ISO/DIS 11010-1
(Main)Passenger cars -- Simulation model classification
Passenger cars -- Simulation model classification
Voitures particulières -- Classification des modèles de simulation
General Information
Standards Content (sample)
DRAFT INTERNATIONAL STANDARD
ISO/DIS 11010-1
ISO/TC 22/SC 33 Secretariat: DIN
Voting begins on: Voting terminates on:
2020-09-10 2020-12-03
Passenger cars — Simulation model classification —
Part 1:
Vehicle dynamics
ICS: 43.100
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ISO/DIS 11010-1:2020(E)
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ISO/DIS 11010-1:2020(E)
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ISO/DIS 11010-1:2020(E)
Contents Page
Foreword ........................................................................................................................................................................................................................................iv
Introduction ..................................................................................................................................................................................................................................v
1 Scope ................................................................................................................................................................................................................................. 1
2 Normative references ...................................................................................................................................................................................... 1
3 Terms and definitions ..................................................................................................................................................................................... 1
4 Model designation numbers ..................................................................................................................................................................... 3
4.1 Physical system ....................................................................................................................................................................................... 3
4.2 Controller ..................................................................................................................................................................................................... 3
5 Model classes ............................................................................................................................................................................................................ 5
5.1 General ........................................................................................................................................................................................................... 5
5.2 Vehicle / Body .......................................................................................................................................................................................... 6
5.3 Aerodynamics .......................................................................................................................................................................................... 9
5.4 Brake .............................................................................................................................................................................................................11
5.5 Powertrain ...............................................................................................................................................................................................16
5.6 Steering .......................................................................................................................................................................................................19
5.7 Suspension ...............................................................................................................................................................................................23
5.8 Tire .................................................................................................................................................................................................................27
5.9 Road surface ...........................................................................................................................................................................................30
6 Driving manoeuvres .......................................................................................................................................................................................32
6.1 Driving manoeuvre classes ........................................................................................................................................................32
6.2 Classification of standardized driving manoeuvres .............................................................................................32
7 Classification matrix ......................................................................................................................................................................................34
Bibliography .............................................................................................................................................................................................................................36
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ISO/DIS 11010-1:2020(E)
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
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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
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World Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT) see the following
URL: www .iso .org/ iso/ foreword .html.This document was prepared by Technical Committee ISO/TC 22, Road vehicles, Subcommittee SC 33,
Vehicle dynamics and chassis components.A list of all parts in the ISO 11010 series can be found on the ISO website.
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ISO/DIS 11010-1:2020(E)
Introduction
This document was developed in response to worldwide demand for standardization of simulation
models and their requirements in specific application and driving manoeuvres as use cases. During
development and test of road vehicles the question arises, which models should to be used and how good
simulation models have to be for performing certain applications with related driving manoeuvers.
Without standardization, it is common practice that experts in different organizations develop their
own methods and processes to answer this question. When it comes to comparability and model
exchange between project partners, obstacles occur. Today, either the requirements for simulation
models have to be elaborately created and coordinated by experts, or there are major uncertainties in
implementation and quality.The main purpose of this standard is to provide a framework that enables a systematic assignment
of certain application, driving manoeuvres to required simulation models and their elements and
characteristics. This document classifies the simulation models into certain model classes, their
designation number and related elements, characteristics and common modelling method. Assigning
models to classes related to specific application is the responsibility of the user or other regulations
and standards. The standard contains recommendations in the sense of an appropriate simulation
quality in terms of performance tests. The standard thus enables the user to specify the requirements
for the models with reference to the standard. The standard thus also creates the basis for model
recommendations relevant to vehicle dynamics with regard to Advanced Driver Assistance Systems
and Automated Driving (ADAS/AD).© ISO 2020 – All rights reserved v
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DRAFT INTERNATIONAL STANDARD ISO/DIS 11010-1:2020(E)
Passenger cars — Simulation model classification —
Part 1:
Vehicle dynamics
1 Scope
This document establishes a standard for the classification and application of modular simulation
models with regard to vehicle dynamics in context of global vehicle without human driver. With the
created framework a systematics was created, defining how the requirements of simulation models can
be defined for certain application and driving manoeuvres. Thus, allowing to specify the requirements
for simulation models for necessary applications and driving manoeuvres in a standardized way.
For this purpose, the proposed framework systematically divides the vehicle model into model classes and
all model classes into different model types, corresponding to different model characteristics and common
modelling methods. The vehicle dynamics manoeuvres were additionally structured and clustered. One
can assign the manoeuvers to the model classes and model types using an allocation and requirement
table. The standard thus also creates the basis for model recommendations relevant to vehicle dynamics
with regard to Advanced Driver Assistance Systems and Automated Driving (ADAS/AD).
