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Intelligent Transportation Systems -- Full speed range adaptive-cruise control systems -- Performance requirements and test-procedures
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TITS0002-2014: Intelligent Transportation Systems -- Full speed range adaptive-cruise control systems -- Performance requirements and test-procedures
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T/ITS
INTELLIGENT TRANSPORTATION INDUSTRY ALLIANCE
ICS 43.020
T 06
Intelligent Transportation Systems - Full speed range
adaptive cruise control systems - Performance
requirements and test procedures
Issued on. NOVEMBER 24, 2014
Implemented on. JANUARY 01, 2015
Issued by. China Intelligent Transportation Industry Alliance
Table of Contents
Foreword... 3
Introduction... 4
1 Scope... 5
2 Normative references... 5
3 Terms and definitions... 6
4 Classification... 8
5 Performance requirements... 9
6 Test methods for performance evaluation... 17
Annex A (normative) Related technical description... 24
Foreword
This Standard was drafted in accordance with the rules given in GB/T 1.1-2009.
The degree of consistency with ISO 22179.2009 (E) "Intelligent transport
systems - Full speed rang adaptive cruise control (FSRA) systems -
Performance requirements and test procedures" is non-equivalent.
This Standard was proposed by and shall be under the jurisdiction of China
Intelligent Transportation Industry Alliance.
The drafting organizations of this Standard. Tsinghua University, Research
Institute of Highway Science, Ministry of Transport, Chongqing Changan
Automobile Co., Ltd., Xiamen Jinlong United Automobile Industry Co., Ltd.,
Beijing Zhihua Yuxin Automotive Electronic Technology Development Co., Ltd.,
Zhengzhou Yutong Bus Co., Ltd.
Main drafters of this Standard. Wang Jianqiang, Li Keqiang, Li Bin, Du Lei,
Zhang Qiang, Chen Xiaobing, Zhang Dezhao, Liu Wei, Zhao Qing.
This Standard was issued in November 2014 for the first time. This is the first
release.
1 Scope
This Standard specifies the basic control strategy, minimum functional
requirements, basic interaction methods, minimum requirements for diagnosis
and response to faults, and system performance test methods for full speed
range adaptive cruise control system (hereinafter referred to as FSRA) of the
vehicle.
The FSRA system is suitable for unobstructed and congested road conditions
on expressways (that is, roads that prohibit non-motorized vehicles and
pedestrians from passing). It provides longitudinal control for subject vehicle in
driving. The working speed range is from zero to the highest speed limit that
can be set by the system. The system can park the subject vehicle behind the
tracked forward vehicle with the deceleration capability within its limit. And it can
start again after the driver inputs the command to the system to continue driving.
The system does not respond to stationary or low-speed moving targets
(consistent with the adaptive cruise control system standard in GB/T 20608-
2006).
2 Normative references
The following referenced documents are indispensable for the application of
this document. For dated references, only the edition cited applies. For undated
references, the latest edition of the referenced document (including any
amendments) applies.
GB/T 20608-2006, Intelligent transportation systems - Adaptive cruise
control systems - Performance requirements and test procedures
JTG B01-2003, Technical Standard of Highway Engineering
ISO 15623.2013, Transport information and control systems - Forward
vehicle collision warning systems - Performance requirements and test
procedures
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
3.1 active brake control
a brake that is controlled by the FSRA system, not by the driver
3.3 brake
the process of generating forces that hinder the movement (or movement trend)
of a vehicle
Friction brake - The friction generated by the two moving parts of the vehicle;
Electromagnetic brake - The electromagnetic force generated by the two parts
of the vehicle that are relatively moving but not in contact based on
electromagnetic action;
3.4 clearance
the distance from the rear of the forward vehicle to the front of the subject
vehicle
3.6 forward vehicle
the vehicle that is located in front of the road where the subject vehicle is
traveling and is traveling in the same direction
3.7 free-flowing traffic
including start-stop and emergency braking conditions, smooth flow and heavy
traffic
4 Classification
The FSRA system is classified into 4 types according to its adaptability to curve
driving, as shown in Table 1.
5 Performance requirements
5.1 Basic control strategy
Figure 1 shows the system states and transitions.
