1、 _ 6$(7HFKQLFDO6WDQGDUGV%RDUG5XOHVSURYLGHWKDW7KLVUHSRUWLVSX EOLVKHGE6$(WRDGYDQFHWKHVWDWHRIWHFKQLFDODQGHQJL neering sciences. The use of this report is entirely voluntary, and its applicability and suitDELOLWIRUDQSDUWLFXODUXVHLQFOXGLQJDQSDWHQWLQIULQJHPHQWDULVLQJ WKHUHIURPLVWKHVROHUHVSRQVLELOLWRIWKHXV
2、HU 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 2016 SAE International All rights reserved. No part of this publication may be reproduced, stored in a re
3、trieval system or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise, without the prior written permission of SAE. TO PLACE A DOCUMENT ORDER: Tel: 877-606-7323 (inside USA and Canada) Tel: +1 724-776-4970 (outside USA) Fax: 724-776-0790 Email: Cus
4、tomerServicesae.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/PRODCODE SURFACE VEHICLE RECOMMENDED PRACTICE J FEB2016 Issued 2016-02 Driver-Vehicle Interface Considerations for Lane Keepi
5、ng Assistance Systems RATIONALE This document was developed as a companion to ISO 11270 - Intelligent transport systems - Lane keeping assistance systems (LKAS) - Performance requirements and test procedures for the purpose of providing more detailed driver vehicle interface (DVI) guidance for these
6、 systems. FOREWORD This recommended practice is intended to address DVI aspects of LKAS as specified by ISO 11270 Intelligent transport systems - Lane Keeping Assistance Systems - Performance requirements and test procedures. TABLE OF CONTENTS 1. SCOPE . 2 2. REFERENCES . 3 2.1 Applicable Documents
7、. 3 3. DEFINITIONS 3 3.1 Activation criteria 3 3.2 Incidental visible road feature (ISO 11270) 3 3.3 Lane (ISO 11270) . 3 3.4 Lane boundary (ISO 11270) 4 3.5 Lane keeping actions (ISO 11270) 4 3.6 LKAS active state . 4 3.7 LKAS off state (ISO 11270) . 4 3.8 LKAS on state (ISO 11270) . 4 3.9 LKAS sta
8、nd-by state (ISO 11270) 4 3.10 Subject Vehicle 4 3.11 Suppression request (ISO 11270) . 4 3.12 System states (ISO 11270) 4 3.13 Visible lane marking (ISO 11270) 5 4. ABBREVIATIONS 5 5. SYMBOLS 5 5.1 Where a symbol is used in place of words to refer to an LKAS (e.g., system indicator, display, RURZQH
9、UVPDQXDO UHIHUWR,62IRUJXLGDQFH . 5 SAE INTERNATIONAL - FEB2016 Page 2 of 7 6. REQUIREMENTS 5 6.1 Operational characteristics 5 6.1.1 Warning and assistance functions . 5 6.2 System state and state indication 6 6.2.1 On/off state indication 6 6.2.2 Active vs stand-by state indication . 6 6.3 LKAS fau
10、lt indication (i.e., LKAS service required) 6 6.4 Deactivation . 6 7. DISPLAY CHARACTERISTICS . 7 7.1 Visual 7 7.1.1 Location 7 7.2 Audible alert . 7 7.3 Haptic alert . 7 8. NOTES . 7 8.1 Revision Indicator . 7 Figure 1 LKAS states and transitions . 5 1. SCOPE The purpose of this document is to prov
11、ide guidance for the implementation of driver-vehicle interfaces (DVI) for intervention-type lane keeping assistance systems (LKAS), as defined by ISO 11270. LKAS provide support for safe lane keeping operations by drivers via momentary intervention in lane keeping actions, but do not automate part
12、or all of the dynamic driving task on a sustained basis (see SAE J3016). Thus they are not classified as a driving automation system per SAE J3016 - Taxonomy and Definitions for Terms Related to On-Road Motor Vehicle Automated Driving Systems, nor do they prevent possible lane or roadway departures,
13、 as drivers can always override an LKAS intervention and road conditions may be such that they cannot support an LKAS intervention (e.g., too slippery, curve to tight, lateral velocity too high, etc.). As used in this document, the term LKAS refers to lateral control driver assistance features that
14、automatically intervene to hinder a lane departure if the driver either fails to signal intent to change lanes (i.e., via turn signal activation) or fails to initiate corrective action to prevent the lane departure. It does not include lane centering-type systems (with or without required minimum st
15、eering torque input by the driver), which perform constant steering correction to maintain lane positioning (i.e., within a given lane). This document addresses DVI parameters for intervention-type LKAS equipped on vehicles designed for use on public roadways. The responsibility for the safe operati
16、on of the vehicle always remains with the driver. LKAS is intended to operate on highways and equivalent roads. This document applies to original equipment LKAS for light-duty vehicles (i.e., passenger cars and light trucks) with GVWR of less than 10000 pounds. This document does not apply to the in
