNCTIONS 13 FIGURE 1 CLEARANCE 4 FIGURE 2 TIME GAP . 6 FIGURE A1 TIME GAP (W) VERSUS TIME, CLOSING FROM LONG RANGE . 12 FIGURE B1 STANDARD SYMBOLS REGARDING ACC

11、 FUNCTIONS 13 1. SCOPEAdaptive cruise control (ACC) is an enhancement of conventional cruise control systems that allows the ACC-equipped vehicle to follow a forward vehicle at a pre-selected time gap, up to a driver selected speed, by controlling the engine, power train, and/or service brakes. This

12、 SAE Standard focuses on specifying the minimum requirements for ACC system operating characteristics and elements of the user interface. This document applies to original equipment and aftermarket ACC systems for passenger vehicles (including motorcycles). This document does not apply to heavy vehi

13、cles (GVWR 10,000 lbs. or 4,536 kg). Furthermore, this document does not address other variations on ACC, such as “stop & go” ACC, that can bring the equipped vehicle to a stop and reaccelerate. Future revisions of this document should consider enhanced versions of ACC, as well as the integration of

14、 ACC with Forward Vehicle Collision Warning Systems (FVCWS).2. REFERENCES2.1 Applicable DocumentsThe following publications form a part of this specification to the extent specified herein. Unless otherwise indicated, the latest issue of SAE publications shall apply.2.1.1 ISO PublicationsAvailable f

15、rom American National Standards Institute, 25 West 43rd Street, New York, NY 10036-8002, Tel: 212-642-4900, www.ansi.org.ISO 15622:2010 Intelligent transport systems - Adaptive Cruise Control Systems - Performance Requirements and Test ProceduresISO 22179:2009 Intelligent Transport Systems - Full Sp

16、eed Range Adaptive Cruise Control Systems -Performance Requirements and Test ProceduresISO 2575:2010/Amd 1 Road vehicles - Symbols for controls, indicators and tell-tales2.2 Related PublicationsThe following publications are provided for information purposes only and are not a required part of this

17、SAE Technical Report.Bareket, Z., Fancher, P., Peng, H., Lee, K., and Assaf, C. (2003). Methodology for Assessing Adaptive Cruise Control Behavior. IEEE Transactions on Intelligent Transportation Systems, 4(3). pp. 123-131.Bato, J. and Boyle, L. (2011). Adaptive Cruise Control: User Differences in U

18、rban and Rural Environments. Proceedings of the Human Factors and Ergonomics Society 55thAnnual Meeting. Santa Monica, CA: Human Factors and Ergonomics Society. pp. 1943-1947. September 19-23.Dickie, D. and Boyle, L. (2009). Drivers Understanding of Adaptive Cruise Control Limitations. Proceedings o

19、f the Human Factors and Ergonomics Society 53rd Annual Meeting. Santa Monica, CA: Human Factors and Ergonomics Society. pp. 1806-1810. October 19-23.Ervin, R., Sayer, J., LeBlanc, D., Bogard, S., Mefford, M., Hagan, M., Bareket, Z., Winkler, C. (2005). Automotive Collision Avoidance System Field Ope

20、rational Test Methodology and Results (UMTRI-2005-7-1). Ann Arbor, MI: The University of Michigan Transportation Research Institute.SAE INTERNATIONAL J2399 Revised SEP2014 Page 3 of 13Ervin, R., Sayer, J., LeBlanc, D., Bogard, S., Mefford, M., Hagan, M., Bareket, Z., Winkler, C. (2005). Automotive C

21、ollision Avoidance System Field Operational Test Methodology and Results Volume 2: Appendices (UMTRI-2005-7-2). Ann Arbor, MI: The University of Michigan Transportation Research Institute.Fancher, P. s., Ervin, R. D., Sayer, J. R., Hagan, M., Bogard, S., Bareket, Z., Mefford, M. L., Haugen, J. (1998

22、). Intelligent Cruise Control Field Operational Test (Final Report) (UMTRI-98-17 & DOT HS 808 849). Ann Arbor, MI: The University of Michigan Transportation Research Institute.Hoedemaeker, M. and Brookhuis, K. (1998). Behavioural Adaptation to Driving with an Adaptive Cruise Control (ACC). Transport

23、ation Research Part F, 1. pp 95-106.Koziol, J., Inman, V., Carter, M., Hitz, J., Najm, W., Chen, S., Lam, A., Penic, M., Jensen, M., Baker, M., Robinson, M., Goodspeed, C. (1999). Evaluation of the Intelligent Cruise Control System Volume 1 Study Results (DOT-VNTSC-NHTSA-98-3 & DOT HS 808 969). Camb

