1、BSI Standards PublicationBS ISO 11067:2015Intelligent transport systems Curve speed warningsystems (CSWS) Performancerequirements and testproceduresBS ISO 11067:2015 BRITISH STANDARDNational forewordThis British Standard is the UK implementation of ISO 11067:2015.The UK participation in its preparat
2、ion was entrusted to TechnicalCommittee EPL/278, Intelligent transport systems.A list of organizations represented on this committee can beobtained on request to its secretary.This publication does not purport to include all the necessaryprovisions of a contract. Users are responsible for its correc
3、tapplication. The British Standards Institution 2015. Published by BSI StandardsLimited 2015ISBN 978 0 580 82177 6ICS 03.220.20; 35.240.60Compliance with a British Standard cannot confer immunity fromlegal obligations.This British Standard was published under the authority of theStandards Policy and
4、 Strategy Committee on 31 July 2015.Amendments issued since publicationDate Text affectedBS ISO 11067:2015 ISO 2015Intelligent transport systems Curve speed warning systems (CSWS) Performance requirements and test proceduresSystmes intelligents de transport Systmes dalerte de vitesse excessive en ap
5、proche de virage (CSWS) Exigences de performance et modes opratoires dessaiINTERNATIONAL STANDARDISO11067First edition2015-07-15Reference numberISO 11067:2015(E)BS ISO 11067:2015ISO 11067:2015(E)ii ISO 2015 All rights reservedCOPYRIGHT PROTECTED DOCUMENT ISO 2015, Published in SwitzerlandAll rights
6、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 eithe
7、r ISO at the address below or ISOs member body in the country of the requester.ISO copyright officeCh. de Blandonnet 8 CP 401CH-1214 Vernier, Geneva, SwitzerlandTel. +41 22 749 01 11Fax +41 22 749 09 47copyrightiso.orgwww.iso.orgBS ISO 11067:2015ISO 11067:2015(E)Foreword ivIntroduction v1 Scope . 12
8、 Terms and definitions . 13 Symbols 54 Classification 65 Requirements 65.1 Basic operation principle . 65.2 Functionality . 75.2.1 Basic system operation. 75.2.2 Determination of the target curvature point of interest . 75.2.3 Basic shape of a curved road . 85.2.4 Radius of curvature requirement for
9、 available state 95.2.5 Determination of the warning threshold speed .105.2.6 Curve speed warning time requirements 105.2.7 Look ahead distance requirement . 115.2.8 Appropriate warning for multiple curve 115.2.9 Optional functions of CSWS . 125.3 Basic driver interface capabilities . 135.3.1 Operat
10、ion elements and system reactions .135.3.2 Haptic elements .135.4 Operational limits 136 Performance evaluation test methods 136.1 Test environmental conditions 136.2 Test course conditions . 146.3 Test vehicle conditions 156.4 Test system installation and configuration . 156.5 Test procedure 156.5.
11、1 Parameters recoverable from data record 156.5.2 Detail test procedure .16Annex A (informative) Definition of curves 19Annex B (informative) Operation principles .22Annex C (informative) Calculation of the minimum AOC .26 ISO 2015 All rights reserved iiiContents PageBS ISO 11067:2015ISO 11067:2015(
12、E)ForewordISO (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
13、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 matter
14、s 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 docum
15、ent was drafted in accordance with the editorial rules of the ISO/IEC Directives, Part 2 (see 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 suc
16、h 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 (see www.iso.org/patents).Any trade name used in this document is information given for the convenience of users and does
17、 not constitute an endorsement.For an explanation on the meaning of ISO specific terms and expressions related to conformity assessment, as well as information about ISOs adherence to the WTO principles in the Technical Barriers to Trade (TBT) see the following URL: Foreword - Supplementary informat
18、ion.The committee responsible for this document is ISO/TC 204, Intelligent transport systems.iv ISO 2015 All rights reservedBS ISO 11067:2015ISO 11067:2015(E)IntroductionThe main function of Curve Speed Warning Systems (CSWS) is to warn the driver against the danger caused by maintaining excessive s
19、peed to negotiate an upcoming curved road. The system computes the current location of the vehicle with respect to the upcoming curved road of interest and determines a warning threshold speed, below which the vehicle can safely negotiate the upcoming curves. If the vehicle speed exceeds the warning
