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ASTM F457-04

(Test Method)

Standard Test Method for Speed and Distance Calibration of Fifth Wheel Equipped With Either Analog or Digital Instrumentation

Standard Test Method for Speed and Distance Calibration of Fifth Wheel Equipped With Either Analog or Digital Instrumentation

SIGNIFICANCE AND USE
This test method may be used for calibration of speed and distance measurement systems used on tire test vehicles and tire test trailers, or any land-based vehicle that contacts the road and that uses a trailing-wheel system for measurement of speed and distance. This test method applies only to hard, dry, smooth surfaces and is not accurate for highly curved vehicle paths. This test method does not encompass optical types of devices.
SCOPE
1.1 This test method covers the determination of vehicle speed and cumulative distance traveled using a device termed a fifth wheel and using appropriate associated instrumentation.
1.2 This test method also describes the calibration technique applicable to digital or analog speed and distance measurement systems employing a fifth wheel.
1.3 The values stated in SI (millimetre-kilogram) units are to be regarded as the standard.
This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety and health practices and determine the applicability of regulatory limitations prior to use. For specific precautionary statements, see Section .

General Information

Status
Historical
Publication Date
30-Nov-2004
ICS
43.020 - Road vehicles in general
Technical Committee
F09 - Tires
Drafting Committee
F09.10 - Equipment, Facilities and Calibration
Current Stage
Ref Project

Relations

Replaces
ASTM F457-94(1999) - Standard Test Method for Speed and Distance Calibration of a Fifth Wheel Equipped With Either Analog or Digital Instrumentation
Effective Date
01-Dec-2004
Replaced By
ASTM F457-04(2010) - Standard Test Method for Speed and Distance Calibration of Fifth Wheel Equipped With Either Analog or Digital Instrumentation
Effective Date
01-Feb-2010
Referred By
ASTM F762/F762M-08(2020)e1 - Standard Test Method for Determining Change in Groove (or Void) Depth With Distance Traveled for Passenger Car Tires
Effective Date
01-Dec-2004
Referred By
ASTM F559-05(2017) - Standard Test Method for Measuring Length of Road Test Courses Using a Fifth Wheel
Effective Date
01-Dec-2004
Referred By
ASTM F408-21 - Standard Test Method for Tires for Wet Traction in Straight-Ahead Braking, Using a Towed Trailer
Effective Date
01-Dec-2004
Referred By
ASTM F1572-21 - Standard Test Methods for Tire Performance Testing on Snow and Ice Surfaces
Effective Date
01-Dec-2004
Referred By
ASTM F1649-20 - Standard Test Methods for Evaluating Wet Braking Traction Performance of Passenger Car Tires on Vehicles Equipped with Anti-Lock Braking Systems
Effective Date
01-Dec-2004

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ASTM F457-04 - Standard Test Method for Speed and Distance Calibration of Fifth Wheel Equipped With Either Analog or Digital InstrumentationASTM F457-04 - Standard Test Method for Speed and Distance Calibration of Fifth Wheel Equipped With Either Analog or Digital Instrumentation
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ASTM F457-04 - Standard Test Method for Speed and Distance Calibration of Fifth Wheel Equipped With Either Analog or Digital Instrumentation
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Standards Content (Sample)

