1、Intelligent transport systems Lane departure warning systems Performance requirements and test proceduresBS ISO 17361:2017BSI Standards PublicationWB11885_BSI_StandardCovs_2013_AW.indd 1 15/05/2013 15:06National forewordThis British Standard is the UK implementation of ISO 17361:2017. It supersedes
2、BS ISO 17361:2007 , which is withdrawn.The UK participation in its preparation was entrusted to Technical Committee EPL/278, Intelligent transport systems.A list of organizations represented on this committee can be obtained on request to its secretary.This publication does not purport to include al
3、l the necessary provisions of a contract. Users are responsible for its correct application. The British Standards Institution 2017 Published by BSI Standards Limited 2017ISBN 978 0 580 96003 1ICS 35.240.60; 03.220.20Compliance with a British Standard cannot confer immunity from legal obligations. T
4、his British Standard was published under the authority of the Standards Policy and Strategy Committee on 31 July 2017.Amendments/corrigenda issued since publicationDate Text affectedBRITISH STANDARDBS ISO 17361:2017 ISO 2017Intelligent transport systems Lane departure warning systems Performance req
5、uirements and test proceduresSystmes intelligents de transport Systmes davertissement de dpart de ruelle Exigences de performance et mthodes dessaiINTERNATIONAL STANDARDISO17361Second edition2017-06-01Reference numberISO 17361:2017(E)BS ISO 17361:2017ISO 17361:2017(E)ii ISO 2017 All rights reservedC
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8、rgBS ISO 17361:2017ISO 17361:2017(E)Foreword ivIntroduction v1 Scope . 12 Normative references 13 Terms and definitions . 14 Specifications and requirements. 54.1 System functions . 54.2 System classification 64.3 Requirements . 64.3.1 Basic requirements 64.3.2 Operational requirements . 74.3.3 Huma
9、n interface requirements . 74.4 Optional functions 85 Test method . 85.1 Test environment conditions 85.2 Test course conditions 95.3 Test vehicle conditions . 95.4 Test system installation and configuration 95.5 Test procedure . 95.5.1 Parameters recoverable from data record . 95.5.2 Procedure . 95
10、.6 Criteria for passing the tests 115.6.1 Warning generation test . 115.6.2 Repeatability test 115.6.3 False alarm test 11Bibliography .12 ISO 2017 All rights reserved iiiContents PageBS ISO 17361:2017ISO 17361:2017(E)ForewordISO (the International Organization for Standardization) is a worldwide fe
11、deration 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 com
12、mittee. 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 a
13、nd 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, Pa
14、rt 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 such patent rights. Details of any patent rights identified during the development of t
15、he 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 not constitute an endorsement.For an explanation on the voluntary nature of standar
16、ds, the meaning of ISO specific terms and expressions related to conformity assessment, as well as information about ISOs adherence to the World Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT) see the following URL: www.iso.org/iso/foreword.html.This document was prepare
17、d by Technical Committee ISO/TC 204, Intelligent transport systems.This second edition cancels and replaces the first edition (ISO 17361:2007 ), of which it constitutes a minor revision with the following modifications: Clause 2 has been updated; Annex A has been deleted; reference to Annex A has be
18、en changed to ISO 11270 in 3.2; inequality signs have been updated to Unicode.iv ISO 2017 All rights reservedBS ISO 17361:2017ISO 17361:2017(E)IntroductionLane departure warning systems (LDWSs) are based on fundamental traffic rules. The main focus of an LDWS is to help the driver keep the vehicle i
19、n the lane on highways and highway-like roads. Accordingly, a warning is issued to alert the driver in case of lane departure caused by, for example, inattention. LDWSs are not intended to issue warnings with respect to collisions with other vehicles or to control vehicle motions. ISO 2017 All right
20、s reserved vBS ISO 17361:2017This page deliberately left blankIntelligent transport systems Lane departure warning systems Performance requirements and test procedures1 ScopeThis document specifies the definition of the system, classification, functions, human-machine interface (HMI) and test method
