ISO 19365:2016
(Main)Passenger cars — Validation of vehicle dynamic simulation — Sine with dwell stability control testing
Passenger cars — Validation of vehicle dynamic simulation — Sine with dwell stability control testing
ISO 19365:2016 specifies a method for comparing computer simulation results from a vehicle mathematical model to test data measured for an existing vehicle undergoing sine with dwell tests that are typically used to evaluate the performance of an electronic stability control (ESC) system. The comparison is made for the purpose of validating the simulation tool for this type of test when applied to variants of the tested vehicle. It is applicable to passenger cars as defined in ISO 3833.
Voitures particulières - Simulation et validation dynamique des véhicules - Essais de contrôle de la stabilité en sinus avec palier
General Information
Buy Standard
Standards Content (Sample)
INTERNATIONAL ISO
STANDARD 19365
First edition
2016-10-01
Passenger cars — Validation of vehicle
dynamic simulation — Sine with dwell
stability control testing
Voitures particulières - Simulation et validation dynamique des
véhicules - Essais de contrôle de la stabilité en sinus avec palier
Reference number
ISO 19365:2016(E)
©
ISO 2016
---------------------- Page: 1 ----------------------
ISO 19365:2016(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2016, Published in Switzerland
All rights reserved. Unless otherwise specified, 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
Ch. de Blandonnet 8 • CP 401
CH-1214 Vernier, Geneva, Switzerland
Tel. +41 22 749 01 11
Fax +41 22 749 09 47
copyright@iso.org
www.iso.org
ii © ISO 2016 – All rights reserved
---------------------- Page: 2 ----------------------
ISO 19365:2016(E)
Contents Page
Foreword .v
Introduction .vi
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Principle . 2
5 Variables . 3
6 Simulation tool requirements . 3
6.1 General . 3
6.2 Mass and inertia . 3
6.3 Tires . 3
6.4 Suspensions . 4
6.5 Steering system . 4
6.6 Aerodynamics . 4
6.7 Brake system . 4
6.8 Powertrain . 4
6.9 Active control system (ESC system, active roll control, etc.) . 5
6.10 Data acquisition . 5
6.11 Driver controls . 5
7 Physical testing. 5
7.1 General . 5
7.2 Conditioning the vehicle . 5
7.3 Slowly increasing steer tests . 5
7.3.1 Slowly increasing steer procedure . 5
7.3.2 Reference steering wheel angle “A” . 6
7.4 Sine with dwell test series . 6
7.4.1 Sine with dwell steering pattern . 6
7.4.2 Speed . 6
7.4.3 Steering amplitude . 6
7.4.4 Steering amplitude for final runs in a series . 6
7.5 Data processing . 6
7.5.1 Filtering and conditioning . 6
7.5.2 Lateral displacement . 6
7.5.3 ESC system intervention . 6
7.6 Performance requirements . 7
7.6.1 Stability criteria . 7
7.6.2 Responsiveness criterion. 8
8 Simulation . 9
8.1 Limits on the simulated procedure . 9
8.2 Slowly increasing steer tests . 9
8.3 Sine with dwell test series . 9
8.4 Data processing . 9
8.4.1 Filtering and conditioning . 9
8.4.2 Lateral displacement . 9
9 Comparison between simulation and physical test results . 9
9.1 Steady state turning validation . 9
9.2 Metrics from a sine with dwell series.10
9.2.1 General.10
9.2.2 Number of first test run in which ESC intervention occurs .10
9.2.3 Test runs used for comparison .10
9.2.4 Metric definitions and tolerances .10
© ISO 2016 – All rights reserved iii
---------------------- Page: 3 ----------------------
ISO 19365:2016(E)
9.3 Validation of the simulation tool .11
10 Documentation .11
Bibliography .12
iv © ISO 2016 – All rights reserved
---------------------- Page: 4 ----------------------
ISO 19365:2016(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
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 on 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 the following URL: www.iso.org/iso/foreword.html.
The committee responsible for this document is ISO/TC 22, Road vehicles, Subcommittee SC 33, Vehicle
dynamics and chassis components.
