ISO 22078:2020
(Main)Intelligent transport systems — Bicyclist detection and collision mitigation systems (BDCMS) — Performance requirements and test procedures
Intelligent transport systems — Bicyclist detection and collision mitigation systems (BDCMS) — Performance requirements and test procedures
This document specifies the concept of operation, minimum functionality, system requirements, system interfaces, and test procedures for bicyclist detection and collision mitigation systems (BDCMS). It also defines 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. BDCMS are fundamentally intended to provide emergency braking (EB) of equipped vehicles in order to mitigate collision severity between the subject vehicle (SV) and a bicyclist. BDCMS detect bicyclists forward of the SV, determine if the detected bicyclists are in a hazardous situation with respect to the SV, and initiate EB if a hazardous situation exists and a collision is imminent. Systems that include other countermeasures such as evasive steering are outside the scope of this document. This document defines two types of BDCMS (based on operation in different ambient illuminance) and two classes of BDCMS (based on operation on different vehicle size classes), as depicted in Table 1. This document does not apply to motorcycles. The operational design domain is public roads. BDCMS is not intended for off-road use. Responsibility for the safe operation of the vehicle remains with the driver. Licensable motor vehicles intended for use on public roads (i.e. motorcycles, cars, light trucks, buses, motor coaches), and other heavy vehicles as hazards are outside the scope of this document and are covered under ISO 22839. Pedestrians are outside the scope of this document and are covered under ISO 19237. Annex A contains informative information relative to BDCMS.
Systèmes de transport intelligents — Systèmes de détection des cyclistes et d’atténuation des collisions (BDCMS) — Exigences de performance et procédures d'essai
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INTERNATIONAL ISO
STANDARD 22078
First edition
2020-02
Intelligent transport systems —
Bicyclist detection and collision
mitigation systems (BDCMS) —
Performance requirements and test
procedures
Systèmes de transport intelligents — Systèmes de détection des
cyclistes et d’atténuation des collisions (BDCMS) — Exigences de
performance et procédures d'essai
Reference number
©
ISO 2020
© ISO 2020
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 2020 – All rights reserved
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 2
4 Symbols . 3
5 Requirements . 3
5.1 Minimum enabling capabilities . 3
5.2 Operating model — State transition diagram . 4
5.2.1 General. 4
5.2.2 State functional descriptions. 4
5.3 System types . 5
5.4 System classes . 5
5.5 Performance requirements . 5
5.5.1 General. 5
5.5.2 Hazardous situation . 5
5.5.3 Operating speed. 6
5.5.4 Horizontal curve radius capability . 7
5.5.5 Countermeasure requirements . 7
5.5.6 Driver controls and human interface . 8
6 Test procedures . 9
6.1 General . 9
6.2 Bicyclist test target specification . 9
6.2.1 Test target physical characteristics . . 9
6.2.2 Detectability specifications . 9
6.3 Environmental conditions . 9
6.3.1 General. 9
6.3.2 Driving surface. 9
6.3.3 Ambient air temperature . 9
6.3.4 Horizontal visibility . 9
6.3.5 Ambient illumination .10
6.4 Test procedure for longitudinal scenario (limited dynamic-test) .12
6.5 Test procedure for crossing scenario (limited dynamic-test) .13
Annex A (informative) Information relative to BDCMS .15
Bibliography .18
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 2020 – All rights reserved
Introduction
Bicyclist detection and collision mitigation systems (BDCMS) reduce the severity of collisions between
a human-driven vehicle and bicyclists that cannot be avoided and may reduce the likelihood of such
collisions by automatically activating emergency braking (EB). BDCMS assist in slowing the subject
vehicle (SV) when a collision is likely.
BDCMS functions may be used as a stand-alone system or might be part of a driver assistance system.
As depicted in Figure 1, the BDCMS will provide information to the driver and perform SV actuation in
the form of longitudinal control.
