1、5SOInternationa1.StandardISO4273Firstedition2024-01Inte1.1.igenttransportsystems一Automatedbrakingduring1.ow-speedmanoeuvring(AB1.S)一RequirementsandtestproceduresSySemeSdetransportinte1.1.iaentsFreinageautomatiqueIorsdemanceuvresubassevitesse(AB1.S)Exigencese1.proceduresdessaiReferencenumberISO4273:2
2、024(en)COPYRIGHTPROTECTEDDOCUMENTISO2024WintGhcdBdHUWwdotherwiseianSit111.CrW4wErtiwnbxtt11mik)hrtRd11kHimhwfrpn911tnmcnpyiptheinternetoranintranet,withoutpriorwrittenpermission.PermissiononberequestedfromeitherISOatthebe1.oworISOsmemberbodyinthecountryoftherequester.b,Vyfrfiandonnet8CH-1214VcmicrrG
3、cncvaPhoae:*41227490111聊独te:薪括嬴OQrgPub1.ishedinSwitzer1.andContentsPageForewordivitroductionv2 SOPe13 Normativereferences14 Termsanddefinitions1Basicsystemfunctiona1.ity34,1OperatingCond1.tIonS34.2C1.assificationofAB1.S44.2.2 AtHfftypm.*.*.*.*b.-.1.5Situationeva1.uationBrakingactivationFunctionandpe
4、rformancerequirementsforAB1.S5.1 Genera1.5.2 Situationsaddressed9-.4帕俄能mmction现做地典邸和ements75.5Function11ow7Performancetestrequirements.861Genera1.86.2Environmenta1.conditions88月8iVjWtofparkingspace96.5Genera1.testcriteria96.6Testprocedureanc1.criteria96:6:1例三ce.幽f”您.A.6.6.3 PerformancetestfortypeB15
5、6.6.4 PerformancetestfortypeC16AnnexA(informative)Recommendedpreparationprocedureforcurvedriving22Bib1.iography23ForewordISO(theInternationa1.OrganizationforStandardization)isaWOr1.dwidefederationofnationa1.standardsIK1.d1.ieSt乎BuimdronbHdMEA岷nunribefprbp呷W1.1.rtHtndtiOna1.St8ud0dB-Mirtob1.1.ytecbaf
6、rftidcKDCtKitoaghhasbeenestab1.ishedhastherighttoberepresentedonthatcommittee.Internationa1.organizations,governmenta1.andnon-governmenta1.,in1.iaisonwithISO,a1.sotakepartinthework.ISOco1.1.aboratesc1.ose1.ywiththeInternationa1.E1.ectrotechnica1.Commission(IEC)ona1.1.mattersOfe1.ectrotechnica1.stand
7、ardization.Theproceduresusedtodeve1.opthisdocumentandthoseintendedforitsfurthermaintenancearedescribedintheISO/IECDirectives,Part1.Inparticu1.ar,thedifferentapprova1.criterianeededforthedifferenttypesISOdrawsattentiontothepossibi1.itythattheimp1.ementationofthisdocumentmayinvo1.vetheuseof（八）陈榭泡PeCtt
8、ake繇温iti。曲陇呼CerA膈和曲陶陇泓cu胸梆的bi阳。freW除德观dpatentpatents)whichmayberequiredtoimp1.ementthisdocument.However,imp1.ementersarecautionedthatthismaynotrepresentthe1.atestinformation,whichmaybeobtainedfromthepatentdatabaseavai1.ab1.eatWWWmeMirgpm1.3NsISOsha1.1.notbehe1.dresponsib1.eforidentifyinganyora1.1.su
9、chpatentrights.Anytradenameusedinthisdocumentisinformationgivenfortheconvenienceofusersanddoesnotconstituteanendorsement.%toIMHexp1.aMI而RiwdbCand融。WAiUtHhnm隔mg1.SCH由国山UdbwniiiiadiikpasionsOrganization(VVrTO)princip1.esintheTechnica1.BarrierstoTrade(TBT)1seewww.iso.org/iso/forcword.htm1.Thisdocumentw
