ISO 4272:2022
(Main)Intelligent transport systems — Truck platooning systems (TPS) — Functional and operational requirements
Intelligent transport systems — Truck platooning systems (TPS) — Functional and operational requirements
This document defines the terms and definitions related to truck platooning systems (TPS), and the mode transitions in the platooning control system (PCS). The PCS is comprised of two main functions: the platooning operation control function (POCF) and the platooning manoeuvre control function (PMCF). This document specifies: — POCF and PMCF governing how vehicles join and leave platoons; — PMCF governing longitudinal and lateral control of each vehicle; NOTE PMCF makes reference to current International Standards, such as ISO 20035, ISO 11270 and ISO 21717, where appropriate. — functional evaluation test methods for POCF and PMCF. This document also describes: — the data to be communicated for POCF and PMCF in vehicle to vehicle (V2V) messages and optionally in vehicle to infrastructure (V2I) messages, including local roadside and broader network and cloud; — strategies for forming platoons, such as ad-hoc or planned formation, and types of truck platooning systems, such as top-down management and peer-to-peer. This document covers: — platooning of heavy goods vehicles of multiple brands and fleets, operated by on-board drivers. Light trucks, buses and passenger cars are excluded; — level 1 and 2 driving automation systems, which provide driver support and operate under the continuous supervision of the drivers. The functions and operations of the back office (BO) are out of scope of this document.
Systèmes de transport intelligents — Systèmes de convois de camions (TPS) — Exigences fonctionnelles et opérationnelles
General Information
Standards Content (Sample)
INTERNATIONAL ISO
STANDARD 4272
First edition
2022-09
Intelligent transport systems —
Truck platooning systems (TPS)
— Functional and operational
requirements
Systèmes de transport intelligents — Systèmes de convois de camions
(TPS) — Exigences fonctionnelles et opérationnelles
Reference number
ISO 4272:2022(E)
© ISO 2022
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ISO 4272:2022(E)
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ISO 4272:2022(E)
Contents Page
Foreword .v
Introduction . vi
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Symbols and abbreviated terms.4
4.1 Abbreviated terms . 4
5 Types of truck platooning systems .4
5.1 Top-down-managed platooning . 4
5.1.1 LV-managed platooning. 4
5.1.2 BO- and LV-managed platooning . 5
5.2 Peer-to-peer platooning . 5
6 Types of truck platoon formation . 5
6.1 Overview . 5
6.2 Formation on the motorway . 5
6.2.1 General . 5
6.2.2 Ad-hoc platoon formation on the motorway . 5
6.2.3 Planned platoon formation on the motorway . 5
6.3 Formation at the staging area . 6
6.3.1 Ad-hoc platoon formation at the staging area . 6
6.3.2 Planned platoon formation at the staging area . 6
7 Operation state diagram . 6
7.1 General . 6
7.2 Operation state diagram of platooning operations . 6
8 Platooning operation control function (POCF) . 7
8.1 General . 7
8.2 Join . 7
8.3 Leave . 8
8.4 Operation . 9
8.4.1 Join operation . 9
8.4.2 Leave operation . 10
8.5 Requirements . 10
8.5.1 Join requirements . 10
8.5.2 Leave requirements . 11
9 Platooning manoeuvre control function (PMCF) .11
9.1 General . 11
9.2 Longitudinal control . 11
9.3 Lateral control . 14
9.4 Longitudinal control operations . 15
9.4.1 Join manoeuvre .15
9.4.2 Cruising operation .15
9.4.3 Leave manoeuvre . 15
9.4.4 Cut-in operation . .15
9.4.5 Cut-out operation . 16
9.5 Lateral control operations . 16
9.5.1 Cruising (in-lane) operation . 16
9.5.2 Lane change operation . 16
9.6 Longitudinal control requirements . 17
9.6.1 Join manoeuvre requirements . 17
9.6.2 Cruising requirements . 17
9.6.3 Leave manoeuvre requirements . 17
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ISO 4272:2022(E)
9.6.4 Cut-in requirements. 18
9.6.5 Cut-out requirements . 18
9.7 Lateral control requirements . 18
9.7.1 Cruising requirements . 18
9.7.2 Lane change requirements . 18
10 Communication data (V2V/V2I) .19
10.1 General . 19
10.2 Requirements of communication . 19
10.3 Communication data . 19
10.3.1 General . 19
10.3.2 Communication data for PMM . 19
10.3.3 Communication data for PCM . 22
11 Functional evaluation test method .23
11.1 Evaluation test conditions . 23
11.2 Evaluation test method .23
11.2.1 General .23
11.2.2 Join evaluation test .23
11.2.3 Leave evaluation test . 26
11.2.4 Cruising evaluation test . 27
11.2.5 Cut-in evaluation test .28
11.2.6 Cut-out evaluation test .30
Annex A (informative) Use cases of POCF .32
Annex B (informative) Use cases of PMCF .37
Bibliography .42
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ISO 4272:2022(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
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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).
