GB/T 43947-2024 PDF English
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GB/T 43947-2024: General technical requirements for chassis-by-wire of low speed automated vehicle
---This is an excerpt. Full copy of true-PDF in English version (including equations, symbols, images, flow-chart, tables, and figures etc.), auto-downloaded/delivered in 9 seconds, can be purchased online: https://www.ChineseStandard.net/PDF.aspx/GBT43947-2024
GB
NATIONAL STANDARD OF THE
PEOPLE’S REPUBLIC OF CHINA
ICS 43.020
CCS T 20
General technical requirements for chassis-by-wire of low
speed automated vehicle
Issued on. APRIL 25, 2024
Implemented on. NOVEMBER 01, 2024
Issued by. State Administration for Market Regulation;
Standardization Administration of the People’s Republic of China.
Table of Contents
Foreword... 4
1 Scope... 5
2 Normative references... 5
3 Terms and definitions... 6
4 General requirements... 9
5 General technical requirements... 12
6.Requirements for the chassis-by-wire system... 18
7 Test methods... 22
Bibliography... 26
1 Scope
This document specifies the technical requirements, chassis-by-wire system
requirements and test methods for chassis-by-wire of low speed automated vehicle.
This document applies to low-speed chassis-by-wire used in pure electric non-road
autonomous-service-vehicles with a maximum driving speed not exceeding 25 km/h.
2 Normative references
The 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 references, only the
version corresponding to that date is applicable to this document; for undated references,
the latest version (including all amendments) is applicable to this document.
GB/T 4208, Degrees of protection provided by enclosure (IP code)
GB 16735, Road vehicle - Vehicle identification number (VIN)
GB 18384-2020, Electric vehicles safety requirements
GB/T 18385, Electric vehicles - Power performance - Test method
GB/T 18387, Limits and test method of magnetic and electric field strength from
electric vehicles
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
3.1
autonomous-service-vehicle
The special goods vehicle – equipped with a driving automation system and special
automatic control supporting devices, and a cockpit-free structural feature – that is used
in specific scenarios such as distribution, transportation, retail, patrolling, and cleaning.
3.2
chassis-by-wire
A chassis with a certain load-bearing capacity that is composed of multiple systems
such as a drive-by-wire system, a brake-by-wire system, and a steer-by-wire system,
and is controlled by electrical signals and driven by an operating control or a driving
automation system.
Note. The operating control includes the manual operating control and the remote
driving system. The manual operating control refers to the remote control with
locking and unlocking functions.
3.3
drive-by-wire system
A system that uses X-by-wire technology such as electronic circuits and communication
transmission to receive instructions from the driving automation system or operating
control to drive the chassis-by-wire of low speed automated vehicle.
4 General requirements
4.1 Design and manufacture requirements
4.1.1 The design and manufacture of chassis-by-wire of low speed automated vehicle
shall ensure its safe operation. There shall be no unreasonable hazards during normal
operation and maintenance according to the product instructions.
4.2 Emergency stop device
4.2.1 The chassis-by-wire of low speed automated vehicle shall be equipped with an
emergency stop device or an emergency stop device drive interface. The signal
triggered by the emergency stop device shall be able to be stored in the EDR or
uploaded to the vehicle platform.
4.2.2 The emergency stop device shall be installed in a conspicuous and easily
accessible location.
4.3 Collision protection
The chassis-by-wire of low speed automated vehicle shall support the installation of a
collision protection device, which shall be able to perform emergency braking when
colliding with an obstacle, where the trigger force shall not exceed 50 N.
4.4 Operating control
4.5 Waterproof grade and electric shock protection
4.5.1 Electrical components that constitute a dangerous factor in a chassis-by-wire of
low speed automated vehicle shall have fixed protective covers and housings, which
shall only be removed or opened with tools during normal operation or when not in
service.
4.6 Lighting and signaling
4.6.1 Lighting and optical signaling devices
4.8 Marking and plate
4.8.1 Warning text
The chassis-by-wire of low speed automated vehicle shall be equipped with warning
text and safety reminder markings, and the safety markings shall comply with the
requirements of GB 24943.
4.8.2 Product plate
5 General technical requirements
5.1 General requirements
5.1.1 The chassis-by-wire of low speed automated vehicle shall pass through certain
specific terrains (such as vertical obstacles, horizontal trenches, wading pools, etc.)
according to design requirements.
5.2 Straight-line driving stability
The chassis-by-wire of low speed automated vehicle shall be tested according to the
method in 7.2, and the lateral running deviation distance shall be less than 2 m.
5.3 Requirements for environmental adaptability
5.4 Basic requirements for functional safety
5.4.1 The functional design of each safety-related system of the chassis-by-wire of low
speed automated vehicle shall meet the following general requirements.
