1、BS ISO 19365:2016Passenger cars Validationof vehicle dynamic simulation Sine with dwell stabilitycontrol testingBSI Standards PublicationWB11885_BSI_StandardCovs_2013_AW.indd 1 15/05/2013 15:06BS ISO 19365:2016 BRITISH STANDARDNational forewordThis British Standard is the UK implementation of ISO 19
2、365:2016. 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 be obtained on request to its secretary.This publication does not purport to include all the necessary provisions of a co
3、ntract. Users are responsible for its correct application. The British Standards Institution 2016. Published by BSI Standards Limited 2016ISBN 978 0 580 84951 0 ICS 43.100 Compliance with a British Standard cannot confer immunity from legal obligations.This British Standard was published under the a
4、uthority of the Standards Policy and Strategy Committee on 30 September 2016.Amendments issued since publicationDate T e x t a f f e c t e dBS ISO 19365:2016 ISO 2016Passenger cars Validation of vehicle dynamic simulation Sine with dwell stability control testingVoitures particulires - Simulation et
5、 validation dynamique des vhicules - Essais de contrle de la stabilit en sinus avec palierINTERNATIONAL STANDARDISO19365First edition2016-10-01Reference numberISO 19365:2016(E)BS ISO 19365:2016ISO 19365:2016(E)ii ISO 2016 All rights reservedCOPYRIGHT PROTECTED DOCUMENT ISO 2016, Published in Switzer
6、landAll rights 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 reque
7、sted from 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 19365:2016ISO 19365:2016(E)Foreword vIntroduction
8、 vi1 Scope . 12 Normative references 13 Terms and definitions . 14 Principle 25 Variables . 36 Simulation tool requirements 36.1 General . 36.2 Mass and inertia . 36.3 Tires 36.4 Suspensions . 46.5 Steering system 46.6 Aerodynamics 46.7 Brake system . 46.8 Powertrain 46.9 Active control system (ESC
9、system, active roll control, etc.) . 56.10 Data acquisition . 56.11 Driver controls 57 Physical testing. 57.1 General . 57.2 Conditioning the vehicle . 57.3 Slowly increasing steer tests . 57.3.1 Slowly increasing steer procedure . 57.3.2 Reference steering wheel angle “A” 67.4 Sine with dwell test
10、series . 67.4.1 Sine with dwell steering pattern 67.4.2 Speed 67.4.3 Steering amplitude . 67.4.4 Steering amplitude for final runs in a series 67.5 Data processing 67.5.1 Filtering and conditioning . 67.5.2 Lateral displacement 67.5.3 ESC system intervention . 67.6 Performance requirements 77.6.1 St
11、ability criteria 77.6.2 Responsiveness criterion 88 Simulation . 98.1 Limits on the simulated procedure . 98.2 Slowly increasing steer tests . 98.3 Sine with dwell test series . 98.4 Data processing 98.4.1 Filtering and conditioning . 98.4.2 Lateral displacement 99 Comparison between simulation and
12、physical test results . 99.1 Steady state turning validation . 99.2 Metrics from a sine with dwell series. 109.2.1 General. 109.2.2 Number of first test run in which ESC intervention occurs .109.2.3 Test runs used for comparison . 109.2.4 Metric definitions and tolerances 10 ISO 2016 All rights rese
13、rved iiiContents PageBS ISO 19365:2016ISO 19365:2016(E)9.3 Validation of the simulation tool 1110 Documentation 11Bibliography .12iv ISO 2016 All rights reservedBS ISO 19365:2016ISO 19365:2016(E)ForewordISO (the International Organization for Standardization) is a worldwide federation of national st
14、andards bodies (ISO member bodies). The work of preparing International Standards is normally carried out through ISO technical committees. Each member body interested in a subject for which a technical committee has been established has the right to be represented on that committee. International o
15、rganizations, governmental and non-governmental, in liaison with ISO, also take part in the work. ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization.The procedures used to develop this document and those intended for i
16、ts further maintenance are described in the ISO/IEC Directives, Part 1. In particular the different approval criteria needed for the different types of ISO documents should be noted. This document was drafted in accordance with the editorial rules of the ISO/IEC Directives, Part 2 (see www.iso.org/d
