ISO 19237:2026

• Abstract:

  This document specifies the concepts of operation, minimum functionality, system requirements, system interfaces and test procedures for pedestrian detection and collision mitigation systems (PDCMS), which can reduce the likelihood of fatality and severity of injury. A PDCMS requires information about range to pedestrians, motion of pedestrians, motion of the subject vehicle (SV), driver commands and driver actions. It specifies the behaviours that are required for PDCMS, and the system test criteria necessary to verify that a given implementation meets the requirements of this document. Implementation choices are left to system designers wherever possible. Systems that include other countermeasures such as evasive steering are not within the scope of this document. Responsibility for the safe operation of the vehicle remains with the driver. This document applies to light duty passenger vehicles. It does not apply to other vehicle categories such as heavy vehicles or motorcycles. PDCMS are not intended for off-road use.

• Status: Published
• Publication Date: 20-Oct-2026
• ICS: 03.220.01 - Transport in general
• ICS: 35.240.60 - IT applications in transport
• ICS: 43.040.80 - Crash protection and restraint systems
• Technical Committee: ISO/TC 204 - Intelligent transport systems
• Drafting Committee: ISO/TC 204/WG 14 - Vehicle/roadway warning and control systems
• Current Stage: 6060 - International Standard published
• Start Date: 21-Oct-2026
• Completion Date: 21-Oct-2026

• Revises: ISO 19237:2017 - Intelligent transport systems — Pedestrian detection and collision mitigation systems (PDCMS) — Performance requirements and test procedures
• Effective Date: 04-May-2024

ISO 19237:2026 is an ISO standard for pedestrian detection and collision mitigation systems (PDCMS) in light duty passenger vehicles. It specifies the operating concept, minimum functionality, system interfaces, performance requirements and test procedures for systems that warn the driver and can automatically brake to reduce the severity of a pedestrian collision.

What does ISO 19237:2026 specify?

ISO 19237:2026 specifies what a PDCMS shall do, how it shall behave in different states, and how its performance is checked. The document is written for light duty passenger vehicles and focuses on pedestrian scenarios in which the system can help reduce fatality risk and injury severity.

The scope also makes clear what is outside the document’s coverage. Systems that include other countermeasures such as evasive steering are excluded, and the driver remains responsible for safe vehicle operation. PDCMS are not intended for off-road use.

The document is organized into six main clauses:

• Clause 1 Scope
• Clause 2 Normative references
• Clause 3 Terms and definitions
• Clause 4 Symbols and abbreviated terms
• Clause 5 Requirements and other provisions
• Clause 6 Test procedures

What are the key requirements of ISO 19237:2026?

ISO 19237:2026 sets out the core functions that a PDCMS shall provide, the operating states it shall follow, and the test conditions used to verify performance. The most important requirements are in Clause 5, with validation procedures in Clause 6.

Minimum sensing, warning and braking functions

Clause 5.1 requires a PDCMS to detect pedestrians, determine pedestrian direction and relative motion, determine subject vehicle (SV) velocity, and initiate the appropriate countermeasures. The system shall provide collision warning (CW), apply and modulate braking whether or not the driver is already braking, control the brake lights, and support yaw stability and longitudinal wheel slip management through an electronic stability control (ESC) system.

In practice, this means the system is not only a warning feature. It must also be able to bring in automatic braking, coordinate with vehicle stability functions, and tell the driver when the system is available.

Operating states and transitions

Clause 5.2 defines three operating states: PDCMS Off, PDCMS Inactive and PDCMS Active. The state transition diagram in Figure 3 shows when the system may move between these states, including failure detection and optional driver turn-on or turn-off functions.

This matters because a buyer or integrator needs to know when the system is monitoring, when it is actively intervening, and how it behaves after a fault. The document also allows the manufacturer to choose implementation details beyond the illustrated transitions.

Road geometry and operating speed limits

Clause 5.3.1 requires the PDCMS to handle a pedestrian crossing situation and to work on roads with a radius of curvature of 500 m or greater. Clause 5.3.2 allows additional capability for tighter curves and left- and right-turn scenarios down to 125 m, if the system is designed for those cases.

