SAE J 3029-2015 Forward Collision Warning and Mitigation Vehicle Test Procedure - Truck and Bus.pdf

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5、orward Collision Warning and Mitigation Vehicle Test Procedure - Truck and Bus RATIONALE With the commercial availability of Forward Collision Avoidance and Mitigation (FCAM) systems for commercial vehicles greater than 4535 Kg (10,000 lb.) GVWR, a vehicle test procedure to evaluate the effectivenes

6、s of these systems is justified. This document outlines a basic test procedure to be performed under specified operating and environmental conditions. It does not define tests for all possible operating and environmental conditions. Minimum performance requirements are not addressed in this document

7、 1. SCOPE This SAE Recommended Practice (RP) establishes uniform powered vehicle level test procedure for Forward Collision Avoidance and Mitigation (FCAM) systems (also identified as Automatic Emergency Braking (AEB) systems) used in highway commercial vehicles and coaches greater than 4535 Kg (10

8、000 lb.) GVWR. This RP does not apply to trailers, dollies, etc. and does not intend to exclude any particular system or sensor technology. These FCAM systems utilize various methodologies to identify, track and communicate data to the operator and vehicle systems to warn, intervene and/or mitigate

9、 in the longitudinal control of the vehicle. 2. REFERENCES 2.1 Applicable Publications The 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 SAE Publications Available from SAE

10、International, 400 Commonwealth Drive, Warrendale, PA 15096-0001, Tel: 877-606-7323 (inside USA and Canada) or +1 724-776-4970 (outside USA), www.sae.org. SAE J1626 Braking, Stability and Control Performance Test Procedure for Air and Hydraulic Brake Equipped Trucks, Truck-Tractors, and Buses 2.1.2

11、Federal Motor Vehicle Safety Standard (FMVSS) Publications FMVSS 571.121 Standard No. 121; Air Brake Systems FMVSS 571.101 Standard No. 101; Controls and Displays 2.1.3 National Highway Traffic Safety Administration (NHTSA) Publications Forward Collision Warning System and Advanced Emergency Braking

12、 (AEB) System New Car Assessment Program (NCAP) Confirmation Test SAE INTERNATIONAL J3029 OCT2015 Page 2 of 9 2.1.4 European Commission (EC) Publications EC 661/2009 of the European Parliament and of the Council with respect to type-approval requirements for certain categories of motor vehicles with

13、 regard to advanced emergency braking systems EU 347/2012 EU Regulation for Advanced Emergency Braking Systems 3. DEFINITIONS 3.1 ADVANCED EMERGENCY BRAKING (AEB) PHASE Initiates when the FCAM system requests the activation of the service brakes. 3.2 BOBTAIL / EMPTY LOAD No load on the vehicle, fuel

14、 tanks filled plus up to 227 kg (500 pounds) including driver and instrumentation and an optional 454 kg (1,000 pounds) for a rollbar and or a brush guard. 3.3 COLLISION WARNING PHASE The initial reaction of the FCAM system in response to a potential truck striking forward collision where the driver

15、 is warned via audible, visual and/or haptic means of the situation. 3.4 CONFIGURABLE END USER SETTINGS Adjustable end user parameters that affect the timing of warnings and Advanced Emergency Braking or any other feature that influence the general performance of the AEBS. 3.5 FORWARD COLLISION AVOI

16、DANCE & MITIGATION (FCAM) A system that can automatically detect a potential truck striking forward collision, provide warnings in an adequate time enabling the driver to take appropriate corrective actions and having the capability of activating the vehicles service brakes to decelerate the unit wi

17、th the purpose of avoiding or mitigating an impact. 3.6 FCAM STATUS INDICATOR A device mounted in front of and in clear view of the driver capable of illuminating whenever there is a malfunction or manual action that affects the generation or transmission of response or control signals in the vehicl

18、es FCAM system. 3.7 FOLLOWING DISTANCE GAP Distance or time between the rear-most surface of the Target vehicle and the forward-most surface of the Subject vehicle. 3.8 GROSS VEHICLE WEIGHT RATING (GVWR) The value specified by the manufacturers as the maximum loaded weight of the vehicle 3.9 INITIAL

19、 BRAKE TEMPERATURE The average temperature of the service brakes on the hottest axle of the vehicle 0.3 Km (0.2 miles) before any brake application of the FCAM system 3.10 LANE The area of roadway that a vehicle would be expected to travel along in the absence of any obstruction without the drivers

