ISO 20035:2019
(Main)Intelligent transport systems — Cooperative adaptive cruise control systems (CACC) — Performance requirements and test procedures
Intelligent transport systems — Cooperative adaptive cruise control systems (CACC) — Performance requirements and test procedures
Cooperative Adaptive Cruise Control (CACC) system is an expansion to existing Adaptive Cruise Control (ACC) control strategy by using wireless communication with preceding vehicles (V2V) and/or the infrastructure (I2V). Both multi vehicle V2V data and I2V infrastructure data are within the scope of this document. When V2V data is used CACC can enable shorter time gaps and more accurate gap control, which can help increase traffic throughput and reduce fuel consumption. It can also receive data from the infrastructure, such as recommended speed and time gap setting, to improve traffic flow and safety. This document addresses two types of Cooperative Adaptive Cruise Control (CACC): V2V, and I2V. Both types of CACC system require active sensing using for example radar, lidar, or camera systems. The combined V2V and I2V CACC is not addressed in this document. The following requirements are addressed in this document: — classification of the types of CACC; — definition of the performance requirements for each CACC type; — CACC state transitions diagram; — minimum set of wireless data requirements; — test procedures. CACC: — does only longitudinal vehicle speed control; — uses time gap control strategy similar to ACC; — has similar engagement criteria as ACC. Coordinated strategies to control groups of vehicles, such as platooning, in which vehicle controllers base their control actions on how they affect other vehicles, and may have a very short following clearance gap are not within the scope of this document. CACC system operates under driver responsibility and supervision. This document is applicable to motor vehicles including light vehicles and heavy vehicles.
Systèmes de transport intelligents — Systèmes coopératifs et adaptatifs de régulation de vitesse (CACC) — Exigences de performance et procédures d'essai
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INTERNATIONAL ISO
STANDARD 20035
First edition
2019-01
Intelligent transport systems —
Cooperative adaptive cruise control
systems (CACC) — Performance
requirements and test procedures
Reference number
©
ISO 2019
© ISO 2019
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting
on the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address
below or ISO’s member body in the country of the requester.
ISO copyright office
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: +41 22 749 01 11
Fax: +41 22 749 09 47
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland
ii © ISO 2019 – All rights reserved
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 2
4 Symbols and abbreviated terms . 3
5 Classification . 4
5.1 Type of CACC systems . 4
5.2 Curve capabilities . 4
5.3 Classes of on-board V2X devices . 4
6 Requirements . 5
6.1 V2V CACC . 5
6.1.1 V2V CACC response . 5
6.1.2 Region of interest . 5
6.1.3 Potential Vehicle of Interest (PVOI) . 5
6.1.4 State transition diagram . 6
6.1.5 Control operation strategy . 7
6.1.6 V2V CACC data requirements . 9
6.2 I2V CACC .10
6.2.1 Control Operation Strategy .10
6.2.2 I2V CACC data requirements .12
6.3 General operational control requirements .12
7 Performance evaluation test methods .12
7.1 V2V CACC .12
7.1.1 Communication range test .12
7.1.2 Accuracy test (lane and range discrimination tests) .12
7.1.3 V2V cooperative operating modes/states tests .13
7.2 I2V CACC .15
7.2.1 Set speed test .15
7.2.2 Time fap test .16
7.3 Test environment conditions .16
Foreword
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
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
electrotechnical standardization.
The procedures used to develop this document and those intended for its further maintenance are
described in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the
different types of ISO documents should be noted. This document was drafted in accordance with the
editorial rules of the ISO/IEC Directives, Part 2 (see www .iso .org/directives).
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 identifying any or all such patent rights. Details of
any patent rights identified during the development of the document will be in the Introduction and/or
on the ISO list of patent declarations received (see www .iso .org/patents).
Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
For an explanation of the voluntary nature of standards, the meaning of ISO specific terms and
expressions related to conformity assessment, as well as information about ISO's adherence to the
World Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT) see www .iso
.org/iso/foreword .html.