Clause 5.3.3 sets the basic operating speed window. The minimum subject vehicle velocity (vmin) shall be 2,8 m/s (10 km/h) or less, and the maximum subject vehicle velocity (vmax) shall be at least 16,6 m/s (60 km/h). In practice, the system must be able to activate at low urban speeds and remain effective up to the stated upper operating limit.

Collision mitigation and braking performance

Clause 5.3.4 states that all PDCMS shall provide emergency braking (EB). If the system applies automatic service braking, the brake lights shall be illuminated. The EB function shall be capable of achieving a speed reduction of at least 5,6 m/s (20 km/h) before collision or vehicle stop, and the driver shall be able to increase the braking force unless the vehicle is already braking at maximum capability.

Clause 5.3.4 also requires that EB does not lead to locked wheels for periods longer than anti-lock brake system or ESC devices would allow. This is important for vehicle control, because it ties the mitigation function to existing brake and stability limits.

Driver information and override

Clause 5.3.5 requires the driver to be informed of system limitations, system failure and PDCMS off-state. The limitation information may be provided in the owner’s manual or an equivalent alternative, while the indication methods are left to the manufacturer.

Clause 5.3.4.4 allows optional driver override of EB. That means the system may permit the driver to suppress braking by defined actions, but the standard still requires the system to be able to re-engage after override ends.

Day, twilight and night-time operation

Clause 5.4 requires PDCMS capability for daytime, twilight and night-time activation. For manufacturers, this means the performance claim is not limited to bright daylight conditions.

What terms does ISO 19237:2026 define?

ISO 19237:2026 defines the terms used to describe the system, the test targets and the vehicle states.

• Collision warning (CW) - a warning that alerts the driver to a possible collision with a pedestrian in the forward path of the SV.
• Driver override - driver-initiated suppression of EB or CW.
• Emergency braking (EB) - the countermeasure that automatically applies braking when an imminent pedestrian collision is detected.
• Light duty passenger vehicle - a vehicle in category M1, as referenced by the document.
• Minimum speed reduction - the smallest drop in speed the PDCMS is able to achieve when activated.
• Minimum velocity - the lowest SV speed at which the PDCMS can activate a countermeasure.
• Subject vehicle (SV) - the vehicle equipped with the PDCMS.
• Target pedestrian (TP) - the pedestrian within the sensor field of view that can be impacted by the SV.

Who uses ISO 19237:2026?

ISO 19237:2026 is aimed at system designers and other users developing or evaluating PDCMS for passenger vehicles. In practice, it is used by automotive engineers, active safety and ADAS teams, validation engineers, quality managers and suppliers who need a common definition of what the system shall do and how to test it.

It is also useful for test and development teams that need repeatable pedestrian scenarios, especially for proving warning and braking behavior in daytime and night-time conditions. Because the document includes performance requirements and test procedures, it supports both design work and manufacturer validation.

What changed in ISO 19237:2026 from the previous edition?

ISO 19237:2026 cancels and replaces ISO 19237:2017, and the foreword says the document has been technically revised. The stated changes are:

• clarification that a hazardous situation is not limited to a pedestrian crossing a straight road, by adding road curvature requirements
• reduction in minimum subject vehicle velocity
• a new requirement that all PDCMS be capable of twilight and night-time activation, which was previously optional

Which standards are used with ISO 19237:2026?

ISO 19237:2026 cites three normative references that support its requirements and test methods.

• ISO 1176 - provides the mass vocabulary and codes used when specifying the test vehicle mass.
• ISO 19206-2 - defines requirements for pedestrian test targets used in the test procedures.
• ISO/CIE 19476:2014 - provides the characterization of illuminance meters and luminance meters used for night-time illumination measurements.

What does the ISO 19237:2026 document contain?

ISO 19237:2026 contains a state transition diagram, performance requirements for sensing and mitigation, and detailed daytime and night-time test procedures. It also includes figures that illustrate pedestrian crossing scenarios, operating speed ranges, impact points and test setups.

Clause 6 gives the practical validation methods, including environmental conditions, pedestrian test target requirements, vehicle pre-conditioning, vehicle mass limits, and the pass criteria for the activation tests. The night-time section adds lamp placement, illuminance measurement points, meter positioning and illuminance limits, so the test environment is controlled and repeatable.