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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.
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ISO 4272:2022(E)
Introduction
A truck platoon is a vehicle string in which multiple vehicles are driving under coordinated longitudinal
and possible lateral control.
Truck platooning is beneficial for the transportation industry because it can improve the operational
efficiency of motorway transportation, improve safety and reduce the energy consumption of truck
operation, as well as improving drivers' working environment and reducing workload. In addition,
truck platooning improves the road capacity and efficiency for overall traffic.
The truck platooning system consists of a platooning control system and optionally a back office (BO)
as shown in Figure 1. Information from the back office can be helpful and effective for planning platoon
operations.
The platooning control system controls the processes by which vehicles join or leave the platoon
and the manoeuvring of the platoon under coordinated longitudinal vehicle control strategies such
as cooperative adaptive cruise control (CACC). Each vehicle has vehicle-to-vehicle (V2V) over-the-
air communication to exchange information with the other vehicles in the platoon and recognizes
its participation in a platoon. Each vehicle controls its own motions in a platoon based on the data
obtained from sensors such as radar, lidar and camera, and the data received from the over-the-air
communication.
The truck platooning system may include a back office infrastructure system to support the platooning
control system. BO functions can include platooning demand matching, and platooning formation and
operation management. Platooning demand matching covers forming requests, matching requests,
route management and charge/payment of platoon from operators such as shippers and fleet operators.
Platooning formation and operation management may issue notifications about the acceptance/refusal
of platooning requests, truck sequence in platoon, route selection/permission/recommendation, and
geographical limitations on the platooning.
The platooning operational control function controls changes in the membership of platoon; the
platooning manoeuvre control function controls interactions within the platoon.
This document provides the common base needed for platooning system development. It also supports
market introduction of the platooning system and assists in accelerating the deployment of truck
platooning.
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ISO 4272:2022(E)
Key
a
1 back office Join.
b
2 platoon (steady state) Leave.
c
3 platooning control system Vehicle to infrastructure (V2I) communication.
d
4 platooning manoeuvre control function Vehicle to vehicle (V2V) communication.
5 platooning operation control function
Figure 1 — Overall architecture of the truck platooning system (TPS)
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INTERNATIONAL STANDARD ISO 4272:2022(E)
Intelligent transport systems — Truck platooning systems
(TPS) — Functional and operational requirements
1 Scope
This document defines the terms and definitions related to truck platooning systems (TPS), and the
mode transitions in the platooning control system (PCS). The PCS is comprised of two main functions:
the platooning operation control function (POCF) and the platooning manoeuvre control function
(PMCF).
This document specifies:
— POCF and PMCF governing how vehicles join and leave platoons;
— PMCF governing longitudinal and lateral control of each vehicle;
NOTE PMCF makes reference to current International Standards, such as ISO 20035, ISO 11270 and
ISO 21717, where appropriate.
— functional evaluation test methods for POCF and PMCF.
This document also describes:
— the data to be communicated for POCF and PMCF in vehicle to vehicle (V2V) messages and optionally
in vehicle to infrastructure (V2I) messages, including local roadside and broader network and cloud;
— strategies for forming platoons, such as ad-hoc or planned formation, and types of truck platooning
systems, such as top-down management and peer-to-peer.
This document covers:
— platooning of heavy goods vehicles of multiple brands and fleets, operated by on-board drivers.
Light trucks, buses and passenger cars are excluded;
— level 1 and 2 driving automation systems, which provide driver support and operate under the
continuous supervision of the drivers.
The functions and operations of the back office (BO) are out of scope of this document.
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 21202, Intelligent transport systems — Partially automated lane change systems (PALS) — Functional/
operational requirements and test procedures
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
ISO and IEC maintain terminology databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https:// www .iso .org/ obp
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ISO 4272:2022(E)
— IEC Electropedia: available at https:// www .electropedia .org/
3.1
platoon
vehicle formation with a common platoon ID and sequence of participants
3.2
platooning
operation of a platoon in which multiple vehicles are driving under coordinated longitudinal control
and possibly lateral control
Note 1 to entry: Each vehicle uses forward-vehicle detection by on-board sensors and vehicle to vehicle (V2V)
over-the-air communication to exchange information needed to execute the coordinated longitudinal control
with the other vehicles in the platoon (see Figure 2).
