Intelligent transport systems — Assisted Parking System (APS) — Performance requirements and test procedures

ISO 16787:2016 for Assisted Parking System (APS) addresses light-duty vehicles, e.g. passenger cars, pick-up trucks, light vans and sport utility vehicles (motorcycles excluded) equipped with such APS. This document establishes minimum functionality requirements that the driver can expect of the system, such as the detection of suitable parking spaces, calculation of trajectories and lateral control of the vehicle. Information on the presence of relevant obstacles in the driving path of the vehicle can also be included in the functionality of such systems. This document also sets minimum requirements for failure indication as well as performance test procedures. It includes rules for the general information strategy, but does not restrict the kind of information or display system. APS is intended to provide automated parking assistance functionality to the driver. The APS searches the environment adjacent to the vehicle for suitable parking areas between other parked vehicles or markings on the road such as painted lines, evaluates the required information to calculate parking trajectories and sends steering commands to an electronic interface of the steering system for lateral control of the vehicle during the parking manoeuvre. The basic APS function is to assist the driver with lateral control of the vehicle during parking manoeuvres. As an optional extension, APS may also offer limited longitudinal control of the vehicle movement, e.g. braking assistance while manoeuvring into the parking slot. ISO 16787:2016 contains requirements for the lateral control capability of APS. It does not address longitudinal control. During the parking manoeuvre, the driver can take over the control of the vehicle movement at any time and is also fully responsible for the parking manoeuvre. APS uses object-detection devices for detection and ranging in order to search the environment for suitable parking areas. Such devices can be sensors with distance information or vision-based systems. In addition, sensors or counters, as well as relevant data available on the vehicle network (e.g. CAN), may be used to calculate the position of the vehicle relative to the parking area. APS is an extension of systems which inform the driver about obstacles in parking manoeuvres (e.g. ISO 17386 and ISO 22840). ISO 16787:2016 does not include Assisted Parking Systems, reversing aids and obstacle-detection devices for use on heavy commercial vehicles or on vehicles with trailers.

Systèmes intelligents de transport — Système de stationnement assisté (APS) — Exigences de performance et modes opératoires d'essai

General Information

Status
Withdrawn
Publication Date
30-Oct-2016
Withdrawal Date
30-Oct-2016
Current Stage
9599 - Withdrawal of International Standard
Completion Date
08-Dec-2017
Ref Project

Relations

Buy Standard

Standard
ISO 16787:2016 - Intelligent transport systems -- Assisted Parking System (APS) -- Performance requirements and test procedures
English language
28 pages
sale 15% off
Preview
sale 15% off
Preview

Standards Content (Sample)

INTERNATIONAL ISO
STANDARD 16787
First edition
2016-11-01
Intelligent transport systems —
Assisted Parking System (APS) —
Performance requirements and test
procedures
Systèmes intelligents de transport — Système de stationnement assisté
(APS) — Exigences de performance et modes opératoires d’essai
Reference number
ISO 16787:2016(E)
©
ISO 2016

---------------------- Page: 1 ----------------------
ISO 16787:2016(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 16787:2016(E)

Contents Page
Foreword .v
Introduction .vi
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Definition of APS type and common requirements . 3
4.1 Basic system functionality . 3
4.2 APS types. 3
4.3 Common requirements . 3
4.3.1 Maximum speed during operation . 3
4.3.2 APS exit conditions . 3
4.3.4 Advisory note . 4
5 Functional and performance requirements APS type 1 . 4
5.1 Basic system functionality . 4
5.1.1 Parking slot type 1 parallel . 4
5.1.2 Parking slot type 1 perpendicular . 5
5.1.3 APS operation sequence . 5
5.1.4 Basic operation procedure of APS . 5
5.1.5 Quiescent mode . 6
5.1.6 Slot search . 6
5.1.7 Slot found . 6
5.1.8 Target parking slot recognition . 6
5.1.9 Assisted parking mode . 6
5.1.10 End of assisted parking mode . 6
5.1.11 APS diagram of operating modes (APS type 1) . 6
5.2 Driver interface and information strategy . 7
5.2.1 General information presentation . 7
5.2.2 Information in the slot search mode . 7
5.2.3 Information during “slot found” until “start of assisted parking” . 7
5.2.4 Driver request . 8
5.2.5 Information during assisted parking . 8
5.2.6 Information at “end of assisted parking” . 8
5.3 Minimum performance requirements . 8
5.3.1 Performance requirements during slot search mode . 8
5.3.2 Performance requirements during assisted parking mode . 8
5.4 Performance test requirements (APS type 1) .11
5.4.1 Test objects .11
5.4.2 Ambient conditions — General .11
5.4.3 Test criteria .11
5.4.4 Slot search tests .11
5.4.5 Test of supported speed during assisted parking .12
5.4.6 End position tests .12
6 Functional and performance requirements APS type 2 .13
6.1 Basic system functionality .13
6.1.1 Basic function .13
6.1.2 Geometric requirements .14
6.1.3 APS diagram of operating modes (APS type 2) .15
6.2 Driver interface and information strategy .16
6.2.1 Operation procedure .16
6.2.2 Basic operation procedure of APS .16
6.3 Minimum performance requirements .17
6.3.1 Defined parking slot .17
© ISO 2016 – All rights reserved iii