21、s for lane departure warning systems. These are in-vehicle systems that can warn the driver of a lane departure on highways and highway-like roads. The subject system, which may utilize optical, electromagnetic, GPS or other sensor technologies, issues a warning consistent with the visible lane mark
22、ings. The issuance of warnings at roadway sections having temporary or irregular lane markings (such as roadwork zones) is not within the scope of this document. This document applies to passenger cars, commercial vehicles and buses. The system will not take any automatic action to prevent possible
23、lane departures. Responsibility for the safe operation of the vehicle remains with the driver.2 Normative referencesThere are no normative references in this document.3 Terms and definitionsFor the purposes of this document, the following terms and definitions apply.ISO and IEC maintain terminologic
24、al databases for use in standardization at the following addresses: IEC Electropedia: available at http:/www.electropedia.org/ ISO Online browsing platform: available at http:/www.iso.org/obp 3.1lanearea of roadway that a vehicle would be expected to travel along in the absence of any obstruction wi
25、thout the drivers desire to change the path of travel3.2visible lane markingdelineators intentionally placed on the borderline of the lane (3.1) that are directly visible by the driver while driving (i.e. not covered by snow, etc.)Note 1 to entry: ISO 11270:2014 , Annex B gives country-specific visi
26、ble lane-marking definitions.3.3incidental visible road featurevisible patterns on the road surface that were not explicitly intended to delineate the boundaries of the lane (3.1) but which are indicative of the position of the laneNote 1 to entry: These include such features as pavement seams or ed
27、ges, kerbs, and tracks or ruts left by previous vehicles.3.4lane boundaryborderline of the lane (3.1), situated at the centre of a visible lane marking (3.2) or, in the absence of a visible lane marking, determined by incidental visible road features (3.3) or other means such as GPS, magnetic nails,
28、 etc.INTERNATIONAL STANDARD ISO 17361:2017(E) ISO 2017 All rights reserved 1BS ISO 17361:2017ISO 17361:2017(E)3.5default lane widthpredetermined width given to a lane (3.1) when a visible lane marking (3.2) exists only on one side of the lane and no other lane boundaries are detected by the system3.
29、6departuresituation in which the outside of one of the front wheels of a vehicle or of the leading part of an articulated vehicle (or, in the case of a three-wheeled vehicle, the outside of one of the wheels on the axle with the widest track) is crossing a specified line3.7lane departurepoint of dep
30、arture (3.6) across the lane boundary (3.4) 3.8rate of departureV subject vehicles approach velocity at a right angle to the lane boundary (3.4) at the warning issue point (3.10) 3.9time to line crossingTTLCcalculated time to lane departure (3.7) EXAMPLE The simplest method of calculating TTLC is to
31、 divide the lateral distance, D, between the predetermined part of the vehicle and the lane boundary (3.4) by the rate of departure, V, (3.8) of the vehicle relative to the lane (3.1).3.10warning issue pointmeasured location and time at which a warning starts to be issued3.11warning thresholdlocatio
32、n where the warning is issued on the road, which corresponds to a warning trigger point set in the systemNote 1 to entry: In the case of TTLC (3.9), the warning threshold shifts depending on the rate of departure (3.8).Note 2 to entry: The warning threshold is placed within the warning threshold pla
33、cement zone (3.12) (see Figure 1).3.12warning threshold placement zonezone between the earliest and the latest warning lines (3.17) within which the warning threshold (3.11) is placedNote 1 to entry: There is one warning threshold placement zone around the left lane boundary (3.4) and one around the
34、 right lane boundary (see Figure 1).3.13warning conditioncondition in which departure (3.6) across the warning threshold (3.11) occursNote 1 to entry: See Figure 2.3.14repeatabilityability of a certain percentage of warnings issued by the system to consistently fall within a given range2 ISO 2017 Al
35、l rights reservedBS ISO 17361:2017ISO 17361:2017(E)3.15false alarmalarm that is issued when the warning conditions (3.13) have not been fulfilled3.16earliest warning lineinnermost limit of the warning threshold (3.11) 3.17latest warning lineoutermost limit of the warning threshold (3.11) 3.18no warn