The application of the framework and the specification of the model requirements are the responsibility
of the user or may be determined by other regulations and standards. The standard contains
recommendations for selectable model characteristics in terms of adequate simulation quality with
respect to performance tests and associated application patterns. With regard to functional testing, the
recommendations can be adapted accordingly.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 8855, Road vehicles — Vehicle dynamics and road-holding ability — Vocabulary3 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO 3833 and the following apply.
ISO and IEC maintain terminological databases for use in standardization at the following addresses:
— IEC Electropedia: available at http:// www .electropedia .org/— ISO Online browsing platform: available at https:// www .iso .org/ obp
3.1
Simulation model
calculation of the system state variables from equations in a mathematical model describing a vehicle
or vehicle sub-systems; the vehicle’s environment is only modelled as far as required, i.e. friction of
the road surface, wind etc. Models in this context are both, the unit under test (UuT) or models to
supplement or complete the simulation loop.© ISO 2020 – All rights reserved 1
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3.2
Model class
mathematical model from the vehicle or vehicle sub-systems
3.3
Model designation number
different gradations of model types and depths with associated model characteristics, represented
effects and minimal model inputs and outputs3.4
Steady state model (physical models)
A steady state model is a model, which represents the definitions of steady state equilibrium mentioned
in ISO 8855 and therefore steady state. The model has to represent the transfer function between model
input and output for steady-state equilibrium. The model is not capable of representing the correct
time behaviour. Effects caused through small changes in time may be neglected. The model is usually
mathematically described by a gain.3.5
First order model (physical models)
In addition to the steady state model, a first order model is capable of representing the transient
behaviour. The model is usually mathematically described by a differential equation with a first order
lag force element such as PT1 behaviour with a first order.3.6
Second order model (physical models)
A second order model is defined by a second order force element such as PT2 behaviour with second
order. Due to its conjunct complex poles, a time variant input results in an oscillatory output.
3.7Model-in-the-Loop
MiL
Testing method in which the controller is integrated as unit under test (UuT) with full-function
controller into the simulation model as a controller model3.8
Software-in-the-Loop
SiL
Testing method in which the controller is integrated UuT with complete controller functionality into
the simulation model as a controller software function from the ECU3.9
Processor-in-the-Loop
PiL
Testing method in which the controller with processor emulation is integrated into the simulation model
3.10ECU-in-the-Loop
HiL
This is a hardware-in-the-loop test method in which the controller are integrated into the simulation
model as a real ECU. In this document it refers to controller primarily.3.11
Open-loop control
An open-loop controller influences a system’s behaviour without a feedback loop for example based on
maps and is an electric device.2 © ISO 2020 – All rights reserved
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3.12
Principal logic closed-loop controller
A closed-loop controller influences a physical system’s behaviour with a feedback loop. For principal
logic, the controller is implemented in a fundamental way – e.g. with a PID controller – to demonstrate
the control logic.3.13
Full-function controller (MiL/SiL)
For full-function (MiL/SiL), the controller is implemented as the full-function, but just regarding the
function control algorithm. The controller is either realized in MiL or SiL.3.14
Full-function ECU (SiL/HiL)
For full-function ECU (SiL/HiL), the controller is implemented as the full-function ECU with the whole
software e.g. with function architecture such as Autosar for connecting the ECU to the vehicle on-board
network and not just the function control algorithm. The controller is either realized virtually via
emulation in SiL mode or physically in HiL mode.3.15
eBooster
An eBooster is a electric brake booster – comprising a control unit, actuator and transmission
device – which has the ability to boost the brake force applied by the driver and to build up pressure
[20]autonomously without driver actuation .
4 Model designation numbers
Each model class may consist of a physical system including hydraulics and pneumatics and a controller.
NOTE This segmentation can be extended to sensor and actuator.4.1 Physical system
The model of a physical system shall have a model designation number out of Table 1 according to the
definitions in Chapter 3. The force element characteristic changes from level 0 – no model – to level 3
– second order model and within the sub-designation levels 1.x to 3.x. If a model requires a deeper sub-
categorization, the dot notation and a second digit starting from 1 shall be used.