---------------------- Page: 3 ----------------------
ISO 16787:2016(E)

6.3.2 Target slot recognition .18
6.3.3 Maximum speed during operation .18
6.3.4 Performance requirements for the end position .18
6.4 Performance test requirements .21
6.4.1 Performance test conditions .21
6.4.2 Parking slot recognition test .21
6.4.3 Environmental conditions — General .23
6.4.4 Test criteria .23
6.4.5 End position tests .23
Annex A (informative) Example of APS operation sequence .25
Bibliography .28
iv © ISO 2016 – All rights reserved

---------------------- Page: 4 ----------------------
ISO 16787:2016(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 204, Intelligent transport systems.
© ISO 2016 – All rights reserved v

---------------------- Page: 5 ----------------------
ISO 16787:2016(E)

Introduction
Assisted Parking Systems (APS) consist of non-contact sensors and steering control which assist the
driver in parking the vehicle. The assistance starts with searching a suitable parking area, getting
information on the area around the vehicle (environmental map), calculating the trajectory and
finishes with the lateral control of the vehicle. APS also assist the driver in recognizing obstacles while
manoeuvring into the parking slot.
vi © ISO 2016 – All rights reserved

---------------------- Page: 6 ----------------------
INTERNATIONAL STANDARD ISO 16787:2016(E)
Intelligent transport systems — Assisted Parking System
(APS) — Performance requirements and test procedures
1 Scope
This document for Assisted Parking System (APS) addresses light-duty vehicles, e.g. passenger cars,
pick-up trucks, light vans and sport utility vehicles (motorcycles excluded) equipped with such APS.
This document establishes minimum functionality requirements that the driver can expect of the
system, such as the detection of suitable parking spaces, calculation of trajectories and lateral control of
the vehicle. Information on the presence of relevant obstacles in the driving path of the vehicle can also
be included in the functionality of such systems. This document also sets minimum requirements for
failure indication as well as performance test procedures. It includes rules for the general information
strategy, but does not restrict the kind of information or display system.
APS is intended to provide automated parking assistance functionality to the driver. The APS searches
the environment adjacent to the vehicle for suitable parking areas between other parked vehicles or
markings on the road such as painted lines, evaluates the required information to calculate parking
trajectories and sends steering commands to an electronic interface of the steering system for lateral
control of the vehicle during the parking manoeuvre.
The basic APS function is to assist the driver with lateral control of the vehicle during parking
manoeuvres. As an optional extension, APS may also offer limited longitudinal control of the vehicle
movement, e.g. braking assistance while manoeuvring into the parking slot.
This document contains requirements for the lateral control capability of APS. It does not address
longitudinal control.
During the parking manoeuvre, the driver can take over the control of the vehicle movement at any
time and is also fully responsible for the parking manoeuvre.
APS uses object-detection devices for detection and ranging in order to search the environment for
suitable parking areas. Such devices can be sensors with distance information or vision-based systems.
In addition, sensors or counters, as well as relevant data available on the vehicle network (e.g. CAN),
may be used to calculate the position of the vehicle relative to the parking area.
APS is an extension of systems which inform the driver about obstacles in parking manoeuvres (e.g.
ISO 17386 and ISO 22840).
This document does not include Assisted Parking Systems, reversing aids and obstacle-detection
devices for use on heavy commercial vehicles or on vehicles with trailers.
2 Normative references
There are no normative references in this document.
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:
— IEC Electropedia: available at http://www.electropedia.org/
— ISO Online browsing platform: available at https://www.iso.org/obp/
© ISO 2016 – All rights reserved 1

---------------------- Page: 7 ----------------------
ISO 16787:2016(E)