17、stallation of LKAS on motorcycles or medium- and heavy-duty vehicles. Finally, this document does not address system or operational requirements for LKAS systems, which are specified by ISO 11270. SAE INTERNATIONAL - FEB2016 Page 3 of 7 2. REFERENCES 2.1 Applicable Documents The following publicatio
18、ns 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, Warrendale, PA 15096-0001, Tel: 877-606-7323 (inside USA and Canada) or
19、+1 724-776-4970 (outside USA), www.sae.org. SAE J1050 HVFULELQJDQG0HDVXULQJWKHULYHU s Field of View SAE J2944 Operational Definitions of Driving Performance Measures and Statistics SAE J3016 Taxonomy and Definitions for Terms Related to On-Road Motor Vehicle Automated Driving Systems 2.1.2 ISO Publi
20、cations Copies of these documents are available online at http:/webstore.ansi.org/ ISO 2575 Road vehicles - Symbols for controls, indicators and tell-tales ISO 11270 Intelligent transport systems - Lane keeping assistance systems (LKAS) - Performance requirements and test procedures ISO 15006 Road v
21、ehicles - Ergonomic aspects of transport information and control systems -Specifications and compliance procedures for in-vehicle auditory presentation ISO 15008 Road vehicles - Ergonomic aspects of transport information and control systems Specifications and compliance procedures for in-vehicle vis
22、ual presentation 3. DEFINITIONS 3.1 ACTIVATION CRITERIA Operational design conditions required for the LKAS to function. NOTE: These may include minimum and/or maximum vehicle speeds, detected lane makings, and the absence of system faults. 3.2 INCIDENTAL VISIBLE ROAD FEATURE (ISO 11270) Visible pat
23、terns on the road surface that were not explicitly intended to delineate boundaries of the lane, but which are indicative of position within the lane. NOTE: These may include such features as pavement seams, edges, or curbs. 3.3 LANE (ISO 11270) 7KHDUHDRIURDGZDWKDWDYHKLFOHZRXOGEHHSHFWHGWRWUDYHODORQJ
24、LQWKHDEVHQFHRIDQREVWUXFW LRQZLWKRXWWKHGULYHUVdesire to change the path of travel. SAE INTERNATIONAL - FEB2016 Page 4 of 7 3.4 LANE BOUNDARY (ISO 11270) The borderline of the lane that is determined by visible lane markings to the left and right, and in the absence of a visible lane marking by incide
25、ntal visible road features or other means such as GPS, magnetic nails, etc. NOTE: In the case of a visible lane marking, the boundary is at the center thereof. 3.5 LANE KEEPING ACTIONS (ISO 11270) Actions which the system performs to influence the lateral movement of the subject vehicle with the int
26、ention of helping the driver to keep the vehicle within the lane. 3.6 LKAS ACTIVE STATE System is switched on and the activation criteria are met. NOTE: The active state includes the following sub-states: x LKAS intervening - system is exerting one or more vehicle control functions (e.g., steering,
27、braking, drive torque). x LKAS overridden - system intervention is temporarily suspended or overcome by steering. x LKAS suppressed - while activation criteria are met, system intervention is temporarily suspended due to driver request or a system feature intended to prevent an LKAS action. 3.7 LKAS
28、 OFF STATE (ISO 11270) System is switched off. 3.8 LKAS ON STATE (ISO 11270) System is switched on. 3.9 LKAS STAND-BY STATE (ISO 11270) System is switched on but the activation criteria are not all met. 3.10 SUBJECT VEHICLE Vehicle equipped with LKAS as defined herein. 3.11 SUPPRESSION REQUEST (ISO
29、11270) A driver request or a system feature intended to prevent an LKAS action if an intentional lane departure is detected. 3.12 SYSTEM STATES (ISO 11270) One of several stages or phases of system operation. (ref. figure 1 from ISO 11270) SAE INTERNATIONAL - FEB2016 Page 5 of 7 Figure 1 - LKAS stat
30、es and transitions 3.13 VISIBLE LANE MARKING (ISO 11270) Delineators intentionally placed on the borderline of the lane that are directly visible by the driver while driving (e.g., not covered by snow, etc.). 4. ABBREVIATIONS ISO International Standards Organization LKAS lane keeping assistance syst
31、em 5. SYMBOLS 5.1 :KHUHDVPEROLVXVHGLQSODFHRIZRUGVWRUHIHUWRDQ/.$6 HJVVWHPL QGLFDWRUGLVSODRURZQHUVPDQXDO refer to ISO 2575 for guidance. NOTE: At the time of publication, no specific symbol for LKAS exists in ISO 2575, but efforts are underway to address active safety system symbols, generally. 6. REQ
