CICAP-B.1-2022 PDF in English
CICAP-B.1-2022 PDF English
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China intelligent connected vehicle technical regulations - Appendix B.1: Basic parking assistance evaluation detailed-rules
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CICAP-B.1-2022: PDF in English CICAP Annex B.1
C-ICAP
CHINA INTELLIGENT CONNECTED VEHICLE
TECHNICAL REGULATIONS (C-ICAP)
Annex B.1
Evaluation Rules for Basic Parking Assist (Version 1.0)
December 2022
Table of Contents
1 Evaluation method ... 3
1.1 Indicator system ... 3
1.2 Indicator weight distribution ... 4
1.2.1 Weight distribution of level-one indicators ... 4
1.2.2 Weight distribution of level-two indicators ... 4
1.2.3 Weight distribution of level-three indicators ... 4
1.3 Scoring method ... 5
1.3.1 Calculation method for level-one indicator score ... 5
1.3.2 Calculation method for level-two indicator score ... 6
1.3.3 Calculation method for level-three indicator score ... 6
2 Test methods ... 12
2.1 Scope of application ... 12
2.2 Normative references ... 12
2.3 Terms and definitions ... 13
2.4 General ... 13
2.5 Test conditions ... 14
2.5.1 Test site conditions ... 14
2.5.2 Test weather conditions ... 14
2.5.3 Equipment requirements ... 15
2.5.4 Test procedure ... 15
2.6 Test items ... 16
2.6.1 Parking capacity in front of parking space ... 16
2.6.2 Remote parking capability in front of parking space ... 35
Evaluation Rules for Basic Parking Assist
1 Evaluation method
1.1 Indicator system
The indicators for basic parking assist are shown in Table 1-1.
In the formula, Si is the score of the level-one indicator; i is the serial number of the
level-one indicator; j is the serial number of the level-two indicator; ni is the number of
the level-two indicators. Sij and bij are the scores of the level-two indicators and the
weights of the corresponding level-two indicators, respectively.
1.3.2 Calculation method for level-two indicator score
The scores of the level-two indicators are calculated based on the scores and weights of
the level-three indicators. Keep two decimal places. The calculation method is shown
in formula 1-3.
In the formula, Sij is the score of the level-two indicator; i is the serial number of the
level-one indicator; j is the serial number of the level-two indicator; z is the serial
number of the level-three indicator; nij is the number of the level-three indicators. Sijz
and bijz are the scores of the level-three indicators and the weights of the corresponding
level-three indicators, respectively.
1.3.3 Calculation method for level-three indicator score
Each test item needs to be repeated 3 times. It shall be able to identify the target parking
space and complete the parking operation at least twice. Take the best performance as
the final grade. If the vehicle direction control only includes lateral control, the
longitudinal control evaluation indicators in all the following scenarios will not be
scored.
1.3.3.1 Description of parallel parking space score
1.3.3.1.1 Description of score for parallel parking space - spatial parking space
See Table 1-5 for the test scenarios and scoring rules for parallel parking space - spatial
parking space.
1.3.3.4 Description of remote control failure
1.3.3.4.1 Description of score for continuous loss of remote control of remote parking
assist
(1) When there is no remote control failure, the remote control parking function can
be turned on normally; after the remote control function is lost, when the vehicle
under test exits/pauses the parking assist state, the vehicle stops, the system
alarms and the braking distance is not greater than 0.7 meters, it shall have 100
scores.
(2) When there is no remote control failure, the remote control parking function can
be turned on normally; after the remote control function is lost, when the vehicle
under test exits/pauses the parking assist state, the vehicle brakes, it shall have 80
scores.
1.3.3.5 Description of misuse of remote control function
1.3.3.5.1 Description of score for misuse of remote control function of remote parking
assist
Within 6 m of the remote control distance, if the remote control parking function can
be turned on normally, in the three tests of 2.6.2.2 test method (2), the remote parking
function is not turned on, it shall have 100 scores.
2 Test methods
2.1 Scope of application
This Specification applies to M1 passenger cars.
