1、BRITISH STANDARDBS ISO 17387:2008Intelligent transport systems Lane change decision aid systems (LCDAS) Performance requirements and test proceduresICS 03.220.20; 35.240.60g49g50g3g38g50g51g60g44g49g42g3g58g44g55g43g50g56g55g3g37g54g44g3g51g40g53g48g44g54g54g44g50g49g3g40g59g38g40g51g55g3g36g54g3g51
2、g40g53g48g44g55g55g40g39g3g37g60g3g38g50g51g60g53g44g42g43g55g3g47g36g58BS ISO 17387:2008This British Standard was published under the authority of the Standards Policy and Strategy Committee on 30 May 2008 BSI 2008ISBN 978 0 580 57066 7National forewordThis British Standard is the UK implementation
3、 of ISO 17387:2008.The UK participation in its preparation was entrusted to Technical Committee EPL/278, Road transport informatics.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 provisi
4、ons of a contract. Users are responsible for its correct application.Compliance with a British Standard cannot confer immunity from legal obligations. Amendments/corrigenda issued since publicationDate CommentsReference numberISO 17387:2008(E)INTERNATIONAL STANDARD ISO17387First edition2008-05-01Int
5、elligent transport systems Lane change decision aid systems (LCDAS) Performance requirements and test procedures Systmes intelligents de transport Systmes daide la dcision de changement de voie Exigences de performances et mthodes dessai BS ISO 17387:2008ii iiiContents Page Foreword iv Introduction
6、v 1 Scope . 1 2 Terms and definitions. 1 3 Classification. 4 3.1 Coverage zone classification 4 3.2 Target vehicle closing speed classification. 5 4 Functional requirements 8 4.1 LCDAS state diagram . 8 4.2 System performance 10 4.3 User interface 15 4.4 Operation with trailers 16 4.5 Self-test requ
7、irements 16 5 Test requirements. 16 5.1 Test target vehicle 16 5.2 Environmental conditions 16 5.3 Blind spot warning test requirements 16 5.4 Closing vehicle warning test requirements . 24 5.5 Lane change warning test requirements 29 Annex A (informative) Blind spot warning example cases 34 Bibliog
8、raphy . 49 BS ISO 17387:2008iv Foreword ISO (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 out through ISO technical committees. Each member body intere
9、sted 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 collaborates closely with the International Electrotechnical
10、Commission (IEC) on all matters of electrotechnical standardization. International Standards are drafted in accordance with the rules given in the ISO/IEC Directives, Part 2. The main task of technical committees is to prepare International Standards. Draft International Standards adopted by the tec
11、hnical committees are circulated to the member bodies for voting. Publication as an International Standard requires approval by at least 75 % of the member bodies casting a vote. Attention is drawn to the possibility that some of the elements of this document may be the subject of patent rights. ISO
12、 shall not be held responsible for identifying any or all such patent rights. ISO 17387 was prepared by Technical Committee ISO/TC 204, Intelligent transport systems. BS ISO 17387:2008vIntroduction Lane Change Decision Aid Systems (LCDAS) warn the driver against collisions that may occur due to a la
13、ne change manoeuvre. LCDAS are intended to supplement the vehicles interior and exterior rear-view mirrors, not eliminate the need for such mirrors. LCDAS are intended to detect vehicles to the rear and sides of the subject vehicle (see Figure 1). When the subject vehicle driver indicates the desire
14、 to make a lane change, the system evaluates the situation and warns the driver if a lane change is not recommended. LCDAS are not meant to encourage aggressive driving. The absence of a warning will not guarantee that the driver can safely make a lane change manoeuvre. The system will not take any
15、automatic action to prevent possible collisions. Responsibility for the safe operation of the vehicle remains with the driver. NOTE Many figures in this document show vehicles on roadways with lane markings. This is not meant to imply that lane marking recognition or lane detection is required for a
16、n LCDAS. The lane markings are drawn for reference only. Key 1 subject vehicle 2 target vehicles aThe shaded area illustrates the concept of one possible system. The actual requirements are given in Clause 4. Figure 1 LCDAS concept BS ISO 17387:2008blank1Intelligent transport systems Lane change dec
17、ision aid systems (LCDAS) Performance requirements and test procedures 1 Scope This International Standard specifies system requirements and test methods for Lane Change Decision Aid Systems (LCDAS). LCDAS are fundamentally intended to warn the driver of the subject vehicle against potential collisi
18、ons with vehicles to the side and/or to the rear of the subject vehicle, and moving in the same direction as the subject vehicle during lane change manoeuvres. This standardization addresses LCDAS for use on forward moving cars, vans and straight trucks in highway situations. This standardization do
