1、BSI Standards PublicationBS ISO 14791:2000Road vehicles Heavycommercial vehiclecombinations and articulatedbuses Lateral stability testmethodsCopyright British Standards Institution Provided by IHS under license with BSI - Uncontrolled Copy Not for ResaleNo reproduction or networking permitted witho
2、ut license from IHS-,-,-BS ISO 14791:2000 BRITISH STANDARDNational forewordThis British Standard is the UK implementation of ISO 14791:2000.The UK participation in its preparation was entrusted to TechnicalCommittee AUE/15, Safety related to vehicles.A list of organizations represented on this commi
3、ttee 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 correctapplication. The British Standards Institution 2014. Published by BSI StandardsLimited 2014ISBN 978 0 580 81669 7ICS 43.080.01C
4、ompliance with a British Standard cannot confer immunity fromlegal obligations.This British Standard was published under the authority of theStandards Policy and Strategy Committee on 28 February 2014.Amendments issued since publicationDate Text affectedCopyright British Standards Institution Provid
5、ed by IHS under license with BSI - Uncontrolled Copy Not for ResaleNo reproduction or networking permitted without license from IHS-,-,-BS ISO 14791:2000ReferencenumberISO14791:2000(E) ISO2000INTERNATIONALSTANDARDISO14791Firstedition2000-04-15RoadvehiclesHeavycommercialvehiclecombinationsandarticula
6、tedbusesLateralstabilitytestmethodsVhiculesroutiersEnsemblesdevhiculesutilitaireslourdsetautobusarticulsMthodesdessaidestabilitlatraleCopyright British Standards Institution Provided by IHS under license with BSI - Uncontrolled Copy Not for ResaleNo reproduction or networking permitted without licen
7、se from IHS-,-,-BS ISO 14791:2000ISO14791:2000(E)PDFdisclaimerThisPDFfilemaycontainembeddedtypefaces.InaccordancewithAdobeslicensingpolicy,thisfilemaybeprintedorviewedbutshallnotbeeditedunlessthetypefaceswhichareembeddedarelicensedtoandinstalledonthecomputerperformingtheediting.Indownloadingthisfile
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11、2000AllrightsreservedCopyright British Standards Institution Provided by IHS under license with BSI - Uncontrolled Copy Not for ResaleNo reproduction or networking permitted without license from IHS-,-,-BS ISO 14791:2000ISO14791:2000(E)ISO2000Allrightsreserved iiiContents PageForeword.ivIntroduction
12、v1Scope12Normativereferences13Termsanddefinitions.14Testobjectives.25Measuringequipment45.1 Description.45.2 Transducerinstallation.45.3 Dataprocessing.56Testconditions66.1 Testtracks66.2 Tyres.66.3 Operatingcomponents.76.4 Loadingconditions77Testmethod77.1 Warm-up.77.2 Testspeed77.3 Lateralacceler
13、ation.87.4 Pseudo-randominput87.5 Singlelane-change87.6 Pulseinput98Dataanalysisandpresentation128.1 Preliminaryanalysis128.2 Rearwardamplification.128.3 Offtracking138.4 Zero-dampingspeedandyawdamping138.5 Yaw-velocityratio14AnnexA(normative) Generaldatasheet16AnnexB(normative) Presentationofresult
14、s.19AnnexC(informative) Techniqueandverificationforpath-following.22AnnexD(informative) Calculationofconfidenceintervalfortherearwardamplification25Bibliography26Copyright British Standards Institution Provided by IHS under license with BSI - Uncontrolled Copy Not for ResaleNo reproduction or networ
15、king permitted without license from IHS-,-,-BS ISO 14791:2000ISO14791:2000(E)iv ISO2000AllrightsreservedForewordISO(theInternationalOrganizationforStandardization)isaworldwidefederationofnationalstandardsbodies(ISOmember bodies). Theworkofpreparing InternationalStandards is normallycarried outthroug
