BS ISO 18375-2016 Heavy commercial vehicles and buses Test method for yaw stability Sine with dwell test《重型商用车辆和公共汽车 航向稳定性试验方法 正弦停滞试验》.pdf

1、BS ISO 18375:2016Heavy commercial vehicles andbuses Test method for yawstability Sine with dwell testBSI Standards PublicationWB11885_BSI_StandardCovs_2013_AW.indd 1 15/05/2013 15:06BS ISO 18375:2016 BRITISH STANDARDNational forewordThis British Standard is the UK implementation of ISO 18375:2016.Th

2、e 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.This publication does not purport to include all the necessary provisions of a contract. Use

3、rs are responsible for its correct application. The British Standards Institution 2016.Published by BSI Standards Limited 2016ISBN 978 0 580 86923 5 ICS 43.080.01 Compliance with a British Standard cannot confer immunity from legal obligations.This British Standard was published under the authority

4、of the Standards Policy and Strategy Committee on 30 November 2016.Amendments/corrigenda issued since publicationDate T e x t a f f e c t e dBS ISO 18375:2016 ISO 2016Heavy commercial vehicles and buses Test method for yaw stability Sine with dwell testVhicules utilitaires lourds et autobus Mthodes

5、dessai pour la stabilit en lacet Essai de sinus modifi avec pauseINTERNATIONAL STANDARDISO18375First edition2016-11-15Reference numberISO 18375:2016(E)BS ISO 18375:2016ISO 18375:2016(E)ii ISO 2016 All rights reservedCOPYRIGHT PROTECTED DOCUMENT ISO 2016, Published in SwitzerlandAll rights reserved.

6、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 either ISO at t

7、he 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 18375:2016ISO 18375:2016(E)Foreword ivIntroduction v1 Scope . 12 Normative

8、 references 13 Terms and definitions . 14 Principle 25 Measuring equipment . 26 Variables . 37 Test conditions . 47.1 General . 47.2 Test track 47.3 Test vehicle . 47.3.1 Safety equipment . 47.3.2 Loading conditions . 47.3.3 Test equipment 48 Test method . 58.1 Initial driving condition 58.2 Determi

9、nation of the initial steering-wheel angle amplitude 58.3 Performance of the steering procedure. 59 Data evaluation 59.1 General . 59.2 Characteristic values 5Annex A (normative) Test report General data and test conditions. 9Annex B (informative) Example of reporting of sine with dwell tests 10Bibl

10、iography .13 ISO 2016 All rights reserved iiiContents PageBS ISO 18375:2016ISO 18375:2016(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 o

11、ut 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-governmental, in liaison with ISO, also take part in the work. ISO c

12、ollaborates closely with the International Electrotechnical Commission (IEC) on all matters 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 app

13、roval 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, Part 2 (see www.iso.org/directives).Attention is drawn to the possibility that some of the elements of this document may be the

14、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 the document will be in the Introduction and/or on the ISO list of patent declarations received (see www.iso.org/patents).Any t

15、rade name used in this document is information given for the convenience of users and does 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 World Trade Organizati

16、on (WTO) principles in the Technical Barriers to Trade (TBT) see the following URL: www.iso.org/iso/foreword.html.The committee responsible for this document is ISO/TC 22, Road vehicles, Subcommittee SC 33, Vehicle dynamics and chassis components.iv ISO 2016 All rights reservedBS ISO 18375:2016ISO 1

17、8375:2016(E)IntroductionThe main purpose of this International Standard is to provide repeatable and discriminatory 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, co

18、nstitutes a closed-loop system that is unique. The task of evaluating the dynamic behaviour is, therefore, very difficult since the significant interaction of these driver vehicle-environment elements are each complex in themselves. A complete and accurate description of the behaviour of the road ve

19、hicle requires information obtained from a number of different tests.Since this test method quantifies 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

20、.Moreover, insufficient knowledge is available concerning the relationship between overall vehicle 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

21、 in general and the results of these tests in particular. Consequently, any application of this test method for regulation purposes will require proven correlation between test results and accident statistics. ISO 2016 All rights reserved vBS ISO 18375:2016BS ISO 18375:2016Heavy commercial vehicles

22、and buses Test method for yaw stability Sine with dwell test1 ScopeThis International Standard describes an open-loop test method for determining the yaw stability of a vehicle on a low friction road surface. It applies to heavy vehicles, that is commercial vehicles, commercial vehicle combinations,

23、 buses and articulated buses as defined in ISO 3833 (trucks and trailers with maximum weight above 3,5 tonnes and buses and articulated buses with maximum weight above 5 tonnes, according to ECE and EC vehicle classification, categories M3, N2, N3, O3 and O4).The method is intended for vehicles equi

24、pped with electronic yaw-stability control systems.As the results of this test depend largely on local and temporary changes in road surface friction, this International Standard gives recommendations about keeping the friction level as uniform as possible for good reproducibility of the test result

25、s.2 Normative referencesThe following documents, in whole or in part, are normatively referenced in this document and are indispensable for its application. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amen

26、dments) applies.ISO 15037-2:2002, Road vehicles Vehicle dynamics test methods Part 2: General conditions for heavy vehicles and buses3 Terms and definitionsFor the purposes of this document, the terms and definitions given in ISO 8855, ISO 15037-2 and the following apply.3.1beginning of steer inputT

27、0time when the steering-wheel angle input is started3.2end of steer inputT1time when the steering-wheel angle returns to zero at the completion of the sine with dwell steer input3.3dwell timeTdtime interval when the steer input remains constant at absolute maximum amplitude3.4steer frequencyffTTT=11

