Heavy commercial vehicles and buses -- Vehicle dynamics simulation and validation -- Lateral dynamic stability of vehicle combinations

This document specifies a method for comparing simulation results from a vehicle model to measured test data for an existing vehicle combination's lateral stability according to driving tests as specified in ISO 14791. The comparison is made for the purpose of validating the simulation model for this type of test. A complete validation comprises the comparison for at least one tested vehicle and one variant of this vehicle, covered by a parameter variation in the vehicle model. The document applies to heavy vehicles, including commercial vehicles, commercial vehicle combinations, buses and articulated buses as defined in ISO 3833 (trucks and trailers with maximum weight above 3,5 tonnes and buses and articulated buses with maximum weight above 5 tonnes, according to ECE and EC vehicle classification, categories M3, N2, N3, O3 and O4).

Véhicules utilitaires lourds et autobus -- Dynamique du véhicule simulation et validation -- Stabilité latérale des véhicules articulés

General Information

Status
Published
Publication Date
10-Dec-2019
Current Stage
6060 - International Standard published
Start Date
15-Nov-2019
Completion Date
11-Dec-2019
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ISO 19586:2019 - Heavy commercial vehicles and buses -- Vehicle dynamics simulation and validation -- Lateral dynamic stability of vehicle combinations
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INTERNATIONAL ISO
STANDARD 19586
First edition
2019-12
Heavy commercial vehicles and
buses — Vehicle dynamics simulation
and validation — Lateral dynamic
stability of vehicle combinations
Véhicules utilitaires lourds et autobus — Dynamique du véhicule
simulation et validation — Stabilité latérale des véhicules articulés
Reference number
ISO 19586:2019(E)
ISO 2019
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ISO 19586:2019(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2019

All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may

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Published in Switzerland
ii © ISO 2019 – All rights reserved
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ISO 19586:2019(E)
Contents Page

Foreword ........................................................................................................................................................................................................................................iv

Introduction ..................................................................................................................................................................................................................................v

1 Scope ................................................................................................................................................................................................................................. 1

2 Normative references ...................................................................................................................................................................................... 1

3 Terms and definitions ..................................................................................................................................................................................... 1

4 Principle ........................................................................................................................................................................................................................ 2

5 Variables ....................................................................................................................................................................................................................... 2

6 Minimum vehicle model parameters and requirements ............................................................................................ 3

6.1 General ........................................................................................................................................................................................................... 3

6.2 Basic vehicle parameters................................................................................................................................................................ 3

6.3 Estimated vehicle parameters ................................................................................................................................................... 3

7 Physical tests ............................................................................................................................................................................................................ 4

7.1 General ........................................................................................................................................................................................................... 4

7.2 Test methods ............................................................................................................................................................................................. 4

7.2.1 General...................................................................................................................................................................................... 4

7.2.2 Pseudo random steer input .................................................................................................................................... 4

7.2.3 Single sine wave input ................................................................................................................................................. 4

8 Simulation ................................................................................................................................................................................................................... 5

8.1 General ........................................................................................................................................................................................................... 5

8.2 Data recording ......................................................................................................................................................................................... 5

8.3 Documentation ....................................................................................................................................................................................... 5

9 Comparison of simulation and physical tests ......................................................................................................................... 5

9.1 General ........................................................................................................................................................................................................... 5

9.2 Characteristic values .......................................................................................................................................................................... 5

9.2.1 Rearward amplification (RA) ................................................................................................................................ 5

9.2.2 Yaw damping and zero damping speed ........................................................................................................ 7

10 Validation process ............................................................................................................................................................................................... 8

Annex A (informative) Principle of comparing simulation and test results .............................................................10

Bibliography .............................................................................................................................................................................................................................11

© ISO 2019 – All rights reserved iii
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ISO 19586:2019(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 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 22, Road vehicles, Subcommittee SC 33,

Vehicle dynamics and chassis components.

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 2019 – All rights reserved
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ISO 19586:2019(E)
Introduction

The main purpose of this document is to provide repeatable and discriminatory test results.

The dynamic behaviour of a road vehicle is a most important aspect of active vehicle safety. Any given

vehicle, together with its driver and the prevailing environment constitutes a closed-loop system

which is unique. The task of evaluating the dynamic behaviour is therefore very complicated, since the

significant interaction of these driver-vehicle-road elements are each complex in themselves. A complete

and accurate description of the behaviour of the road vehicle will inevitably involve information

obtained from a number of different tests.

Since this test method quantifies only one small part of the complete handling characteristics, the

results of this test can only be considered significant for a correspondingly small part of the overall

dynamic behaviour.

Moreover, insufficient knowledge is available to correlate overall vehicle dynamic properties with

accident prevention. A substantial amount of work is necessary to acquire sufficient and reliable data on

the correlation between accident prevention and vehicle dynamic properties in general and the results

of this test in particular. Consequently, proven correlation between test results and accident statistics

is used for any application of this test method for regulation purposes.

Test conditions and tyres have a strong influence on test results. Therefore, only results obtained under

comparable test and tyre conditions are comparable.
© ISO 2019 – All rights reserved v
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INTERNATIONAL STANDARD ISO 19586:2019(E)
Heavy commercial vehicles and buses — Vehicle dynamics
simulation and validation — Lateral dynamic stability of
vehicle combinations
1 Scope

This document specifies a method for comparing simulation results from a vehicle model to measured

test data for an existing vehicle combination’s lateral stability according to driving tests as specified in

ISO 14791. The comparison is made for the purpose of validating the simulation model for this type of

test. A complete validation comprises the comparison for at least one tested vehicle and one variant of

this vehicle, covered by a parameter variation in the vehicle model.

The document applies to heavy vehicles, including commercial vehicles, commercial vehicle

combinations, buses and articulated buses as defined in ISO 3833 (trucks and trailers with maximum

weight above 3,5 tonnes and buses and articulated buses with maximum weight above 5 tonnes,

according to ECE and EC vehicle classification, categories M3, N2, N3, O3 and O4).

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 14791:2000, Road vehicles — Heavy commercial vehicle combinations and articulated buses — Lateral

stability test methods
ISO 8855, Road vehicles — Vehicle dynamics and road-holding ability — Vocabulary

ISO 15037-2:2002, Road vehicles — Vehicle dynamics test methods — Part 2: General conditions for heavy

vehicles and buses
3 Terms and definitions

For the purposes of this document, the terms and definitions given in ISO 8855, ISO 15037-2 and the

following 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
simulation

calculation of motion variables of a vehicle from equations in a mathematical model of the vehicle system

3.2
basic vehicle parameters

parameters not subject to model fitting, which are directly and accurately measurable on the test vehicle

EXAMPLE Masses and dimensions.
© ISO 2019 – All rights reserved 1
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ISO 19586:2019(E)
3.3
estimated vehicle parameters

parameters that may be used for model fitting, which are typically hard to be determined

EXAMPLE Mass moment of inertia and tyre characteristics.
3.4
vehicle model validity range

basic vehicle parameters (3.2) which may be changed if the type of vehicle combination and tyre type

are maintained

Note 1 to entry: For example, when wheel base is modified some of the estimated parameters may need to be

updated accordingly.
4 Principle

The pseudo random and the single sine wave steering input according to ISO 14791 is used to determine

lateral stability by calculating the rearward amplification (RA) and yaw damping (D) of heavy

commercial vehicles and buses as defined in ISO 3833. Within this document, the purpose of the test is

to demonstrate that a vehicle model can predict the vehicle behaviour within specified tolerances. The

vehicle model is used to simulate a specific existing vehicle running tests as specified in ISO 14791. The

maximum later
...

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