Heavy commercial vehicles and buses -- Emergency braking on a defined path -- Test method for trajectory measurement

ISO 19377:2017 describes test methods for determining the deviation of the path travelled by a vehicle during a braking manoeuvre induced by an emergency braking system from a pre-defined desired path. The purpose of this document is the evaluation of the vehicle path during and following the system intervention. The corrective steering actions for keeping the vehicle on the desired path can be applied either by the driver or by a steering machine or by a driver assistance system. By making this document open for either open-loop or closed-loop testing, it is possible to apply the test method for evaluating how well the vehicle can be kept within user-defined lane markings after the system intervention, and also for evaluating the precision of the interaction between the emergency braking system and an active lane keeping system. This document applies to heavy vehicles equipped with an advanced emergency braking system (AEBS), 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). NOTE The test method is intended to evaluate the entire vehicle behaviour, not for defining system requirements for the AEBS, which is done in the respective standards created by ISO/TC 204.

Véhicules utilitaires lourds et autobus -- Freinage d’urgence sur un passage défini -- Méthodes d’essai pour la mesure de trajectoire

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Status
Published
Publication Date
03-Dec-2017
Current Stage
6060 - International Standard published
Start Date
25-Oct-2017
Completion Date
04-Dec-2017
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ISO 19377:2017 - Heavy commercial vehicles and buses -- Emergency braking on a defined path -- Test method for trajectory measurement
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INTERNATIONAL ISO
STANDARD 19377
First edition
2017-11
Heavy commercial vehicles and
buses — Emergency braking on a
defined path — Test method for
trajectory measurement
Véhicules utilitaires lourds et autobus — Freinage d’urgence sur un
passage défini — Méthodes d’essai pour la mesure de trajectoire
Reference number
ISO 19377:2017(E)
ISO 2017
---------------------- Page: 1 ----------------------
ISO 19377:2017(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2017, Published in Switzerland

All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized otherwise in any form

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ii © ISO 2017 – All rights reserved
---------------------- Page: 2 ----------------------
ISO 19377:2017(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 Measuring equipment ..................................................................................................................................................................................... 3

7 Test conditions ....................................................................................................................................................................................................... 3

7.1 General ........................................................................................................................................................................................................... 3

7.2 Test track and ambient conditions ........................................................................................................................................ 4

7.3 Test vehicle ................................................................................................................................................................................................. 4

7.3.1 General vehicle condition ......................................................................................................................................... 4

7.3.2 Loading condition ........................................................................................................................................................... 4

7.3.3 Number of test runs ...................................................................................................................................................... 4

8 Test methods ............................................................................................................................................................................................................. 4

8.1 Test method for braking straight ahead ............................................................................................................................ 4

8.1.1 Initial driving condition ............................................................................................................................................. 4

8.1.2 Definition of the desired path and track...................................................................................................... 4

8.1.3 System intervention ...................................................................................................................................................... 5

8.2 Test method for braking in a constant radius curve ............................................................................................... 5

8.2.1 Initial driving condition ............................................................................................................................................. 5

8.2.2 Definition of the desired path and track...................................................................................................... 5

8.2.3 System intervention ...................................................................................................................................................... 6

9 Data evaluation and presentation of results ........................................................................................................................... 6

9.1 General ........................................................................................................................................................................................................... 6

9.2 Characteristic values .......................................................................................................................................................................... 7

9.2.1 Maximum path deviation, D .........................................................................................................................

P,max 7

9.2.2 Maximum rear axle path deviation, D .............................................................................................

PR,max 7

9.2.3 Maximum trailer path deviation, D ....................................................................................................