3.1
Assisted Parking System
APS
system capable of measuring the dimensions of a parking slot, calculating an applicable trajectory,
performing lateral control of the vehicle while manoeuvring into the slot and giving needed instructions
to the driver
3.2
slot search mode
operation mode in which the APS (3.1) searches the environment for suitable parking slots
3.3
assisted parking mode
automated lateral control (i.e. steering) of the vehicle by the APS (3.1) during the parking manoeuvre
while the driver has control of the vehicle speed and driving direction
3.4
system activation
action of transitioning the system operation from a quiescent mode to an active one
3.5
driver assistance request
unique interaction between driver and user interface which is required to enable the APS (3.1) before
each active parking manoeuvre
3.6
audible information and warning
acoustical signal (e.g. pulses, speech) which is used to present relevant information to the driver
3.7
visual information and warning
optical signal (e.g. a telltale or display) which is used to present relevant information to the driver
3.8
sensor system
component or set of components which detects objects in the monitoring range
3.9
test object
object with a specific material, geometry and surface for testing the monitoring range
3.10
searching range
minimum area in which APS (3.1) is able to search the environment for suitable parking slots
3.11
APS exit condition
condition after system activation (3.4) which causes the APS (3.1) to abort the manoeuvring support
3.12
APS end condition
assisted parking manoeuvre is finished and APS (3.1) gives the full control of the vehicle back to the driver
3.13
bordering vehicle
vehicle that limits the parking slot to the rear or the front
3.14
APS vehicle
vehicle which is equipped with APS (3.1)
2 © ISO 2016 – All rights reserved

---------------------- Page: 8 ----------------------
ISO 16787:2016(E)

3.15
Vsearch_max
requirement up to which maximum speed APS (3.1) shall be able to search the environment for suitable
parking slots
3.16
parking slot defining line(s)
painted lines on the ground surface in a bright colour to identify the boundary of a defined parking slot
3.17
ambient illuminance
characteristic of the brightness of the scene of which the image sensor captures the image
4 Definition of APS type and common requirements
4.1 Basic system functionality
The APS recognizes a parking slot where the vehicle can be parked, determines the target parking
position and calculates the parking trajectory.
The APS guides the vehicle to the target parking position by automatically controlling the steering
during a parking manoeuvre. Upon completion of control, the vehicle’s position relative to the target
parking position shall fulfil a certain accuracy requirement.
4.2 APS types
This document addresses the practical systems available in the market because the driver’s parking
behaviour and urban parking conditions are unique issues for each country or district. Two APS type
definitions according to the system’s target parking slot follow.
APS type 1: The APS whose target slot is the space between two vehicles.
APS type 2: The APS whose target slot is defined by markings such as painted lines.
For both types, parallel and perpendicular slots are possible.
4.3 Common requirements
4.3.1 Maximum speed during operation
It is recommended to limit the speed range during assisted parking and abort the assisted parking mode
for safety when the driver exceeds this limit. The recommended range for the speed limit is [Forward:
10 km/h Reverse: 7 km/h to 12 km/h]. However, this speed limit shall conform to local regulatory
requirements such as internal law, technical guidelines.
4.3.2 APS exit conditions
APS shall abort the assisted parking mode if one or more of the following conditions apply.
— The driver operates the steering to take over the control. Minimum torque to the steering wheel
shall be defined by OEM. Typical value could be approximately 5 Nm.
— There is a system internal failure detected by the APS.
— The vehicle exceeds the speed limit for the assisted parking mode, as specified in 4.3.1.
The system shall cancel automatic steering control and give both audible and visual information to the
driver upon detecting malfunctions.
© ISO 2016 – All rights reserved 3

---------------------- Page: 9 ----------------------
ISO 16787:2016(E)

4.3.4 Advisory note
The APS, as described in this document, is intended to detect suitable parking slots and steer the vehicle
during the parking manoeuvre. It is recommended that the vehicle operator’s handbook (owner’s
manual) include an advisory note that clearly indicates how to use the system and include a description
of abort criteria, driver’s responsibility and limitations of the system.
It shall particularly remind the driver of his responsibility for safety while manoeuvring into the parking
slot. This includes taking care of obstructions and other possible hazards that may not be detected by
the APS. Especially in case of perpendicular parking slots, the driver must ensure that the depth of
the parking slot is sufficient. If there is an unsafe condition detected by the system, the driver shall be
advised not to start the manoeuvre or to immediately take over the control of the vehicle movement.
APS shall also assist the driver in recognizing obstacles while manoeuvring into the parking slot.
Examples of such systems are described by MALSO (ISO 17386), ERBA (ISO 22840) International
Standards or rear viewing camera systems.
5 Functional and performance requirements APS type 1
5.1 Basic system functionality
APS type 1 shall support either parallel or perpendicular or both types of parking slots.
5.1.1 Parking slot type 1 parallel
The parking manoeuvre shall be performed with a parking slot limited by two vehicles of similar model
as the subject vehicle and an optional kerb as a lateral reference. It is recommended that the system is
able to detect a reference kerb, as described in Figure 9.
For this document, it is recommended that the bordering vehicles are aligned in the same direction
and parallel to each other. The document parking slot length x is defined as the length of the APS
0
vehicle plus Δx_p and the slot depth y is defined as the width of the APS vehicle plus 0,2 m. For the test
0
parking scene, two situations are considered, either with or without a reference kerb. In the case with
a reference kerb, the vehicles are parked with a fixed distance parallel to it. In a situation without kerb,
the virtual connecting line between the outer borders of the parked vehicles projected onto the ground
is the lateral reference line.
The parking slot is defined by its length x and its depth y (as shown in Figure 1). x is the distance
0 0 0
between the two reference vehicles. The depth y is the distance between the outer border line of the
0
reference vehicle and the kerb.
For APS vehicle length between 4 m and 6 m, Δx_p = length of APS vehicle multiplied by 0,25. For small
vehicles, (≤4 m): Δx_p = 4 m × 0,25 = 1,0 m and for large vehicles, (≥6 m) Δx_p = 6m × 0,25 = 1,5 m.
4 © ISO 2016 – All rights reserved

