1、 _ SAE Technical Standards Board Rules provide that: “This report is published by SAE to advance the state of technical and engineering sciences. The use of this report is entirely voluntary, and its applicability and suitability for any particular use, including any patent infringement arising ther
2、efrom, is the sole responsibility of the user.” SAE reviews each technical report at least every five years at which time it may be revised, reaffirmed, stabilized, or cancelled. SAE invites your written comments and suggestions. Copyright 2015 SAE International All rights reserved. No part of this
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4、70 (outside USA) Fax: 724-776-0790 Email: CustomerServicesae.org SAE WEB ADDRESS: http:/www.sae.org SAE values your input. To provide feedback on this Technical Report, please visit http:/www.sae.org/technical/standards/J3045_201507 SURFACE VEHICLE RECOMMENDED PRACTICE J3045 JUL2015 Issued 2015-07 T
5、ruck and Bus Lane Departure Warning Systems Test Procedure RATIONALE With the commercial availability of various Lane Departure Warning Systems (LDWS) and limited existing standards and regulations for trucks and buses greater than 4,546 kg (10,000 lb) Gross Vehicle Weight (GVW), a vehicle test proc
6、edure (T.P.) of common methods to evaluate the effectiveness of these systems is justified. These lane departure systems utilize various methodologies to identify, track and communicate unintended lane departure warning information to the operator so that unintended lane departures can be prevented.
7、 This document outlines a basic test procedure to be performed under ideal operating and environmental conditions and does not define tests for all possible operating and environmental conditions. Minimum performance requirements are not addressed in this document. Although a technology-agnostic tes
8、t procedure is presented (i.e., the test procedure described herein serves vision-based systems, GPS-based systems, magnetic-based systems, etc.), future revisions or separate recommended practices will be developed to accommodate other technologies should the need arise. 1. SCOPE This SAE recommend
9、ed practice establishes a uniform, powered vehicle T.P. for lane departure warning systems used in highway trucks and buses greater than 4,546 kg (10,000 lb) GVW. Systems similar in function but different in scope and complexity, including Lane Keeping/Lane Assist and Merge Assist, are not included
10、in this T.P. This T.P. does not apply to trailers, dollies, etc. This T.P. does not intend to exclude any particular system or sensor technology. The specification will test the functionality of the LDWS (e.g., ability to detect lane presence, and ability to detect an unintended lane departure), its
11、 ability to indicate LDWS engagement, its ability to indicate LDWS disengagement, and determine the point at which the LDWS notifies the Human Machine Interface (HMI) or vehicle control system that a lane departure event is detected. The HMI is not addressed herein, but is considered in SAE Standard
12、 J2808. 2. REFERENCES 2.1 Applicable Documents 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 International, 400 Commonwealth Drive, W
13、arrendale, PA 15096-0001, Tel: 877-606-7323 (inside USA and Canada) or 724-776-4970 (outside USA), www.sae.org. SAE J2808 Road/Lane Departure Warning Systems: Information for the Human Interface SAE J3029 Forward Collision Warning and Mitigation Vehicle Test Procedures SAE INTERNATIONAL J3045 Issued
14、 JUL2015 Page 2 of 16 2.1.2 Related Publications The following publications are provided for information purposes only and are not a required part of this SAE Technical Report. 2.1.2.1 Federal Motor Vehicle Safety Standard (FMVSS) Publications FMVSS 101 “Controls and Displays” Passenger Cars, Multip
15、urpose Passenger Vehicles, Trucks and Buses (Effective 10-1-2011) (http:/www.gpo.gov/fdsys/granule/CFR-2011-title49-vol6/CFR-2011-title49-vol6-sec571-101/content-detail.html). 2.1.2.2 Federal Motor Carrier Safety Administration (FMCSA) Publications: FMCSA-MCRR-05-005 “Concept of Operations and Volun
16、tary Operational Requirements for Lane Departure Warning System (LDWS) On-board Commercial Motor Vehicles” 2.1.2.3 National Highway Traffic Safety Administration (NHTSA) Publications: NHTSA “Lane Departure Warning System Confirmation Test and Lane Keeping Support Performance Documentation, February
17、2013. (LDW_LKS_2-7-2013.pdf). NHTSA-OCAS-DRI-LDW-13-005 “NCAP LANE DEPARTURE WARNING CONFIRMATION TEST, 2013 Chevrolet Malibu” NHTSA-OCAS-DRI-LDW-13-001 “NCAP LANE DEPARTURE WARNING CONFIRMATION TEST, 2013 Cadillac XTS” 2.1.2.4 European Union Publications Available from European Aviation Safety Agen