Figure 1 — BDCMS functional elements
INTERNATIONAL STANDARD ISO 22078:2020(E)
Intelligent transport systems — Bicyclist detection and
collision mitigation systems (BDCMS) — Performance
requirements and test procedures
1 Scope
This document specifies the concept of operation, minimum functionality, system requirements, system
interfaces, and test procedures for bicyclist detection and collision mitigation systems (BDCMS). It also
defines 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.
BDCMS are fundamentally intended to provide emergency braking (EB) of equipped vehicles in order
to mitigate collision severity between the subject vehicle (SV) and a bicyclist. BDCMS detect bicyclists
forward of the SV, determine if the detected bicyclists are in a hazardous situation with respect to the
SV, and initiate EB if a hazardous situation exists and a collision is imminent. Systems that include other
countermeasures such as evasive steering are outside the scope of this document.
This document defines two types of BDCMS (based on operation in different ambient illuminance) and
two classes of BDCMS (based on operation on different vehicle size classes), as depicted in Table 1. This
document does not apply to motorcycles. The operational design domain is public roads. BDCMS is not
intended for off-road use.
Table 1 — Types and classes of BDCMS
BDCMS class I BDCMS class II
BDCMS type I Daytime only Daytime only
Light vehicles only Heavy vehicles only
BDCMS type II Daytime, twilight, and night-time Daytime, twilight, and night-time
Light vehicles only Heavy vehicles only
Responsibility for the safe operation of the vehicle remains with the driver.
Licensable motor vehicles intended for use on public roads (i.e. motorcycles, cars, light trucks, buses,
motor coaches), and other heavy vehicles as hazards are outside the scope of this document and are
covered under ISO 22839.
Pedestrians are outside the scope of this document and are covered under ISO 19237.
Annex A contains informative information relative to BDCMS.
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 8608, Mechanical vibration — Road surface profiles — Reporting of measured data
1)
ISO 19206-4:— , Road vehicle — Test devices for target vehicles, vulnerable road users and other objects,
for assessment of active safety functions —Part 4: Requirements for bicyclist targets
ISO/CIE 19476, Characterization of the performance of illuminance meters and luminance meters
1) Under preparation. Stage at the time of publication: ISO/DIS 19206-4:2020.
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
ISO and IEC maintain terminological databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https:// www .iso .org/ obp
— IEC Electropedia: available at http:// www .electropedia .org/
3.1
bicyclist
human-vehicle combination consisting of a human riding on top of a two-wheel frame (bicycle) with a
steering mechanism, brakes, two pedals for propulsion (optionally with motor-assisted pedalling) that
does not require a licence for use on public roads
3.2
bicyclist collision
collision between the subject vehicle (SV) (3.12) and a bicyclist (3.1)
3.3
daytime
condition where the ambient illuminance is greater than 2 000 lx
3.4
driver override
driver-initiated suppression of an emergency braking (EB) (3.5) or collision warning (CW)
...
INTERNATIONAL ISO
STANDARD 22078
First edition
2020-02
Intelligent transport systems —
Bicyclist detection and collision
mitigation systems (BDCMS) —
Performance requirements and test
procedures
Systèmes de transport intelligents — Systèmes de détection des
cyclistes et d’atténuation des collisions (BDCMS) — Exigences de
performance et procédures d'essai
Reference number
©
ISO 2020
© ISO 2020
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 2020 – All rights reserved
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 2
4 Symbols . 3
5 Requirements . 3
5.1 Minimum enabling capabilities . 3
5.2 Operating model — State transition diagram . 4
5.2.1 General. 4
5.2.2 State functional descriptions. 4
5.3 System types . 5
5.4 System classes . 5
5.5 Performance requirements . 5
5.5.1 General. 5
5.5.2 Hazardous situation . 5
5.5.3 Operating speed. 6
5.5.4 Horizontal curve radius capability . 7
5.5.5 Countermeasure requirements . 7
5.5.6 Driver controls and human interface . 8
6 Test procedures . 9
6.1 General . 9
6.2 Bicyclist test target specification . 9
6.2.1 Test target physical characteristics . . 9
6.2.2 Detectability specifications . 9
6.3 Environmental conditions . 9
6.3.1 General. 9
6.3.2 Driving surface. 9
6.3.3 Ambient air temperature . 9
6.3.4 Horizontal visibility . 9
6.3.5 Ambient illumination .10
6.4 Test procedure for longitudinal scenario (limited dynamic-test) .12
6.5 Test procedure for crossing scenario (limited dynamic-test) .13
Annex A (informative) Information relative to BDCMS .15
Bibliography .18
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 2020 – All rights reserved
Introduction
Bicyclist detection and collision mitigation systems (BDCMS) reduce the severity of collisions between
a human-driven vehicle and bicyclists that cannot be avoided and may reduce the likelihood of such
collisions by automatically activating emergency braking (EB). BDCMS assist in slowing the subject
vehicle (SV) when a collision is likely.