24、ridge, MA: John A. Volpe National Transportation Systems Center, U.S. Department of Transportation.Koziol, J., Inman, V., Carter, M., Hitz, J., Najm, W., Chen, S., Lam, A., Penic, M., Jensen, M., Baker, M., Robinson, M., Goodspeed, C. (1999). Evaluation of the Intelligent Cruise Control System Volum

25、e II Appendices (DOT-VNTSC-NHTSA-98-3 & DOT HS 808 969). Cambridge, MA: John A. Volpe National Transportation Systems Center, U.S. Department of Transportation.Lee, K. and Peng, H. (2004). Identification and Verification of a Longitudinal Human Driving Model for Collision Warning and Avoidance Syste

26、ms. International Journal of Vehicle Autonomous Systems, 2(1-2). pp. 3-17.Lin, T.W., Hwang, S.L., and Green, P. (2009). Effects of Time-Gap Settings of Adaptive Cruise Control (ACC) on Driving Performance and Subjective Acceptance in a Bus Driving Simulator. Safety Science, 47(5). pp. 620-625.Moon,

27、S., and Yi, K. (2008). Human Driving Data-Based Design of a Vehicle Adaptive Cruise Control Algorithm. Vehicle System Dynamics, 46(8). pp. 661-690.Najm, W., Stearns, M., Howarth, H., Koopmann, J., and Hitz, J. (2006). Evaluation of an Automotive Rear-End Collision Avoidance System (DOT-VNTSC-NHTSA-0

28、6-01 & DOT HS 810 569). Cambridge, MA: John A. Volpe National Transportation Systems Center, U.S. Department of Transportation.Nowakowski, C., OConnell, J., Shladover, S., Cody, D. (2010). Cooperative Adaptive Cruise Control: Driver Acceptance of Following Gap Settings Less Than One Second. Proceedi

29、ngs of the Human Factors and Ergonomics Society 54th Annual Meeting. Santa Monica, CA: Human Factors and Ergonomics Society. pp. 2033-2037. September 27 October 1.Nowakowski, C., Shladover, S., Cody, D., Bu, F., OConnell, J., Spring, J., Dickey, S., and Nelson, D. (2011). Cooperative Adaptive Cruise

30、 Control: Testing Drivers Choices of Following Distances (Technical Report UCB-ITS-PRR-2011-01). Berkeley, CA: California PATH, University of California, Berkeley.Pauwelussen, J. and Feenstra, P. (2010). Driver Behavior Analysis During ACC Activation and Deactivation in a Real Traffic Environment. I

31、EEE Transactions on Intelligent Transportation Systems, 11(2). pp. 329-338.Rudin-Brown, C. and Parker, H. (2004). Behavioural Adaptation to Adaptive Cruise Control (ACC): Implications for Preventive Strategies. Transportation Research F, 7. pp 59-76.Seppelt, B. and Lee, J. (2007). Making Adaptive Cr

32、uise Control (ACC) Limits Visible. International Journal of Human Computer Studies, 65. pp. 192-205.Strand, N., Nilsson, J., karlsson, I.C.M., and Nilsson, L. (2010). Exploring End-User Experiences: Self-Perceived Notions of Use of Adaptive Cruise Control Systems. IET Intelligent Transport Systems,

33、5(2). pp. 134-140.SAE INTERNATIONAL J2399 Revised SEP2014 Page 4 of 13Vollrath, M., Schleicher, S., and Gelau, C. (2011). The Influence of Cruise Control and Adaptive Cruise Control on Driving Behaviour A Driving Simulator Study. Accident Analysis & Prevention, 43(3). pp. 1134-1139.Zhen, P. and McDo

34、nald, M. (2005). Manual vs. Adaptive Cruise Control Can Drivers Expectation be Matched? Transportation Research Part C, 13. pp 421-431.3. DEFINITIONSFor the purpose of this document, the following definitions apply. 3.1 ADAPTIVE CRUISE CONTROL (ACC)Enhancement to conventional cruise control systems

35、(see conventional cruise control) that allows the subject vehicle to follow a forward vehicle at a pre-selected time gap by controlling the propulsion system and/or the service brake, up to a maximum speed set by the driver.3.2 CLEARANCE (c)Distance from the forward vehicles trailing surface to the

