GB/T 43947-2024 PDF English
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General technical requirements for chassis-by-wire of low speed automated vehicle
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GB/T 43947-2024: PDF in English (GBT 43947-2024) GB/T 43947-2024
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
4.1 Design and manufacture requirements ... 9
4.2 Emergency stop device ... 9
4.3 Collision protection ... 9
4.4 Operating control ... 10
4.5 Waterproof grade and electric shock protection ... 10
4.6 Lighting and signaling ... 11
4.7 Product instructions ... 11
4.8 Marking and plate ... 12
5 General technical requirements ... 12
5.1 General requirements ... 12
5.2 Straight-line driving stability ... 12
5.3 Requirements for environmental adaptability ... 13
5.4 Basic requirements for functional safety ... 13
5.5 Information security requirements ... 15
5.6 Electromagnetic compatibility requirements ... 15
5.7 Fault handling requirements ... 15
5.8 Power supply and electrical system ... 16
5.9 Communication and interface ... 17
6. Requirements for the chassis-by-wire system ... 18
6.1 Drive-by-wire system ... 18
6.2 Brake-by-wire system ... 19
6.3 Steer-by-wire system ... 21
7 Test methods ... 22
7.1 Test site requirements... 22
General technical requirements for chassis-by-wire of low
speed automated vehicle
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
GB/T 20234.1, Connection set for conductive charging of electric vehicles - Part 1:
General requirements
GB 24943, Safety signs for tri-wheel vehicles and low-speed goods vehicles
GB/T 25978, Road vehicle - Plates and label
GB/T 31486, Electrical performance requirements and test methods for traction
battery of electric vehicle
GB 32087, Towing devices for light-duty vehicle
GB/T 34589, Road vehicles - Diagnostic connector
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.
4.1.2 The components used in the chassis-by-wire of low speed automated vehicle shall
comply with the relevant national standards and be manufactured in accordance with
product drawings and technical documents approved through prescribed procedures.
4.1.3 The chassis-by-wire of low speed automated vehicle shall be fixed or installed
with at least one traction device at the front, which shall comply with the technical
requirements of GB 32087.
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.
4.2.3 The emergency stop device shall take precedence over other control devices of
the chassis-by-wire of low speed automated vehicle.
4.2.4 The emergency stop device shall be an ON/OFF type or automatic reset type
device.
4.2.5 The emergency stop device shall be reset manually or automatically by remote
control.
4.2.6 The emergency stop output signal shall remain valid after the power of the chassis-
by-wire of low speed automated vehicle is removed.
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. After manual
confirmation, the emergency stop state shall be released manually or remotely. During
the entire process before and after the collision, relevant collision information shall be
able to be stored in the EDR or uploaded to the vehicle platform.
4.4 Operating control
4.4.1 When the chassis-by-wire of low speed automated vehicle is subject to manual
operating control, the remote control distance shall not exceed 50 m. If it exceeds 50 m,
the manual operating control shall issue an alarm signal. The response time FROM the
control command is issued TO the chassis begins the corresponding operation shall not
exceed 100 ms; when the control command is lost, the chassis-by-wire of low speed
automated vehicle shall be able to stop immediately and maintain static parking.
4.4.2 When the chassis-by-wire of low speed automated vehicle is in the “driving-
enabled mode” and the remote control has not been operated for more than 1 minute,
the remote control shall be unlocked before the chassis-by-wire of low speed automated
vehicle can be operated normally.
4.4.3 When the chassis-by-wire of low speed automated vehicle exceeds the planned
control range of the remote driving system, the remote driving system shall issue an
alarm signal and the chassis-by-wire of low speed automated vehicle shall be able to
stop immediately and maintain static parking.
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.
4.5.2 According to the grade B voltage specified in GB 18384-2020, the requirements
for waterproof grade of components are determined according to the installation area
when the vehicle is fully loaded. The protection grade of components in each area shall
meet the relevant provisions of GB/T 4208. The specific requirements are as follows:
a) For battery and electrical compartment, the protection grade shall not be less
than IPX3;
b) For shielded high-voltage components under the chassis-by-wire of low speed
automated vehicle, the protection grade shall not be less than IPX4;
c) For unobstructed high-voltage components under the chassis-by-wire of low
speed automated vehicle, the protection grade shall not be less than IPX7.