NOTE The model designation number are valid for all vehicle sub-systems from chapter 5.1 except the
suspension model because its designation number 1 and 2 lack body masses. Nevertheless, the suspension model
designation numbers are reasonably adapted.Table 1 — Model characteristic and designation number of a physical system
Force element characteristic Model designation number
None 0
Steady state model 1
First order model 2
Second order model 3
4.2 Controller
The controller model shall have a model designation number out of Table 2 according to the definitions
in Chapter 3. The model characteristics increases from level 0 – no model – to level 4 – HiL. For Level 2
and 3 a deeper subcategorization “3.x” is used.The subcategorization “.x” of level 2 and 3 defines the range of subsets of the target software (see
figure 1), being included in the test bench. This depends on the scope of investigation, mostly in the
context of model-based testing. While level 1 and 2.1 controller models contain a simplified logic,
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level 2.2 models map the target function (MiL) – that is the original control structure function and
application. Model level 2.3 (SiL) is based on the complied target code of the software. A level 3.1 model
is restricted to the application software (e.g. implementation of control functions and application
parameter) as well as the base software such as a virtual ECU. A level 3.2 model additionally includes
the emulation of the processor and the software is compiled for the target processor. Model 4 is the
typical HiL with hardware related software, communication and diagnosis.Table 2 — Model characteristic and designation number of a controller
Model designation num-
Description
ber
None 0
Open-loop control 1
Principal logic closed-loop controller 2.1
Target function: Model-in-the-Loop (MiL) – Application Software Model only 2.2
Target software: Software-in-the-Loop (SiL) – Application Software only 2.3
Target software: Software-in-the-Loop (SiL) – Application + Base Software 3.1
Target software: Processor-in-the-Loop (PiL) 3.2
Target ECU: Hardware ECU (HiL) 4
Figure 1 — Subsets of a controller
Note Though it is possible to calculate the time response of communication by high level control models
only, low level models might be enabled by empirical latency time delays. E.g. also the performance of a closed-
loop controller (Level 2) might be significantly influenced by the latency time of sensor signals.
Compared to the model designation number of the physical system (see chapter 4.1), the designation
number of the controller is not mainly influenced by the driving manoeuvre, but by the scope of the
investigation. In pre-development stage, a simple principal logic might be sufficient to evaluate the
overall vehicle behaviour; for functional development and safeguarding, the original function should
be used. Some exemplary types of investigation concerning the choice of the controller designation
number are given in Table 3 as sample.Table 3 — Examples for the selection of controller designation number.
Type of investigation Controller designation number
preliminary design physical system 0/1/2.1
Functional development (preliminary design) 2.2/2.3
Homologation 2.3/3.1/4
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Table 3 (continued)
Type of investigation Controller designation number
Safeguarding of software implementation 2.3/3.1
Safeguarding of function including operation system 3.1/3.2/4
Systematic functional safeguarding in spite of a lack of a virtual con-
troller model
5 Model classes
5.1 General
The vehicle model is structured in the following model classes according to Figure 2: Vehicle / Body
(VH), Powertrain (PT), Brake (BR), Steering (ST), Suspension (SU), Aerodynamics (AE) and Tire (TI)
and the Road with Road Surface (RS) and Road Wind (RA). Some model classes consist only of a physical
system XXM, other as combination of a physical system XXM and a control system XXC. The models
refer to common vehicle systems as they are used in passenger cars today. The user can create model
prototypes of future systems accordingly.Independent from the above-mentioned structure of the models, a controller is not necessarily mapped
to a single ECU. A ECU will likely hold more than one single controller. In addition, a controller algorithm
might be distributed over multiple ECU. This is of important role especially for higher model designation
numbers, where base software or other properties of the ECUs must be considered.NOTE There might be differing allocations and interfaces defined in chapter 5. In this standard, the axial
rotation of wheels is calculated in the powertrain (PTM) and is passed to the Tire (TIM) and Brake (BRM).
Keyactor forces
signalbus
(bidirectional)
sensor kinematics
Figure 2 — Top-level model architecture
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ISO/DIS 11010-1:2020(E)
The control systems XXC are specific for their components XXM. Sometimes a “central controller”
coordinates the component specific controller. For ADAS a sensor-based environment detection and
track planning is necessary as well as a track control. The path control generates target values for the
component specific controllers; in longitudinal direction for the powertrain (PTC) and brake (BRC) and
in the lateral direction for the steering (STC). Due to the fact that the “central controller” is very specific
to the manufacturer it is not classified in this standard.NOTE The “central controller” might be partitioned to separate control unit(s) or be added to the control
unit of the specific controller(s).The capital letters in parenthesis are the model classes’ abbreviations. The selected designation number
of a model class shall be written in the following syntax:M
C
The actual names resp. numbers shall replace the placeholders in angle brackets. For the
the specified abbreviation shall be used. The syntax looks like in the following examples:
STM2PTM2 PTC4
BRM2.1 BRC3.1
NOTE This can be extended to sensor and actuator via the syntax:
S
A
5.2 Vehicle / Body
The model class “Vehicle” with the architecture in Figure 3 is actually targeted to describe the modelling
of vehicle body. However, depending on the designation number, it is possible that the vehicle body is
not isolated from the whole vehicle model. The higher the designation number, the better the vehicle
body can be isolated.The model class Vehicle (VH) shall have a designation number of the physical system (VHM) in
accordance with Table 3.The designation numbers for class Vehicle does not follow exactly the classification as
descripted in Table 1. Here the principle “Best Practice” applies. Thus, the models are clustered
into three groups:VHM1: one body model
VHM2: Multi-Body Model splitted sprung mass, unsprung mass, rigid bodies and lock-up table for
suspensionVHM3: Multi-Body Model splitted sprung mass, unsprung mass, multi-body suspension
In the group VHM1 the tyre is lumped to the vehicle, while in the group VHM2 and VHM3, the vehicle
body can be isolated from suspension and tire. As example, the wide used single-track model belongs to
VHM1, and VHM3 has the 3D-vehicle body model with local stiffness/stiffness matrix in its scope.