2.2 Normative references
The provisions in the following documents become part of this Specification, through
reference in this Specification. For dated references, their subsequent amendments
(excluding corrigendum) or revisions do not apply to this Specification. For undated
reference documents, the latest versions apply to this Specification.
GB 5768.3, Road traffic signs and markings - Part 3: Road traffic markings
ISO 16787, Intelligent transport systems - Assisted parking systems (APS)-
Performance requirements and test procedures
JGJ 100, Code for design of parking garage building
05MR404(GJBT-855), City road - Curbs
2.3 Terms and definitions
Vehicle under test
The vehicle that is capable of continuously controlling both lateral and longitudinal
motion and is tested in accordance with this test procedure.
Number of parking
During the process of parking the vehicle, when the gear position is shifted to Gear R
and the vehicle is moving, it is counted as the first parking. During the parking process,
when the gear position is switched from R to D or from D to R, they shall be counted
as one parking respectively.
2.4 General
The test of each scenario consists of two parts: test of parking space search capability
& test of parking capacity.
It can only carry out 3 tests at most for each test scenario. In the 3 tests, if it can identify
parking space and completes parking twice, it is considered that the scenario has passed
the test. Take the better one of the two tests for scoring. If the parking space can be
identified and the parking is completed in the first two tests, the third test will not be
carried out. If the vehicle does not identify the parking space or cannot complete
parking for 2 or more times in the 3 tests, then the working condition fails the test.
For the following scenario tests, unless otherwise specified, the following validity
requirements must be met:
1) The length of the vehicle under test is marked as X, and the width is marked as Y.
2) The lateral spacing d1 and d2 of the vehicle under test is 1.2±0.2 m.
3) During the parking capability test, the driving trajectory shall avoid collision with
the objects detected by the vehicle under test.
2.5.4.1.2.1 Make sure that the vehicle under test is loaded with a spare wheel (if
equipped) and vehicle tools. There shall be no other items in the vehicle.
2.5.4.1.2.2 Make sure that all tires are inflated to the manufacturer's recommended tire
pressure for the current load.
2.5.4.2 Test preparation
2.5.4.2.1 Active hood system
When the failure of the active hood system of the vehicle does not affect the normal
operation of the system, the system shall be disabled before the test.
2.5.4.2.2 Airbag system
When the failure of the airbag system of the vehicle does not affect the normal operation
of the system, the system shall be disabled before the test.
2.6 Test items
2.6.1 Parking capacity in front of parking space
2.6.1.1 Level parking capacity
2.6.1.1.1 Parallel parking space - spatial parking space
(1) Test scenario
The parking space consists of two stationary vehicles and a curb. The stationary
vehicles are aligned in the same direction and parallel to each other. The difference
between the width of the vehicle on both sides and the width of the vehicle under test
is within 15 cm, as shown in Figure 2-3.
Figure 2-3: Schematic diagram for the scenario of parallel parking space - spatial
parking space
In this scenario, the parking space is divided into standard size and narrow size.
According to the length of the parking space, conduct tests according to the scenarios
listed in Table 2-1.
Figure 2-18-2: Schematic diagram for target area Δd
(3) Exit conditions
1) The system prompts function failure.
2) The vehicle outline collides with an obstacle vehicle during parking.
3) The vehicle cannot complete the parking action.
2.6.1.2.3 Column obstacle on one side of perpendicular parking space
(1) Test scenario
The parking space is formed by white marking lines. The line width is 15 cm. Place a
stationary M1 vehicle in the center of the parking space adjacent to the target parking
space. The target parking space is placed adjacent to the square column. The size of the
square column is 0.7 m long, 0.75 m wide and 1.9 m high. The square column is placed
adjacent to the two target parking spaces and flush with the outer edge of the parking
space marking lines. As shown in Figure 2-19, the length of the parking space is X0=5.9
m, and the width Y0=2.4 m. Place an obstacle vehicle 5.5 m in front of the parking space,
so as to limit the front parking space for perpendicular parking. In this scenario, one of
the two target parking spaces can be randomly selected for the parking test. The scenario
is shown in Figure 2-19.