© ISO 2016 – All rights reserved v
---------------------- Page: 5 ----------------------
ISO 19365:2016(E)
Introduction
The main purpose of this document is to provide a repeatable and discriminatory method for comparing
simulation results to measured test data from a physical vehicle for a specific type of test.
The dynamic behaviour of a road vehicle is a very important aspect of active vehicle safety. Any given
vehicle, together with its driver and the prevailing environment, constitutes a closed-loop system that
is unique. The task of evaluating the dynamic behaviour is therefore very difficult since the significant
interactions of these driver-vehicle-environment elements are each complex in themselves. A complete
and accurate description of the behaviour of the road vehicle involves information obtained from a
number of different tests.
Since this test method quantifies only one small part of the complete vehicle handling characteristics,
the validation method associated with this test can only be considered significant for a correspondingly
small part of the overall dynamic behaviour.
vi © ISO 2016 – All rights reserved
---------------------- Page: 6 ----------------------
INTERNATIONAL STANDARD ISO 19365:2016(E)
Passenger cars — Validation of vehicle dynamic simulation
— Sine with dwell stability control testing
1 Scope
This document specifies a method for comparing computer simulation results from a vehicle
mathematical model to test data measured for an existing vehicle undergoing sine with dwell tests
that are typically used to evaluate the performance of an electronic stability control (ESC) system. The
comparison is made for the purpose of validating the simulation tool for this type of test when applied
to variants of the tested vehicle.
It is applicable to passenger cars as defined in ISO 3833.
NOTE The sine with dwell test method described in this document is based on the test method specified in
regulations USA FMVSS 126 and UN/ECE Regulation No. 13-H.
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 19364, Passenger cars — Vehicle dynamic simulation and validation — Steady-state circular driving
behaviour
3 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO 1176, ISO 2416, ISO 3833,
ISO 8855 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 http://www.iso.org/obp
3.1
simulation
calculation of motion variables of a vehicle from equations in a mathematical model of the vehicle system
3.2
simulation tool
simulation (3.1) environment including software, model, input data, and hardware in the case of
hardware-in-the-loop simulation
3.3
electronic stability control system
ESC system
control system that intervenes to maintain directional stability of vehicle and responsiveness on
steering input
© ISO 2016 – All rights reserved 1
---------------------- Page: 7 ----------------------
ISO 19365:2016(E)
3.4
sine with dwell test
test in which the vehicle is steered by a robot using a steering pattern of a sine wave at a frequency of
0,7 Hz with a delay of 500 ms beginning at the second peak amplitude
Note 1 to entry: See Figure 1.
Key
Y steering-wheel angle
t time
Figure 1 — Steering-wheel input for a sine with dwell test
3.5
sine with dwell test series
series of sine with dwell tests (3.4) in which the amplitude of the steering pattern is increased with
each test
3.6
beginning of steer
BOS
time at which the steering begins for a sine with dwell test (3.4)
3.7
completion of steer
COS
time at which the steering is completed for a sine with dwell test (3.4)
3.8
ESC system performance standard
published standard, typically issued by a regulatory organization, that defines ESC system (3.3)
performance requirements using a sine with dwell test (3.4) series
Note 1 to entry: For example, UN/ECE Regulation No. 13-H or USA FMVSS 126.
4 Principle
A sine with dwell test sequence is used to evaluate the behaviour of a vehicle with ESC. In this sequence,
the vehicle is subjected to two series of tests that are run using a steering pattern of sine with dwell
as shown in Figure 1. One series uses counterclockwise steering for the first half cycle, and the other
series uses clockwise steering for the first half cycle.
2 © ISO 2016 – All rights reserved
---------------------- Page: 8 ----------------------
ISO 19365:2016(E)
Within this document, the purpose of the test is to demonstrate that a simulation tool can predict vehicle
behaviour in the sine with dwell test sequence as described in a specific ESC system performance
standard.
A comparison is made between measured and simulated behaviour using samples taken at a few
specified points during each run, using tolerances specified in this document.