20、desire to change the path of travel. SAE INTERNATIONAL J3029 OCT2015 Page 3 of 9 3.11 MOVING TARGET A target vehicle that achieves a constant speed, traveling in the same direction and in the center of the same lane of travel as the subject vehicle. 3.12 SOFT TARGET VEHICLE A representative vehicle

21、capable of withstanding a collision with a subject vehicle without damaging itself or the subject vehicle. Means to hold the vehicle stationary and to move the vehicle at the test condition speeds specified are to be agreed to and documented prior to the testing is conducted. 3.13 STATIONARY TARGET

22、A target vehicle at standstill facing the same direction and positioned in the center of the same test lane of travel as the subject vehicle. 3.14 DECELERATING / STOPPED TARGET A target vehicle that was traveling at a constant speed in the same direction and in the center of the same lane of travel

23、as the subject vehicle and then decelerates and comes to a complete stop in the same test lane. 3.15 SUBJECT VEHICLE Vehicle being tested 3.16 TARGET VEHICLE A high volume production vehicle (passenger car, pick-up truck or other vehicle configuration) or a soft target that is a representative of su

24、ch production vehicle. The target vehicle configuration and radar reflectivity to be documented prior to testing. 3.17 TIME TO COLLISION (TTC) The value of time obtained by dividing the distance between the Subject Vehicle and the Target Vehicle by the relative speed of the Subject Vehicle and the T

25、arget Vehicle at an instant of time. 3.18 UNBRAKED CONTROL TRAILER An un-braked flatbed semi-trailer which has a single axle with a gross axle weight rating (GAWR) of 8163 kg (18,000 lb) and a length of 655 15 cm (258 6 in) when measured from the transverse centerline between the axle to the centerl

26、ine of the kingpin. 4. INSTRUMENTATION AND EQUIPMENT 4.1 Anemometer or equivalent device to measure wind velocity. 40.2 km/hr (25 mph) range with 1.6 km/hr (1 mph) accuracy at 24.1 km/hr (15 mph), maximum non-linearity of 3.2 km/hr (2 mph) over the range and visual output resolution of 1.6 km/hr (1

27、mph) 4.2 Ambient temperature device to record ambient test temperatures, 0 C (32 F) to 38 C (100 F) range with 0.3 C (0.5 F) accuracy at 21 C (70 F), maximum non-linearity 0.6 C (1.0 F) over the range, and visual output resolution of 0.6 C (1 F) SAE INTERNATIONAL J3029 OCT2015 Page 4 of 9 4.3 Tire P

28、ressure Gauge: 1.0% of indicated value 4.4 Brake lining thermocouples, 10.0 F at 300 F, maximum non-linearity of 20 F over the range and visual output resolution of 5 F, installed per SAE J971, and display for brake lining temperature 4.5 Fifth wheel optical or other equivalent device to measure and

29、 display (or record) vehicle speed, 0.8 km/hr (0.5 mph), and stopping distance accuracy of 1% of indicated value, and visual output resolution of 0.03 meters (0.1 ft) 4.6 A device to indicate first brake control (treadle or brake pedal) movement, 1.0% of indicated value, and full brake control displ

30、acement, or brake control pressure, 1% of indicated value, versus time, capable of 0.1 seconds resolution 4.7 Wheel lockup detector or equivalent measuring device providing an electrical indication of wheel rotation (or wheel lockup) to a continuous recorder or digital data recorder. The lockup dete

31、ctor or measure system must provide an indication for wheels that lockup above 16 km/hr (10 mph), +1.6 km/hr (1 mph), -0 km/hr. Measure wheel velocity or identify wheel lockup of 1 second duration or more 4.8 Decelerometer or equivalent device to measure vehicle deceleration rate, 1G range with 0.15

32、mpsps (0.5 fpsps) accuracy at 9.8 mpsps (32.2 fpsps), maximum non-linearity of 0.15 mpsps (0.5 fpsps) over the range, and visual output resolution of 0.15 mpsps (0.5 fpsps) 4.9 Pressure, 1.0% of the indicated value, for measuring brake control pressure and system pressure 4.10 TTC, distance to targe

33、t, timing of warnings, timing for AEB, clutch position and throttle position to be measured 5. VEHICLE INFORMATION 5.1 Record relevant vehicle information including Vehicle Identification Number (VIN), make, model, type (ie: tractor, 6X4), engine, transmission, brakes, tires, suspension, wheelbase,

34、test loads and tire pressures 5.2 Type of Crash Imminent Sensor radar, vision, etc. 5.3 To achieve the GVWR condition when using an unbraked control trailer, loading should be per FMVSS 121. 6. TEST CONDITIONS 6.1 All tests to be conducted on a flat ( 1%) surface with a peak friction coefficient (PF