16、h ISOtechnicalcommittees.Eachmemberbodyinterestedinasubjectforwhichatechnicalcommitteehasbeenesta blishedhastherighttoberepresentedonthatcommittee.Internationalorganizations,governmentalandnon-governmental,inliaison withISO,alsotakepartinthe work. ISOcollaborates closelywiththe International Electro
17、technicalCommission(IEC)onallmattersofelectrotechnicalstandardization.InternationalStandardsaredraftedinaccordancewiththerulesgivenintheISO/IECDirectives,Part3.DraftInternationalStandardsadoptedbythetechnicalcommitteesarecirculatedtothememberbodiesforvoting.PublicationasanInternationalStandardrequir
18、esapprovalbyatleast75%ofthememberbodiescastingavote.AttentionisdrawntothepossibilitythatsomeoftheelementsofthisInternationalStandardmaybethesubjectofpatentrights.ISOshallnotbeh eldresponsibleforid entifyinganyorallsuchpatentrights.InternationalStandardISO14791waspreparedbyTechnicalCommitteeISO/TC22,
19、Roadvehicles ,SubcommitteeSC9,Vehicledynamicsandroad-holdingability.AnnexesAandBformanormativepartofthisInternationalStandard.AnnexesCandDareforinformationonly.Copyright British Standards Institution Provided by IHS under license with BSI - Uncontrolled Copy Not for ResaleNo reproduction or networki
20、ng permitted without license from IHS-,-,-BS ISO 14791:2000ISO14791:2000(E)ISO2000Allrightsreserved vIntroductionTheroad-holdingabilityofheavycommercialvehiclecombinationsandarticulatedbusesisamostimportantpartofactivevehiclesafety.Anygivenheavycommercial vehicle combination, together with its drive
21、r andtheprevailingenvironment, constitutes aclosed-loop system that is unique. Thetask of evaluatingroad-holding abilityis,therefore, verydifficult becauseofthe significantinteraction of thesedriver/motor vehicle/trailer/roadelements,eachofwhich is in itself complex.Acomplete and accurate descriptio
22、nofthe behaviour of aheavy vehiclecombinationmustnecessarilyinvolveinformationobtainedfromanumberoftestsofdifferenttypes.Becausetheyquantifyonlyasmallpartofthewholevehiclehandlingfield,theresultsofthetestsspecifiedinthisInternational Standardcan onlybe considered significant foracorrespondinglysmall
23、 partofthe overallhandlingbehaviourofheavycommercialv ehiclecombinationsandarticulatedbuses.Inaddition,theresultsobtainedfromthesetestsapplyonlyforcombinationsofidenticaltypesofvehicleunits.Theresultswillnotdescribethebehaviourofthevehicleunitsseparately.Moreover, insufficient knowledgeisavailable c
24、oncerning therelationship betweenoverall vehicle dynamicproperties andaccident avoidance. Sincethe number of variants of heavy truckcombinations is tremendouslylarge,eachtruckcombinationisunique.Sothemeasuredres ultisvalidonlyforthetestedvehicleorcombinationand thetransition of theresults to obvious
25、ly similar v ehicle combinations is,especially forheavy trucks,notpossible.Therefore,itisnotpossibletousethesetestmethodsandthetestresultsforregulationpurposes.Copyright British Standards Institution Provided by IHS under license with BSI - Uncontrolled Copy Not for ResaleNo reproduction or networki
26、ng permitted without license from IHS-,-,-BS ISO 14791:2000Copyright British Standards Institution Provided by IHS under license with BSI - Uncontrolled Copy Not for ResaleNo reproduction or networking permitted without license from IHS-,-,-BS ISO 14791:2000INTERNATIONALSTANDARD ISO14791:2000(E)ISO2