Figure 2-19: Schematic diagram for the scenario of column obstacle on one side
of perpendicular parking space
During the test, conduct the test according to the scenarios listed in Table 2-7.
Table 2-7: Test scenario for perpendicular parking space - parking space with
parking space lines
(2) Test method
1) For the test method, refer to the test method for perpendicular parking space -
spatial parking space. The test scenario is shown in Figure 2-20. Randomly select
the left or right target parking space for testing. During the test, it is not allowed
to change the direction of the target parking space relative to the vehicle under
test.
Figure 2-20: Test schematic diagram for column obstacle on one side of
perpendicular parking space
2) After the test is completed, record the number of parking. Measure the minimum
distance Δd between the outer ground contact point of the front and rear tires of
the vehicle under test & the inner side of the parking space boundary line.
Calculate the vehicle parking attitude β2 by Δd. The inner distance between the
front end and the rear end of the vehicle from the parking space line is Δl, as
shown in Figure 2-21.
Figure 2-21-1: Schematic diagram for β2
Figure 2-21-2: Schematic diagram for target area Δd
(3) Exit conditions
1) The system prompts function failure.
2) The vehicle outline collides with an obstacle vehicle or a square pillar obstacle
during parking.
3) The vehicle cannot complete the parking action.
2.6.1.2.4 Pedestrian interference during parking
Figure 2-23: Schematic diagram for the scenario of pedestrian interference
during parking
(3) Exit conditions
1) The system prompts function failure.
2) The vehicle does not detect pedestrians during parking and a collision occurs.
2.6.1.3 Angle parking capacity
2.6.1.3.1 Angle parking space - spatial parking space
(1) Test scenario
The parking space is composed of parallel stationary vehicles on both sides. The
difference between the length of the vehicle on both sides and the length of the vehicle
under test is within 10 cm. The front ends of vehicles are aligned. The inclination angle
of the stationary vehicle is 45°. The test scenario is shown in Figure 2-24.
Figure 2-24: Schematic diagram for the scenario of angle parking space - spatial
parking space
In this scenario, the parking space is divided into standard size and narrow size. During
the test, conduct the test according to the scenarios listed in Table 2-9.
(2) Test method
1) Start the vehicle. Turn on the parking assist function. Drive the vehicle under test
to the starting point. Make sure that the lateral spacing d1 and d2 between the
vehicle under test & the parking space meet the requirements in Table 2-9 before
the test starts. The test scenario is shown in Figure 2-25. Select the target parking
space on the right to test. During the test, it is not allowed to change the direction
of the target parking space relative to the vehicle under test.
Figure 2-25: Test schematic diagram for angle parking space - parking space
with parking space lines
2) After the test is completed, record the number of parking. Measure the distance
Δd between the outer ground contact point of the front and rear tires of the vehicle
under test & the inner side of the parking space boundary line. Calculate the
vehicle parking attitude β3 by Δd. The projected distance between the front end
of the vehicle and the front end reference line of the vehicles on both sides is Δx,
as shown in Figure 2-26.
Figure 2-26-1: Schematic diagram for β3
Figure 2-26-2: Schematic diagram for target area Δd
Figure 2-26-3: Schematic diagram for target area Δx
(3) Exit conditions
1) The system prompts function failure.
2) The vehicle outline collides with stationary vehicles on both sides during parking.
3) The vehicle cannot complete the parking action.
2.6.1.3.2 Angle parking space - parking space with parking space lines
(1) Test scenario
As shown in Figure 2-27, use three consecutive angle parking spaces with marking lines
to test. Check whether the vehicle under test can accurately identify the parking space,
whether it can provide the driver with alternative parking spaces, and whether the
vehicle can be accurately parked after the driver selects a parking space. There are no
other obstacles on both sides of the parking space. The parking space is formed by white
marking lines. The line width is 15 cm. As shown in Figure 2-27, the length of the
parking space is X0=7 m, and the width Y0=2.4 m. The length and width of the parking
spaces are the distances inside the parking space marking lines.
......
Source: Above contents are excerpted from the PDF -- translated/reviewed by: www.chinesestandard.net / Wayne Zheng et al.
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