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1、BRITISH STANDARD BS ISO 14793:2003 Road vehicles Heavy commercial vehicles and buses Lateral transient response test methods ICS 43.080.01 ? Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 26 14:12:44 GMT+00:00 2006, Uncontrolled Copy, (c) BSI BS ISO 14793:2003 This British Standard was publishe
2、d under the authority of the Standards Policy and Strategy Committee on 9 May 2003 BSI 9 May 2003 ISBN 0 580 41831 6 National foreword This British Standard reproduces verbatim ISO 14793:2003 and implements it as the UK national standard. The UK participation in its preparation was entrusted to Tech
3、nical Committee AUE/15, Safety related to vehicles, which has the responsibility to: A list of organizations represented on this committee can be obtained on request to its secretary. Cross-references The British Standards which implement international publications referred to in this document may b
4、e found in the BSI Catalogue under the section entitled “International Standards Correspondence Index”, or by using the “Search” facility of the BSI Electronic Catalogue or of British Standards Online. This publication does not purport to include all the necessary provisions of a contract. Users are
5、 responsible for its correct application. Compliance with a British Standard does not of itself confer immunity from legal obligations. aid enquirers to understand the text; present to the responsible international/European committee any enquiries on the interpretation, or proposals for change, and
6、keep the UK interests informed; monitor related international and European developments and promulgate them in the UK. Summary of pages This document comprises a front cover, an inside front cover, the ISO title page, pages ii to v, a blank page, pages 1 to 28, an inside back cover and a back cover.
7、 The BSI copyright date displayed in this document indicates when the document was last issued. Amendments issued since publication Amd. No. DateComments Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 26 14:12:44 GMT+00:00 2006, Uncontrolled Copy, (c) BSI Reference number ISO 14793:2003(E) OSI
8、3002 INTERNATIONAL ADNATSDR ISO 13974 tide tsriFino 0-300251-2 Road vehicles Heavy commercial vehicles and buses Lateral transient response test methods Vhicules routiers Vhicules utilitaires lourds et autobus Mthodes dessai de rponse transitoire latrale Referecne unmber OSI 39741:002)E(3 ISO 2003 I
9、NTERNATIONAL STANDARD ISO 14793 First edition 2003-02-15 daoR velcih se aeHvy commlaicre vehiselc dna ubL sesalaret rtneisnat opsernet ests meohtds hVicules rtuoreis hVicusel utitilriaes ruolsd a teutsubo htMsedo dsesad ie rponsrt esnaotiire talrale BS ISO 14793:2003 Licensed Copy: sheffieldun sheff
10、ieldun, na, Sun Nov 26 14:12:44 GMT+00:00 2006, Uncontrolled Copy, (c) BSI IS:39741 O3002(E) ii BS ISO 14793:2003 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 26 14:12:44 GMT+00:00 2006, Uncontrolled Copy, (c) BSI IS:39741 O3002(E) iii Contents Page Forewordiv Introduction v 1 Scope 1 2 Norma
11、tive references . 1 3 Terms and definitions. 1 4 Principle. 2 5 Reference system . 2 6 Variables 3 7 Measuring equipment. 3 7.1 Description 3 7.2 Transducer installation. 3 7.3 Data processing 3 8 Test conditions 7 8.1 General. 7 8.2 Test track . 7 8.3 Weather conditions. 7 8.4 Test vehicle 8 8.5 Wa
12、rm-up. 9 8.6 Test speed . 9 8.7 Lateral acceleration 9 8.8 Average longitudinal acceleration 10 9 Step input. 10 9.1 Test procedure 10 9.2 Data analysis . 10 9.3 Data presentation 11 10 Sinusoidal input One period (see ISO/TR 8725) 12 10.1 Test procedure 12 10.2 Data analysis . 12 10.3 Data presenta
13、tion 13 11 Random input (see ISO/TR 8726) 13 11.1 Test procedure 13 11.2 Data analysis . 14 11.3 Data presentation 14 12 Pulse input. 15 12.1 Test procedure 15 12.2 Data analysis . 15 12.3 Data presentation 15 13 Continuous sinusoidal input . 16 13.1 Test procedure 16 13.2 Data analysis . 16 13.3 Da
14、ta presentation 16 Annex A (normative) Test report General data. 17 Annex B (normative) Test report Presentation of results 22 Bibliography . 28 BS ISO 14793:2003 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 26 14:12:44 GMT+00:00 2006, Uncontrolled Copy, (c) BSI IS:39741 O3002(E) iv Foreword
15、ISO (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
16、committee 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 elect
17、rotechnical standardization. International Standards are drafted in accordance with the rules given in the ISO/IEC Directives, Part 2. The main task of technical committees is to prepare International Standards. Draft International Standards adopted by the technical committees are circulated to the