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Figure 3 — Vehicle architecture
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Table 3 — Vehicle system
Common modelling methods / Minimal Minimal
Model type Model description Description Effects
typical application area model input model output
VHM 0 None
single mass, one dimen- Forces (braking,
VHM 1.1 Single mass 1-DoF starting, braking (ODE) differential equation (1-DoF) ax
sional accelerating)Lateral dynamics model understeer-/over- (ODE ) dif ferent ia l equat ion /
VHM 1.2 Single track model steering angle ay, yaw
with constant velocity steer function test for controler
VHM1.2+ lateral load load transfer due
Single track model with lat- transfer due to ay, load to vehicle later- VHM1.2+ load dependant tyre forces
VHM 1.3 VHM 1.2 VHM 1.2, rolleral load transfer dependent tyre model al acceleration due to roll
required tyre characteristics
VHM1.2+ longitudinal load transfer due
VHM1.2+ load dependant tyre forces
Single Track model with lon- load transfer due to ax, to vehicle longitu- VHM 1.1+ VHM
VHM 1.4 due to pitch/ function test with con- VHM 1.1+ VHM 1.2gitudinal dynamics load dependent tyre dinal acceleration 1.2
troller (eg. ACC)
model required tyre characteristics
MBD mechanics
3D-model with rigid bodies 3D Model with rigid bod- (splited sprung- 3DModel with suspension + tyres/ func- forces moments Motion of bodies
VHM 2.1and lock-up table suspension ies incl. wheel bounce mass, unsprung- tion and performance test of controller / aero and hard points
masses)MBD mechanics
3D-model with rigid bodies 3D Model with rigid bod- (splited sprung- 3DModel with suspension + tyres/ func- forces moments Motion of bodies
VHM 3.1and MBD suspension ies incl. wheel bounce mass, unsprung- tion and performance test of controller / aero and hard points
masses)VHM 3.1. and global
3D-model with flexibel el- VHM 3.1+global stiffnesses lumped in
VHM 3.2 stiffnesses (torsional VHM 3.1 VHM 3.1 VHM 3.1
ements (global stiffnesses) concentrated spring-damper elements
stiffness, bending)
3D-Modell with flex bodies VHM 3.2 + local stiff- VHM 3.2 + local VHM 3.2 + parts flexible modelled or
VHM 3.3 VHM 3.2 VHM 3.2(local stiffnesses) nesses deformation full flex-body (stiffness matrix)
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ISO/DIS 11010-1:2020(E)
5.3 Aerodynamics
The model class Aerodynamics (AE) with the architecture in Figure 4 shall have a model designation
number of the physical system (AEM) in accordance with Table 4. The modelling of aerodynamic effects
is divided into three sub-groups. Aerodynamic effects in the vehicle models discussed in this paper are
modelled by forces and sometimes moments. The first effect considered is in general the drag force,
see AEM 1.1. The next level is including vertical forces described by the sublevel AEM 1.2. In order to
include sidewind effects in the model sublevel AEM 1.3 is included.Figure 4 — Aerodynamics architecture
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Table 4 — Aerodynamics system
Common modelling
Minimal Minimal
Model type Model description Description Effects methods /
model input model output
typical application area
AEM 0 No Aerodynamics
only longitudinal Drag force from constant factor
AEM 1.1 Drag drag-forces vehicle velocity long. force
forces considered or curve.
vertical forces
aditionally front and which influence force from constant factor long. and vertical forc-
AEM 1.2 AEM 1.1 + vertical vehicle velocityrear lift forces limit under-/over- or curve. es, pitch moment
steer balance.
forces and moments (or a
all three dimensions are sidewind sensi- vehicle and air ve- AEM 1.2 + yaw, roll
AEM 1.3 AEM 1.2 + sidewind pair of forces) from constant
considered. tivity locity moment
factor or fields
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5.4 Brake
The model class Brake (BR) with the architecture in Figure 5 contains the brake controller (BRC) and
the physical system (BRM) is a s...
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