4.5.3 The simulated cleaning and simulated wading tests shall be carried out in
accordance with the test method in 7.6. After each test, when the chassis-by-wire of low
speed automated vehicle is still wet, the insulation resistance measurement shall be
carried out in accordance with the test method specified in 6.2.1 of GB 18384-2020.
The insulation resistance shall meet the requirements of 5.1.4.1 of GB 18384-2020.
e) Maintenance and care during long-term out-of-use.
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
4.8.2.1 The chassis-by-wire of low speed automated vehicle shall have a product plate
which is securely fixed in a visible position. The plate content includes but is not limited
to: identification code, manufacturer, country of manufacture, chassis mass, maximum
allowable load, power battery rated capacity, and year and month of manufacture.
4.8.2.2 The performance of the product plate of the chassis-by-wire of low speed
automated vehicle shall comply with the relevant requirements of GB/T 25978.
4.8.3 Chassis identification code
The chassis-by-wire of low speed automated vehicle shall have a unique chassis
identification code, drive motor production serial number, and power battery production
serial number. The content and composition shall comply with the relevant provisions
of GB 16735. The chassis identification code shall be engraved on a visible part of the
outside of the frame, and the recorded characteristic information is not allowed to be
tampered with or read by tools available on the market.
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.
5.1.2 The chassis-by-wire of low speed automated vehicle shall be tested in accordance
with the method in 7.4 under non-acceleration conditions, regardless of whether it is
unloaded or loaded. The chassis-by-wire of low speed automated vehicle shall be able
to pass through a speed bump with a height of 5 cm and a width of 30 cm at a constant
speed.
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.
b) Simulate the effects of internal component failures by applying appropriate
signals to chassis components to check the chassis' response to the failure of a
single component;
c) Keep documentation of functional safety risk analysis and corresponding
functional safety verification measures.
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:
a) Operation mode information;
b) Whether the non-motion actuators such as sensors and lights function normally,
and any fault information;
c) Status and fault information of components such as steering system,
propulsion system, battery system, and braking system.
5.5 Information security requirements
5.5.1 The chassis-by-wire of low speed automated vehicle shall have technical
measures to protect electronic systems, components and functions from network threats,
and shall have identity authentication and data encryption security management to
ensure that data collection, processing, exchange and other information are not illegally
obtained or tampered with.
5.5.2 If the chassis-by-wire of low speed automated vehicle is provided with a software
upgrade function, the security and reliability of the data upgrade shall be guaranteed.
5.5.3 The chassis-by-wire of low speed automated vehicle shall be equipped with an
EDR that can record data such as chassis speed and braking status when a specific
accident such as a collision occurs.
5.6 Electromagnetic compatibility requirements
The electromagnetic compatibility requirements and test methods for chassis-by-wire
of low speed automated vehicle shall comply with the provisions of GB 34660 and
GB/T 18387.
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.
5.7.2 After the chassis-by-wire of low speed automated vehicle is repaired, it shall be
able to support reset-related operations to remove driving restrictions. For faults that
cause the chassis-by-wire of low speed automated vehicle to be unable to move
automatically, if such faults have little impact on the chassis controller and cannot be
repaired immediately, a corresponding fault bypass function shall be provided to
facilitate temporary maintenance and vehicle moving.
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.
5.8.1.2 If the chassis-by-wire of low speed automated vehicle adopts the battery swap
method, it shall be operated for 15 000 km in accordance with the requirements of 4.2.1
of GB/T 40032-2021, and shall be subject to 5 000 snap-on battery swapping operations
and 1 500 bolt-on battery swapping operations in accordance with the requirements of
4.2.2 of GB/T 40032-2021 before it is subject to a simulated cleaning/wading test in
accordance with the requirements of 4.2.3 of GB/T 40032-2021; after the test, the
following failure modes shall not occur:
a) Battery swap is not available due to interface and mechanism problems;
b) Interface and mechanism are damaged due to battery swap;
c) Vehicle body is deformed/battery box is loose;
d) Parts of the battery swap mechanism are loose or fall off;
e) The seal is damaged or leaking;
f) Interfaces and mechanisms fail during driving.
5.8.1.3 The lines involving CAN communication in the chassis-by-wire of low speed
automated vehicle shall comply with the relevant requirements for CAN bus physical
layer technology in GB/T 36048.
5.8.2 Battery management
The battery management of the chassis-by-wire of low speed automated vehicle shall
meet the relevant requirements of 5.3 in GB/T 38661-2020.