BDCMS functions may be used as a stand-alone system or might be part of a driver assistance system.
As depicted in Figure 1, the BDCMS will provide information to the driver and perform SV actuation in
the form of longitudinal control.
Figure 1 — BDCMS functional elements
INTERNATIONAL STANDARD ISO 22078:2020(E)
Intelligent transport systems — Bicyclist detection and
collision mitigation systems (BDCMS) — Performance
requirements and test procedures
1 Scope
This document specifies the concept of operation, minimum functionality, system requirements, system
interfaces, and test procedures for bicyclist detection and collision mitigation systems (BDCMS). It also
defines 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.
BDCMS are fundamentally intended to provide emergency braking (EB) of equipped vehicles in order
to mitigate collision severity between the subject vehicle (SV) and a bicyclist. BDCMS detect bicyclists
forward of the SV, determine if the detected bicyclists are in a hazardous situation with respect to the
SV, and initiate EB if a hazardous situation exists and a collision is imminent. Systems that include other
countermeasures such as evasive steering are outside the scope of this document.
This document defines two types of BDCMS (based on operation in different ambient illuminance) and
two classes of BDCMS (based on operation on different vehicle size classes), as depicted in Table 1. This
document does not apply to motorcycles. The operational design domain is public roads. BDCMS is not
intended for off-road use.
Table 1 — Types and classes of BDCMS
BDCMS class I BDCMS class II
BDCMS type I Daytime only Daytime only
Light vehicles only Heavy vehicles only
BDCMS type II Daytime, twilight, and night-time Daytime, twilight, and night-time
Light vehicles only Heavy vehicles only
Responsibility for the safe operation of the vehicle remains with the driver.
Licensable motor vehicles intended for use on public roads (i.e. motorcycles, cars, light trucks, buses,
motor coaches), and other heavy vehicles as hazards are outside the scope of this document and are
covered under ISO 22839.
Pedestrians are outside the scope of this document and are covered under ISO 19237.
Annex A contains informative information relative to BDCMS.
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 8608, Mechanical vibration — Road surface profiles — Reporting of measured data
1)
ISO 19206-4:— , Road vehicle — Test devices for target vehicles, vulnerable road users and other objects,
for assessment of active safety functions —Part 4: Requirements for bicyclist targets
ISO/CIE 19476, Characterization of the performance of illuminance meters and luminance meters
1) Under preparation. Stage at the time of publication: ISO/DIS 19206-4:2020.
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
ISO and IEC maintain terminological databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https:// www .iso .org/ obp
— IEC Electropedia: available at http:// www .electropedia .org/
3.1
bicyclist
human-vehicle combination consisting of a human riding on top of a two-wheel frame (bicycle) with a
steering mechanism, brakes, two pedals for propulsion (optionally with motor-assisted pedalling) that
does not require a licence for use on public roads
3.2
bicyclist collision
collision between the subject vehicle (SV) (3.12) and a bicyclist (3.1)
3.3
daytime
condition where the ambient illuminance is greater than 2 000 lx
3.4
driver override
driver-initiated suppression of an emergency braking (EB) (3.5) or collision warning (CW)
...
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