A simulation tool being evaluated for use with the sine with dwell test should first be validated for
steady-state circular driving behaviour as specified in ISO 19364. A simulation tool that cannot
reproduce steady-turning behaviour should not be considered for use in simulating the sine with dwell
response.
5 Variables
The following variables shall be measured from the physical testing and obtained from the
simulation tool:
— steering-wheel angle;
— yaw rate;
— lateral acceleration.
6 Simulation tool requirements
6.1 General
The simulation tool used to predict behaviour of a vehicle of interest shall include a mathematical model
capable of calculating variables of interest (see Clause 5) for the test procedures being simulated. In
this document, the mathematical model is used to simulate a sine with dwell test series as specified in
the ESC system performance standard of interest.
The procedure for obtaining input data from experiments may differ for simulation tools; however, the
input data shall not be manipulated for better correlation. However, adaptation of input data to actual
testing conditions such as road friction should be allowed.
6.2 Mass and inertia
The mathematical model should include all masses, such as the chassis, engine, payloads, unsprung
masses, outriggers, etc. The value of the mass, the location of the centre of mass, and moments and
products of inertia are essential properties of the vehicle for the tests covered in this document.
Vehicles with significant torsional frame compliance require a more detailed representation that
includes frame-twist effects that occur in extreme manoeuvres.
6.3 Tires
The vertical, lateral, and longitudinal forces and aligning and overturning moments where each
...
DRAFT INTERNATIONAL STANDARD
ISO/DIS 19365
ISO/TC 22/SC 33 Secretariat: DIN
Voting begins on: Voting terminates on:
2015-02-19 2015-05-19
Passenger cars — Validation of vehicle dynamic
simulation — Sine with dwell stability control testing
Voitures particulières — Simulation et validation dynamique des véhicules — Essais de contrôle de la
stabilité en sinus avec palier
ICS: 43.100
THIS DOCUMENT IS A DRAFT CIRCULATED
FOR COMMENT AND APPROVAL. IT IS
THEREFORE SUBJECT TO CHANGE AND MAY
NOT BE REFERRED TO AS AN INTERNATIONAL
STANDARD UNTIL PUBLISHED AS SUCH.
IN ADDITION TO THEIR EVALUATION AS
BEING ACCEPTABLE FOR INDUSTRIAL,
TECHNOLOGICAL, COMMERCIAL AND
USER PURPOSES, DRAFT INTERNATIONAL
STANDARDS MAY ON OCCASION HAVE TO
BE CONSIDERED IN THE LIGHT OF THEIR
POTENTIAL TO BECOME STANDARDS TO
WHICH REFERENCE MAY BE MADE IN
Reference number
NATIONAL REGULATIONS.
ISO/DIS 19365:2014(E)
RECIPIENTS OF THIS DRAFT ARE INVITED
TO SUBMIT, WITH THEIR COMMENTS,
NOTIFICATION OF ANY RELEVANT PATENT
RIGHTS OF WHICH THEY ARE AWARE AND TO
©
PROVIDE SUPPORTING DOCUMENTATION. ISO 2014
---------------------- Page: 1 ----------------------
ISO/DIS 19365:2014(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2014
All rights reserved. Unless otherwise specified, 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
Case postale 56 • CH-1211 Geneva 20
Tel. + 41 22 749 01 11
Fax + 41 22 749 09 47
E-mail copyright@iso.org
Web www.iso.org
Published in Switzerland
ii © ISO 2014 – All rights reserved
---------------------- Page: 2 ----------------------
ISO 19365:2015(E)
© ISO 2013
All rights reserved. Unless otherwise specified, 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
Case postale 56 CH-1211 Geneva 20
Tel. + 41 22 749 01 11
Fax + 41 22 749 09 47
E-mail copyright@iso.org
Web www.iso.org
Published in Switzerland.
Contents
This template allows you to work with default MS Word functions and styles. You can use these if you
want to maintain the Table Of Contents automatically and apply auto-numbering if this is your
preference. Delete this Table of Contents if not required.