This document was prepared by Technical Committee ISO/TC 204, Intelligent transport systems.
Any feedback or questions on this document should be directed to the user’s national standards body. A
complete listing of these bodies can be found at www .iso .org/members .html.
iv © ISO 2019 – All rights reserved
Introduction
Cooperative Adaptive Cruise Control (CACC) system is an enhancement to the Adaptive Cruise
Control (ACC) system by the addition of wireless communication with preceding vehicles and/or the
infrastructure to augment the ACC active sensing capability. It uses active sensing data such as ranging
to forward vehicle, subject vehicle data, over the air data from other surrounding vehicles and from
infrastructure, and driver input to longitudinally control the vehicle via throttle and brake controls,
and to convey the appropriate CACC status information to the driver (see Figure 1).
Figure 1 — Functional CACC elements
ACC systems can be made cooperative by adding vehicle-vehicle (V2V) and/or infrastructure-vehicle
(I2V) communication capabilities and adjusting the performance of the system to make use of the
information received via the communication system, e.g. Dedicated Short Range Communication
System (DSRC) (see Figure 2).
Figure 2 — CACC additions to ACC
The V2V communications can provide the ACC system with frequent updates about the speed,
acceleration and commands (throttle and brake) of multiple vehicles driving in the surrounding area of
the CACC-equipped vehicle. This enables the following performance improvements over ACC:
— higher-accuracy control of vehicle following gap, while maintaining smooth ride quality;
— significantly faster responses to speed changes by multiple forward vehicles, not only the vehicle
immediately ahead of the subject vehicle;
— shorter vehicle-following gap settings, without compromising safety or driver confidence and
comfort with the system.
These performance improvements produce the following benefits:
— increased driver confidence in the responsiveness of the system, leading to willingness to select
shorter gap settings and use ACC under a wider range of traffic conditions;
— fewer cut-ins at the shorter gaps may make ACC acceptable to a wider range of drivers;
— significant damping of traffic flow disturbances, improving traffic flow dynamics and thereby
reducing energy use and emissions;
— significant increase in the effective capacity (throughput) per lane of highway traffic.
The I2V communications can provide the ACC system with inputs from the local traffic management
system, which determines the recommended values for set speed and vehicle-following gap. These
can be used to enhance the effectiveness of traffic management strategies on limited access highways,
where it is possible to determine the speed and gap settings that are likely to maximize the effective
capacity of a bottleneck section. When the I2V CACC vehicles follow these recommended values, the
overall traffic flow capacity can be optimized with a minimum of active intervention by the vehicle
drivers (other than opting in to decide to follow the infrastructure-based guidance). This means that
the driver of the subject vehicle gains a smoother trip, with less acceleration and braking and lower
energy consumption, and the highway as a whole gains a higher effective capacity, reduced energy
consumption and pollution, and reduced traffic delays.
vi © ISO 2019 – All rights reserved
INTERNATIONAL STANDARD ISO 20035:2019(E)
Intelligent transport systems — Cooperative adaptive
cruise control systems (CACC) — Performance
requirements and test procedures
1 Scope
Cooperative Adaptive Cruise Control (CACC) system is an expansion to existing Adaptive Cruise Control
(ACC) control strategy by using wireless communication with preceding vehicles (V2V) and/or the
infrastructure (I2V). Both multi vehicle V2V data and I2V infrastructure data are within the scope
of this document. When V2V data is used CACC can enable shorter time gaps and more accurate gap
control, which can help increase traffic throughput and reduce fuel consumption. It can also receive
data from the infrastructure, such as recommended speed and time gap setting, to improve traffic flow
and safety.
This document addresses two types of Cooperative Adaptive Cruise Control (CACC): V2V, and I2V.
Both types of CACC system require active sensing using for example radar, lidar, or camera systems.