PT,max 8

9.2.4 Deceleration at full braking .................................................................................................................................... 8

9.2.5 Maximum articulation angle(s) (optional) ................................................................................................ 8

9.2.6 Corrective steering action, δ (for closed-loop test) ..................................................................... 8

H,C

9.2.7 Indication of leaving the desired track (optional) .............................................................................. 8

Annex A (normative) Test report — General data and test conditions............................................................................. 9

Annex B (informative) Example of test reports ......................................................................................................................................10

Bibliography .............................................................................................................................................................................................................................12

© ISO 2017 – All rights reserved iii
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ISO 19377:2017(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 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 the following

URL: www.iso.org/iso/foreword.html.

This document was prepared by ISO/TC 22, Road vehicles, Subcommittee SC 33, Vehicle dynamics and

chassis components.
iv © ISO 2017 – All rights reserved
---------------------- Page: 4 ----------------------
ISO 19377:2017(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 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 requires 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.
© ISO 2017 – All rights reserved v
---------------------- Page: 5 ----------------------
INTERNATIONAL STANDARD ISO 19377:2017(E)
Heavy commercial vehicles and buses — Emergency
braking on a defined path — Test method for trajectory
measurement
1 Scope

This document describes test methods for determining the deviation of the path travelled by a vehicle

during a braking manoeuvre induced by an emergency braking system from a pre-defined desired path.

The purpose of this document is the evaluation of the vehicle path during and following the system

intervention. The corrective steering actions for keeping the vehicle on the desired path can be applied

either by the driver or by a steering machine or by a driver assistance system. By making this document

open for either open-loop or closed-loop testing, it is possible to apply the test method for evaluating

how well the vehicle can be kept within user-defined lane markings after the system intervention,

and also for evaluating the precision of the interaction between the emergency braking system and an

active lane keeping system.

This document applies to heavy vehicles equipped with an advanced emergency braking system

(AEBS), 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, N , N3, O3 and O4).

NOTE The test method is intended to evaluate the entire vehicle behaviour, not for defining system

requirements for the AEBS, which is done in the respective standards created by ISO/TC 204.

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 8855:2011, 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

ISO 16552:2015, Heavy commercial vehicles and buses — Stopping distance at straight-line braking with

ABS — Open-loop and closed-loop test methods
3 Terms and definitions

For the purposes of this document, the terms and definitions given in ISO 8855 and ISO 15037-2 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
© ISO 2017 – All rights reserved 1
---------------------- Page: 6 ----------------------
ISO 19377:2017(E)
3.1
vehicle reference point
point fixed in the vehicle

Note 1 to entry: For use with this document, the vehicle reference point of the first vehicle unit shall be set to the

following:
— X = 0 at the wheel centre of the first axle;

— Y = 0 at the centre of the connection line between the tyre contact centres of the first axle;

— Z = 0 on ground level.
3.2
activation time
point in time of intervention of the AEBS, given by a trigger signal
3.3
vehicle reference position
X , Y
0 0

lateral and longitudinal position of the reference point of the first vehicle unit at the activation time (3.2)

3.4
path deviation

shortest distance between the desired vehicle path and the position of the reference point of vehicle

unit, n, at a certain point in time, t
4 Principle

This document specifies a method to determine the deviation of the vehicle from a defined path. The

driving situation represents an intervention of an advanced emergency braking system during straight-

ahead driving or in a curve on an even road surface with a uniform coefficient of friction as specified in

ISO 15037-2. It is necessary that the emergency braking system of the test vehicle allows an external input

for triggering the system intervention. After the triggering, the AEBS shall remain active until vehicle

standstill. The test may be conducted as open-loop or as a closed-loop test. In case of an open-loop test,

the steering wheel angle is kept to its initial value. In case of a closed-loop test, the driver (or a steering

robot) or a lane keeping assistance system or both attempt to keep the vehicle on the desired path.

If the test is conducted with corrective steering actions by the driver, the results will strongly depend on

the driver activities. This should be considered when comparing closed-loop test results. For excluding

the driver influence during a closed-loop test, it is recommended to conduct the test with a steering

robot which has the capability to be programmed for a desired path via GPS feedback.

NOTE By leaving the test method open for interventions of driver assistance systems other than the

emergency braking system, the interact
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