17、irectives).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 responsible for identifying any or all such patent rights. Details of any patent rights identified during the development of the document will be in
18、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 the convenience of users and does not constitute an endorsement.For an explanation on the meaning of ISO specific terms and expressions rela
19、ted to conformity assessment, as well as information about ISOs adherence to the World Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT) see the following URL: www.iso.org/iso/foreword.html.The committee responsible for this document is ISO/TC 22, Road vehicles, Subcommitt
20、ee SC 33, Vehicle dynamics and chassis components. ISO 2016 All rights reserved vBS ISO 19365:2016ISO 19365:2016(E)IntroductionThe main purpose of this document is to provide a repeatable and discriminatory method for comparing simulation results to measured test data from a physical vehicle for a s
21、pecific 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 the prevailing environment, constitutes a closed-loop system that is unique. The task of evaluating the dynamic behaviour is therefore ver
22、y difficult since the significant interactions of these driver-vehicle-environment elements are each complex in themselves. A complete and accurate description of the behaviour of the road vehicle involves information obtained from a number of different tests.Since this test method quantifies only o
23、ne small part of the complete vehicle handling characteristics, the validation method associated with this test can only be considered significant for a correspondingly small part of the overall dynamic behaviour.vi ISO 2016 All rights reservedBS ISO 19365:2016Passenger cars Validation of vehicle dy
24、namic simulation Sine with dwell stability control testing1 ScopeThis document specifies a method for comparing computer simulation results from a vehicle mathematical model to test data measured for an existing vehicle undergoing sine with dwell tests that are typically used to evaluate the perform
25、ance of an electronic stability control (ESC) system. The comparison is made for the purpose of validating the simulation tool for 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 sine with dwell test method described
26、 in this document is based on the test method specified in regulations USA FMVSS 126 and UN/ECE Regulation No. 13-H.2 Normative referencesThe following documents are referred to in the text in such a way that some or all of their content constitutes requirements of this document. For dated reference
27、s, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies.ISO 19364, Passenger cars Vehicle dynamic simulation and validation Steady-state circular driving behaviour3 Terms and definitionsFor the purposes of this docum
28、ent, 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.electropedia.org/ ISO Online browsing platform: availab
29、le 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 (3.1) environment including software, model, input data, and hardware in the case of hardware-in-the-loop simulation3.3electro
30、nic stability control systemESC systemcontrol system that intervenes to maintain directional stability of vehicle and responsiveness on steering inputINTERNATIONAL STANDARD ISO 19365:2016(E) ISO 2016 All rights reserved 1BS ISO 19365:2016ISO 19365:2016(E)3.4sine with dwell testtest in which the vehi
31、cle is steered by a robot using a steering pattern of a sine wave at a frequency of 0,7 Hz with a delay of 500 ms beginning at the second peak amplitudeNote 1 to entry: See Figure 1.KeyY steering-wheel anglet timeFigure 1 Steering-wheel input for a sine with dwell test3.5sine with dwell test seriess
32、eries of sine with dwell tests (3.4) in which the amplitude of the steering pattern is increased with each test3.6beginning of steerBOStime at which the steering begins for a sine with dwell test (3.4)3.7completion of steerCOStime at which the steering is completed for a sine with dwell test (3.4)3.