18、member bodies for voting. Publication as an International Standard requires approval by at least 75 % of the member bodies casting a vote. 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 ident
19、ifying any or all such patent rights. ISO 14793 was prepared by Technical Committee ISO/TC 22, Road vehicles, Subcommittee SC 9, Vehicle dynamics and road-holding ability. BS ISO 14793:2003 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 26 14:12:44 GMT+00:00 2006, Uncontrolled Copy, (c) BSI IS:
20、39741 O3002(E) v Introduction Road-holding ability is a most important part of active vehicle safety. Any given heavy commercial vehicle, combination or bus, together with its driver and the prevailing environment, forms a unique closed-loop system. The task of evaluating road-holding ability is the
21、refore very difficult since there is a significant interaction between these drivermotor-vehicle(trailer)environment elements, each of which is complex in itself. A complete and accurate description of the behaviour of such a vehicle must necessarily involve information obtained from a number of tes
22、ts of different types. Since they quantify only a small part of the whole vehicle-handling field, the results of these tests can only be considered significant for a correspondingly small part of the overall handling behaviour of heavy vehicles, heavy-vehicle combinations and buses. Moreover, insuff
23、icient knowledge is available concerning the relationship between accident avoidance and the dynamic characteristics evaluated by these tests. A substantial amount of effort is necessary to acquire sufficient and reliable data on the correlation between accident avoidance and vehicle dynamic propert
24、ies in general and the results of these tests in particular. Therefore it is not possible to use these test methods and results for regulation purposes at present. The best that can be expected is that the transient response tests are used as some among many other (mostly transient) tests, which tog
25、ether cover the field of vehicle dynamic behaviour. BS ISO 14793:2003 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 26 14:12:44 GMT+00:00 2006, Uncontrolled Copy, (c) BSI 3002:39741 OSI SB Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 26 14:12:44 GMT+00:00 2006, Uncontrolled Copy, (c) BS
26、I INTENRATIONAL TSANDADR IS:39741 O3002(E) 1 Road vehicles Heavy commercial vehicles and buses Lateral transient response test methods 1 Scope This International Standard specifies test methods for determining the transient response behaviour of heavy commercial vehicles, heavy commercial vehicle co
27、mbinations, buses and articulated buses, as defined in ISO 3833 for trucks and trailers above 3,5 t and buses above 5 t maximum weight, and in UNECE (United Nations Economic Commission for Europe) and EC vehicle classification, categories M3, N2, N3, O3 and O4. NOTE The open-loop manoeuvres specifie
28、d in this International Standard are not representative of real driving conditions, but are nevertheless useful for obtaining measures of vehicle transient behaviour particularly with respect to that which the driver experiences in response to several specific types of steering input under closely c
29、ontrolled test conditions. For combinations where the response of the last vehicle unit is of importance, see ISO 14791. 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
30、 references, the latest edition of the referenced document (including any amendments) applies. ISO 1176:1990, Road vehicles Masses Vocabulary and codes ISO 3833:1977, Road vehicles Types Terms and definitions ISO/TR 8725:1988, Road vehicles Transient open-loop response test method with one period of
31、 sinusoidal input ISO/TR 8726:1988, Road vehicles Transient open-loop response test method with pseudo-random steering input ISO 8855:1991, Road vehicles Vehicle dynamics and road-holding ability Vocabulary ECE Regulation No. 30, Uniform provisions concerning the approval of pneumatic tyres for moto
32、r vehicles and their trailers 3 Terms and definitions For the purposes of this document, the terms and definitions given in ISO 8855 and the following apply. 3.1 vehicle unit unit of a vehicle combination which is connected with a yaw-articulation joint EXAMPLE Tractor, semitrailer, dolly. NOTE The
33、number of vehicle units is one more than the number of articulation joints. BS ISO 14793:2003 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 26 14:12:44 GMT+00:00 2006, Uncontrolled Copy, (c) BSI IS:39741 O3002(E) 2 4 Principle IMPORTANT The method of data analysis in the frequency domain is ba
34、sed on the assumption that the vehicle has a linear response. Over the whole range of lateral acceleration this is unlikely to be the case, the standard method of dealing with such a situation being to restrict the range of the input so that linear behaviour can be assumed and, if necessary, to perf