5.2 Functions
5.2.1 Control mode
The switching between the distance control state and the speed control state
shall be automatically completed by the system.
5.2.3.1 Overview
The following separately introduces the detection range, target recognition
function and curve driving capability of the FSRA system.
5.2.3.3 Target recognition
If there are multiple vehicles ahead on a straight road, or on a curve (the FSRA
system of the vehicle is of type II, III or IV), then the forward vehicle in the same
lane as the subject vehicle will be selected as the target vehicle controlled by
FSRA, see Figure 3.
5.2.3.4 Curve driving (Type II, III, IV)
The FSRA system enables the vehicle to follow the forward vehicle stably with
the time headway τmax (vcircle) on straight roads and curves. Different types of
FRSA systems have different adaptability to curve radius.
5.2.4 State transition
Without the driver's instruction, the system cannot switch from the hold state to
the following control state or the speed control state.
5.3 Basic human-computer interaction function
5.3.1 Operation and system response
The FSRA system shall provide the driver with a method to select and set the
desired speed.
6 Test methods for performance evaluation
6.1 Test environment conditions
The test environment conditions are as follows.
6.2 Test target parameters
The test targets specified in this Standard are only for the technologies that
have been used today. For other technologies, test targets that have been
adopted shall be used.
6.2.2 Millimeter wave radar
The test target is defined by the scattering cross section RCS of the radar signal.
The frequency range is 20GHz~95GHz.
6.3 Automatic stopping ability test
6.3.1 Test target vehicle
Install the test target A as described in 0 at the rear of the target vehicle. The
remaining uncovered surfaces are hidden according to the following principles.
After removing test target A, make the radar cross section RCS at the rear of
the vehicle not greater than 2m2 or make its reflectivity not greater than 20% of
the test target.
6.3.3 Test methods
The target vehicle starts to decelerate with astopping as the deceleration until it
stops. Where, the deceleration range is astopping-0.5m/s2~astopping.
6.4 Detection distance test
The test method is based on d0, d1, d2, and dmax.
The vehicle reference plane is a rectangle. The width is equivalent to the width
of the subject vehicle. The height is 0.9m.
T/ITS 0002-2014
T/ITS
INTELLIGENT TRANSPORTATION INDUSTRY ALLIANCE
ICS 43.020
T 06
Intelligent Transportation Systems - Full speed range
adaptive cruise control systems - Performance
requirements and test procedures
Issued on. NOVEMBER 24, 2014
Implemented on. JANUARY 01, 2015
Issued by. China Intelligent Transportation Industry Alliance
Table of Contents
Foreword... 3
Introduction... 4
1 Scope... 5
2 Normative references... 5
3 Terms and definitions... 6
4 Classification... 8
5 Performance requirements... 9
6 Test methods for performance evaluation... 17
Annex A (normative) Related technical description... 24
Foreword
This Standard was drafted in accordance with the rules given in GB/T 1.1-2009.
The degree of consistency with ISO 22179.2009 (E) "Intelligent transport
systems - Full speed rang adaptive cruise control (FSRA) systems -
Performance requirements and test procedures" is non-equivalent.
This Standard was proposed by and shall be under the jurisdiction of China
Intelligent Transportation Industry Alliance.
The drafting organizations of this Standard. Tsinghua University, Research
Institute of Highway Science, Ministry of Transport, Chongqing Changan
Automobile Co., Ltd., Xiamen Jinlong United Automobile Industry Co., Ltd.,
Beijing Zhihua Yuxin Automotive Electronic Technology Development Co., Ltd.,
Zhengzhou Yutong Bus Co., Ltd.
Main drafters of this Standard. Wang Jianqiang, Li Keqiang, Li Bin, Du Lei,
Zhang Qiang, Chen Xiaobing, Zhang Dezhao, Liu Wei, Zhao Qing.
This Standard was issued in November 2014 for the first time. This is the first
release.
1 Scope
This Standard specifies the basic control strategy, minimum functional
requirements, basic interaction methods, minimum requirements for diagnosis
and response to faults, and system performance test methods for full speed
range adaptive cruise control system (hereinafter referred to as FSRA) of the
vehicle.