NOTICE: This standard has either been superseded and replaced by a new version or withdrawn.
Contact ASTM International (www.astm.org) for the latest information.
Designation:F457–04
Standard Test Method for
Speed and Distance Calibration of Fifth Wheel Equipped
1
With Either Analog or Digital Instrumentation
ThisstandardisissuedunderthefixeddesignationF457;thenumberimmediatelyfollowingthedesignationindicatestheyearoforiginal
adoption or, in the case of revision, the year of last revision.Anumber in parentheses indicates the year of last reapproval.Asuperscript
epsilon (´) indicates an editorial change since the last revision or reapproval.
1. Scope 4.2 The fifth wheel assembly and signal transducer(s) are
attached to the vehicle or the test trailer so that the fifth wheel
1.1 This test method covers the determination of vehicle
remains in contact with the normal roadway surface while the
speed and cumulative distance traveled using a device termed
equipment is in motion. The rotation of this wheel is detected
a fifth wheel and using appropriate associated instrumentation.
in a suitable manner and is translated into measurements of
1.2 Thistestmethodalsodescribesthecalibrationtechnique
vehicle speed and distance with auxiliary equipment.
applicable to digital or analog speed and distance measurement
4.3 The speed is to be communicated to the vehicle operator
systems employing a fifth wheel.
at all times, and should be visible without undue distraction or
1.3 The values stated in SI (millimetre-kilogram) units are
a requirement for physical movement on the part of the
to be regarded as the standard.
operator.
1.4 This standard does not purport to address all of the
4.4 Fifth wheel calibration is performed by operating the
safety concerns, if any, associated with its use. It is the
device at a fixed speed over a known distance and comparing
responsibility of the user of this standard to establish appro-
the speed and distance readout to a known speed and distance.
priate safety and health practices and determine the applica-
bility of regulatory limitations prior to use. For specific
5. Significance and Use
precautionary statements, see Section 7.
5.1 This test method may be used for calibration of speed
2. Referenced Documents and distance measurement systems used on tire test vehicles
2
and tire test trailers, or any land-based vehicle that contacts the
2.1 ASTM Standards:
road and that uses a trailing-wheel system for measurement of
F538 Terminology Relating to the Characteristics and Per-
speed and distance. This test method applies only to hard, dry,
formance of Tires
smooth surfaces and is not accurate for highly curved vehicle
F1082 Practice for Tires—Determining Precision for Test
3 paths. This test method does not encompass optical types of
Method Standards
devices.
3. Terminology
6. Apparatus
3.1 Refer to F538, Standard Terminology Relating to the
6.1 Fifth Wheel—The fifth-wheel assembly shall be of
Characteristics and Performance of Tires.
sufficient mechanical integrity to withstand long periods of
4. Summary of Test Method
sustained operation with minimal maintenance. The wheel
vertical pivot assembly shall be sufficient to permit directional
4.1 Vehicle speed and distance determinations are made by
changes without inducing lateral skidding of the fifth-wheel
use of a fifth wheel, signal transducer(s), and compatible
tire. The fifth-wheel assembly shall be equipped with a
display devices.
suspension capable of minimizing bounce and wheel hop, due
to roadway irregularities, to the extent necessary to ensure
1
This test method is under the jurisdiction of ASTM Committee F09 on Tires
measurement accuracy. The wheel shall be equipped with a
and is the direct responsibility of Subcommittee F09.10 on Equipment, Facilities,
suitable tire, preferably of a straight-ribbed design. The tires
and Calibration.
3
Current edition approved Dec. 1, 2004. Published January 2005. Originally
shall have a minimum (new) size of 349–37 (16 3 1 ⁄8). Tire
approved in 1976. Last previous edition approved in 1999 as F457 – 94 (1999).
and wheel shall be balanced statically each time the tire is
DOI: 10.1520/F0457-04.
2 replaced.
For referenced ASTM standards, visit the ASTM website, www.astm.org, or
6.2 Instrumentation—Fifth-wheel systems shall be
contact ASTM Customer Service at service@astm.org. For Annual Book of ASTM
Standards volume information, refer to the standard’s Document Summary page on
equipped with either analog or digital instrumentation for
the ASTM website.
determining wheel rotation. Suitable readouts shall be pro-
3
Withdrawn. The last approved version of this historical standard is referenced
vided.
on www.astm.org.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959, United States.
1

---------------------- Page: 1 ----------------------
F457–04
6.2.1 Analog Instrumentation: successive approximation techniques of speed determination,
or both, are not recommended
...

