1、raising standards worldwideNO COPYING WITHOUT BSI PERMISSION EXCEPT AS PERMITTED BY COPYRIGHT LAWBSI Standards PublicationBS ISO 22839:2013Intelligent transport systems Forward vehicle collisionmitigation systems Operation, performance, andverification requirementsBS ISO 22839:2013 BRITISH STANDARDN
2、ational forewordThis British Standard is the UK implementation of ISO 22839:2013.The UK participation in its preparation was entrusted to TechnicalCommittee EPL/278, Road transport informatics.A list of organizations represented on this committee can beobtained on request to its secretary.This publi
3、cation does not purport to include all the necessaryprovisions of a contract. Users are responsible for its correctapplication. The British Standards Institution 2013. Published by BSI StandardsLimited 2013ISBN 978 0 580 71323 1ICS 35.240.60; 43.040.99Compliance with a British Standard cannot confer
4、 immunity fromlegal obligations.This British Standard was published under the authority of theStandards Policy and Strategy Committee on 30 June 2013.Amendments issued since publicationDate Text affectedBS ISO 22839:2013Reference numberISO 22839:2013(E)ISO 2013INTERNATIONAL STANDARD ISO22839First ed
5、ition2013-06-01Intelligent transport systems Forward vehicle collision mitigation systems Operation, performance, and verification requirements Systmes intelligents de transport Systmes dattnuation de collision de vhicule frontale Exigences de fonctionnement, de performance et de vrification BS ISO
6、22839:2013ISO 22839:2013(E) COPYRIGHT PROTECTED DOCUMENT ISO 2013 All 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 intra
7、net, without prior written permission. Permission can be requested from either ISO at the address below or ISOs member body in the country of the requester. ISO copyright office Case postale 56 CH-1211 Geneva 20 Tel. + 41 22 749 01 11 Fax + 41 22 749 09 47 E-mail copyrightiso.org Web www.iso.org Pub
8、lished in Switzerland ii ISO 2013 All rights reservedBS ISO 22839:2013ISO 22839:2013(E) ISO 2013 All rights reserved iiiContents Page Foreword . v Introduction vi 1 Scope 1 2 Normative references 1 3 Terms and definitions . 1 4 Symbols (and abbreviated terms) 6 5 Classifications . 7 5.1 System class
9、ification by curve radius capability 7 5.2 Classification by countermeasure types included 7 5.2.1 Collision Warning (CW) countermeasure . 7 5.2.2 Speed Reduction Braking (SRB) countermeasure 7 5.2.3 Mitigation Braking (MB) Countermeasure 8 5.2.4 Combining countermeasures . 8 6 Requirements . 8 6.1
10、Minimum enabling capabilities 8 6.1.1 Light vehicle necessary functions . 8 6.1.2 Heavy vehicle necessary functions . 9 6.2 Operating model State Transition Diagram . 9 6.2.1 State functional descriptions . 10 6.3 Performance requirements . 11 6.3.1 Target vehicle types 11 6.3.2 Collision types . 11
11、 6.3.3 Operating speed 11 6.3.4 Target vehicle detection area . 13 6.3.5 Target discrimination 14 6.3.6 Countermeasure requirements 15 6.3.7 Driver controls and human interface . 18 7 Validation methods . 19 7.1 Test target specification . 19 7.1.1 Detectability specifications 19 7.1.2 Test target p
12、hysical constraints 20 7.2 Environmental conditions 20 7.2.1 Driving surface 20 7.2.2 Lighting conditions . 20 7.2.3 Ambient air temperature . 20 7.2.4 Horizontal visibility 21 7.3 Test method for detection zone . 21 7.4 Test method for functional ability 21 7.5 Test method for target discrimination
13、 ability . 22 7.5.1 Longitudinal discrimination test 22 7.5.2 Straight road lateral discrimination test . 23 7.5.3 Straight road lateral offset discrimination test 23 7.5.4 Curved road lateral target discrimination test . 24 7.5.5 Overhead discrimination test . 24 Annex A (informative) 26 A.1 Mitiga
14、tion effectiveness and the potential for collision avoidance . 26 A.2 Minimum relative speed capability and assumed sensor capability . 26 A.3 Operating velocity range minimum upper bound 28 BS ISO 22839:2013ISO 22839:2013(E) iv ISO 2013 All rights reservedA.4 Reference data on global speed distribu
15、tion of rear-end collisions 28 A.4.1 USA .29 A.4.2 Canada 29 A.4.3 Japan .30 A.5 Vehicle classifications 31 A.6 Derivation of ETTC.31 A.7 Relationship between ACC (ISO 15622), FSRA (ISO 22179), and FVCMS 31 Bibliography 33 BS ISO 22839:2013ISO 22839:2013(E) ISO 2013 All rights reserved vForeword ISO
16、 (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 interested in a subject for which a technical com
17、mittee 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 Commission (IEC) on all matters of electrot
18、echnical 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 documents should be noted. This document was draf
19、ted in accordance with the editorial rules of the ISO/IEC Directives, Part 2. 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 responsible for identifying any or all such patent rights.