5.8.3 Voltage alarm
To ensure that the control system works properly, when the power supply system
voltage does not meet the working voltage requirements, the chassis-by-wire of low
5.9.5 Over-the-air (OTA) function
If the chassis-by-wire of low speed automated vehicle is provided with OTA function,
it shall support background OTA in the non-working status. When performing OTA, a
two-way authentication mechanism shall be used between the chassis-by-wire of low
speed automated vehicle and the cloud server, and encryption measures shall be taken
for data transmission of the upgrade package. If the upgrade is unsuccessful, it shall
automatically roll back to the previous version. For the OTA process, there shall be
detailed log records in the cloud and detailed version information on the chassis-by-
wire of low speed automated vehicle.
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:
a) For the maximum driving speed, perform a maximum 30 minutes speed test in
accordance with the test method specified in GB/T 18385. The speed of the
chassis-by-wire of low speed automated vehicle shall meet the requirement of
±5% of the estimated maximum 30 minutes speed. If the speed of the chassis-
by-wire of low speed automated vehicle does not reach 95% of the estimated
maximum 30 minutes speed during the test, the test shall be repeated;
b) The acceleration performance of the chassis-by-wire of low speed automated
vehicle shall meet the requirements of the application scenario.
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.
6.1.3 Drive control interface
The control interface of the chassis-by-wire of low speed automated vehicle shall meet
the following requirements:
a) When using the throttle control interface, the chassis-by-wire of low speed
automated vehicle responds to the target throttle opening value;
b) When using the torque control interface, the chassis-by-wire of low speed
automated vehicle responds to the target torque value;
c) When using the acceleration control interface, the chassis-by-wire of low
speed automated vehicle responds to the target acceleration value;
d) When using the speed control interface, the chassis-by-wire of low speed
automated vehicle responds to the target vehicle speed value.
6.1.4 Drive control responsiveness
The responsiveness of the propulsion system of the chassis-by-wire of low speed
automated vehicle shall meet the following requirements:
a) When using the throttle control mode, the 0% ~ 100% throttle opening step
response time is no more than 100 ms, the maximum overshoot is no more
than 10%, and the steady-state error is no more than 5%;
b) When using torque control mode, the torque step response time is no more than
200 ms, the maximum overshoot is no more than 10%, and the steady-state
error is no more than 5%;
c) When using the acceleration control mode, the acceleration step response time
is no more than 250 ms, the maximum overshoot is no more than 10%, and the
steady-state error is no more than 5%;
d) When using the speed control mode, the speed step response time is no more
than 300 ms, the maximum overshoot is no more than 10% or 1 km/h, and the
steady-state error is no more than 5% or 0.5 km/h.
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:
a) At full load, the climbing gradient shall be no less than 20%, and the vehicle
shall not stop or roll back during the climbing process;
b) At full load, it shall meet the 20% hill starting function.
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.
6.2.2 Service brake
6.2.5 Brake responsiveness
The brake responsiveness of the chassis-by-wire of low speed automated vehicle shall
meet the following requirements:
a) When using the brake pressure control mode, the brake step response time is
no more than 200 ms, and the overshoot is no more than ±0.3 MPa or ±10%;
b) When using the deceleration control mode, the deceleration control step
response time is no more than 250 ms, and the overshoot is no more than ±0.5
m/s2 or ±10%.
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:
a) Support angle closed-loop or position closed-loop control functions;
b) When driving normally on a flat, dry and clean road, the steering system shall
not flutter, shimmy, shake or deviate when there is no steering instruction;
c) The symmetry between the maximum turning angle of the left-turning wheel
and the maximum turning angle of the right-turning wheel is greater than 95%;
d) Provide steering gear angle signal or position signal, steering motor speed
signal;
e) It has a steering system abnormality detection mechanism, which can execute
safety measures within 100 ms when a steering system fault is detected, and
can report the corresponding fault code;
f) The chassis-by-wire of low speed automated vehicle is designed to have some
weak understeer characteristics to improve driving safety.
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:
a) The wheel end angle response resolution is no more than 0.3°;
b) The response time of the steering system is no more than 200 ms;
c) Under the no-load and stationary status of the vehicle, when the wheel end
target angle is turned from 0° to ±25°, the steering angular velocity in the target
......
Source: Above contents are excerpted from the PDF -- translated/reviewed by: www.chinesestandard.net / Wayne Zheng et al.
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