27、000Allrightsreserved 1RoadvehiclesHeavycommercialvehiclecombinationsandarticulatedbusesLateralstabilitytestmethods1ScopeThis International Standardspecifies test methods to determine thelateral stabilityofheavycommercial vehiclecombinations as definedinISO3833, including truckcentre-axle trailercomb
28、inations andarticulated buses. It isapplicabletotrucksandtrailershavingamassexceeding3,5tandbus eshavingamassexceeding5t,i.e.vehiclecategoriesN2,N3,O3,O4andM3accordingto92/53/EEC.Themanuvres specified in thesetestmethods arenot fullyrepresentativeofrealdriving conditions,but areusefulfordeterminingt
29、helateralstabilityofaheavyvehiclecombination.2NormativereferencesThefollowingnormativedocumentscontainprovisionswhich,throughreferenceinthistext,constituteprovisionsofthisInternationalStandard. Fordated references,subsequent amendments to, or revisions of,any of thesepublicationsdonotapply.However,p
30、artiestoagreementsbasedonthisInternationalStandardareencouragedtoinvestigate thepossibilityofapplyingthe most recent editions of the normative documents indicated below. Forundated references,the latest edition of thenormative document referredtoapplies.MembersofISO and IECmaintainregistersofcurrent
31、lyvalidInternationalStandards.ISO1176:1990,RoadvehiclesMassesVocabularyandcodes .ISO3833:1977,RoadvehiclesTypesTermsanddefinitions.ISO8855:1991,RoadvehiclesVehicledynamicsandroad-holdingabilityVocabulary .ISO9815:1992,Passenger-car/trailercombinationsLateralstabilitytest.ECCouncilDirectiveNo.92/53/E
32、EC.AnnexII,Definitionofvehiclecategoriesandvehicletypes .3TermsanddefinitionsForthe purposes of this International Standard, theterms and definitions given in ISO8855and thefollowingapply.3.1vehicleunitrigid(i.e.non-articulating)vehicleelementoperatingaloneorincombinationwithoneormoreotherrigideleme
33、ntsjoinedatyaw-articulationjointsEXAMPLES Tractor,semitraileranddolly.3.2rearwardamplificationratioofthemaximumvalueofthemotionvariableofinterestofafollowingvehicleunittothatofthefirstvehicleunitduringaspecifiedmanuvreCopyright British Standards Institution Provided by IHS under license with BSI - U
34、ncontrolled Copy Not for ResaleNo reproduction or networking permitted without license from IHS-,-,-BS ISO 14791:2000ISO14791:2000(E)2 ISO2000Allrightsreserved3.3offtrackinglateraldeviationbetweenthepathofthecentrelinepointo fthefrontaxleofthevehicleandthepathofthecentre-linepointofsomeotherpartofth
35、evehicleNOTE1See8.3fordeterminationofofftracking.NOTE2Inasingle-lane-changemanuvrewherethepathoftheotherpartofthe vehicleisfartherfromtheprojectionoftheoriginalpathofthevehiclethanisthepathofthefrontaxle,thepathoftheotherpartissaidto“overshoot”thepathofthefrontaxleatthatpoint.Iftheoppositeistrue,the
36、pathoftheotherpartissaidto“undershoot”thepathofthefrontaxle.3.4zero-dampingspeedspeed at whichthe damping coefficient of the free oscilla tory yawmovements of thevehiclecombination equalszero3.5reference-dampingspeedspeed at whichthe damping coefficient of the free oscilla tory yawmovements of theve
37、hiclecombination equals0,053.6centrelinepointpointat the intersectionofthe ground plane and the x - z planeofsymmetryofthe partofinterest, whichpoint liesdirectlybelowalongitudinalreferencepositionNOTE Foranaxle,thelongitudinalreferencepointisthewheel-spinaxis.Forotherparts,thelongitudinalreferencep