19、es not address LCDAS for use on motorcycles or articulated vehicles such as tractor/trailer combinations and articulated buses. 2 Terms and definitions For the purpose of this document, the following terms and definitions apply. NOTE The figures illustrating the coverage zone definitions show the zo
20、ne concept only. The actual requirements are given in 4.2. 2.1 subject vehicle vehicle equipped with the system in question and related to the topic of discussion 2.2 LCDAS target vehicle any vehicle that is closing in on the subject vehicle from behind, or any vehicle that is located in one of the
21、adjacent zones NOTE An LCDAS target vehicle is referred to as “target vehicle” in this document. 2.3 coverage zone entire area to be monitored by an LCDAS, a systems coverage zone consisting of a specific subset of the following zones: left adjacent zone, right adjacent zone, left rear zone and righ
22、t rear zone NOTE A target vehicle located within the coverage zone will thus be detected by the system. 2.4 adjacent zones zones to the left and right of the subject vehicle See Figure 2. NOTE The adjacent zones are intended to cover the lanes adjacent to the subject vehicle. However, the position a
23、nd size of the adjacent zones are defined with respect to the subject vehicle, and are independent of any lane markings. BS ISO 17387:20082 Key 1 subject vehicle 2 left adjacent zone 3 right adjacent zone Figure 2 Adjacent zones 2.5 rear zones zones that are behind and to the sides of the subject ve
24、hicle See Figure 3. NOTE The rear zones are intended to cover the lanes adjacent to the subject vehicle. However, the position and size of the rear zones are defined with respect to the subject vehicle, and are independent of any lane markings. Key 1 subject vehicle 2 left rear zone 3 right rear zon
25、e Figure 3 Zones 2.6 lateral clearance of a target vehicle lateral distance between the side of the subject vehicle and the near side of a target vehicle See Figure 4. BS ISO 17387:20083Key 1 subject vehicle 2 target vehicle 3 lateral clearance Figure 4 Lateral clearance 2.7 rear clearance of a targ
26、et vehicle distance between the rear of the subject vehicle and the front of the target vehicle as measured along a straight line, or optionally, as estimated along the target vehicles estimated path See Figures 5 a) to 5 d). NOTE This definition applies to target vehicles in the rear zones only. a)
27、 On a straight road measured along a straight line b) On a straight road estimated along target vehicle path c) On a curved road measured along a straight line d) On a curved road estimated along target vehicle path Key 1 subject vehicle 2 target vehicle 3 rear clearance Figure 5 Examples of rear cl
28、earance BS ISO 17387:20084 2.8 closing speed of a target vehicle difference between the target vehicles speed and the subject vehicles speed NOTE This definition applies to target vehicles in the rear zones only. A positive closing speed indicates that the target vehicle is closing in on the subject
29、 vehicle from the rear. 2.9 time to collision estimated time that it would take a target vehicle to collide with the subject vehicle if the subject vehicle were in the target vehicles path and the target vehicles current closing speed remained constant NOTE Time to collision can be estimated by divi
30、ding a target vehicles rear clearance by its closing speed. This definition applies to target vehicles in the rear zones only. 2.10 overtaking speed of the subject vehicle difference between the subject vehicles speed and the target vehicles speed when the subject vehicle is overtaking the target ve
31、hicle NOTE A positive overtaking speed indicates that the subject vehicle is moving faster than the target vehicle. 2.11 blind spot warning function function that detects the presence of target vehicles in one or more of the adjacent zones and warns the subject vehicle driver in accordance with the
32、requirements given in Clause 4 2.12 closing vehicle warning function function that detects closing vehicles in one or more of the rear zones and warns the driver in accordance with the requirements given in Clause 4 2.13 lane change warning function function that includes the blind spot warning func
33、tion and the closing vehicle warning function 2.14 roadway radius of curvature horizontal radius of curvature of the road on which the subject vehicle is travelling 3 Classification 3.1 Coverage zone classification 3.1.1 General LCDAS are classified by the minimum required coverage as shown in Table
34、 1; for example, a Type I system shall provide coverage of at least the left and right adjacent zones. Table 1 Coverage zone classification Type Left adjacent zone coverage Right adjacent zone coverageLeft rear zone coverageRight rear zone coverageFunction I X X Blind spot warning II X X Closing veh