5.4.2 The safety-related systems of the chassis-by-wire of low speed automated vehicle
shall be subject to functional safety risk analysis based on the application scenario. The
risk analysis is as follows.
5.4.5 During the operation of the chassis-by-wire, each safety-related system shall be
able to upload the operating status information in real time through the controller area
network (CAN) or wireless network.
5.5 Information security requirements
5.7 Fault handling requirements
5.7.1 The chassis-by-wire of low speed automated vehicle shall be able to handle faults
in a graded manner, including at least warning, power limit (speed limit), and parking
functions.
5.8 Power supply and electrical system
5.8.1 Basic electrical properties
5.8.1.1 The safety requirements of the power battery pack or system of the chassis-by-
wire of low speed automated vehicle shall comply with the relevant requirements of
GB 38031; its electrical performance shall comply with the relevant requirements of
GB/T 31486; the charging interface shall comply with the relevant requirements of
GB/T 20234.1.
5.9 Communication and interface
5.9.1 Communication interface
The chassis-by-wire of low speed automated vehicle shall be equipped with an open
API interface and a CAN communication interface.
5.9.2 Communication protocol
The chassis-by-wire of low speed automated vehicle shall be equipped with
standardized protocols and interfaces for communicating with the driving automation
system or other operating controls, and support CAN2.0A and CAN2.0B
communication protocols.
6.Requirements for the chassis-by-wire system
6.1 Drive-by-wire system
6.1.1 Dynamic performance
The dynamic performance of the chassis-by-wire of low speed automated vehicle shall
meet the following requirements.
6.1.2 Drive control method
The propulsion system of the chassis-by-wire of low speed automated vehicle shall have
one or more control modes among throttle, torque, acceleration and speed control.
6.1.5 Climbing capacity
The climbing capacity of the propulsion system of the chassis-by-wire of low speed
automated vehicle shall meet the following requirements.
6.2 Brake-by-wire system
6.2.1 General requirements
The chassis-by-wire of low speed automated vehicle shall have a service braking system
and a parking braking system that meet the performance requirements, and the chassis-
by-wire of low speed automated vehicle shall not deviate, slide, or lose steering when
braking.
6.2.3 Parking brake
6.2.4 Brake interface
6.2.4.1 The chassis-by-wire of low speed automated vehicle shall provide a brake
pressure or a deceleration control interface to support closed-loop control of the braking
system under different loads.
6.2.4.2 The brake interface of the chassis-by-wire of low speed automated vehicle shall
meet the following requirements.
6.3 Steer-by-wire system
6.3.1 General requirements
The steering system of the chassis-by-wire of low speed automated vehicle shall meet
the following requirements.
6.3.2 Steer-by-wire responsiveness
The responsiveness of the steer-by-wire system of the chassis-by-wire of low speed
automated vehicle shall meet the following requirements.
7 Test methods
7.1 Test site requirements
Unless otherwise specified, all tests shall be carried out on a flat, hard, dry and clean
cement or asphalt road, with an adhesion coefficient of no less than 0.7 and a wind
speed of no more than 3 m/s.
7.3 Service brake test
The chassis-by-wire of low speed automated vehicle under test moves in a straight line
at a constant speed (v) of 5 km/h ± 1 km/h, 10 km/h ± 1 km/h, 15 km/h ± 1 km/h, 20
km/h ± 1 km/h, and 25 km/h ± 1 km/h for a certain distance.
7.4 Speed bump passability test
Place speed bumps that meet the test requirements on the test road. The chassis-by-wire
of low speed automated vehicle under test passes over the speed bumps at speeds (v) of
5 km/h ± 1 km/h and 10 km/h ± 1 km/h, respectively. Record whether the vehicle can
pass over the speed bumps smoothly under no-load and full-load conditions, as shown
in Figure 3
7.5 Ramp test
7.5.3 Power-off parking test on slope
The chassis-by-wire of low speed automated vehicle under test runs on a slope that
meets the slope requirements (when fully loaded, its climbing gradient shall be no less
than 20%), as shown in Figure 6.After pressing the brake button, the vehicle stops and
the power is cut off.
7.6 Waterproofing of the whole vehicle
7.6.1 Simulated cleaning
For the entire chassis-by-wire of low speed automated vehicle, use the IPX5 hose nozzle
in GB/T 4208 and clean water at a flow rate of 12.500 L/min ± 0.625 L/min to spray
water toward all boundary lines in all possible directions. The spraying time shall be no
less than 3 minutes, and the distance from the nozzle to the boundary line shall be 3.0
m ± 0.5 m.
......
Source: Above contents are excerpted from the full-copy PDF -- translated/reviewed by: www.ChineseStandard.net / Wayne Zheng et al.
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