10、aspreparedbyTechnica1.CommitteeISO/TC204,Inte1.1.igenttransportsystems.AnyfeedbackorquestionsonthisdocumentShOUkiWdiFMUd4。theugkMHOna1.standardsbody.Acomp1.ete1.istingofthesebodiescanbefoundatwww.iso.org/members.htm1.Introductionfosedfrontco1.1.isionmitigationorimp1.ementationanduti1.izationOfadditi
11、ona1.fonvardperceptiontypica1.1.y1.ow-speedaccidents,inc1.udingparkingespecia1.1.ymateria1.reversingmanoeuvresmonetaryexpenses,-fExistingInternationa1.Standardsforautomatedemergencybraking,suchasISO22839orISO19237,areusingsensorssuchasradar.Theavoidancemoderatevehic1.espeedsthedirection,sensors(i.ar
12、oundtheentirevehic1.e)createsthepossibi1.ityofadvancedco1.1.isionmitigationandavoidancesystemscoveringthewho1.eareasurroundingthevehic1.e.roadtrafficco1.1.isionsduringbothaccidentswithduringdamage1.eadingtohighrepresenthighshare6andaccidents1.eadingtoinjuriesorevenfata1.itiesofhumanroadusers.Thisdoc
13、umentaddressessuchco1.1.isions.Inte1.1.igenttransportsystemsAutomatedbrakingduring1.ow-speedmanoeuvring(AB1.S)Requirementsandtestprocedures1 ScopeThisdocumentprovidesminimumrequirementsandtestproceduresforautomatedbrakingatve1.ocitiesXMS4曲kA赋忖9)WithaHtpu市ObJetMiJVehd1.h脚时itwdtouk1.e金.即h8*ihr%MJheEec
14、o1.1.isionsmain1.yoccurduringreversingmanoeuvres,butthisdocumenta1.soaddressesco1.1.isionsinotherdirectionsduring1.ow-speedmanoeuvring.四训情骗花卅9切怅BUHM史蝴氏佻edthabHiQuvringvehid随ESIi蹲6ftqR1.oP11做W由esifandeva1.uatedsituationrepresentsaco1.1.isionrisk.Ifanimminentcoi1.bionriskexists,AB1.Swi1.1.automatica1.
15、1.yactivateabrakeactiontoavoidorat1.eastmitigatetheco1.1.ision.Thedocumentdoesnotdefinetestobjects,butreferstotheISO19206seriesfortestobjectstobeused.Thehumandriverisassumedtoperformorat1.eastsupervisea1.1.drivingmanoeuvresbecausetheAB1.Sapp1.icationisrestrictedtosupporton1.ysystemsofSE1.eve1.0-2,Ev
16、asivesteeringmanoeuvresarenotwithinthescopeofthisdocument._Thisdocumentapp1.iesto1.ightvehidespon1.y.Vehic1.esequippedwithtrai1.ersarenotwithinthescopeofthisdocument.2 NormativereferencesThefo1.1.owingdocumentsarereferredtointhetextinsuchawaythatsomeora1.1.oftheircontentconstitutesrhqMfe!tfntiofxbf5
17、the(tamcmEFdndmthtef4mokngythetdrtEn61.ies.Forundatedreferences,11W*056!而分SfemSManoeuvringaidsfor1.ow-speedoperation(MA1.SO)Performance阴阴凶2啊2/7?砒忤的MUG限加CM.曲雒if三WW说用必对超出卷andotherobjects,for!SfMgU的182则f/HQ阳MF拥峰OrtsystemsPartia1.1.y-automatedparkingsystems(PAPS)Performance3 TermsanddefinitionsForthepur
18、posesofthisdocument,thetermsanddefinitionsgiveninISO17386.ISO19206-2,ISO20900andthefo1.1.owingapp1.y.ISOandIECmaintaintermino1.ogydatabasesforuseinstandardizationatthefo1.1.owingaddresses:ISOOn1.inebrowsingp1.atform：avai1.ab1.eathttps；wWWiSoQ1.g/obpIECE1.ectropedia:avai1.ab1.eathttps:WwW.e1.ectroped
19、ia.org/3.1AB1.Sfunctionfunctioncapab1.eofreducingtheve1.ocityofthevehic1.etoavoidormitigateaco1.1.isionduring1.ow-speed里TK)OUVringAB1.Stypesy,gesAtoCwhicharere1.atedtotheautomation1.eve1.ofthedrivingfunctionsupportedbyAB1.S1.ow-speedmanoeuvring1.SMdrivingmanoeuvreofavehic1.eatave1.ocity2,8m/s(10km/h