18、cy, Postfach 10 12 53, D-50452 Cologne, Germany, Tel: +49-221-8999-000, www.easa.eu.int. Testing and Evaluation Methods for ICT-based Safety Systems: eVALUE-080930-D21-V04-FINAL.doc. (eValue ICT-2007-215607) EC 351/2012 “Implementing Regulation (EC) No 661/2009 of the European Parliament and of the
19、Council as regards type-approval requirements for the installation of lane departure warning systems in motor vehicles.” 2.1.2.5 ISO Publications Available from American National Standards Institute, 25 West 43rd Street, 4th Floor, New York, NY 10036, Tel: 212-642-4900, www.ansi.org. ISO 17361 “Inte
20、lligent transport systems - Lane departure warning systems - performance requirements and test procedures” 2.1.2.6 U.S. DOT Federal Highway Administration (FHWA) Publications. Manual on Uniform Traffic Control Devices (MUTCD): http:/mutcd.fhwa.dot.gov/. 3. DEFINITIONS 3.1 DEPARTURE The situation in
21、which the outside of one of the front wheels of a vehicle or of the leading part of an articulated vehicle is crossing a specified lane line. In the case of a 3-wheel vehicle, it is the same except that the wheel is one of wheels on the axle with the widest track. (From SAE Standard J2808, which fol
22、lows from ISO Standard 17361.) SAE INTERNATIONAL J3045 Issued JUL2015 Page 3 of 16 3.2 EARLIEST WARNING LINE The innermost limit of the warning threshold. See Table 1 and Figure 1 for the location of the earliest warning line location as a function of rate of departure. (From SAE Standard J2808, whi
23、ch follows from ISO Standard 17361.) 3.3 LANE The area of roadway that a vehicle would be expected to travel along in the absence of any obstruction without the drivers desire to change the path of travel. (From SAE Standard J2808, which follows from ISO Standard 17361.) 3.4 LANE BOUNDARY The border
24、line of the lane that is determined by a visible lane marking and in the absence of a visible lane marking by incidental visible road features or other means such as GPS, electromagnetic nails, etc. In the case of a visible lane marking, the boundary shall be at the inside thereof. (From SAE Standar
25、d J2808, which follows from ISO Standard 17361.) 3.5 LANE CURVATURE The radius of the lane as measured in the lane halfway between the left and right lane markers. 3.6 LANE DEPARTURE The point of departure across the lane boundary. (From SAE Standard J2808, which follows from ISO Standard 17361.) 3.
26、7 LANE DEPARTURE WARNING A warning given to the driver in accordance with the lane departure warning condition in the absence of suppression requests. (From SAE Standard J2808, which follows from ISO Standard 17361.) 3.8 LANE DEPARTURE WARNING CONDITION The phase where an unintended lane departure e
27、vent is detected, and the notice of detection is provided to the HMI which provides warning information to the driver. 3.9 LANE DEPARTURE WARNING SYSTEM (LDWS) A system that can automatically detect an impending or actual lane departure (e.g., intention indicated by active turn signals) and provide
28、warnings. 3.10 LATEST WARNING LINE The outermost limit of the warning threshold. (From SAE Standard J2808, which follows from ISO Standard 17361.) 3.11 LANE WIDTH The distance between the inside of the inside lane marker on the left to the inside of the inside lane marker on the right. (Please see F
29、igure 1.) 3.12 NO WARNING ZONE Zone between the two earliest warning lines. (From ISO Standard 17361.) (Please see Figure 1.) 3.13 RATE OF DEPARTURE The subject vehicles approach velocity perpendicular to the lane boundary at the warning issue point. (From SAE Standard J2808, which is from ISO Stand
30、ard 17361.) SAE INTERNATIONAL J3045 Issued JUL2015 Page 4 of 16 3.14 ROAD The surface that a vehicle would be expected to travel along in the absence of any obstruction. (From SAE Standard J2808.) 3.15 ROAD BOUNDARY The borderline of the road this is determined by incidental visible road features or
31、 other means such as GPS. (From SAE Standard J2808.) 3.16 ROAD DEPARTURE The point of departure across the road boundary. (From SAE Standard J2808.) 3.17 ROAD DEPARTURE WARNING A warning given to the driver in accordance with the road departure warning condition in the absence of suppression request
32、s. (From SAE Standard J2808, which follows from ISO Standard 17361.) 3.18 ROAD DEPARTURE WARNING SYSTEM A system which provides road departure warnings. (From SAE Standard J2808.) 3.19 STATUS/FUNCTION INDICATION An indication that reflects a system may not (or is less likely to) deliver a road/lane
33、departure warning. (From SAE Standard J2808, which follows from ISO Standard 17361.) 3.20 SUBJECT VEHICLE Vehicle being tested. 3.21 SUPPRESSION REQUEST Driver request or system feature intended to prevent a lane departure warning if an intended lane departure is detected. 3.22 SYSTEM INCAPABLE A st