20、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. www.iso.org/patents Any trade name used in this document is information given for the convenience of users and does not constitute an end
21、orsement. The committee responsible for this document is ISO/TC 204, Intelligent transport systems. BS ISO 22839:2013ISO 22839:2013(E) vi ISO 2013 All rights reservedIntroduction Forward Vehicle Collision Mitigation Systems (FVCMS) reduce the severity of forward vehicle collisions that cannot be avo
22、ided, and may reduce the likelihood of collision with forward vehicles. FVCMS require information about range to forward vehicles, motion of forward vehicles, motion of the subject vehicle, driver commands and driver actions. FVCMS detect vehicles ahead, determine if detected vehicles represent a ha
23、zardous condition, and warn the driver if a hazard exists. They estimate if the driver has an adequate opportunity to respond to the hazard. If there is inadequate time available for the driver to respond, and if appropriate criteria are met, FVCMS determine that a collision is imminent. Based upon
24、this assessment, the FVCMS will activate vehicle brakes to mitigate collision severity. Forward Vehicle Sensing and Motion Determination Subject Vehicle Motion Determination Driver Warnings and Vehicle Controls Activation FVCMS Action Strategy Figure 1 Forward Vehicle Collision Mitigation Systems (F
25、VCMS) Functional Elements System designers and other users of this International Standard may apply it to stand-alone FVCMS or to the integration of the FVCMS functions into other driving assistance and support systems. BS ISO 22839:2013INTERNATIONAL STANDARD ISO 22839:2013(E) ISO 2013 All rights re
26、served 1Intelligent transport systems Forward vehicle collision mitigation systems Operation, performance, and verification requirements 1 Scope This International Standard specifies the concept of operation, minimum functionality, system requirements, system interfaces, and test methods for Forward
27、 Vehicle Collision Mitigation Systems (FVCMS). It specifies the behaviours that are required for FVCMS, and the system test criteria necessary to verify that a given implementation meets the requirements of this International Standard. Implementation choices are left to system designers, wherever po
28、ssible. FVCMS mitigate rear-end collisions. By reducing the collision energy, FVCMS reduce the degree of property damage, personal injury, or the likelihood of fatality. They supplement crashworthiness systems such as airbags, seatbelts and other energy-absorbing systems by reducing the impact energ
29、y that must be isolated from the occupants. By automatically activating collision mitigation braking after a Collision Warning occurs, FVCMS assist in slowing the vehicle when a collision is likely. While collision avoidance is not required, this International Standard permits collision avoidance to
30、 be attempted by a system that conforms to FVCMS. Responsibility for the safe operation of the vehicle remains with the driver. With the exceptions of single-track vehicles and trucks with dual or triple trailers, FVCMS are for use on road vehicles intended for public and non-public roadways. These
31、systems are not intended for off-road use. 2 Normative references The following documents, in whole or in part, are normatively referenced in this document and are indispensable for its application. For dated references, only the edition cited applies. For undated references, the latest edition of t
32、he referenced document (including any amendments) applies. ISO 15622, Intelligent transport systems Adaptive Cruise Control systems Performance requirements and test procedures ISO 15623, Transport information and control systems Forward vehicle collision warning systems Performance requirements and
33、 test procedures ISO 22179, Intelligent transport systems Full speed range adaptive cruise control (FSRA) systems Performance requirements and test procedures 3 Terms and definitions For the purposes of this document, the following terms and definitions apply. 3.1 adaptive cruise control ACC enhance
34、ment to conventional cruise control systems which allows the subject vehicle to follow a forward vehicle at an appropriate distance by controlling the engine and/or power train and optionally the brake BS ISO 22839:2013ISO 22839:2013(E) 2 ISO 2013 All rights reservedNote 1 to entry: See ISO 15622. 3
35、.2 adjacent lane lane of travel sharing one lane boundary with the lane in which the subject vehicle is traveling, and having the same direction of travel as the subject vehicle 3.3 articulated vehicle any road vehicle with more than two wheels that is configured for normal road use with at least tw
