ISO 19377:2017
(Main)Heavy commercial vehicles and buses — Emergency braking on a defined path — Test method for trajectory measurement
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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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 2017
© 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
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 2017 – All rights reserved
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
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
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.
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
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;
V
— Y = 0 at the centre of the connection line between the tyre contact centres of the first axle;
V
— Z = 0 on ground level.
...
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 2017
© 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
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 2017 – All rights reserved
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
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
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.
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
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;
V
— Y = 0 at the centre of the connection line between the tyre contact centres of the first axle;
V
— Z = 0 on ground level.
...
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