Foreword . 5
Introduction. 6
1 Scope . 7
2 Normative references . 7
3 Terms and definitions . 7
4 Principle . 8
5 Variables. 9
6 Simulation tool requirements . 9
6.1 General . 9
6.2 Mass and inertia . 9
6.3 Tires . 9
6.4 Suspensions . 10
6.5 Steering system . 10
6.6 Aerodynamics . 10
6.7 Brake system . 10
6.8 Powertrain . 11
2 © ISO 19365 – All rights reserved
---------------------- Page: 3 ----------------------
ISO 19365:2015(E)
6.9 Active control system (ESC system, active roll control, etc.) . 11
6.10 Data acquisition . 11
6.11 Driver controls . 11
7 Physical testing . 11
7.1 General . 11
7.2 Conditioning the vehicle . 12
7.3 Slowly increasing steer tests . 12
7.3.1 Slowly increasing steer procedure . 12
7.3.2 Reference steering wheel angle ‘A’ . 12
7.4 Sine with dwell test series . 12
7.4.1 Sine with dwell steering pattern . 12
7.4.2 Speed . 12
7.4.3 Steering amplitude . 12
7.4.4 Steering amplitude for final runs in a series . 12
7.5 Data processing . 12
7.5.1 Filtering and conditioning . 12
7.5.2 Lateral displacement . 13
7.5.3 ESC system intervention . 13
7.6 Performance requirements . 13
7.6.1 Stability criteria . 13
7.6.2 Responsiveness criterion . 15
8 Simulation . 15
8.1 Limits on the simulated procedure . 15
8.2 Slowly increasing steer tests . 15
8.3 Sine with dwell test series . 15
8.4 Data processing . 15
8.4.1 Filtering and conditioning . 15
8.4.2 Lateral displacement . 15
9 Comparison between simulation and physical test results . 16
9.1 Steady state turning validation . 16
9.2 Metrics from a sine with dwell series . 16
9.2.1 General . 16
9.2.2 Number of first test run in which ESC intervention occurs . 16
9.2.3 Test runs used for comparison . 16
9.2.4 Metric definitions and tolerances . 17
© ISO 19365 – All rights reserved 3
---------------------- Page: 4 ----------------------
ISO 19365:2015(E)
9.3 Validation of the simulation tool. 17
10 Documentation . 18
4 © ISO 19365 – All rights reserved
---------------------- Page: 5 ----------------------
ISO 19365:2015(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 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. 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. 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 on the meaning of ISO specific terms and expressions related to conformity
assessment, as well as information about ISO's adherence to the WTO principles in the Technical
Barriers to Trade (TBT) see the following URL: Foreword - Supplementary information
The committee responsible for this document is ISO/TC22/SC9 which will be ISO/TC22/SC33.
© ISO 19365 – All rights reserved 5
---------------------- Page: 6 ----------------------
ISO 19365:2015(E)
Introduction
The main purpose of this Standard is to provide repeatable and discriminatory test results.
The dynamic behaviour of a road vehicle is a very important aspect of active vehicle safety. Any given
vehicle, together with its driver and the prevailing environment, constitutes a closed-loop system that is
unique. The task of evaluating the dynamic behaviour is therefore very difficult since the significant
interaction of these driver-vehicle-environment elements are each complex in themselves. A complete
and accurate description of the behaviour of the road vehicle must necessarily involve information
obtained from a number of different tests.
Since this test method quantifies only one small part of the complete vehicle handling characteristics,
the results of these tests can only be considered significant for a correspondingly small part of the
overall dynamic behaviour.
Moreover, insufficient knowledge is available concerning the relationship between overall vehicle
dynamic properties and accident avoidance. A substantial amount of work is necessary to acquire
sufficient and reliable data on the correlation between accident avoidance and vehicle dynamic
properties in general and the results of these tests in particular. Consequently, any application of this
test method for regulation purposes will require proven correlation between test results and accident
statistics.