35、orm more than one test at different ranges of inputs which, together, cover the total range of interest. The objective of these tests is to determine the transient response of a vehicle. Characteristic values and functions of both linear and nonlinear behaviour are considered necessary for fully cha
36、racterizing vehicle transient response. Linear characteristic values and functions are determined with tests in the frequency domain and nonlinear characteristic values and functions with tests in the time domain. In the case of vehicle combinations, it is primarily the response of the first vehicle
37、 unit that is evaluated. Important characteristics in the time domain are time lags between steering-wheel angle, lateral acceleration and yaw velocity, response times of lateral acceleration and yaw velocity (see 9.2.1), lateral acceleration gain (lateral acceleration divided by steering-wheel angl
38、e), yaw velocity gain (yaw velocity divided by steering-wheel angle), and overshoot values (see 9.2.3). Important characteristics in the frequency domain are the transfer functions of lateral acceleration related to steering-wheel angle, and yaw velocity related to steering-wheel angle, expressed as
39、 gain and phase functions between input and output variables. There are several test methods for obtaining these characteristics in the time and frequency domains, as follows, the applicability of which depends in part on the size of the test track available. a) Time domain: 1) step input; 2) sinuso
40、idal input (one period). a) Frequency domain: 1) random input; 2) pulse input; 3) continuous sinusoidal input. 5 Reference system The variables of motion used to describe the vehicle behaviour in a test-specific driving situation relate to the intermediate axis system (X, Y, Z) (see ISO 8855). The l
41、ocation of the origin of the vehicle axis system (XV, YV, ZV) is the reference point and shall be thus defined. BS ISO 14793:2003 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 26 14:12:44 GMT+00:00 2006, Uncontrolled Copy, (c) BSI IS:39741 O3002(E) 3 6 Variables The following variables shall b
42、e determined: yaw velocity, ?; lateral acceleration, aY; steering-wheel angle, H; longitudinal velocity, vX. The following variables may be determined: lateral deviation, y; roll angle at relevant points, ; steering-wheel torque, MH; sideslip angle, . These variables, all but lateral deviation defin
43、ed in ISO 8855, are not intended to comprise a complete list. 7 Measuring equipment 7.1 Description The variables to be determined in accordance with Clause 6 shall be measured by means of appropriate transducers. Their time histories shall be recorded on a multi-channel recording system having a ti
44、me base. The typical operating ranges and recommended maximum errors of the transducers and the recording system are given in Table 1. 7.2 Transducer installation The transducers shall be installed so that the variables corresponding to the terms and definitions of ISO 8855 can be determined. If the
45、 transducer does not measure the variable directly, appropriate transformations into the reference system shall be carried out. 7.3 Data processing 7.3.1 General The frequency range relevant for this test is between 0 Hz and the maximum utilized frequency of fmax = 2 Hz. Depending on the data proces
46、sing method chosen (analog or digital data processing) the provisions of 7.3.2 or 7.3.3 shall be observed. For lighter trucks it may be necessary to increase fmax to 3 Hz. In this case, the following requirements concerning the frequency fmax may be modified correspondingly. 7.3.2 Analog data proces
47、sing The bandwidth of the entire, combined transducer/recording system shall be no less than 8 Hz. BS ISO 14793:2003 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 26 14:12:44 GMT+00:00 2006, Uncontrolled Copy, (c) BSI IS:39741 O3002(E) 4 In order to execute the necessary filtering of signals,
48、low-pass filters of order four or higher shall be employed. The width of the passband (from 0 Hz to frequency f0 at 3 dB) shall be not less than 9 Hz. Amplitude errors shall be less than 0,5 % in the relevant frequency range of 0 Hz to 2 Hz. All analog signals shall be processed with filters having
49、phase characteristics sufficiently similar to ensure that time delay differences due to filtering lie within the required accuracy for time measurement. NOTE During analog filtering of signals with different frequency contents, phase shifts can occur. Therefore, a digital data processing method, as described in 7.3.3, is preferable. Table 1 Variables, their typical operating ranges and recommended maximum erro