The document also includes one table for dark-condition illuminance requirements and several figures that define the activation geometry. These are used to verify that a PDCMS can detect the target pedestrian, warn the driver, and reduce speed enough to avoid collision or lower impact severity under the stated conditions.

International
Standard
ISO 19237
Second edition
Intelligent transport systems —
2026-10
Pedestrian detection and collision
mitigation systems (PDCMS) —
Performance requirements and test
procedures
Systèmes de transport intelligents — Systèmes de détection des
piétons et de prévention des collisions (PDCMS) — Exigences de
performance et procédures d'essai
Reference number
© ISO 2026
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ii
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Symbols and abbreviated terms. 3
5 Requirements and other provisions . 3
5.1 Minimum enabling capabilities .3
5.2 Operating model — State transition diagram .4
5.2.1 State functional descriptions .4
5.2.2 PDCMS Off .4
5.2.3 PDCMS Inactive .5
5.2.4 PDCMS Active .5
5.3 Performance requirements .5
5.3.1 General .5
5.3.2 Optional increased road curvature and turn scenario handling .6
5.3.3 Operating speed .6
5.3.4 Countermeasure requirements .7
5.3.5 Driver controls and human interface .8
5.4 PDCMS Operation .8
6 Test procedures . 8
6.1 General .8
6.2 Test procedure requirements.9
6.2.1 General .9
6.2.2 Pedestrian test target specification .9
6.2.3 Driving surface .9
6.2.4 Ambient air temperature .9
6.2.5 Horizontal visibility .9
6.2.6 Vehicle pre-conditioning .9
6.2.7 Vehicle mass .9
6.3 Test requirements for daytime .9
6.3.1 Ambient illumination .9
6.3.2 Test procedures .9
6.3.3 Pass criteria .10
6.4 Test requirements for night-time .11
6.4.1 Ambient illumination .11
6.4.2 Test setup .11
6.4.3 Illuminance measurement methods . 13
6.4.4 Illuminance values . 13
6.4.5 Test procedures .14
6.4.6 Pass criteria . 15
Bibliography .16

iii
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
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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 document 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).
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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.
This second edition cancels and replaces the first edition (ISO 19237:2017), which has been technically
revised.
The main changes are as follows:
— clarification that a hazardous situation is not limited to a pedestrian crossing a straight road through the
addition of road curvature requirements;
— reduction in minimum subject vehicle velocity;
— new requirement that all PDCMS be capable of twilight and night-time activation, which was previously
optional.
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
Introduction
The fatality and severe injury rates of traffic accidents involving pedestrians are significantly high, resulting
in the loss of many lives.
Pedestrian detection and collision mitigation systems (PDCMS) reduce the severity of pedestrian
collisions that cannot be avoided and can reduce the likelihood of fatality. By a collision warning (CW) and
automatically activating emergency braking, PDCMS assist in slowing a vehicle when a collision is likely.
Functional elements of a PDCMS are shown in Figure 1.
Figure 1 — Functional elements of pedestrian detection and collision mitigation systems (PDCMS)
A PDCMS detects pedestrians ahead of time, determine if detected pedestrians represent a hazardous
condition, and warn the driver if a hazard exists. A PDCMS estimates if the driver has an adequate opportunity
to respond to the hazard. If there is inadequate time available for the driver to respond, and if appropriate
criteria are met, a PDCMS determines that a collision is imminent. Based upon this assessment, a PDCMS will
activate CWs and vehicle brakes to mitigate collision severity. This document, while not a collision avoidance
standard, does not preclude a manufacturer from implementing collision avoidance with a PDCMS.
System designers and other users can apply the provisions of this document to stand-alone PDCMS or to the
integration of the PDCMS functions into other driving assistance and support systems.

