ISO/TS 21934-2:2024

Road vehicles — Prospective safety performance assessment of pre-crash technology by virtual simulation — Part 2: Guidelines and requirements for application

This document specifies methods, guidelines and their application for prospective safety performance assessment of pre-crash technologies in road vehicles by virtual simulation. The purpose of the document is to provide prerequisites for the procedures to achieve comparable results among different safety performance assessments and tools.

Véhicules routiers — Évaluation prospective de la performance sécuritaire des systèmes de pré-accident par simulation numérique — Partie 2: Lignes directrices et exigences pour la mise en œuvre

General Information

• Status: Published
• Publication Date: 06-Oct-2024
• ICS: 43.020 - Road vehicles in general
• Technical Committee: ISO/TC 22 - Road vehicles
• Drafting Committee: ISO/TC 22 - Road vehicles
• Current Stage: 6060 - International Standard published
• Start Date: 07-Oct-2024
• Due Date: 08-Jun-2025
• Completion Date: 07-Oct-2024

Standards Content (Sample)

Technical
Specification
ISO/TS 21934-2
First edition
Road vehicles — Prospective
2024-10
safety performance assessment
of pre-crash technology by virtual
simulation —
Part 2:
Guidelines and requirements for
application
Véhicules routiers — Évaluation prospective de la performance
sécuritaire des systèmes de pré-accident par simulation
numérique —
Partie 2: Lignes directrices et exigences pour la mise en œuvre
Reference number
© ISO 2024
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ii
Contents Page
Foreword .v
Introduction .vi
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Symbols and abbreviated terms. 6
4.1 Symbols .6
4.2 Abbreviations .7
5 Overview: A general description of the process for prospective safety performance
assessment of pre-crash technology by virtual simulation . 8
5.1 General approach and structure .8
5.2 Input data .8
6 Evaluation objective .13
6.1 Process for identification of the evaluation objective . 13
6.2 Definition of a precise research question .14
6.3 Identification of relevant scenario categories .14
6.4 Metrics in prospective safety performance assessment by simulation .14
6.4.1 Introduction to metrics .14
6.4.2 Selective compilation of metrics to determine safety critical events .16
6.4.3 Selective compilation of collision related metrics .18
6.5 Selection of metric . 20
7 Baseline .21
7.1 Baseline approaches .21
7.1.1 General .21
7.1.2 Approach A . 23
7.1.3 Approach B . 23
7.1.4 Approach C . 23
7.1.5 Requirements .24
7.1.6 Example research questions . 25
7.2 Example for minimum required information for establishing a baseline . 25
8 Virtual simulation .26
8.1 Framework . 26
8.2 Models .27
8.2.1 Scope of section .27
8.2.2 Simulation control block .27
8.2.3 Vehicle surroundings block. 28
8.2.4 Sensor/perception input generation . 33
8.2.5 Vehicle under test block . 34
8.2.6 Collision block .42
8.3 Example for minimum required information for treatment simulation .42
9 Assessment of safety performance.44
9.1 Calculation of safety performance . 44
9.2 Example for minimum required information for safety performance assessment . 44
10 Documentation .44
11 Validation and verification .48
Annex A (informative) Example for documentation of input data .55
Annex B (informative) Comparison of simulation tools .59
Annex C (informative) Examples for documentation of a study . 61

iii
Bibliography .81

iv
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
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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).
ISO draws attention to the possibility that the implementation of this document may involve the use of
patents. ISO takes no position concerning the evidence, validity or applicability of any claimed patent rights
in respect thereof. As of the date of publication of this document, ISO had not received notice of patents
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may not represent the latest information, which may be obtained from the patent database available at
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This document was prepared by Technical Committee ISO/TC 22, Road vehicles, Subcommittee SC 36, Safety
and impact testing.
A list of all parts in the ISO 21934 series can be found on the ISO website.
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. .

v
Introduction
Active safety and advanced driver assistance systems (ADAS), collectively referred to in this document as
active safety technologies, as well as automated driving technology have recently been introduced into the
market. Their development raises questions about the extent to which these technologies prevent crashes
and their ensuing injuries. These questions are of relevance to stakeholders such as vehicle manufacturers
and suppliers, road authorities, research organisations and academia, politicians, insurance companies as
well as consumer organisations.
The answers to these questions are derived from assessing the technology in terms of road traffic safety.
There is a number of assessment methodologies in use (see ISO/TR 12353-4). In general, the current
methodologies are divided into two types: retrospective assessments and prospective assessments.
Retrospective methods determine the technology’s safety effect after its market introduction based
on accident data. A precondition for these methods is that sufficient accident cases with and without the
technology have been recorded for a comparison in a certain vehicle subgroup or class. Prospective methods,
on the other hand, predict the technology’s safety effect before its market introduction.
This document focuses on the prospective assessment of traffic safety for vehicle-integrated technologies
acting in th
...