36、o segments, and for which each adjacent pair of segments is connected by a joint, and for which propulsion is provided by at least one segment 3.4 brakes components which generate the forces opposing the movement of the vehicle EXAMPLES Friction brakes (when the forces are generated by friction betw
37、een two parts of the vehicle moving relative to one another); electrical brakes (when the forces are generated by electro-magnetic action between two parts of the vehicle moving relatively but not in contact with one another); fluid brakes (when the forces are generated by the action of a fluid situ
38、ated between two parts of the vehicle moving relatively to one another); or engine brakes (when the forces are derived from an artificial increase in the braking action, transmitted to the wheels, of the engine). 3.5 braking distance distance the vehicle will travel from the point where its brakes a
39、re applied to where it comes to a complete stop 3.6 clearance xc(t) distance xc(t) from the target vehicle trailing surface to the subject vehicle leading surface xc(t)3.7 Collision Warning CW information that FVCMS gives to the driver to indicate the need for urgent action to avoid a collision Note
40、 1 to entry: This warning is issued to warn the driver of the need to perform an emergency manoeuvre in order to avoid a collision. 3.8 conventional cruise control system capable of maintaining the speed of a vehicle as set by the driver 3.9 countermeasure action point CAP value of pre-collision urg
41、ency parameter (PUP), relative to an expected collision, for which FVCMS initiates a countermeasure 3.10 driver disengage driver initiated transition from FVCMS Active or Inactive state to FVCMS Off state BS ISO 22839:2013ISO 22839:2013(E) ISO 2013 All rights reserved 33.11 enhanced time to collisio
42、n ETTC time that it will take a subject vehicle to collide with the target vehicle assuming the relative acceleration between the subject vehicle (SV) and target vehicle (TV) remains constant, as given in the following equation: 2()()*( )*()TV SV TV SV TV SV cTV SVvv vv aa xETTCaa3.12 forward adjace
43、nt vehicle vehicle not in the path of the subject vehicle (SV), and entirely ahead of a line touching the SV front bumper at only one point and perpendicular to the longitudinal axis of the SV 3.13 forward ranging sensor component which detects objects in at least part of the region entirely ahead o
44、f the front bumper 3.14 forward vehicle FV vehicle in front of the subject vehicle (SV), which is moving in the same direction and traveling in the same path, or which is oriented in the same direction if it is not moving 3.15 forward vehicle collision collision between the subject vehicle (SV) and
45、a forward vehicle (FV) 3.16 Forward Vehicle Collision Mitigation Systems FVCMS vehicle systems meeting the requirements of ISO 22839 that assess the likelihood of a collision between the front of the subject vehicle (SV) and the rear of a target vehicle (TV), and when such a collision is very likely
46、, activates the brakes automatically to reduce the relative speed at which the SV and TV may collide 3.17 Forward Vehicle Collision Warning Systems FVCWS systems capable of warning the driver of a potential collision with another vehicle in the forward path of the subject vehicle, excluding conditio
47、ns where the subject and forward vehicle are not in the same direction of travel Note 1 to entry: See ISO 15623. 3.18 heavy vehicle any single vehicle or combination of vehicles defined as Category 1-2 or Category 2 in the United Nations Economic and Social Council World Forum for Harmonization of V
48、ehicle Regulations (WP.29) TRANS/WP.29/1045 3.19 jerk third derivative with respect to time of the position of an object, equivalently the rate of change of the acceleration of an object, considered a measure of the harshness of vehicle motion BS ISO 22839:2013ISO 22839:2013(E) 4 ISO 2013 All rights
49、 reserved3.20 lateral offset lateral distance between the longitudinal centerlines of a subject vehicle (SV) and a target vehicle (TV), measured as a percentage of the width of the SV, such that if the centers of the two vehicles are aligned, the value is zero 3.21 light vehicle any single vehicle or combination of vehicles defined as Category 1-1 in the United Nations Economic and Social Council World Forum for Harmonization of Vehicle Regulations (WP.29) TRANS/WP.29/1045 3.22 mitigation braking