20、 threshold speed, the system provides a warning to the driver, prompting the driver to react and lower the subject vehicle speed to a level suitable for negotiating the curved road ahead. The CSWS scope does not include automated intervention features or means for controlling the vehicle to match a
21、desired speed. ISO 2015 All rights reserved vBS ISO 11067:2015BS ISO 11067:2015Intelligent transport systems Curve speed warning systems (CSWS) Performance requirements and test procedures1 ScopeThis International Standard contains the basic warning strategy, minimum functionality requirements, basi
22、c driver interface elements, minimum requirements for diagnostics and reaction to failure, and performance test procedures for Curve Speed Warning Systems (CSWS). CSWS warns the driver against the danger caused by maintaining excessive speed to negotiate the upcoming curved roads, so that the driver
23、 may reduce the speed. The system does not include the means to control the vehicle to meet the desired speed. The responsibility for safe operation of the vehicle always remains with the driver.This International Standard applies to vehicles with four or more wheels.2 Terms and definitionsFor the p
24、urposes of this document, the following terms and definitions apply.2.1subject vehiclevehicle equipped with the CSWS and related to the topic of discussion2.2subject vehicle speedlongitudinal component of the subject vehicle velocity2.3system statesone of several stages or phases of system operation
25、Note 1 to entry: See Figure 1.2.3.1CSWS off statestate in which CSWS is offNote 1 to entry: This state has one of the following three causes: the driver has selected the off condition, the ignition is off, or the CSWS is in failure.2.3.2CSWS on statestate in which CSWS is onNote 1 to entry: This sta
26、te is either in unavailable state or in available state.2.3.3CSWS unavailable statesystem is in on state and the system has inadequate informationNote 1 to entry: The system cannot make a decision whether the warning criteria are met or not because of fault in GNSS device, lack of map data, or other
27、 reasons.INTERNATIONAL STANDARD ISO 11067:2015(E) ISO 2015 All rights reserved 1BS ISO 11067:2015ISO 11067:2015(E)2.3.4CSWS available statesystem is in on state and the system has sufficient information to make decisions on whether the warning criteria are fulfilled or not2.3.5CSWS warning statesyst
28、em is in available state and the warning criteria are all metNote 1 to entry: The CSWS starts warning(s) or is operating the warning(s). The system periodically judges whether the criteria are met in order to transition to the non-warning state.2.3.6CSWS non-warning statesystem is in available state
29、 and the warning criteria are not all metNote 1 to entry: The system periodically judges whether the criteria are met in order to transition to the warning state.2.4curved roadsection where the radius of curvature is less than or equal to RCNote 1 to entry: RCdenotes the maximum radius of curvature
30、to be regarded as a curvature point of interest for potential warning for CSWS (see 5.2.2).2.5curvature pointarbitrary points on the curved road that has associated location and value of curvature2.6curvature point of interestpoint of the curved road ahead where the distances from the subject vehicl
31、e to the curved roads are less than the look ahead distance, SLAD2.7curve start pointlocation where the radius of curvature of the curved roadway ahead becomes less than RCNote 1 to entry: See 5.2.3.2.8curve end pointlocation where the radius of curvature of the curved roadway ahead becomes RCNote 1
32、 to entry: See 5.2.3.2.9target curvature point of interestparticular curvature point of interest on the roadway of the subject vehicle that CSWS is about to provide the warning to the driverNote 1 to entry: CSWS selects the target curvature point of interest among the curvature points of interest an
33、d the curvature point of interest may vary depending upon the distance from the current location of the subject vehicle to the curvature point of interest and the current speed of the subject vehicle. If a section of the curved road has a constant radius of the curvature, the curve start point becom
34、es the target point of interest. See 5.2.2.2.10distance to curvature point of interestScurrentdistance from the current position of the subject vehicle to the curvature point of interest2 ISO 2015 All rights reservedBS ISO 11067:2015ISO 11067:2015(E)2.11time to curvature point of interesttTCtravel t
35、ime from the current position of the subject vehicle to the curvature point of interest and defined as followstS VTC current current=whereVcurrentis the current speed of the subject vehicle2.12warning threshold speedVWTvehicle speed threshold that is used to determine if the CSWS warning is required