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SIGNIFICANCE AND USE
4.1 A-UGVs navigate, dock, or perform other tasks, or combinations thereof, within for example manufacturing, warehouse, hospital, and other environments. Objects (defined in Terminology F3200 as anything in the environment that is not infrastructure) and obstacles (defined in Terminology F3200 as static or moving objects that obstruct the intended movement) are common within these environments. Objects can cause A-UGV challenges in navigation, docking, etc. (see Test Method F3244, Guide F3470) where the object detection systems must provide the highest level of performance to allow safe and productive vehicle use. ASTM Committee F45 surveyed the A-UGV community of manufacturers, users, and researchers, and determined that a relatively short list of objects are the most common objects that their vehicles must detect and avoid. Additionally, ANSI/ITSDF B56.5 includes three test pieces that represent (1) the human body torso lying horizontally and (2) standing human leg, both with worst case, flat black coatings, and (3) flat objects (for example, boxes, doors, manufactured materials), including a worst case, highly (optically) reflective coating. The survey results are listed here and are considered example objects found in warehousing/manufacturing, healthcare, domestic, and retail environments:  
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5.1 This guide is intended to be used by manufacturers and users of A-UGVs: (1) to fully define capabilities of their A-UGV(s) or (2) to allow the standard requestor to describe the A-UGV capabilities required for the requested A-UGV to align with assigned task(s). A-UGVs that are covered within ASTM Committee F45 are industrial vehicles that, for example, can be automatic guided vehicles through mobile robots, can be pre-programmed-through-autonomously controlled, can operate indoors or outdoors in infinitely diverse environmental conditions and therefore, with infinitely diverse functionality. To fully describe and measure the usefulness of these vehicles, functionality can be divided into categories where associated capabilities can be independently measured. This guide therefore provides a decomposition of many, perhaps not all, categories and capabilities that are typical of current A-UGVs globally marketed.  
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Standard Practice for Describing Stationary Obstacles Utilized within A-UGV Test Methods

SIGNIFICANCE AND USE
4.1 This section lists and explains the characteristics that are used to describe a stationary obstacle.  
4.2 It is essential that sufficient information about the obstacle is recorded using this practice so that the obstacle can be replicated. This will allow comparisons to be made between test method performances that use obstacles with similar characteristics.  
4.3 Class:  
4.3.1 When describing an obstacle to be utilized in ASTM Committee F45 test methods, two classes are defined:
4.3.1.1 Genuine—The obstacle being described is an existing real world object (for example, a chair, table, machinery, or equipment). Any identifying information, such as make, model, SKU, etc., should be recorded.
4.3.1.2 Artifact—The obstacle being described has been constructed according to the characteristics outlined in this section. Obstacles of this class are intended to be replicable.  
4.4 Parts of the Obstacle:  
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4.5 Shape:  
4.5.1 The shape refers to the relationships between the external, physical boundaries of the obstacle. All shapes can be in contact with the ground or elevated above the ground (see Fig. 1, Fig. 2, and Fig. 3). The unique obstacle shapes are:
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4.5.1.2 Panel (for example, sign, pallet, shelf)
4.5.1.3 Cuboid
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4.5.1.5 Cone
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SCOPE
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Standard Practice for Documenting Environmental Conditions for Utilization with A-UGV Test Methods

