BS ISO 7401-2011 en_4402 Road vehicles Lateral transient response test methods Open-loop test methods《道路车辆.横向瞬态响应的试验方法.开路试验法》.pdf

1、raising standards worldwide NO COPYING WITHOUT BSI PERMISSION EXCEPT AS PERMITTED BY COPYRIGHT LAW BSI Standards Publication BS ISO 7401:2011 Road vehicles Lateral transient response test methods Open-loop test methodsBS ISO 7401:2011 BRITISH STANDARD National foreword This British Standard is the U

2、K implementation of ISO 7401:2011. It supersedes BS ISO 7401:2003 which is withdrawn. The UK participation in its preparation was entrusted to Technical Committee AUE/15, Safety related to vehicles. A list of organizations represented on this committee can be obtained on request to its secretary. Th

3、is publication does not purport to include all the necessary provisions of a contract. Users are responsible for its correct application. BSI 2011 ISBN 978 0 580 67591 1 ICS 43.020; 43.100 Compliance with a British Standard cannot confer immunity from legal obligations. This British Standard was pub

4、lished under the authority of the Standards Policy and Strategy Committee on 30 June 2011. Amendments issued since publication Date Text affectedBS ISO 7401:2011Reference number ISO 7401:2011(E) ISO 2011INTERNATIONAL STANDARD ISO 7401 Third edition 2011-04-15 Road vehicles Lateral transient response

5、 test methods Open-loop test methods Vhicules routiers Mthodes dessai de rponse transitoire latrale Mthodes dessai en boucle ouverte BS ISO 7401:2011 ISO 7401:2011(E) COPYRIGHT PROTECTED DOCUMENT ISO 2011 All rights reserved. Unless otherwise specified, no part of this publication may be reproduced

6、or utilized in any form or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from either ISO at the address below or ISOs member body in the country of the requester. ISO copyright office Case postale 56 CH-1211 Geneva 20 Tel. + 41 22 749 01

7、11 Fax + 41 22 749 09 47 E-mail copyrightiso.org Web www.iso.org Published in Switzerland ii ISO 2011 All rights reservedBS ISO 7401:2011 ISO 7401:2011(E) ISO 2011 All rights reserved iiiContents Page Foreword iv Introduction.v 1 Scope1 2 Normative references1 3 Terms and definitions .1 4 General co

8、nditions1 5 Principle .2 6 Reference system3 7 Variables.3 8 Measuring equipment .4 9 Test conditions4 10 Step input .5 11 Sinusoidal input one period (see ISO/TR 8725) .7 12 Random input (see ISO/TR 8726) .9 13 Pulse input .11 14 Continuous sinusoidal input12 Annex A (normative) Test report General

9、 data .14 Annex B (normative) Test report Presentation of results 16 Bibliography22 BS ISO 7401:2011 ISO 7401:2011(E) iv ISO 2011 All rights reservedForeword ISO (the International Organization for Standardization) is a worldwide federation of national standards bodies (ISO member bodies). The work

10、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-government

11、al, 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. International Standards are drafted in accordance with the rules given in the ISO/IEC Directives, Part 2. The mai

12、n task of technical committees is to prepare International Standards. Draft International Standards adopted by the technical committees are circulated to the member bodies for voting. Publication as an International Standard requires approval by at least 75 % of the member bodies casting a vote. Att

13、ention 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. ISO 7401 was prepared by Technical Committee ISO/TC 22, Road vehicles, Subcommittee SC 9, Vehicle dynami

14、cs and road-holding ability. This third edition cancels and replaces the second edition (ISO 7401:2003), which has been technically revised. BS ISO 7401:2011 ISO 7401:2011(E) ISO 2011 All rights reserved vIntroduction The main purpose of this International Standard is to provide repeatable and discr

15、iminatory test results. The dynamic behaviour of a road vehicle is a very important aspect of active vehicle safety. Any given vehicle, together with its driver and the prevailing environment, constitutes a closed-loop system that is unique. The task of evaluating the dynamic behaviour is therefore

16、very difficult since the significant interaction of these driver-vehicle-environment elements is each complex in itself. A complete and accurate description of the behaviour of the road vehicle must necessarily involve information obtained from a number of different tests. Since this test method qua

17、ntifies only one small part of the complete vehicle handling characteristics, the results of these tests can only be considered significant for a correspondingly small part of the overall dynamic behaviour. Moreover, insufficient knowledge is available concerning the relationship between overall veh