The combined V2V and I2V CACC is not addressed in this document. The following requirements are
addressed in this document:
— classification of the types of CACC;
— definition of the performance requirements for each CACC type;
— CACC state transitions diagram;
— minimum set of wireless data requirements;
— test procedures.
CACC:
— does only longitudinal vehicle speed control;
— uses time gap control strategy similar to ACC;
— has similar engagement criteria as ACC.
Coordinated strategies to control groups of vehicles, such as platooning, in which vehicle controllers base
their control actions on how they affect other vehicles, and may have a very short following clearance
gap are not within the scope of this document. CACC system operates under driver responsibility and
supervision.
This document is applicable to motor vehicles including light vehicles and heavy vehicles.
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 edition cited applies. For
undated references, the latest edition of the referenced document (including any amendments) applies.
ISO 15622, Intelligent transport systems — Adaptive cruise contro
...
INTERNATIONAL ISO
STANDARD 20035
First edition
2019-01
Intelligent transport systems —
Cooperative adaptive cruise control
systems (CACC) — Performance
requirements and test procedures
Reference number
©
ISO 2019
© ISO 2019
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting
on the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address
below or ISO’s member body in the country of the requester.
ISO copyright office
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: +41 22 749 01 11
Fax: +41 22 749 09 47
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland
ii © ISO 2019 – All rights reserved
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 2
4 Symbols and abbreviated terms . 3
5 Classification . 4
5.1 Type of CACC systems . 4
5.2 Curve capabilities . 4
5.3 Classes of on-board V2X devices . 4
6 Requirements . 5
6.1 V2V CACC . 5
6.1.1 V2V CACC response . 5
6.1.2 Region of interest . 5
6.1.3 Potential Vehicle of Interest (PVOI) . 5
6.1.4 State transition diagram . 6
6.1.5 Control operation strategy . 7
6.1.6 V2V CACC data requirements . 9
6.2 I2V CACC .10
6.2.1 Control Operation Strategy .10
6.2.2 I2V CACC data requirements .12
6.3 General operational control requirements .12
7 Performance evaluation test methods .12
7.1 V2V CACC .12
7.1.1 Communication range test .12
7.1.2 Accuracy test (lane and range discrimination tests) .12
7.1.3 V2V cooperative operating modes/states tests .13
7.2 I2V CACC .15
7.2.1 Set speed test .15
7.2.2 Time fap test .16
7.3 Test environment conditions .16
Foreword
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
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
electrotechnical standardization.
The procedures used to develop this document and those intended for its further maintenance are
described in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the
different types of ISO documents should be noted. This document was drafted in accordance with the
editorial rules of the ISO/IEC Directives, Part 2 (see www .iso .org/directives).
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 identifying any or all such patent rights. Details of
any patent rights identified during the development of the document will be in the Introduction and/or
on the ISO list of patent declarations received (see www .iso .org/patents).
Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
For an explanation of the voluntary nature of standards, the meaning of ISO specific terms and
expressions related to conformity assessment, as well as information about ISO's adherence to the
World Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT) see www .iso
.org/iso/foreword .html.
This document was prepared by Technical Committee ISO/TC 204, Intelligent transport systems.
Any feedback or questions on this document should be directed to the user’s national standards body. A
complete listing of these bodies can be found at www .iso .org/members .html.
iv © ISO 2019 – All rights reserved
Introduction
Cooperative Adaptive Cruise Control (CACC) system is an enhancement to the Adaptive Cruise
Control (ACC) system by the addition of wireless communication with preceding vehicles and/or the
infrastructure to augment the ACC active sensing capability. It uses active sensing data such as ranging
to forward vehicle, subject vehicle data, over the air data from other surrounding vehicles and from
infrastructure, and driver input to longitudinally control the vehicle via throttle and brake controls,
and to convey the appropriate CACC status information to the driver (see Figure 1).