SIGNIFICANCE AND USE
4.1 This section provides a description of the environmental conditions listed in Section 1 and describes the sub-conditions within each condition. Examples provided for many of the conditions and sub-conditions are provided as guidance only. Each of the conditions described should be evaluated and documented as set forth in Sections 5, 6, and 7.  
4.2 Environmental Consistency: Static, Dynamic, Transitional:  
4.2.1 Static is when the environment is similar throughout the test apparatus. For example, there are minor fluctuations in temperature throughout the apparatus as shown in Fig. 1 and Fig. 2. Dynamic is when the environment significantly differs within the test apparatus. For example, when the temperature changes between repetitions as shown in Fig. 3. Transitional is when the environment significantly differs in different areas within the test apparatus as shown in Fig. 4. The intent here is to not give specific guidance, but to provide a high-level classification of a particular set of environmental conditions. If environment consistency is dynamic or transitional, or both, a report form (see Section 7) for each unique set of environmental conditions should be completed.
FIG. 1 Example of Static Environment using Temperature
FIG. 2 Example of Static Environment using Temperature and Showing a Transition between Two Static Environments
FIG. 3 Example of Dynamic Environment using Temperature and Showing that the Environment Changed during the Test
FIG. 4 Example of Transitional Environment using Temperature; Portions of the Environment May Remain Static or May Be Dynamic (for example, Cold to Colder)  
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4.3.1 Various lighting conditions can potentially affect A-UGV optical sensor performance by affecting sensor and in turn, A-UGV responsiveness. Lighting sources can include ambient lighting as well as light emitters associated A-UGV operation. Two setups for lighting include direct or ambient source(s) applied to the A-UGV. Direct...
SCOPE
1.1 When conducting test methods, it is important to consider the role that the environmental conditions play in the Automatic through Autonomous – Unmanned Ground Vehicle (A-UGV) performance. Various A-UGVs are designed to be operated both indoors and outdoors under conditions specified by the manufacturer. Likewise, end users of the A-UGV will be operating these vehicles in a variety of environmental conditions. When conducting and replicating F45 test methods by vehicle manufacturers and users, it is important to specify and document the environmental conditions under which the A-UGV is to be tested as there will be variations in vehicle performance caused by the conditions, especially when comparing and replicating sets of test results. It is also important to consider changes in environmental conditions during the course of operations (for example, transitions between conditions). As such, environmental conditions specified in this practice are static, dynamic, or transitional, or combinations thereof; with the A-UGV stationary or in motion. This practice provides brief introduction to the following list of environmental conditions that can affect performance of the A-UGV: Lighting, External sensor emission, Temperature, Humidity, Electrical Interference, Air quality, Ground Surface, and Boundaries. This practice then breaks down each condition into sub-categories so that the user can document the various aspects associated with the category prior to A-UGV tests defined in ASTM F45 Test Methods (for example, F3244). It is recommended that salient environment conditions be documented when conducting F45 test methods.  
1.2 The environmental conditions listed in 1.1 to be documented for A-UGV(s) being tested are described and parameterized in Section 4 and allow a basis for performance comparison in test methods. The approach is to divide the list of environmental conditions into sub-conditions that represent the var...

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ASTM
ASTM F3327-18(Practice)
Standard Practice for Recording the A-UGV Test Configuration

SIGNIFICANCE AND USE
5.1 The significance of the information to be recorded in a test report allows for A-UGV performance to be contextualized with A-UGV configuration.  
5.2 Limitations of the practice are that not all A-UGVs have the same capabilities or configuration parameters. For example, for capabilities, a vehicle that remaps during navigation versus another vehicle that uses a static map may behave differently in repeated runs of an obstacle avoidance test. For configuration, a vehicle that remaps during navigation may have varying times that obstacles remain in the map for test recreation.  
5.3 The environment map used by the A-UGV, developed through localization including any landmarks, shall be saved as used on the A-UGV and should be saved and provided as a human-readable layout on or off the A-UGV (see Appendix X1 showing a sample layout drawing).  
5.4 The main A-UGV hardware parameters shall be recorded as follows:  
5.4.1 Make and Model  
5.4.2 Part Number  
5.4.3 Serial Number  
5.4.4 Hardware Revision number (if any)  
5.4.5 Number of drive/steer wheels  
5.4.6 Steering type  
5.4.7 Type: for example, Fork, Tugger, Unit Load, Cart  
5.4.8 Loaded/Unloaded  
5.5 The main A-UGV software parameters shall be recorded as follows:  
5.5.1 All applicable software and firmware versions.  
5.5.2 Velocity – translation and rotation, minimum/maximum.  
5.5.3 Acceleration – translation and rotation, minimum/maximum.  
5.5.4 Stand-off distances – safety sensor thresholds, obstacle avoidance thresholds.  
5.6 The context for the test shall be recorded by providing detailed answers to the following questions:  
5.6.1 When are the various software configurations used during the test? For example, two software versions may be required as follows: Use configuration A for straight aisles and configuration B for turns.  
5.6.2 What other hardware and software parameters/settings are required to recreate the A-UGV behavior (that is, attached debug, settings, or other fi...
SCOPE
1.1 This practice describes a means to record the A-UGV configuration when testing. The practice provides a method for recording A-UGV hardware and software control parameters and describes high-level capabilities, such as used for A-UGV safety and navigation.  
1.2 This practice: contextualizes the A-UGV configuration during a test, including the identification and adjustment of main configuration parameters; provides the proper context for test results; provides a basis for comparison of the test circumstances across different vehicles or tests, or both; and allows a test to be recreated.  
1.3 The values stated in SI units are to be regarded as the standard. The values given in parentheses are not precise mathematical conversions to imperial units. They are close approximate equivalents for the purpose of specifying A-UGV characteristics while maintaining repeatability and reproducibility of the test method results. These values given in parentheses are provided for information only and are not considered standard.  
1.4 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety, health, and environmental practices and determine the applicability of regulatory limitations prior to use.  
1.5 This international standard was developed in accordance with internationally recognized principles on standardization established in the Decision on Principles for the Development of International Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee.