28、0dINTERNATIONAL STANDARD ISO 18375:2016(E) ISO 2016 All rights reserved 1BS ISO 18375:2016ISO 18375:2016(E)3.5maximum steady-state lateral accelerationmaximum lateral acceleration that the vehicle can sustain for the selected test surface during steady-state cornering at the selected constant longit

29、udinal velocity without yaw or roll instability when the electronic stability control system is disabled.3.6steady-state steering-wheel angle amplitudeHsssmallest steering-wheel angle amplitude at maximum steady-state lateral acceleration (3.5)3.7time delayDTitime difference between the yaw velocity

30、 of the i:th unit and the yaw velocity of the first unit at their first zero crossing when performing the sine with dwell with steady-state steering-wheel angle amplitude, Hss, when 0501, / fT tT+ 1.The maximum yaw stability factor:YSFtTi,maxi,maxi1,peak=+()(4)for vehicle units with i 1where 1,peaki

31、s the absolute value of the second peak,TT Tii=+1 , which is including the time delay in yaw velocity between unit 1 and i, i,maxis the absolute value of the second peak of the following units. Fast convergence to zero of the YSF implies good stability. If the YSF increases with time, it implies ins

32、tability. These tendencies may be evaluated on a continuous basis or by using a limited number of points in time, not less than two.Figure 2 shows an example from a test with a tractor semitrailer combination. Figure 2 shows the yaw velocities needed for YSF calculations according to Formulae (2) an

33、d (3). The last peak of yaw velocity of the semitrailer occurred due to activation of anti-jack-knife protection.6 ISO 2016 All rights reservedBS ISO 18375:2016ISO 18375:2016(E)Keyiyaw velocity (deg/s)Hsteering Wheel angle (deg)t time (s)NOTE Solid, dashed, and dotted lines correspond to steering wh

34、eel angle, yaw velocity tractor, and yaw velocity semitrailer, respectively. Yaw velocities at t = 1 and t = 2 s are marked.Figure 2 Tractor semitrailer combination experiencing trailer swing out after completion of steer, equipped with anti-jack-knife protectionfinal yaw angle1,finalyaw angle of th

35、e first unit at the completion of a test run where the vehicle attains a steady state conditionNOTE For an initial counter clockwise steering, a negative value of final yaw angle is expected and positive sign for initial clockwise steering.maximum yaw anglemaximum yaw angle of the first unit during

36、the test runThe following characteristic values shall be determined for vehicle combinations.maximum articulation anglemaximum articulation angle between units shall be evaluated ISO 2016 All rights reserved 7BS ISO 18375:2016ISO 18375:2016(E)indication of anti-jack-knife protectionby activated anti

37、-jack-knife protectionThe following characteristic is optional.indication of roll instabilityby outriggers touching the ground8 ISO 2016 All rights reservedBS ISO 18375:2016ISO 18375:2016(E)Annex A (normative) Test report General data and test conditionsA.1 General dataThe test report for general da

38、ta shall be as given in ISO 15037-2:2002, Annex A.A.2 Test conditionsThe test report for test conditions shall be as given in ISO 15037-2:2002, Annex B. ISO 2016 All rights reserved 9BS ISO 18375:2016ISO 18375:2016(E)Annex B (informative) Example of reporting of sine with dwell testsTable B.1 Simula

39、tion results for sine with dwell for a 4 2 tractor semitrailer combination with connected gross combination weight of 26 metric tonnesSWAESCoff = 0 on = 1Max yaw velocityResp. Final yaw angle YSF1 YSF2Max art. angleH1,peakrad/sdfTy,05150,+m1final()*601+m1final()*601+Trad11107()*+T1,peak,112035()*+T1

40、,peak,22109()*+T1,peak,222045()*+T1,peak,115 1 0,32 2,39 -0,49 0,28 0,12 0,72 0,25 19,5120 1 0,33 2,43 -0,52 0,29 0,10 0,63 0,44 21,5125 1 0,34 2,47 -0,55 0,28 0,03 0,55 0,61 23,4130 1 0,35 2,50 -0,59 0,27 0,04 0,49 0,63 25,3135 1 0,36 2,53 -0,64 0,32 0,10 0,45 0,55 27,0NOTE 1 Software in the loop v

41、ersion of Electronic Stability Control is both disabled and enabled.NOTE 2 The values are just examples of what could be expected for good responsiveness and stability for a tractor semitrailer.Table B.1 (continued) ISO 2016 All rights reserved 11BS ISO 18375:2016ISO 18375:2016(E)a) Responsiveness b

42、) Final Yaw anglec) Yaw stability factor of first unit at 1 + T1 d) Yaw stability factor of first unit at 2 + T2e) Yaw stability factor of second unit at 1 + T1 f) Yaw stability factor of second unit at 2 + T2KeyX1 steering wheel angle degX2 responsiveness mY1 ypos mY2 yaw angle radY3 YSF1 0,7Y4 YSF

43、1 0,35Y5 YSF2 0,9Y6 YSF2 0,45NOTE Illustrated plots c-f where characteristic values are shown as function of responsiveness. ESC disabled and enabled represented by diamonds and squares, respectively.Figure B.1 Simulated results from Table B.1, illustrated plots a,b show steering wheel angle as a fu

44、nction of ypos and responsiveness as a function of yaw angle12 ISO 2016 All rights reservedBS ISO 18375:2016ISO 18375:2016(E)Bibliography1 ISO 3833, Road vehicles Types Terms and definitions2 ISO 8855, Road vehicles Vehicle dynamics and road-holding ability Vocabulary ISO 2016 All rights reserved 13

45、BS ISO 18375:2016ISO 18375:2016(E) ISO 2016 All rights reservedICS 43.080.01Price based on 13 pagesThis page deliberately left blankBSI is the national body responsible for preparing British Standards and other standards-related publications, information and services.BSI is incorporated by Royal Cha

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