33、8ESC system performance standardpublished standard, typically issued by a regulatory organization, that defines ESC system (3.3) performance requirements using a sine with dwell test (3.4) seriesNote 1 to entry: For example, UN/ECE Regulation No. 13-H or USA FMVSS 126.4 PrincipleA sine with dwell te
34、st sequence is used to evaluate the behaviour of a vehicle with ESC. In this sequence, the vehicle is subjected to two series of tests that are run using a steering pattern of sine with dwell as shown in Figure 1. One series uses counterclockwise steering for the first half cycle, and the other seri
35、es uses clockwise steering for the first half cycle.2 ISO 2016 All rights reservedBS ISO 19365:2016ISO 19365:2016(E)Within this document, the purpose of the test is to demonstrate that a simulation tool can predict vehicle behaviour in the sine with dwell test sequence as described in a specific ESC
36、 system performance standard.A comparison is made between measured and simulated behaviour using samples taken at a few specified points during each run, using tolerances specified in this document.A simulation tool being evaluated for use with the sine with dwell test should first be validated for
37、steady-state circular driving behaviour as specified in ISO 19364. A simulation tool that cannot reproduce steady-turning behaviour should not be considered for use in simulating the sine with dwell response.5 VariablesThe following variables shall be measured from the physical testing and obtained
38、from the simulation tool: steering-wheel angle; yaw rate; lateral acceleration.6 Simulation tool requirements6.1 GeneralThe simulation tool used to predict behaviour of a vehicle of interest shall include a mathematical model capable of calculating variables of interest (see Clause 5) for the test p
39、rocedures being simulated. In this document, the mathematical model is used to simulate a sine with dwell test series as specified in the ESC system performance standard of interest.The procedure for obtaining input data from experiments may differ for simulation tools; however, the input data shall
40、 not be manipulated for better correlation. However, adaptation of input data to actual testing conditions such as road friction should be allowed.6.2 Mass and inertiaThe mathematical model should include all masses, such as the chassis, engine, payloads, unsprung masses, outriggers, etc. The value
41、of the mass, the location of the centre of mass, and moments and products of inertia are essential properties of the vehicle for the tests covered in this document.Vehicles with significant torsional frame compliance require a more detailed representation that includes frame-twist effects that occur
42、 in extreme manoeuvres.6.3 TiresThe vertical, lateral, and longitudinal forces and aligning and overturning moments where each tire contacts the ground provide the main actions on the vehicle. The fidelity of the prediction of vehicle movement depends on the fidelity of the calculated tire forces an
43、d moments. Differences between the tire force and moment measurements used for the model and those used in vehicle testing can be expected due to different wear and aging histories. Although difficult to account for these differences, it is important to acknowledge and understand them.Large lateral
44、slip angles and camber angles can occur under the conditions covered in this document. Large longitudinal slip ratios might be generated as a result of intervention of the ESC. The tire model shall cover the entire range of slip (lateral and longitudinal), inclination angle relative to the ground, a
45、nd load that occur in the tests being simulated. Note in particular that the tire lateral force reduction at ISO 2016 All rights reserved 3BS ISO 19365:2016ISO 19365:2016(E)high slip angles is a critical characteristic that shall be comprehended by the tire testing and modelling. The effect of combi
46、ned tire lateral and longitudinal slip on forces and moments shall also be modelled.The surface friction coefficient between the tire and ground is an important property for the limit friction conditions that are typically encountered in a sine with dwell test series.The simulated tests take place o
47、n a flat homogenous surface; detailed tire models that handle uneven surfaces are not needed. If the test surface has inclination for water drainage, this should be included in the simulation.6.4 SuspensionsThe properties of the suspensions that determine how the tire is geometrically located, orien
48、ted, and loaded against the ground shall be represented properly 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.The suspension propertie
49、s should include change of location and orientation of the wheel due to suspension vertical deflection, steering, and compliance due to applied load as would be measured in a physical system in kinematics and compliance (K and C) tests.The model shall cover the full nonlinear range encountered in the sine with dwell tests for springs, jounce and rebound bumpers, and auxiliary roll moments due to anti-roll bars and other sources of roll stiffness.Rate-dependent forces such as shock absorbers are significant and should cover the