v
International Standard ISO 19237:2026(en)
Intelligent transport systems — Pedestrian detection and
collision mitigation systems (PDCMS) — Performance
requirements and test procedures
1 Scope
This document specifies the concepts of operation, minimum functionality, system requirements, system
interfaces and test procedures for pedestrian detection and collision mitigation systems (PDCMS), which
can reduce the likelihood of fatality and severity of injury. A PDCMS requires information about range to
pedestrians, motion of pedestrians, motion of the subject vehicle (SV), driver commands and driver actions.
It specifies the behaviours that are required for PDCMS, and the system test criteria necessary to verify that
a given implementation meets the requirements of this document. Implementation choices are left to system
designers wherever possible.
Systems that include other countermeasures such as evasive steering are not within the scope of this
document.
Responsibility for the safe operation of the vehicle remains with the driver.
This document applies to light duty passenger vehicles. It does not apply to other vehicle categories such as
heavy vehicles or motorcycles. PDCMS are not intended for off-road use.
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 1176, Road vehicles — Masses — Vocabulary and codes
ISO 19206-2, Road vehicles — Test devices for target vehicles, vulnerable road users and other objects, for
assessment of active safety functions — Part 2: Requirements for pedestrian targets
ISO/CIE 19476, Characterization of the performance of illuminance meters and luminance meters
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
ISO and IEC maintain terminology databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https:// www .iso .org/ obp
— IEC Electropedia: available at https:// www .electropedia .org/
3.1
collision warning
CW
warning system that alerts the driver of a potential collision with a pedestrian (3.9) in the forward path of
the subject vehicle
3.2
driver override
driver-initiated suppression of an emergency braking (3.3) or collision warning (3.1) countermeasure
3.3
emergency braking
EB
countermeasure for pedestrian detection and collision mitigation systems that responds to the detection
of an imminent pedestrian collision (3.10) by automatically activating braking to quickly reduce the relative
velocity
3.4
heavy vehicle
single vehicle or combination of vehicles defined as Category 1-2 or Category 2 in the United Nations Economic
[2]
and Social Council World Forum for Harmonization of Vehicle Regulations (WP.29) TRANS/WP.29/1045
3.5
impact point of position
lateral contact position from the subject vehicle (SV) (3.11) point of view or expected lateral contact position
at the front of the SV when the SV collides with a pedestrian (3.9) or when a collision is expected
3.6
light duty passenger vehicle
vehicle according to category M1 (≦8 passenger seats except driver seat) in the United Nations Economic and
[1]
Social Council World Forum for Harmonization of Vehicle Regulations (WP.29) TRANS/WP.29/78/Rev.2
3.7
minimum speed reduction
smallest drop in speed that a pedestrian detection and collision mitigation system is able to achieve when
activated
3.8
minimum velocity
v
min
minimum subject vehicle (3.11) speed for which a pedestrian detection and collision mitigation system is
capable of activating a countermeasure
3.9
pedestrian
human being on the road or near the road
3.10
pedestrian collision
collision between a subject vehicle (3.11) and a pedestrian (3.9)
3.11
subject vehicle
SV
vehicle equipped with a pedestrian detection and collision mitigation system
3.12
target pedestrian
TP
pedestrian (3.9) that is positioned within the field of view of the sensor and that can be impacted by the
subject vehicle (3.11)
4 Symbols and abbreviated terms
ABS Anti-lock brake system
CW Collision warning
ESC Electronic stability control
EB Emergency braking
PDCMS Pedestrian detection and collision mitigation system
SV Subject vehicle
TP Target pedestrian
v Minimum velocity for PDCMS operation
min
v Subject vehicle velocity
sv
v Target pedestrian lateral velocity
tpL
v Maximum SV velocity for PDCMS operation
max
d (Lateral) distance between the vehicle pass and TP as shown in Figure 2
L
x (Longitudinal) distance between SV and TP as shown in Figure 2
c
Figure 2 — Lateral and longitudinal distance
5 Requirements and other provisions
5.1 Minimum enabling capabilities
Light duty passenger vehicles equipped with a PDCMS shall be capable of providing the following
characteristics:
— detecting the presence of pedestrian(s);
— determining the direction of the detected pedestrian from the SV, distance and relative velocity between
the SV and the detected forward pedestrian;
— determining the SV velocity;
— initiating appropriate PDCMS countermeasures;

— providing CWs;
— activating and modulating the brakes whether or not the driver is already
...