35、icle warning III X X X X Lane change warning BS ISO 17387:200853.1.2 Type I systems Type I systems provide the blind spot warning function only. These systems are intended to warn the subject vehicle driver of target vehicles in the adjacent zones. These systems are not required to provide warnings
36、of target vehicles that are approaching the subject vehicle from the rear. The subject vehicle driver shall be made aware of the limitations of this type of system, at least in the owners manual. In particular, the owners manual shall include the following statement: “This system provides support on
37、ly within a limited area beside the vehicle. The system may not provide adequate warning for vehicles approaching from the rear.” 3.1.3 Type II systems Type II systems provide the closing vehicle warning function only. These systems are intended to warn the subject vehicle driver of target vehicles
38、that are approaching the subject vehicle from the rear. Because these systems are not required to provide warnings of target vehicles located adjacent to the subject vehicle, Type II systems are recommended for use on vehicles that have side mirrors with a horizontal field of view of at least 45 on
39、both sides of the vehicle. If these systems are used on other vehicles, the owners manual shall include the following statement: “The driver must turn and look into the adjacent area before attempting a lane change.” The subject vehicle driver shall be made aware of the limitations of this type of s
40、ystem, at least in the owners manual. In particular, the owners manual shall include the following statement: “This system provides no support for the areas adjacent to the subject vehicle. This system may not provide adequate warning for very fast moving vehicles approaching from the rear.” 3.1.4 T
41、ype III systems Type III systems provide the blind spot warning function and the closing vehicle warning function. These systems are intended to warn the subject vehicle driver of target vehicles in the adjacent zones and target vehicles which are approaching the subject vehicle from the rear. The s
42、ubject vehicle driver shall be made aware of the limitations of this type of system, at least in the owners manual. In particular, the owners manual shall include the following statement: “This system may not provide adequate warning for very fast moving vehicles approaching from the rear.” 3.2 Targ
43、et vehicle closing speed classification 3.2.1 General LCDAS of Types II and III are classified by the maximum target vehicle closing speed and the minimum roadway radius of curvature as shown in Table 2. A system may belong to more than one of the types listed in Table 2. For example, a highly capab
44、le system may meet or exceed the minimum requirements defined individually for Types A, B and C. Table 2 Target vehicle closing speed classification Maximum target vehicle closing speed Minimum roadway radius of curvature Type m/s m A 10 125 B 15 250 C 20 500 NOTE The maximum target vehicle closing
45、speed has a direct effect on the required sensor range and/or acquisition time. A higher closing speed will require a longer sensor range and/or a shorter acquisition time in order to detect the target vehicle quickly enough to give the subject vehicle driver adequate warning. In addition, there is
46、a relationship between the maximum target vehicle closing speed and the roadway radius of curvature. For a given curve radius and a typical subject vehicle speed, the closing speed of a target vehicle is limited by driving dynamics parameters. BS ISO 17387:20086 3.2.2 Type A systems Figure 6 shows t
47、he minimum required region of performance with regard to roadway radius of curvature and target vehicle closing speed for a Type A system. These systems may be capable of operating on curved roads with smaller radii. The subject vehicle driver shall be made aware of the limitations of the system, at
48、 least in the owners manual. In particular, the owners manual shall include the following statement: “This system may not provide adequate warning on curves tighter than X metres radius” where X is replaced by the tightest curve radius for which the system is designed but not more than 125 m. Key X
49、target vehicle closing speed, m/s Y roadway radius of curvature, m Figure 6 Type A system minimum region of performance 3.2.3 Type B systems Figure 7 shows the minimum required region of performance with regard to roadway radius of curvature and target vehicle closing speed for a Type B system. These systems may be capable of operating on curved roads with smaller radii. The subject vehicle driver shall be made aware of the limitations of the system, at least in the owners manual. In particular, the owners manual shal