36、ing zonezone between the two earliest warning lines (3.16) 3.19suppression requestdriver request or system feature intended to prevent a lane departure warning (3.20) if an intended lane departure (3.7) is detected3.20lane departure warningwarning given to the driver in accordance with the lane depa
37、rture warning condition in the absence of suppression requests (3.19) 3.21system incapablestate of the system in which it is unable to warn the driver of a lane departure (3.7) due to temporary conditions3.22status indicationindication of system statusEXAMPLE On/off, failure and incapable.3.23haptic
38、 warningwarning that stimulates the drivers sense of touch, vibration, force and motionEXAMPLE Steering wheel motion, steering wheel vibration, seat vibration and pedal vibration.3.24curve cuttingact of driving to the inner side of a curve, which can lead to an intentional lane departure (3.7) 3.25v
39、isibilitydistance at which the illuminance of a non-diffusive beam of white light with a colour temperature of 2 700 K is decreased to 5 % of its original light source illuminance ISO 2017 All rights reserved 3BS ISO 17361:2017ISO 17361:2017(E)Key1 lane boundary (see 3.4)2 warning threshold placemen
40、t zone (see 3.12)3 earliest warning line (see 3.16)4 latest warning line (see 3.17)5 no warning zone (see 3.18)6 warning threshold (for reference only) (see 3.11)Figure 1 Concept of warning thresholds and warning threshold placement zones4 ISO 2017 All rights reservedBS ISO 17361:2017ISO 17361:2017(
41、E)Key1 lane boundary (see 3.4)2 lane departure (see 3.7)3 warning threshold (see 3.11)4 earliest warning line (see 3.16)5 latest warning line (see 3.17)aWhen warning condition is fulfilled here and there is no suppression request, a lane departure warning is issued.Figure 2 Warning issue definitions
42、4 Specifications and requirements4.1 System functionsThe functional elements of a lane departure warning system shall be in accordance with Figure 3.The suppression request, vehicle speed detection, driver preference and other additional functional elements are optional. ISO 2017 All rights reserved
43、 5BS ISO 17361:2017ISO 17361:2017(E)Key1 minimum requirement2 optional functionFigure 3 Functional elements4.2 System classificationLane departure warning systems are classified as shown in Table 1. They shall be able to give warning under at least one of the curvature conditions in Table 1.Table 1
44、Classification typesParameterClassI IIRadius of curvature 500 m 250 mVehicle speed 20 m/s 17 m/s4.3 Requirements4.3.1 Basic requirementsThe system shall perform the following functions, at the minimum.a) Monitor system status for system failure, system incapable and system on/off (if switch is insta
45、lled) conditions.b) Indicate system status to the driver.c) Detect the lateral position of the subject vehicle relative to the lane boundary.d) Determine if the warning condition is fulfilled.e) Warn the driver.6 ISO 2017 All rights reservedBS ISO 17361:2017ISO 17361:2017(E)4.3.2 Operational require
46、mentsThe following operational requirements apply.a) The system shall warn the driver when the warning condition is fulfilled.b) The latest warning line is located 0,3 m outside of the lane boundary for passenger cars and 1 m outside of the lane boundary for trucks and buses.c) The earliest warning
47、line is located as specified in Figure 4 and Table 2.d) The warning shall be consistently produced around the warning threshold as verified in 5.5.2.e) False alarms shall be minimized as verified in 5.5.2.f) A Class I system shall be operable at speeds equal to or above 20 m/s and a Class II system
48、shall be operable at speeds equal to or above 17 m/s. The system may operate at lower vehicle speeds.KeyD maximum distance inside the lane boundary (m)V rate of departure (m/s)Figure 4 Location of earliest warning lineTable 2 Location of earliest warning lineRate of departure, V m/sMaximum distance
49、inside the lane boundary m0 V 0,5 0,750,5 V 1,0 1,5 Va1,0 V 1,5aTTLC multiplied by rate of departure. See 3.9.4.3.3 Human interface requirementsThe following human interface requirements apply.a) Warning presentation. An easily perceivable haptic and/or audible warning shall be provided.b) Interference with other warnings. Even when a vehicle is equipped with LDWS along with other warning systems such as forward vehicle collision warning system (FVCWS) , the warning shall be clearly distingu
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