36、Note 1 to entry: If the vehicle speed measurement is greater than this threshold value, the CSWS provides the warning to the driver. This threshold is below the maximum speed that is defined by designed lateral acceleration to negotiate the upcoming curve.2.13warning end speedVWT_endvehicle speed at
37、 which the CSWS transitions from CSWS warning state to CSWS non-warning so that the CSWS ends the warning2.14warning distance Swarndistance from the location where the warning starts to the target curvature point of interest2.15driver response time trespreaction time of the driver which is the time
38、from start of the speed changing event to the time that the driver starts applying brake2.16minimum required deceleration ad_reqdeceleration that, if constant, would enable the subject vehicle to match the warning threshold speed for the target curvature point of interestaVVStVd_reqcurrent WTcurrent
39、 resp current=222( )2.17curve speed warning timetcswtime when the curve speed warning starts which is greater than or equal to the minimum allowed curve speed warning timettcswcsw_minNote 1 to entry: The tCSW, Swarn, and Vcurrenthas the following relationship:tSVcswwarncurrent= ISO 2015 All rights r
40、eserved 3BS ISO 11067:2015ISO 11067:2015(E)Note 2 to entry: The value of tCSWis selected by the manufacturer.2.18minimum allowed curve speed warning time tcsw_minlower threshold of the curve speed warning timeNote 1 to entry: The value of minimum allowed curve speed warning time is decided consideri
41、ng the amount of overspeed of the subject vehicle and the reaction delay of drivers.2.19minimum operating speed Vminminimum subject vehicle speed at which the CSWS shall operate2.20maximum operating speed Vmaxmaximum subject vehicle speed at which the CSWS shall operate2.21look ahead distance SLADcu
42、rve detection range of the CSWSNote 1 to entry: For the curvature points that have radius of curvature RCand the distances from the subject vehicle to the curved roads are VWTand ScurrentSwarn: CSWS warning state to non-warning statewhere VWT_endcan be adopted to avoid possible chattering of the CSW
43、S and is selected by manufacturers according to the following formula.NOTE The value of the VWT_endcan be same as VWT.VVWT WT_endSwarnand Swarn_mincan be defined as follows for better understanding.SV twarn current csw=SVtwarn_min current csw_min= The CSWS may suppress the warning when the driver is
44、 braking.5.2.2 Determination of the target curvature point of interestThe conditions to meet in order to be the curved road, the curvature point of interest, and the target curvature points of interest are described as follows. Detail descriptions and figures can be found in A.1. Non-curvature point
45、: location on a road with a radius of curvature greater than RC. This location of the road has no potential to be a curvature point of interest and regarded as a non-curvature point as shown in Figure A.1.R RC: Non-curvature point ISO 2015 All rights reserved 7BS ISO 11067:2015ISO 11067:2015(E) Curv
46、ature point of interest: location on a road with the radius of curvature less than or equal to RCand the distance from the current location of the subject vehicle to a curve start point is less than the look ahead distance, SLAD, as shown in Figure A.1 and Figure A.3.R RCand ScurrentVWTand Scurrentm
47、in1NOTE 1 If the system is designed to operate at a curve radius below Rmin, then the test can be carried out at a radius of curvature that is less than Rmin. min1represents AOC of C1curved road. Refer to Figure 9.The minimum AOC of the curved road is calculated from the following formula:minmaxcos=
48、21RdR, (deg) (3)whereminis the minimum AOC;dmaxis 2,5 m.Calculation of the minimum AOC is described in Annex C. Test Course 2 for Test A2Test Course 2: a single curveR2= 200 m 220 m2 min2NOTE 2 min1represents AOC of C1curved road. Refer to Figure 9. Test Course 3 for Test BTest Course 3: a multiple
49、curveTest course 3 consists of two curved roads. Each curved road shall be as follows.R1 (radius of curvature of the first curved road): 120 m 200 mR2(radius of curvature of the second curved road): 36 m 40 mAOC of C1curved road and AOC of C2curved road shall be greater than minimum AOC of C1curved road and minimum AOC of C2curved road, respectively.1 min114 ISO 2015 All rights reservedBS ISO 11067:2015ISO 11067:2015(E)2 min2NOTE 3 An example of the test course 3 is provided in Figure 10. The R
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