34、ate of the system in which it is unable to warn the driver of a lane departure due to temporary conditions. (From SAE Standard J2808, which follows from ISO Standard 17361.) 3.23 TIME-TO-LINE CROSSING (TTLC) Calculated time-to-lane departure. (From ISO Standard 17361.) 3.24 VISIBILITY “The distance
35、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.” For further reference, please see http:/www.wmo-sat.info/oscar/variables/view/209. 3.25 VISIBLE LANE MARKING Delineators intentionally pl
36、aced on the borderline of the lane that are directly visible by the driver while driving. (i.e., not covered by snow, etc.) (From ISO Standard 17361.) SAE INTERNATIONAL J3045 Issued JUL2015 Page 5 of 16 3.26 WARNING CONDITION A condition in which lane departure across the warning threshold occurs. (
37、From SAE Standard J2808, which follows from ISO Standard 17361.) 3.27 WARNING ISSUE POINT Measured location and time at which a warning begins to be issued. (From ISO Standard 17361.) 3.28 WARNING THRESHOLD Location where the warning is issued on the road, which corresponds to a warning trigger poin
38、t set in the system. (From ISO Standard 17361.) 3.29 WARNING THRESHOLD PLACEMENT ZONE Zone between the earliest and latest warning lines within which the warning threshold is place. Please see Figure 1. (From ISO Standard 17361.) TABLE 1 - DISTANCE TO EARLIEST WARNING LINE AS A FUNCTION OF VEHICLE R
39、ATE OF DEPARTURE1BASED ON A 2 SECOND TTLC. Rate of departure, m/s (ft/s) Distance from lane boundary to earliest warning line, m (ft) 0.2 (0.66) 0.1 (0.33) 0.4 (1.32) 0.2 (0.66) 0.6 (1.97) 0.3 (0.99) 0.8 (2.62) 0.4 (1.32) FIGURE 1 - DISTANCE TO EARLIEST WARNING LINE AS A FUNCTION OF VEHICLE RATE OF
40、DEPARTURE. 1SAE J2808 uses “rate of departure” instead of “lateral velocity.” SAE INTERNATIONAL J3045 Issued JUL2015 Page 6 of 16 4. TEST INSTRUMENTATION, DATA AND ACCURACY LEVELS 4.1 LDWS performance measurement instrumentation. The tester is free to choose the mix of instrumentation. Options inclu
41、de, but are not limited to: 4.1.1 Differential RTK (Real Time Kinematic) GPS Method. A differential RTK GPS including a base station providing an accuracy of up to 2 cm (0.787 in.) can be used. This method surveys the location of the lane markings before the start of the test. RTK GPS can provide th
42、e position of the wheels within 2 cm (0.787 in.) accuracy. This method requires extra instrumentation (RTK base and rover stations) and calibration effort (survey of the lane markers). 4.1.2 Video overlayed with CAN outputs method. An external camera can be mounted and configured so that the wheel p
43、osition with reference to lane marking can be determined, and data (video and CAN) recorded simultaneously. When the video is synchronized with the CAN outputs, playing back the data file can show when the warning occurred. The tire width can be used as reference to estimate the position of the oute
44、r wheel edge when the warning happens. 4.1.3 External video with microphone to capture warning sound from the cab. An external camera can be mounted and configured so that the wheel position with reference to lane marking can be determined. The audio input for video is recorded from inside the cab t
45、o capture the warning sound. The tire width can be used as reference to estimate the position of the outer wheel edge when the warning happens. 4.2 LDWS test data to be collected 4.2.1 Vehicle Dynamic Data. This data sufficient and necessary to ensure that the test vehicle properly executed the pres
46、cribed test trajectory. (see section 8: Performance test procedure) 4.2.1.1 Yaw rate measured to an accuracy of 0.02 degrees/sec. 4.2.1.2 Speed measured to an accuracy to 0.05 m/s (0.164 ft/s). 4.2.1.3 Rate of Departure measured to an accuracy to 0.05 m/s (0.164 ft/s). 4.2.2 LDWS Warning State. This
47、 data is necessary and sufficient to validate the output of LDWS during the test trajectory. 4.2.3 Vehicle-lane marker/lane boundary data. This data is necessary and sufficient to confirm in later analysis that a warning issued by the LDWS occurred within the warning threshold placement zone. 4.2.3.
48、1 Distance from front tire outside edge to inside lane marker inside edge. 4.2.3.1.1 Left side front tire, left side lane marker for lane departure to the left: accuracy to 0.05 m (1.97 in). 4.2.3.1.2 Right-side front tire, right-side lane marker for lane departure to the right: accuracy to 0.05 m (
49、1.97 in). SAE INTERNATIONAL J3045 Issued JUL2015 Page 7 of 16 FIGURE 2 - GRAPHICAL REPRESENTATION OF WARNING THRESHOLD PLACEMENT ZONE2. LANE MARKINGS DRAWN ABOVE BASED ON THE MUTCD. 2Adapted from Concept of Operations and Voluntary Operational Requirements For Lane Departure Warning Systems (LDWS) On-board Commercial Motor Vehicles, NHTSA, July 2005. SAE INTERNATIONAL J3045 Issued JUL2015 Page 8 of 16 5. VEHICLE INFORMA