6 © ISO 19365 – All rights reserved
---------------------- Page: 7 ----------------------
ISO 19365:2015(E)
Passenger cars — Validation of vehicle dynamics simulation —
Sine with dwell stability control testing
1 Scope
This International Standard specifies a method for comparing computer simulation results from a
vehicle mathematical model to test data measured for an existing vehicle undergoing sine with dwell
tests that are typically used to evaluate the performance of an electronic stability control (ESC) system.
The comparison is made for the purpose of validating the simulation tool for this type of test when
applied to variants of the tested vehicle.
It is applicable to passenger cars as defined in ISO 3833.
NOTE The sine with dwell test method described in this International Standard is based on the test
method specified in regulations USA FMVSS 126 “Federal Register Vol. 72, No. 66, April 6, 2007” and
UN/ECE Regulation No. 13-H, “Uniform provisions concerning the approval of passenger cars with
regard to braking.”
2 Normative references
The following referenced documents are indispensable for the application of this document. For these
undated references, the latest edition of the referenced document (including any amendments) applies.
ISO 1176, Road vehicles — Masses — Vocabulary and codes
ISO 2416, Passenger cars — Mass distribution
ISO 3833, Road vehicles — Types — Terms and definitions
ISO 8855, Road vehicles — Vehicle dynamics and road-holding ability — Vocabulary
ISO 15037-1, Road vehicles — Vehicle dynamics test methods — Part 1: General conditions for passenger
cars
ISO 19364 Passenger cars — Vehicle dynamic simulation and validation — Steady-state circular driving
behaviour
3 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO 1176, ISO 2416, ISO 3833,
ISO 8855 and the following apply.
3.1
simulation
calculation of motion variables of a vehicle from equations in a mathematical model of the vehicle
system
3.2
simulation tool
simulation environment including software, model, input data, and hardware in case of hardware in the loop
simulation
© ISO 19365 – All rights reserved 7
---------------------- Page: 8 ----------------------
ISO 19365:2015(E)
3.3
ESC (electronic stability control) system
control system that intervenes to maintain directional stability of vehicle and responsiveness on steering input
3.4
sine with dwell test
test in which the vehicle is steered by a robot using a steering pattern of a sine wave at a frequency of 0.7 Hz with
a delay of 500 ms beginning at the second peak amplitude (see Figure 1)
Figure 1: Steering wheel input for a sine with dwell test
3.5
sine with dwell test series
series of sine with dwell tests in which the amplitude of the steering pattern is increased with each test
3.6
BOS (beginning of steer)
time at which the steering begins for a sine with dwell test
3.7
COS (completion of steer)
time at which the steering is completed for a sine with dwell test
3.8
ESC system performance standard
published standard, typically issued by a regulatory organization, that defines ESC system performance
requirements using a sine with dwell test series; e.g., UN/ECE Regulation No. 13-H, “Uniform provisions
concerning the approval of passenger cars with regard to braking” or USA FMVSS 126 “Federal Register Vol. 72,
No. 66, April 6, 2007”
4 Principle
A sine with dwell test sequence is used to evaluate the behaviour of a vehicle with ESC. In this sequence,
the vehicle is subjected to two series of tests that are run using a steering pattern of sine with dwell as
shown in Figure 1. One series uses counter-clockwise steering for the first half cycle, and the other
series uses clockwise steering for the first half cycle.
8 © ISO 19365 – All rights reserved
---------------------- Page: 9 ----------------------
ISO 19365:2015(E)
Within this International Standard, the purpose of the test is to demonstrate that a simulation tool can
predict vehicle behaviour in the sine with dwell test sequence as described in a specific ESC system
performance standard.
A comparison is made between measured and simulated behaviour using samples taken at a few
specified points during each run, using tolerances specified in this International Standard.
A simulation tool being evaluated for use with the sine with dwell test should first be validated for
steady-state circular driving behaviour as specified in ISO 19364; a simulation tool that cannot
reproduce steady-turning behaviour should not be considered for use in simulating the sine with dwell
response.
5 Variables
The foll
...
Questions, Comments and Discussion
Ask us and Technical Secretary will try to provide an answer. You can facilitate discussion about the standard in here.