Key
Key
a
Vehicle to vehicle (V2V) communication. 3 following vehicle (FV)
1 potential leading vehicle (PLV) 4 potential following vehicle (PFV)
2 leading vehicle (LV) 5 other vehicle (OV)
Figure 2 — Platooning formation
3.3
leading vehicle
first vehicle in a platoon
3.4
following vehicle
vehicle operating in a platoon behind the leading vehicle and connected using vehicle to vehicle
communication
3.5
other vehicle
vehicle that does not participate in the platoon but can potentially affect platoon operations, by
performing emergency braking or a cut-in manoeuvre, for example
3.6
potential leading vehicle
vehicle that is not currently in a platoon but is in a position enabling it to potentially become the leading
vehicle in the future or a former leading vehicle after leaving the platoon
3.7
potential following vehicle
vehicle that is not currently in a platoon but is in a position enabling it to potentially become the
following vehicle in the future or a former following vehicle after leaving the platoon
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ISO 4272:2022(E)
3.8
join
transition by which one or more vehicle(s) become(s) member(s) of a platoon
3.9
leave
transition by which one or more vehicle(s) separate(s) from its current platoon
3.10
platooning control system
system for operating the platooning operation control function and the platooning manoeuvre control
function in a platoon, including the potential leading vehicle and potential following vehicle
3.11
platooning operation control function
function to manage the transitions of vehicles in and out of platoon membership
3.12
platoon management message
vehicle to vehicle communication or vehicle to infrastructure communication message that transmits
information relevant to the platooning operation control function
3.13
platooning manoeuvre control function
function to manage the continuous operations of platoon vehicles, including responses to situations
such as cut-in and cut-out
3.14
platoon control message
vehicle to vehicle communication message that transmits information relevant to the platooning
manoeuvre control function
3.15
vehicle to infrastructure communication
communication between vehicle and devices such as a roadside unit of infrastructure or mobile phone
base station, but excluding vehicles
3.16
back office
infrastructure system to support platoon operation, such as platoon planning and demand matching to
start the platoon, and route management and the charge/payment process from the operators, such as
shippers and fleet operators
3.17
time gap
time needed to travel a distance equal to the clearance gap between the rear surface of the preceding
vehicle and the forward surface of the following vehicle at the current vehicle speed
Note 1 to entry: This value is calculated as c/v , where v is the vehicle speed of the following vehicle and c is the
clearance between the head of the following vehicle and the tail of the leading vehicle.
3.18
heavy goods vehicle
truck with a gross combination mass (GCM) over 3 500 kg. which is considered as a vehicle according to
categories N2 and N3 of WP.29 TRANS/WP.29/78/Rev.6
Note 1 to entry: See Reference [14].
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ISO 4272:2022(E)
4 Symbols and abbreviated terms
4.1 Abbreviated terms
ACC adaptive cruise control
BO back office
CC cruise control
CACC cooperative adaptive cruise control
FV following vehicle
GCM gross combination mass
LKAS lane keeping assistance systems
LV leading vehicle
OV other vehicle
PADS partially automated in-lane driving systems
PALS partially automated lane change systems
PCM platoon control message
PCS platooning control system
PFV potential following vehicle
PLV potential leading vehicle
PMCF platooning manoeuvre control function
PMM platoon management message
POCF platooning operation control function
V2I vehicle to infrastructure/infrastructure to vehicle
V2V vehicle to vehicle
5 Types of truck platooning systems
5.1 Top-down-managed platooning
The top-down managed platooning type is managed by the LV via V2V communication or optionally
is managed by the BO via V2I communication to optimize platoon operations and recommend vehicle
sequence, platooning speed, time gap, etc.
5.1.1 LV-managed platooning
The LV-managed platooning type is managed by the LV. The LV or its driver selects the speed and
maximum number of vehicles in the platoon. The LV or its driver may inform the FV drivers about the
recommended minimum time gap for FVs.
POCF such as "join" and "leave" may be triggered by FV drivers. Final permission to join is provided by
the LV.
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ISO 4272:2022(E)
5.1.2 BO- and LV-managed platooning
The BO and LV perform the platoon management. Under management by the BO, the LV or its driver
selects the speed and number of vehicles in the platoon. The LV or its driver may inform the FV drivers
about the recommended minimum time gap for FVs and may make lane changing decisions under the
management by the BO.
POCF such as "join" and "leave" may be triggered by FV drivers. Final permission to join is provided by
the LV based on BO planning. The LV or BO may provide instructions for the "leave" operation.
5.2 Peer-to-peer platooning
Peer-to-peer platooning management operates based on peer-to-peer relationships among all of the
vehicles in a platoon. All vehicles have equal status and none of them are governing other vehicles. All
FVs individually control their speed (and optionally steering) to follow the LV or preceding FV and all
drivers may choose their preferred gap settings.
6 Types of truck platoon formation
6.1 Overview
When a platoon is formed, different locations and types of formation are applied based on one of the
strategies described in the following subclauses.
Platoon formation is the process in which it is determined if vehicles may become part of a platoon.
Platoon formation is the coordination of candidate vehicles which form the platoon in a defined
structure.
Platoon formation may be done on the motorway during driving or at the staging area before entering
the motorway.
Platoon formation may be done on an ad-hoc basis (that is, not planned) or
...
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