36、subject vehicles leading surface. See Figure 1.FIGURE 1 - CLEARANCENOTE: Clearance is also sometimes referred to as following distance or following gap or distance gap.3.3 CONVENTIONAL CRUISE CONTROL (CCC)System capable of controlling the speed of a vehicle, as selected by the driver without conside

37、ration of in-path (see Figure 1) forward vehicles.3.4 FORWARD VEHICLEVehicle immediately in front of, moving in the same direction, and traveling on the same roadway path (see Figure 1) as the subject vehicle.3.5 FREE-FLOWING TRAFFICSmooth flowing, light-to-heavy traffic, excluding stop and go and e

38、mergency braking situations.3.6 MAXIMUM SELECTABLE TIME GAP (Wmax)Largest available value of time gap, W, that can be selected by the driver, in systems that permit driver selection of time gap.SAE INTERNATIONAL J2399 Revised SEP2014 Page 5 of 133.7 MAXIMUM SET AND OPERATING SPEED (vmax)Maximum spee

39、d at which a driver can set (engage) and operate a cruise control system (adaptive or conventional).3.8 MINIMUM OPERATING SPEED FOR AUTOMATIC POSITIVE ACCELERATION (vlow)Minimum speed below which ACC will not engage, resume, or positively accelerate. 3.9 MINIMUM SET SPEED (vset_min)Lowest speed at w

40、hich a cruise control system (adaptive or conventional) can be engaged by the driver.3.10 MINIMUM STEADY-STATE FOLLOWING TIME GAP (Wmin)Minimum value of time gap, W, that can be set either by the driver or the ACC system.3.11 MAXIMUM SENSOR RANGE (dmax)Maximum distance the ACC system sensor can reli

41、ably measure to a forward vehicle. 3.12 SERVICE BRAKEThe primary vehicle component that develops forces intended to slow the vehicle motion.NOTE 1: From Federal Motor Vehicle Safety Standards 49 CFR Part 571.3 Definitions: Service brake means the primary mechanism designed to stop a motor vehicle.NO

42、TE 2: From SAE J1100 (6) Revised 2009-11: The term brake or brake pedal refers to the service brake in all instances.NOTE 3: From SAE J656 (3.92) Issued 1988-04: Service Brake System The brake system generally used for retarding or stopping a vehicle.3.13 SET SPEEDDesired travel speed, determined by

43、 the driver, for an ACC or conventional cruise control system. 3.14 STEADY STATECondition whereby the value of the described parameter does not change with respect to time, distance, etc. NOTE: A vehicle traveling at constant speed can be described as traveling at steady-state speed.3.15 SUBJECT VEH

44、ICLEVehicle equipped with the ACC system in question. 3.16 SYSTEM STATEParticular operating mode of an ACC system. 3.17 TIME GAP (W)Time interval for traveling a distance equal to the clearance c to the forward vehicle, given the current vehicle speed. See Figure 2.SAE INTERNATIONAL J2399 Revised SE

45、P2014 Page 6 of 13FIGURE 2 - TIME GAPNOTE 1: Time gap is related to vehicle speed v and clearance by: W = c/v.NOTE 2: Time gap is also sometimes referred to as following time gap.4. REQUIREMENTS4.1 Sensor Capability4.1.1 Response to Motorized VehiclesACC systems should be capable of responding to al

46、l licensable motorized road vehicles, including motorcycles, intended for use on public roads.4.1.2 Response to Stationary VehiclesDrivers shall be informed, at a minimum in the vehicle operators instructions, if the ACC system does not respond to stationary vehicles.4.2 Operational Characteristics4

47、.2.1 Selection of Set and Operating Speed4.2.1.1 Driver Selection of Set SpeedACC systems shall provide a means for the driver to select a desired set speed.4.2.1.2 Minimum Set SpeedIf vehicles are equipped with both conventional cruise control and ACC, the two systems should have the same minimum s

48、et speed (vset_min). The minimum set speed (vset_min) should not be less than 7.0 m/s (15 mph), 10%.4.2.1.3 Minimum Operating Speed for Automatic Positive AccelerationThe minimum operating speed (vlow), from which automatic positive acceleration can be achieved, shall not be less than 5.0m/s (11 mph

49、), 10%.4.2.1.4 ACC Operation Below Minimum Operating SpeedThe ACC system may continue to decelerate below the minimum operating speed for automatic positive acceleration. If an ACC system disengages to stand-by (see Section 4.3.3) after the minimum operating speed is reached, the driver shall be informed. There shall not be an instantaneous release of the deceleration force when standby mode is in