1、BS ISO 19364:2016Passenger cars Vehicledynamic simulation andvalidation Steady-statecircular driving behaviourBSI Standards PublicationWB11885_BSI_StandardCovs_2013_AW.indd 1 15/05/2013 15:06BS ISO 19364:2016 BRITISH STANDARDNational forewordThis British Standard is the UK implementation of ISO 1936
2、4:2016.The UK participation in its preparation was entrusted to TechnicalCommittee AUE/15, Safety related to vehicles.A list of organizations represented on this committee can beobtained on request to its secretary.This publication does not purport to include all the necessaryprovisions of a contrac
3、t. Users are responsible for its correctapplication. The British Standards Institution 2016.Published by BSI Standards Limited 2016ISBN 978 0 580 84950 3ICS 43.100Compliance with a British Standard cannot confer immunity fromlegal obligations.This British Standard was published under the authority o
4、f theStandards Policy and Strategy Committee on 31 October 2016.Amendments/corrigenda issued since publicationDate Text affectedBS ISO 19364:2016 ISO 2016Passenger cars Vehicle dynamic simulation and validation Steady-state circular driving behaviourVoitures particulires Simulation et validation dyn
5、amique des vhicules Tenue de route en rgime permanent sur trajectoire circulaireINTERNATIONAL STANDARDISO19364First edition2016-10-01Reference numberISO 19364:2016(E)BS ISO 19364:2016ISO 19364:2016(E)ii ISO 2016 All rights reservedCOPYRIGHT PROTECTED DOCUMENT ISO 2016, Published in SwitzerlandAll ri
6、ghts reserved. 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
7、either ISO at the 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 19364:2016ISO 19364:2016(E)Foreword ivIntroduction v1 Scope
8、 . 12 Normative references 13 Terms and definitions . 14 Principle 25 Variables . 26 Simulation tool requirements 26.1 General . 26.2 Mass and inertia . 36.3 Tires 36.4 Suspensions . 36.5 Steering system 36.6 Aerodynamics 46.7 Brake system . 46.8 Powertrain 46.9 Active controllers 46.10 Data acquisi
9、tion . 46.11 Driver controls 47 Physical testing. 47.1 General . 47.2 Test methods . 57.2.1 Constant-radius 57.2.2 Constant speed 57.3 Documentation of limit condition 57.4 Low-pass filtering of measured data 58 Simulation . 68.1 General . 68.2 Simulation procedure 68.2.1 Direction of steer . 68.2.2
10、 Tests with steady-state conditions . 68.2.3 Tests with slowly changing conditions . 68.3 Data recording . 68.3.1 General 68.3.2 Tests with steady-state conditions . 68.3.3 Tests with slowly changing conditions . 79 Comparison between simulation and physical test results . 79.1 General . 79.2 Calcul
11、ation of boundary points. 79.3 Tolerances for cross-plot boundary points. 99.4 Comparison of simulation cross plots with measured test data 910 Documentation . 9Annex A (informative) Combined tolerance for normalized geometric profile .11Bibliography .13 ISO 2016 All rights reserved iiiContents Page
12、BS ISO 19364:2016ISO 19364:2016(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 out through ISO technical committees. Each member body inte
13、rested 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 Electrotechnica
14、l 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 approval criteria needed for the different types of ISO docum
15、ents 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 subject of patent rights. ISO shall not be held responsibl
16、e 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 trade name used in this document is information given for t
17、he 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 Organization (WTO) principles in the Technical Barriers to Trade (TB
18、T) 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 19364:2016ISO 19364:2016(E)IntroductionThe main purpose of this document
19、is to provide a repeatable and discriminatory method for comparing simulation results to measured test data from a physical vehicle for a specific type of test.The dynamic behaviour of a road vehicle is a very important aspect of active vehicle safety. Any given vehicle, together with its driver and
20、 the prevailing environment, constitutes a closed-loop system that is unique. The task of evaluating the dynamic behaviour is therefore very difficult since the significant interactions of these drivervehicleenvironment elements are each complex in themselves. A complete and accurate description of
21、the behaviour of the road vehicle should include information obtained from a number of different tests.Since this test method quantifies only one small part of the complete vehicle handling characteristics, the validation method associated with this test can only be considered significant for a corr
22、espondingly small part of the overall dynamic behaviour. ISO 2016 All rights reserved vBS ISO 19364:2016BS ISO 19364:2016Passenger cars Vehicle dynamic simulation and validation Steady-state circular driving behaviour1 ScopeThis document specifies a method for comparing computer simulation results f
23、rom a vehicle mathematical model to measured test data for an existing vehicle according to steady-state circular driving tests as specified in ISO 4138 or the Slowly Increasing Steer Test that is an alternative to ISO 4138. The comparison is made for the purpose of validating the simulation tool fo
24、r this type of test when applied to variants of the tested vehicle.It is applicable to passenger cars as defined in ISO 3833.NOTE The Slowly Increasing Steer method is described in regulations such as USA FMVSS 126 “Federal Register Vol 72, No. 66, April 6, 2007” and UN/ECE Regulation No. 13-H, “Uni
25、form provisions concerning the approval of passenger cars with regard to braking”.2 Normative referencesThe following documents are referred to in text in such a way that some or all of their content constitutes requirements of this document. For dated references, only the edition cited applies. For
26、 undated references, the latest edition of the referenced document (including any amendments) applies.ISO 4138, Passenger cars Steady-state circular driving behaviour Open-loop test methodsISO 15037-1, Road vehicles Vehicle dynamics test methods Part 1: General conditions for passenger cars3 Terms a
27、nd definitionsFor the purposes of this document, the terms and definitions given in ISO 1176, ISO 2416, ISO 3833, ISO 8855 and the following apply.ISO and IEC maintain terminological databases for use in standardization at the following addresses: IEC Electropedia: available at http:/www.electropedi
28、a.org/ ISO Online browsing platform: available at http:/www.iso.org/obp3.1simulationcalculation of motion variables of a vehicle from equations in a mathematical model of the vehicle system3.2simulation toolsimulation environment including software, models, input data, and hardware case of hardware-