32、UIREMENTS 6.1 Operational characteristics 6.1.1 Warning and assistance functions An LKAS may provide both warning and assistance functions. These functions may be provided concurrently, or sequentially, depending on the system strategy and operating condition. 6.1.1.1 Assistance function override Th
33、e driver shall be able to override an LKAS lane keeping action at any time. The driver shall be able to override the LKAS action at least by turning the steering wheel. Other driver actions could also be considered as overriding (e.g., hard braking). NOTE: Systems may or may not provide explicit fee
34、dback to the driver indicating an override event. SAE INTERNATIONAL - FEB2016 Page 6 of 7 6.1.1.2 Suppression request An LKAS lane keeping action may be suppressed under specified conditions, such as turn signal activation or intervention by another safety system (e.g., electronic stability control)
35、. Suppression based on turn signal activation may be cancelled if the turn signal remains activated for a prolonged period of time. NOTE: Systems may or may not provide explicit feedback to the driver indicating a suppression event. 6.2 System state and state indication The transition from LKAS off
36、to LKAS on, or vice versa, can be performed manually by the driver or automatically by the LKAS. When the LKAS is on, it may be in either the active or the stand-by state. EXAMPLE 1: LKAS may automatically transition to off state if a malfunction occurs. EXAMPLE 2: LKAS may automatically transition
37、to on state upon key restart, even if turned off manually by the driver during the previous trip. In the active state, LKAS may use one or more vehicle control functions (e.g., steering, braking, drive torque) to hinder an unintended lane departure. In the stand-by state, one or more activation crit
38、eria have not been met, thus preventing the system from becoming active. During stand-by, the LKAS monitors the status of the activation criteria for conditions that would permit a change to the active state. If all of the activation criteria are met, the system shall transition from LKAS stand-by t
39、o LKAS active state. This transition can be done automatically or by a driver action/confirmation. 6.2.1 On/off state indication The LKAS shall provide the driver with visual indication of the LKAS on/off status. Such indication may be provided by, for example, the presence or absence of an indicato
40、r (e.g., light, symbol, graphic, or text display); by the presence or absence of back lighting, or by use of distinct colors for such indicator. 6.2.2 Active vs stand-by state indication The LKAS should provide the driver with visual indication when the system is in the active vs stand-by state. If
41、provided, indicators for these two different on states must be visually distinct. NOTE 1: $FWLYHGRHVQRWQHFHVVDULOPHDQDFWLYHOLQWHUYHQLQJWRKLQGHUODQHGHSDUWXUHDQ /.$6LVDFWLYHDVORQJDVLWis on and the activation criteria are all met such that it is able to intervene if/when necessary to hinder a lane depa
42、rture. NOTE 2: Stand-by can be indicated by means other than a dedicated display. For example, a green light indicating that the system is active may turn off to indicate stand-by. 6.3 LKAS fault indication (i.e., LKAS service required) The LKAS shall notify the driver at the time that a fault occur
43、s that will impair the operation or performance of the LKAS system, and again if the driver attempts to turn the system on while the fault remains in effect. In a case where a fault occurs that prevents proper function of the LKAS, but which is not a fault within the LKAS, such as physical obscurati
44、on of a sensor, the system may provide separate indication of the issue. (Note: System state change LQGLFDWLRQVPDSURYLGHVXIILFLHQWLQGLFDWLRQIRUHDPSOHWKHVVWHPDFWLYHLQGLFDWR UFRXOGWXUQRII 6.4 Deactivation The driver shall be provided with the means to transition from LKAS on to LKAS stand-by or LKAS o
45、ff, and to keep the system in the LKAS stand-by or LKAS off state for at least the current ignition cycle. SAE INTERNATIONAL - FEB2016 Page 7 of 7 7. DISPLAY CHARACTERISTICS 7.1 Visual Visual displays used for state indication or for indicating an LKAS lane keeping action should be designed in accordance with applicable provisions of ISO 15008. 7.1.1 Location Visual displays shall be located such that a driver has an unobstructed view of such displays when properly seated and restrained by the vehicle seat belt. (See SAE J1050, Appendix D.) 7.2 Audible alert $X