18、icle dynamic properties and accident avoidance. A substantial amount of work is necessary to acquire sufficient and reliable data on the correlation between accident avoidance and vehicle dynamic properties in general and the results of these tests in particular. Consequently, any application of thi

19、s test method for regulation purposes will require proven correlation between test results and accident statistics. BS ISO 7401:2011BS ISO 7401:2011 INTERNATIONAL STANDARD ISO 7401:2011(E) ISO 2011 All rights reserved 1Road vehicles Lateral transient response test methods Open-loop test methods 1 Sc

20、ope This International Standard specifies open-loop test methods for determining the transient response behaviour of road vehicles. It is applicable to passenger cars, as defined in ISO 3833, and to light trucks. NOTE The open-loop manoeuvres specified in this International Standard are not represen

21、tative of normal driving conditions, but are nevertheless useful for obtaining measures of vehicle transient behaviour in response to several specific types of steering input under closely controlled test conditions. For measurements of steady-state properties, see ISO 4138. 2 Normative references T

22、he following referenced documents are indispensable for the application of this document. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies. ISO 1176:1990, Road vehicles Masses Vocabulary and

23、 codes ISO 2416:1992, Passenger cars Mass distribution ISO/TR 8725:1988, Road vehicles Transient open-loop response test method with one period of sinusoidal input ISO/TR 8726:1988, Road vehicles Transient open-loop response test method with pseudo-random steering input ISO 8855 1), Road vehicles Ve

24、hicle dynamics and road-holding ability Vocabulary ISO 15037-1:2006, Road vehicles Vehicle dynamics test methods Part 1: General conditions for passenger cars 3 Terms and definitions For the purposes of this document, the terms and definitions given in ISO 8855 apply. 4 General conditions The genera

25、l conditions specified in ISO 15037-1 shall apply. 1) To be published. BS ISO 7401:2011 ISO 7401:2011(E) 2 ISO 2011 All rights reserved5 Principle 5.1 General IMPORTANT The method of data analysis in the frequency domain assumes that the vehicle has a linear response; this is unlikely to be the case

26、 over the whole range of lateral accelerations of interest. The standard method of dealing with such a situation is to restrict the input to a sufficiently small range such that linear behaviour can be assumed. If necessary, testing can be performed with several ranges of inputs that, together, cove

27、r the entire range of interest. The primary object of these tests is to determine the transient response behaviour of a vehicle. Characteristic values and functions in the time and frequency domains are considered necessary for characterizing vehicle transient response. Important characteristics in

28、the time domain are: a) time lags between steering-wheel angle, lateral acceleration and yaw velocity; b) response times of lateral acceleration and yaw velocity (see 10.2.1 and 10.2.2); c) lateral acceleration gain (lateral acceleration divided by steering-wheel angle); d) yaw velocity gain (yaw ve

29、locity divided by steering-wheel angle); and e) overshoot values (see 10.2.3). These characteristics show correlation with subjective evaluation during road driving. Important characteristics in the frequency domain are the frequency responses, i.e. amplitudes and phases of: lateral acceleration rel

30、ated to steering-wheel angle; and yaw velocity related to steering-wheel angle. 5.2 Test methods There are several test methods for obtaining these characteristics in the domains of time and frequency, the applicability of which depends in part on the size of the test track available. a) Time domain

31、: 1) step input; and 2) sinusoidal input (one period). b) Frequency domain: 1) random input; 2) pulse input; and 3) continuous sinusoidal input. These test methods are optional, but at least one of each domain type should be performed. The methods chosen shall be indicated in the general data specif

32、ied in Annex A and in the presentation of test results specified in Annex B. BS ISO 7401:2011 ISO 7401:2011(E) ISO 2011 All rights reserved 3It is possible that the characteristic values of lateral acceleration gain and yaw velocity gain, obtained by the different test methods, may not be comparable

33、, owing to one or more of the following circumstances: linear versus non-linear vehicle behaviour; periodic versus non-periodic steady-state condition; steady state versus dynamic vehicle behaviour. 6 Reference system The reference system specified in ISO 15037-1 shall apply. The location of the ori

34、gin of the vehicle axis system (X V , Y V , Z V ) is the reference point and therefore should be independent of the loading condition. It is fixed in the longitudinal plane of symmetry at half-wheelbase and at the same height above the ground as the centre of gravity of the vehicle at complete vehic