35、C) of 0.9 (dry Portland cement concrete or equivalent surface) measured per FMVSS 121. Record surface coefficient. 6.2 Ambient temperature to be between 0 C and 37.8 C (32 F and 100 F). Record ambient temperature. 6.3 Wind velocity shall not exceed 24 km/h (15 mph). Maneuvers must not be made with a

36、 tail wind component in the direction of travel of the subject vehicle in excess of 5 mph. Record wind velocity. 6.4 Horizontal visibility range to allow target vehicle to be observed throughout test maneuver. 6.5 All tests to be conducted within 3.7 m (12 ft) lanes. Subject and target vehicles to b

37、e centered in the lane. Alignment of the centerlines of the subject and target vehicles to be within 0.46 m (1.5 ft). Driver must keep subject vehicle within lane during test maneuvers. 6.6 Record type of target used. SAE INTERNATIONAL J3029 OCT2015 Page 5 of 97. SUBJECT VEHICLE CONDITIONS 7.1 Durin

38、g GVWR tests, truck tractors to be tested with an unbraked control trailer (49 C.F.R. 571.121, S5.3.1.1(a) and 6.1.10). 7.2 Install a 820 cm3(50 in3)reservoir in the truck tractors control gladhand. 7.3 Recommend vehicle linings to be fully burnished per FMVSS 121 prior to testing. 7.4 Ensure all se

39、rvice brakes are properly adjusted and reservoirs completely charged (compressor cut-out) prior to maneuvers. 7.5 Ensure tire inflation pressure adjusted to manufacturers specification. 7.6 Initial brake lining/pad temperatures to be between 65.6 C 100 C (150 F 212 F) prior to start of each maneuver

40、 When necessary, warm brakes to required temperature by making a series of 64 to 32 km/h (40 to 20 mph) snubs at 3.05 m/ s2(10 ft/s2). 7.7 Test to be conducted with all differential locks disengaged and transmission in gear. Clutch pedal can be depressed when necessary to prevent engine stall. 7.8

41、A vehicle with a liftable axle is tested at GVWR with the liftable axle down and at bobtail / empty with the liftable axle up. 7.9 For any system with end user configurable settings, the test conductor must identify the specific settings being evaluated. 8. TEST PREPARATION PRIOR TO CONDUCTING TEST

42、MANEUVERS 8.1 Stability Control System - if applicable, prior to conducting maneuvers, initialize the truck tractors stability control system per the manufacturers instructions. 8.2 Crash Imminent Sensor if applicable, prior to conducting maneuvers, initialize crash imminent sensor per the manufactu

43、rers instructions. 8.3 Prepare tires for testing by turning two circles to the left and two circles to the right at a speed that results in approximately 0.1g of lateral acceleration (e.g., a 45.7 m (150 ft) radius at 32 km/h (20 mph) if vehicle is stationary longer than 15 minutes. 9. STATIONARY TA

44、RGET TEST 9.1 Subject vehicle to approach the stationary target vehicle in a straight line for at least 2 seconds prior to the functional part of the test. 9.2 The functional part of the test shall start when the subject vehicle is traveling at the test speed in Appendix A and at a following distanc

45、e gap of at least 91 m (300 ft) from the target. SAE INTERNATIONAL J3029 OCT2015 Page 6 of 99.3 From the start of the functional part of the test, the driver must maintain initial test speed in the highest appropriate gear and adjust steering to compensate for any vehicle drifting while staying cent

46、ered in the lane heading directly for the stationary target. Deviation of the subject vehicle from the lane invalidates the test run. Cruise Control can NOT be used to maintain test speed. 9.4 For systems without stationary object braking capability, driver can brake and/or initiate an evasive maneu

47、ver after the last forward collision warning issued by the FCAM system to prevent high speed collision with target. Test concludes after last forward collision warning is issued. 9.4.1 Record types of warnings, distance to target and TTC for each warning issued. 9.5 For systems with stationary objec

48、t braking capability, when the FCAM system activates and a vehicle deceleration of approximately 0.1g is exceeded, driver to drop throttle and remain off clutch until maneuver is over and /or engine is about to stall. Test concludes upon impact with target or subject vehicle come to a complete stop.

49、 Driver to immediately brake if target is contacted. 9.5.1 Record types of warnings, subject vehicle speed and distance to target at initiation of warnings, and time between initiation of warning and initiation of AEB. 9.5.2 Record speed reduction that occurs during the warning phase prior to initiation of AEB. 9.5.3 Record subject vehicle speed, distance to targ