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ASTM
ASTM F3265-17(Test Method)
Standard Test Method for Grid-Video Obstacle Measurement

SIGNIFICANCE AND USE
4.1 Assuming the vehicle stays on its path and an obstacle appears within the stop zone, the vehicle will collide with the obstacle. Even within the stop zone, obstacle detection should cause the vehicle to slow down as early as possible using non-contact sensing or contact bumpers. ANSI/ITSDF B56.5:2012 discusses a test method to detect standard test pieces beyond the minimum vehicle stopping distance at 50 % and 100 % of vehicle rated speeds.  
4.2 This test method can apply to A-UGVs for testing obstacle-sensing capabilities and automatic guided industrial vehicles in automatic mode of operation in non-restricted areas as described in ANSI/ITSDF B56.5.  
4.3 Researchers2, 3 used two-dimensional (2D) laser detection and ranging (LADAR) sensors mounted to an A-UGV. In contrast to the earlier experiments in which the test piece was static, in these experiments the A-UGV and the test piece were both moving. The 2D sensor was mounted to the A-UGV to scan horizontally with the beam approximately 10 cm (4 in.) above and parallel to the floor and confined to detecting the vehicle path (vehicle width) at the maximum stopping distance (coasting or braking). Note that the sensor scan width can be set to any width, including the ANSI/ITSDF B56.5 standard, non-hazard zone vehicle path width of the vehicle plus 0.5 m (1.6 ft). The test piece entered the A-UGV path within the exception zone, was detected by the safety sensor, and the distance of the test piece to the A-UGV and the A-UGV stopping distance measurements were calculated and analyzed.
SCOPE
1.1 This test method measures an automatic/automated/autonomous-unmanned ground vehicle (A-UGV) kinetic energy reduction when objects appear in the A-UGV path and within the stop-detect range of the vehicle safety sensors in situations in which the desired reaction is for the vehicle to stop as opposed to avoiding the obstacle by traveling on an alternative path. The test method measures the performance of the A-UGV only and does not measure the effect on the stability of loads. This test method describes the use of one test piece as described in ANSI/ITSDF B56.5. Other test pieces from ANSI/ITSDF B56.5 could be used. This test method is intended for use by A-UGV manufacturers, installers, and users. This test method does not substitute for required safety testing under ANSI/ITSDF B56.5 or other normative standards.  
1.2 Performing Location—This test method shall be performed in a testing laboratory or the location where the apparatus and environmental test conditions are implemented. Environmental conditions are recorded as specified in Practice F3218.  
1.3 Units—The values stated in SI units are to be regarded as the standard. The values given in parentheses are not precise mathematical conversion to inch-pound units. They are close approximate equivalents for the purpose of specifying material dimensions or quantities that are readily available to avoid excessive fabrication costs of test apparatuses while maintaining repeatability and reproducibility of the test method results. These values given in parentheses are provided for information only and are not considered standard.  
1.4 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety, health and environmental practices and determine the applicability of regulatory limitations prior to use.  
1.5 This international standard was developed in accordance with internationally recognized principles on standardization established in the Decision on Principles for the Development of International Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee.

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