35、le kerb mass (see ISO 1176). 7 Variables The following variables shall be determined: a) steering-wheel angle, H ; b) lateral acceleration, a Y ; c) yaw velocity, ; d) longitudinal velocity, v X . The following variables may be determined: roll angle, ; sideslip angle, ; lateral velocity, v Y ; stee

36、ring-wheel torque, M H . These variables, defined in ISO 8855, are not intended to comprise a complete list. BS ISO 7401:2011 ISO 7401:2011(E) 4 ISO 2011 All rights reserved8 Measuring equipment 8.1 Description Subclause 4.1 of ISO 15037-1:2006 shall apply as well as the following additions shown in

37、 Table 1. Table 1 Variables, typical operating ranges and recommended maximum errors Variable Range Recommended maximum error of the combined transducer/ recorder system Steering-wheel angle 180 to +180 a1 Yaw velocity 50 /s to +50 /s 0,5 /s Lateral velocity 10 m/s to +10 m/s 0,1 m/s Sideslip angle

38、15 to +15 0,3 aAssuming a conventional steering system. The use of a programmable steer robot may help to increase the accuracy and repeatability of steer inputs for the described transient response manoeuvres. 8.2 Transducer installation Subclause 4.2 of ISO 15037-1:2006 shall apply. 8.3 Data proce

39、ssing The recording system and data processing requirements contained in 4.3 of ISO 15037-1:2006 shall apply. 9 Test conditions 9.1 General The test conditions specified in Clause 5 of ISO 15037-1:2006 shall apply. 9.2 Vehicle loading conditions 9.2.1 General Tests shall be carried out at the minimu

40、m loading condition and at the maximum loading condition defined below, and at other loading conditions of interest. In accordance with ISO 1176:1990, 4.8 and 4.13, the maximum authorized total mass (Code: ISO-M08) and the maximum authorized axle load (Code: ISO-M13) shall not be exceeded. Care shal

41、l be taken to minimize the difference of both the location of the centre of gravity and the moments of inertia as compared to the loading conditions of the vehicle in normal use (see ISO 2416:1992, Clause 4). The resulting static wheel loads shall be determined and recorded in the test report (see A

42、nnex A). BS ISO 7401:2011 ISO 7401:2011(E) ISO 2011 All rights reserved 59.2.2 Minimum loading condition For the minimum loading condition, the total vehicle mass shall consist of the complete vehicle kerb mass (Code: ISO-M06) in accordance with ISO 1176:1990, 4.6, plus the masses of the driver and

43、the instrumentation. The mass of the driver and the instrumentation should not exceed 150 kg. The load distribution shall be equivalent to that of two occupants in the front seats, in accordance with ISO 2416. 9.2.3 Maximum loading condition For the maximum loading condition, the total mass shall be

44、 equal to the maximum authorized total mass. For the maximum loading condition, the total mass shall be equivalent to the complete vehicle kerb mass, plus 68 kg for each seat in the passenger compartment and with the remaining maximum mass of transportable goods equally distributed over the luggage

45、compartment in accordance with ISO 2416. Loading of the passenger compartment shall be such that the actual wheel loads are equal to those obtained by loading each seat with 68 kg according to ISO 2416. The transient lateral response is strongly influenced by the moments of inertia and by the height

46、 of the centre of gravity. Wheel loads define only one of several factors contributing to the dynamic properties of vehicles. Care shall be taken to keep test conditions between test runs as constant as possible. Therefore, it is recommended to limit weight changes caused by fuel consumption. 9.3 Wa

47、rm-up The warm-up procedures specified in 6.1 of ISO 15037-1:2006 shall apply. 9.4 Test speed The test speed is defined as the nominal value of the longitudinal velocity. The standard test speed is 100 km/h. Other test speeds of interest may be used (preferably in 20 km/h steps). 10 Step input 10.1

48、Test procedure Drive the vehicle at the test speed (see 9.4) in a straight line. The initial speed shall not deviate by more than 2 km/h from the test speed. Starting from a 0 /s 0,5 /s yaw velocity equilibrium condition, apply a steering input as rapidly as possible to a preselected value and maint

49、ain at that value for several seconds after the measured vehicle motion variables have reached a steady state. In order to keep the steering input short relative to the vehicle response time, the time between 10 % and 90 % of the steering input should not be greater than 0,15 s. No change in throttle position shall be made, although speed may decrease. A steering- wheel stop may be used for selecting the input angle. Take data for both left and right