20、)main1.yintendedtoparkthesubjectvehic1.edrs()(Bkm)contturt(wraHfereAsuch1.ow-dmanoeuvring.vu1.nerab1.eroaduserVRUansuchasapedestrianorcyc1.ist,independentofageandsizesubjectvehic1.eSVI叨ideundertestinwhichAB1.Sisimp1.ementedparkedvehic1.ePVstaticvehic1.ethatrepresentstheboundaryofanadjacentparkingspa
21、ceortheobstac1.ewithinthedriving期manua1.drivingmanoeuvrewherethedriverisincontro1.Of1.ongitudina1.and1.atera1.movementofthevehic1.eandwhichCgrCSPondStoSAE1.eve1.O(noautomation)assistedparkingsystemAPSsystemwhichsupportsthedriverduringparkingbycontro1.1.ingthe1.atera1.movement/StCUringofthevehic1.ean
22、dwhichcorrespondstoSAE1.eve1.1(DriverAssistance)Note1toentry:SccISO16787(orfurtherinformationonAPS.39partia1.1.yautomatedparkingsystemPAPSsystemwhichsupportsthedriverduringparkingbycontro1.1.ingboththe1.ongitudina1.and1.atera1.movementofthevehic1.eandwhichcorrespondstoSAE1.eve1.2(Partia1.Automation)
23、H1.AO1toentry:SeeISO20900forfurtherinformationonPAPS.parkingparkinginmanoeuvringintoaparkingspace3.111.eaving3.12object3.13obstac1.edrivingentry:A1.1.vu1.nerab1.eroadusersarcconsideredasco1.1.ision-re1.evantobstac1.esiftheyarcinorc1.osetotheSVdamagestotheSVsvithinthesituationofaco1.1.ision.todd1.ert
24、argetTT4 Basicsystemfunctiona1.ityco1.1.isiondeterminedbasedmitigatedetectionofobjects.drivenecessaryjntevenetoOvenideautomatica1.1.yregard1.essofthcconcernsbrakingachievcmentco1.1.isionavoidanceinterventiondece1.erationaCOHisiOnSUbjeC1.considered4.1 Operatingconditionsapp1.iedfunctionang1.e.Iftheve
25、hic1.eve1.ocityexceedsABI-Sfunction1.imit,vsta11ihyactivatedthemanufacturer,B1.Ssha1.1.a1.waysbeautomatica1.1.yactivatedwithoutdriverinitiation.anunintentiona1.deactivationofAB1.Sfunction.themanufacturersdiscretion.SySIemavai1.abiM1.yconditions,(owncr,smanua1.)shou1.dinc1.udeanadvisorynotethatc1.ear
26、1.yindicatestheparkingoutmanoeuvringoutofaparkingspaceitemrepresentinganykindofthingorcreatureobjectinorc1.osetothedrivingpathofthesubjectvehic1.e(SV)whichisdeemedtobeco1.1.ision-re1.evantNote1topath.Note2toentry:Itisassumedthatanobstac1.ecaneitherbedamagedbytheSVorhasacertainsizewhichcancause3.14te
27、stdevicerepresentingatwo-year-o1.dtodd1.eraccordingtoISO/TS19206-9:!),usedfortestingB1.STheAB1.Sfunctionsha1.1.avoidormitigateaco1.1.isionduring1.ow-speedmanoeuvring(1.SM).Theriskofainitiatesisbrakingtoavoidortoontheaco1.1.ision.IftheIfdoesnottheAH1.Sfunctionthefunction,AB1.Scontinuesthebrakingunti1
28、thevehic1.ecomestoafu1.1.stop.Thisdocumentspecificthemethod.OfEvasivesteeringviaavoidoftheisnotvehide(SV)withinthisdocument.TheAB1.Sfunctionsha1.1.beactiveduring1.SMmanoeuvringa1.orunder2,8m/s(10km/h)regard1.essofthetheAB1.Ssteeringsha1.1.no1.ongerbeactive.Thetheuppermayon1.y,bespecifedbyifan1.SMev