The FSRA system is suitable for unobstructed and congested road conditions
on expressways (that is, roads that prohibit non-motorized vehicles and
pedestrians from passing). It provides longitudinal control for subject vehicle in
driving. The working speed range is from zero to the highest speed limit that
can be set by the system. The system can park the subject vehicle behind the
tracked forward vehicle with the deceleration capability within its limit. And it can
start again after the driver inputs the command to the system to continue driving.
The system does not respond to stationary or low-speed moving targets
(consistent with the adaptive cruise control system standard in GB/T 20608-
2006).
2 Normative references
The following referenced documents are indispensable for the application of
this document. For dated references, only the edition cited applies. For undated
references, the latest edition of the referenced document (including any
amendments) applies.
GB/T 20608-2006, Intelligent transportation systems - Adaptive cruise
control systems - Performance requirements and test procedures
JTG B01-2003, Technical Standard of Highway Engineering
ISO 15623.2013, Transport information and control systems - Forward
vehicle collision warning systems - Performance requirements and test
procedures
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
3.1 active brake control
a brake that is controlled by the FSRA system, not by the driver
3.3 brake
the process of generating forces that hinder the movement (or movement trend)
of a vehicle
Friction brake - The friction generated by the two moving parts of the vehicle;
Electromagnetic brake - The electromagnetic force generated by the two parts
of the vehicle that are relatively moving but not in contact based on
electromagnetic action;
3.4 clearance
the distance from the rear of the forward vehicle to the front of the subject
vehicle
3.6 forward vehicle
the vehicle that is located in front of the road where the subject vehicle is
traveling and is traveling in the same direction
3.7 free-flowing traffic
including start-stop and emergency braking conditions, smooth flow and heavy
traffic
4 Classification
The FSRA system is classified into 4 types according to its adaptability to curve
driving, as shown in Table 1.
5 Performance requirements
5.1 Basic control strategy
Figure 1 shows the system states and transitions.
5.2 Functions
5.2.1 Control mode
The switching between the distance control state and the speed control state
shall be automatically completed by the system.
5.2.3.1 Overview
The following separately introduces the detection range, target recognition
function and curve driving capability of the FSRA system.
5.2.3.3 Target recognition
If there are multiple vehicles ahead on a straight road, or on a curve (the FSRA
system of the vehicle is of type II, III or IV), then the forward vehicle in the same
lane as the subject vehicle will be selected as the target vehicle controlled by
FSRA, see Figure 3.
5.2.3.4 Curve driving (Type II, III, IV)
The FSRA system enables the vehicle to follow the forward vehicle stably with
the time headway τmax (vcircle) on straight roads and curves. Different types of
FRSA systems have different adaptability to curve radius.
5.2.4 State transition
Without the driver's instruction, the system cannot switch from the hold state to
the following control state or the speed control state.
5.3 Basic human-computer interaction function
5.3.1 Operation and system response
The FSRA system shall provide the driver with a method to select and set the
desired speed.
6 Test methods for performance evaluation
6.1 Test environment conditions
The test environment conditions are as follows.
6.2 Test target parameters
The test targets specified in this Standard are only for the technologies that
have been used today. For other technologies, test targets that have been
adopted shall be used.
6.2.2 Millimeter wave radar
The test target is defined by the scattering cross section RCS of the radar signal.
The frequency range is 20GHz~95GHz.
6.3 Automatic stopping ability test
6.3.1 Test target vehicle
Install the test target A as described in 0 at the rear of the target vehicle. The
remaining uncovered surfaces are hidden according to the following principles.
After removing test target A, make the radar cross section RCS at the rear of
the vehicle not greater than 2m2 or make its reflectivity not greater than 20% of
the test target.
6.3.3 Test methods
The target vehicle starts to decelerate with astopping as the deceleration until it
stops. Where, the deceleration range is astopping-0.5m/s2~astopping.
6.4 Detection distance test
The test method is based on d0, d1, d2, and dmax.
The vehicle reference plane is a rectangle. The width is equivalent to the width
of the subject vehicle. The height is 0.9m.
......
Source: Above contents are excerpted from the full-copy PDF -- translated/reviewed by: www.ChineseStandard.net / Wayne Zheng et al.
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