29、in-the-loop simulation3.3cross plotplot where the horizontal axis shows values for a variable other than time (e.g. lateral acceleration)INTERNATIONAL STANDARD ISO 19364:2016(E) ISO 2016 All rights reserved 1BS ISO 19364:2016ISO 19364:2016(E)4 PrincipleOpen-loop test methods defined in ISO 4138 are
30、used to determine the steady-state circular driving behaviour of passenger cars as defined in ISO 3833.The test characterizes vehicle-handling behaviour in steady-state conditions covering a range of cornering conditions from straight-line up to limit conditions for steering control. Results are typ
31、ically reported by cross plotting steady-state measures of variables of interest against steady-state levels of lateral acceleration, and possibly calculating characteristic values based on gradients of the plotted data.Within this document, the purpose of the test is to demonstrate that a vehicle s
32、imulation tool can predict the vehicle behaviour within specified tolerances. The vehicle simulation tool is used to simulate a specific existing vehicle running through a steady-state test as specified in ISO 4138, or, alternatively, a Slowly Increasing Steer Test used in stability control evaluati
33、on. Simulation results are used to define graphical boundaries for overlaid cross-plots, and the data from physical testing are overlaid to see if the measurements fall within the acceptable ranges.NOTE This document may be used for several purposes. Depending on the purpose of the validation, only
34、parts of the validation requirements may be met.The existing vehicle is physically tested at least three times to allow the test data to be compared with the simulation results.5 VariablesThe following variables shall be compared: lateral acceleration; steering-wheel angle; sideslip angle; roll angl
35、e.The steering-wheel torque shall also be compared if this document is used to validate a simulation tool for the purpose of predicting steering torque during steady-state circular driving as defined in ISO 4138.Measurement requirements shall be taken from ISO 4138 and ISO 15037-1, unless noted othe
36、rwise.For the purpose of this document, lateral acceleration should be measured directly by an inertial measurement unit, rather than using the alternative calculation methods provided in ISO 4138.6 Simulation tool requirements6.1 GeneralThe simulation tool used to predict behaviour of a vehicle of
37、interest shall include a mathematical model capable of calculating variables of interest for the test procedures being simulated. In this document, the mathematical model is used to simulate a steady-state cornering manoeuvres (see 7.2) and provide calculated values of the variables of interest from
38、 Clause 5.The procedure for obtaining input data from experiments may differ for simulation tools, however, the input data shall not be manipulated for better correlation. However, adaptation of input data to actual testing conditions such as road friction should be allowed.NOTE Active controllers a
39、nd active intervention systems that prevent a steady-state condition from being established are not relevant for the tests covered in this document.2 ISO 2016 All rights reservedBS ISO 19364:2016ISO 19364:2016(E)6.2 Mass and inertiaThe mathematical model should include all masses, such as the chassi
40、s, engine, payloads, unsprung masses, etc. The value of the mass and the location of the centre of mass are essential properties of the vehicle for the tests covered in this document. On the other hand, moments and products of inertia have no effect under steady-state conditions, when angular accele
41、rations are negligible.Vehicles with significant torsional frame compliance require a more detailed representation that includes frame-twist effects that occur in extreme manoeuvres.6.3 TiresThe vertical, lateral, and longitudinal forces and moments where each tire contacts the ground provide the ma
42、in actions on the vehicle. The fidelity of the prediction of vehicle movement depends on the fidelity of the calculated tire forces and moments. Differences between the tire force and moment measurements used for the model and those of used in vehicle testing can be expected due to different wear an
43、d aging histories. Although difficult to account for these differences, it is important to acknowledge and understand them.Large lateral slip angles and inclination can occur under the conditions covered in this document. Longitudinal slip ratios are usually limited to the amounts needed to generate
44、 longitudinal forces to maintain a target speed in the test. The tire model shall cover the entire ranges of slip (lateral and longitudinal), inclination angle relative to the ground, and load that occur in the tests being simulated.The surface friction coefficient between the tire and ground is an
45、important property for the limit friction conditions that can be encountered in steady-state circular driving tests.The simulated tests take place on a flat homogenous surface; detailed tire models that handle uneven surfaces are not needed. If the test surface has inclination for water drainage, th
46、is should be included in the simulation.The simulated tests involve conditions that are intended to be steady-state; therefore, transient effects in tire response (e.g. relaxation length) are not needed.6.4 SuspensionsThe properties of the suspensions that determine how the tire is geometrically loc
47、ated, oriented, and loaded against the ground shall be represented properly in the model in order for the tire model to generate the correct tire forces and moments. The suspension properties also determine how active and reactive forces and moments from the tires are transferred to the sprung mass.
48、The suspension properties should include change of location and orientation of the wheel due to suspension deflection and applied load as would be measured in a physical system in kinematics and compliance (K however, if a chassis control system engages, then any aspects of the powertrain that influ
49、ence the controller behaviour shall be included in the powertrain model.6.9 Active controllersIf any electronic controller is engaged in the physical vehicle for the steady-state steering manoeuvres covered in this document, its model shall be included in the simulated version.Physical controllers and/or mechanical components may be linked to the simulated vehicle by hardware in the loop.The controller model should include actuators that are not already part of the vehicle brake model (see 6.7) and control logic.6.10 Data acqu