29、entisdetected.Itistheresponsibi1.ityofthemanufacturertoidentifycriteriaforan1.SMevent.TheAB1.Sfunctionmayhedeactivatedbythedriver.Itistheresponsibi1.ityofthemanufacturertodetermineaprocedurefordeactivationofthefunction.However,theproceduresha1.1.bedesignedtopreventItsha1.1.bepossib1.eforthedrivertoo
30、verridetheAB1.Sfunctionatanytime.Thespecificdetectionandrea1.izationofanintendeddriveroverridinginterventionisnotdefinedwithinthisdocumentandis1.efttoThestatetransitionoftheAB1.SfunctionisshowninFigure1.Thevehic1.eoperatorshandbook1)Underpreparation.Stageatthetimeofpub1.ication：ISO/AWITS19206-9:2023
31、Vehic1.epoweronAB1.SSUndbyActivjtinnbydriverAB1.Sinactiveodriveroverrideand11unufMturer-pecifirconditionsDetivhonbydriveroriordriveroverrideornunu1.Miur*redf1.cconditionsFigure1StatetransitiondiagramoftheAB1.Sfunction4.2 C1.assificationofB1.S4.2.1 AB1.Stypes4.2.1.1 Genera1.AB1.Sisc1.assifiedintothr
32、eetypesbasedonhowthevehic1.eisbeingcontro1.1.edpriortotheactivationoftheAB1.Sfunction.4.2.1.2 TyPemanua1.drivingmodeAB1.StypeAisactiveduringthemanua1.drivingofthevehic1.e.The1.ongitudina1.and1.atera1.movementofthevehic1.eisunderthecontro1.ofthedriver.Thistypeofmanoeuvringcontro1.correspondstoSAE1.ev
33、e1.O.4.2.1.3 TypeBassistedparkingmodeAB1.StypeBisactivewhenanSAE1.eve1.1parkingautomationsystemisengaged.The1.ongitudina1.miucmctttissy6tWDi)Mndh)ijbhdrmpteVie)ted1.atemfiut)Kt1.hcecisdfi7)8IKX)qiYbyithtdexamp1.e.SAE1.eve1.1parking4.2.1.4 TjrpeCpartia1.1.y-automatedparkingmodeAB1.StypeCisactivewhena
34、nSAE1.eve1.2parkingautomationsystemisengaged.Both1.ongitudina1.andbdmBikoM(qwrtdrqind1.4ftBrking1.e1.a*(1111atiMinuydmjimn11trfdcypedanm11wduv11ngISO20900.4.2.2 Performancec1.assification4.2.2.1 Genera1.Thefo1.1.owingAB1.Sperformancec1.assificationsref1.ectthediversityofperformance1.eve1.s.EachAB1.S
35、typefsK1.1.1.rAB1.fi(fdxsonadsevannenhanccd,pcr1.rhiQhce.represc11tabaseperformancethatadrivercanexpect4.2.2.2 C1.ass“base”Theperformancec1.ass,baserepresentstheminimumrequirementsforensuringabasicAB1.Sperformance1.eve1.forobjects,a1.1.threetypes(A,B,andC).Thec1.assbase*main1.yaimstopreventco1.1.isi
36、onswithstationaryref1.ecting*,c1.assdiversitystate-of-the-artsystemsinandseparatedscopei,object,*MobjectpedestrianMvariants4.2.2.3 C1.assenhanced”avoidanceanperfomanceco1.1.isionavoidancePerfomianceadditionmovingobjectsperformance,theenhanced*4.2.3 B1.Sc1.assificationoverviewMoredetai1.edperformance
37、requirementsUsedescribcdoverviewofthesetcstusercquirerncntsin-4Tab1.ethePedestiiankindsmanua1.systemsmayB1.Simp1.ementedpartia1.1.y-automatedparkingexamp1.e.beanavai1.ab1.ewithinNOTEThec1.assenhanced“a1.waysinc1.udesa1.1.performancerequirementsofthec1.assbase.Tab1.e1AB1.Sc1.assificationoverviewbaseo
38、bjectobjectsstationaryreverse1141.=nn*app1.ib1.c4.3 Princip1.eofoperation4.3.1 Genera1.thevehic1.emanoeuvre:situationeva1.uation;ThetypetheAbaseofon1.ycoversreversedrivingtheismarket.Theintooftheandvarianttoavoidormitigateco1.1.isionswithstaticobstac1.essuchaspo1.esandvehic1.es.Thescopeofthe*pedestr