---------------------- Page: 10 ----------------------
ISO 16787:2016(E)

Key
1 kerb
x slot length = length of APAS vehicle + Δx_p
0
y slot depth = width of APAS vehicle + 0,2 m
0
parking slot
Figure 1 — Geometry of a parking slot type 1 parallel
5.1.2 Parking slot type 1 perpendicular
As a minimum requirement, the parking manoeuvre shall be performed with a parking slot limited
by two vehicles of a similar model as the subject vehicle. Compliance with this document may also be
proven using vehicles of different types.
For this document, it is recommended that the bordering vehicles are aligned in the same direction as
the APS vehicle in its target position and parallel to each other. The standard parking slot width x is
0
defined as the width of the APS vehicle plus Δx_l and the slot depth y is minimum length of APS vehicle.
0
Δx_l = 1,2 m. See Figure 2.
Figure 2 — Geometry of parking slot type 1 perpendicular
5.1.3 APS operation sequence
For APS type 1, see Figure 3.
5.1.4 Basic operation procedure of APS
For APS type 1, see Figure 3.
© ISO 2016 – All rights reserved 5

---------------------- Page: 11 ----------------------
ISO 16787:2016(E)

5.1.5 Quiescent mode
APS type 1: If activation conditions are not fulfilled, the APS shall not perform any action.
5.1.6 Slot search
APS type 1: Below a certain speed (v ) and if activation conditions are fulfilled, the APS starts
search_max
to search the environment for suitable parking slots. The system shall be able to search and park in the
direction of both the driver and the passenger side. Depending on the system design, the driver may be
able to choose the types of supported parking slots during slot search (for example, perpendicular only,
parallel or perpendicular, driver side only, driver and passenger side, etc.). Due to physical limitations
of the sensing system, there may be obstructions within the parking slot that are not detected by the
APS, but may interfere with parking in the detected slot. Furthermore, in case of perpendicular parking
slots, the obstacle detection systems may not cover the whole parking space depth.
5.1.7 Slot found
APS type 1: The system shall inform the driver about potentially suitable parking slots found. The
driver needs to check the parking slot for obstructions before proceeding with the next step.
5.1.8 Target parking slot recognition
Type 1: The APS informs the driver when the vehicle arrives at the position where parking assist is
possible.
5.1.9 Assisted parking mode
When the driver decides to park into the suitable parking slot and stops the vehicle, the APS shall assist
the driver with advice and by actuating the steering during the parking manoeuvre. The ability of the
system to support the parking manoeuvre will depend on the actual starting position of the APS vehicle
relative to the parking slot. The limitations of the permissible starting positions shall be described in
the owner’s manual of the vehicle.
The actuation of the steering shall not start before the vehicle stands still.
The driver shall be able to finish the parking manoeuvre by taking over lateral control of the APS vehicle
at any time. In this case, the APS shall terminate the automated actuation of the steering immediately.
5.1.10 End of assisted parking mode
The driver shall be informed when the parking manoeuvre is finished or aborted.
5.1.11 APS diagram of operating modes (APS type 1)
The following diagram shows an example sequence of operating modes, the corresponding information
presented to the driver in each operating mode and also, which activity is required by the driver.
6 © ISO 2016 – All rights reserved

---------------------- Page: 12 ----------------------
ISO 16787:2016(E)

Figure 3 — APS diagram of operating modes (APS type 1)
Advancement to the next mode is only possible, if the driver has completed the described activity.
Upon system activation, the system leaves the quiescent mode, starts searching the environment for
parking slots, evaluates the objects detected and generates appropriate feedback to assist the driver.
While the system is active, it may switch its operating mode between “search mode”, “slot found”, “mode
selection” and “assisted parking mode” depending on the situation and driver activity.
5.2 Driver interface and information strategy
5.2.1 General information presentation
The system may inform the driver on the current operating mode (e.g. slot search, slot found, assisted
parking mode, error mode) and shall provide instructions to the driver which are required for the
parking manoeuvre. As a minimum requirement, the system shall give audible information to the
driver upon releasing the a
...

Questions, Comments and Discussion

Ask us and Technical Secretary will try to provide an answer. You can facilitate discussion about the standard in here.