38、ointshouldbestated.3.7yaw-articulationangleyawangle of the x -axisofthe intermediate axis system of amoreforward vehicle unit in theintermediate axissystemofafollowingvehicleunit,i.e.theanglebetweenthe x -axesofthetwounitswithpolaritydeterminedbytherotationoftheleadingunitintheaxissystemofthefollowi
39、ngunitNOTE Theunitsinvolvedareusuallyadjacent,butnotnecessarilyso.4TestobjectivesTheprimaryobjectiveof thesetestsisto determinethelateralstabilityof heavycommercialvehicle combinationsandarticulatedbuses.Thelateralstabilityischaracterizedby:null rearwardamplificationoflateralaccelerationandyawveloci
40、ty;null dynamicofftracking;null zero-dampingspeed;null yawdamping,includingmode-shapeinformation.Of thesefour performancemeasures,two,rearwardamplification anddynamic offtracking, relate to forcedresponsepropertiesandtheothertwo,zero-dampingspeedandyawdamping,relatetofreeresponseproperties.Copyright
41、 British Standards Institution Provided by IHS under license with BSI - Uncontrolled Copy Not for ResaleNo reproduction or networking permitted without license from IHS-,-,-BS ISO 14791:2000ISO14791:2000(E)ISO2000Allrightsreserved 3Foracompletesetofmeasurements,itisnecessarytodetermine:null steering
42、wheelangle;null longitudinalvelocity;null yawvelocityofthefirstandthelastvehicleunits;null lateral accelerationofthe front axle of the firstvehicle unit at or belowthe height of the wheelcentre, andlateralaccelerationofthecentreofgravityofthelastvehicleunit;null articulationanglesorarticulationangu
43、larvelocitybetweentheveh icleunits;null offtrackingofthemostseverelyofftrackingaxleofthevehiclecombination.Inordertoacquireadeeperunderstandingofthebehaviourofthevehiclecombination,itisdesirabletodetermine:null lateralaccelerationinthecentreofgravityofeachvehicleunit;null yawvelocityofeachvehicleuni
44、t;null therollangleofeachvehicleunit,preferablyabovetherearmostaxle;null lateralvelocityorslipangleoftherearmostaxleofeachvehicleunit;null dynamicwheelloadsofeachvehicleunit;null lateralmotionofeachaxleinthecombination;null offtrackingofthemostseverelyofftrackingpoint,otherthananaxle,ofthevehiclecom
45、bination.Thefollowingtestmethodscanbeusedtodeterminethevariouscharacteristicsofthelateralstability:null pseudo-randominput;null singlelane-change;null pulseinput.Pseudo-random input canbeusedtodetermine themaximum rearward amplification. It provides completeinformationaboutthefrequencydependencyofth
46、erearwardamplification.With asingle lane-change, rearward amplification anddynamic offtracking canbedetermined foraspecific,realisticmanuvre.Thesinglelanechangemaybecarriedoutbyapplyingeitherasinglesine-wavesteeringinputorbyfollowingapathproducingasinglesine-wavelateralaccelerationinput.NOTE Rearwar
47、damplificationmeasurementsobtainedusingpseudo-randominputandsinglelane-changewilldiffer.Thetwotestmethodshaveafundamentaldifference.Thepseudo-randominputmethodisintendedtoyieldafullrepresentationofthe system gaininthe frequency domain. Thesingle-lane-changemethod, however, provides only thecomposite
48、 gainofthesystemasresultsfromthedistributedfrequencycontentofthespecificlane-changeperformedinthetest.Also, themeasurements obtainedfromthe twolane-change methodsshould be expected to differ,because thefrequencycontent of the steeringinput will be different in thetwo cases. With thesingle sine-wavesteeringmethod, thesteer input isdefined,whileforthepath-followingmethodthelateralaccelerationisdefined.Inthefirstmethod,lateralaccelerationdependsonthedynamicsofthevehiclecombinationandthepropertiesofthesteeringsystem,e.g.lashandcompliance.Inthesecondmethod,ste