39、ian*variantistoavoidormitigateco1.1.isionswithstationarypedestrians.Acombinationofthesetwovariantsispossib1.e.Theperformancec1.ass“enhanced“providesadditiona1.Charac1.ensticswhich1.eadtoanimprovedco1.1.isioninc1.udesimprovedotherUSMxoBditions.Infortothebaseina1.1.movementC1.assdirectionsofthe1.SMsys
40、teminuse,forexamp1.e(seeTab1.e1).Basedonthetypesandperformancec1.assesofAB1.Srdifferentcombinationsofsystemcharacteristicsarepossib1.eref1.ectingtherangeofsystemarecases.AninC1.ause6.TheCaSeSshowninfor1.minima1.perfornwta1.1.typesandc1.assesarederivedfromtheusecasesinTab1.e1andtheperformancerequirem
41、entsinC1.ause5.DifferentforofAB1.SdrivingandanbetypeC2forwithinonevehic1.e.FormayAB1.StypeA1.onevehic1.e.Thevehic1.eusersmanua1.(owner,smanua1.)shou1.dinc1.udeanadvisorynotethatc1.ear1.yindicateswhatkindofAB1.Ssystemisimp1.emented,inc1.udingthedriver*sresponsibi1.ityand1.imitationsofthesystem.TypeC1
42、assVariantObjectsaddressedObjectmovementMovingdirectionA1.A1.A2B1.BZC1.C2TheOEDR(objectandeventdetectionandresponse)ofAB1.Scontainsthefo1.1.owinge1.ementsforperformingobjectdetection;brakeactivation.4.3.2 Objectdetectionre1.ativetechno1.og,Uti1.izeddocumentspecified.endorseorprescribeanysensortechn
43、o1.ogy.Therefore,the4.3.3 Situationeva1.uationdecidesWhetherimminentco1.1.isionoverrunobjectwithinexamp1.e,inpath,casespeedbump)without4.3.4 Brakingactivationstationarytheunti1.co1.1.ision.driverauthorizes(Ieactivationvehic1.etheABISComPIetestandsti1.1.,automatica1.1.yrequests4.4 Informationtothedri
44、verrcquired,brakinginterventionmaygainprovidedinattention.t1.,eSituationsactivation.apromptbrakingactivationisFunctionhapticperformanceFequirementsrecognizedasahapticsigna1.5.1 Genera1.injuriesofhumansunderkindenvironmenta1.conditions,torecommendedIimitationsanadvisoryachievab1.e5.2 Situationsaddres
45、sed1.SMSAE1.ve1.I(typeB,assistedparking)orISMSAE1.eve1.2(typeC,partia1.1.y-automatedparking). perpendicu1.arparking1.imitedbyvehic1.esorgroundmarkings;Typeofmanoeuvre:AB1.SfunctionsusesurroundsensorstodetectobjectsaroundtheSVaswe1.1.astheirpositionandve1.ocitysensingSV.ThisisfcjQOi4-A1.1.rightsresen
46、tBasedontheinformationprovidedbyobjectdetection,theAB1.Sfunctionsituationeva1.uationeva1.uatestheriskofanornottheSVcanwiththetheobject(forthedrivingtheTheofsituationeva1.uationa1.sodamagingtheSVorharmingtheobject.Iftheobjectisconsideredasco1.1.ision-re1.evant,thesituationeva1.uationtriggersabrakingactivation.Basedontheresu1.tsofthesituationeva1.uation,thebrakingactivationexecutesadece1.erationoftheSVavoid-.theAB1.Sbrakes,thebringingtheoftoafunctionorAB1.Sandkeepsthevehic1.eit(see5.4).TheAB1.Sfunctionwarnsthedriver
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