Figure 1 — Functional CACC elements
ACC systems can be made cooperative by adding vehicle-vehicle (V2V) and/or infrastructure-vehicle
(I2V) communication capabilities and adjusting the performance of the system to make use of the
information received via the communication system, e.g. Dedicated Short Range Communication
System (DSRC) (see Figure 2).
Figure 2 — CACC additions to ACC
The V2V communications can provide the ACC system with frequent updates about the speed,
acceleration and commands (throttle and brake) of multiple vehicles driving in the surrounding area of
the CACC-equipped vehicle. This enables the following performance improvements over ACC:
— higher-accuracy control of vehicle following gap, while maintaining smooth ride quality;
— significantly faster responses to speed changes by multiple forward vehicles, not only the vehicle
immediately ahead of the subject vehicle;
— shorter vehicle-following gap settings, without compromising safety or driver confidence and
comfort with the system.
These performance improvements produce the following benefits:
— increased driver confidence in the responsiveness of the system, leading to willingness to select
shorter gap settings and use ACC under a wider range of traffic conditions;
— fewer cut-ins at the shorter gaps may make ACC acceptable to a wider range of drivers;
— significant damping of traffic flow disturbances, improving traffic flow dynamics and thereby
reducing energy use and emissions;
— significant increase in the effective capacity (throughput) per lane of highway traffic.
The I2V communications can provide the ACC system with inputs from the local traffic management
system, which determines the recommended values for set speed and vehicle-following gap. These
can be used to enhance the effectiveness of traffic management strategies on limited access highways,
where it is possible to determine the speed and gap settings that are likely to maximize the effective
capacity of a bottleneck section. When the I2V CACC vehicles follow these recommended values, the
overall traffic flow capacity can be optimized with a minimum of active intervention by the vehicle
drivers (other than opting in to decide to follow the infrastructure-based guidance). This means that
the driver of the subject vehicle gains a smoother trip, with less acceleration and braking and lower
energy consumption, and the highway as a whole gains a higher effective capacity, reduced energy
consumption and pollution, and reduced traffic delays.
vi © ISO 2019 – All rights reserved
INTERNATIONAL STANDARD ISO 20035:2019(E)
Intelligent transport systems — Cooperative adaptive
cruise control systems (CACC) — Performance
requirements and test procedures
1 Scope
Cooperative Adaptive Cruise Control (CACC) system is an expansion to existing Adaptive Cruise Control
(ACC) control strategy by using wireless communication with preceding vehicles (V2V) and/or the
infrastructure (I2V). Both multi vehicle V2V data and I2V infrastructure data are within the scope
of this document. When V2V data is used CACC can enable shorter time gaps and more accurate gap
control, which can help increase traffic throughput and reduce fuel consumption. It can also receive
data from the infrastructure, such as recommended speed and time gap setting, to improve traffic flow
and safety.
This document addresses two types of Cooperative Adaptive Cruise Control (CACC): V2V, and I2V.
Both types of CACC system require active sensing using for example radar, lidar, or camera systems.
The combined V2V and I2V CACC is not addressed in this document. The following requirements are
addressed in this document:
— classification of the types of CACC;
— definition of the performance requirements for each CACC type;
— CACC state transitions diagram;
— minimum set of wireless data requirements;
— test procedures.
CACC:
— does only longitudinal vehicle speed control;
— uses time gap control strategy similar to ACC;
— has similar engagement criteria as ACC.
Coordinated strategies to control groups of vehicles, such as platooning, in which vehicle controllers base
their control actions on how they affect other vehicles, and may have a very short following clearance
gap are not within the scope of this document. CACC system operates under driver responsibility and
supervision.
This document is applicable to motor vehicles including light vehicles and heavy vehicles.
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 edition cited applies. For
undated references, the latest edition of the referenced document (including any amendments) applies.
ISO 15622, Intelligent transport systems — Adaptive cruise contro
...
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