ISO 19206-3:2021

Road vehicles - Test devices for target vehicles, vulnerable road users and other objects, for assessment of active safety functions - Part 3: Requirements for passenger vehicle 3D targets

This document specifies performance requirements for surrogate targets used to assess the system detection and performance of active safety systems. This document specifies the properties of an omni-directional multi-purpose vehicle target for assessment of interaction in a variety of traffic scenarios. This document specifies the properties of a vehicle target that will allow it to represent a passenger vehicle in terms of size, shape, reflection properties, etc. for testing purposes. This document addresses the detection requirements for a vehicle target in terms of sensing technologies commonly in use at the time of publication of this document, and where possible, anticipates future sensing technologies. It also addresses methodologies to verify the target response properties to these sensors, as well as performance requirements for the target carrier. The vehicle targets specified in this document reflect passenger cars and, in particular, the smaller and more common B and C segment cars. This document does not address the test procedures in terms of speeds, positions, or timing of events. Performance criteria for the active safety system are also not addressed.

Véhicules routiers — Dispositifs d'essai pour véhicules cibles, usagers de la route vulnérables et autres objets, pour l'évaluation de fonctions de sécurité active — Partie 3: Exigences pour cibles de véhicules particuliers 3D

General Information

• Status: Published
• Publication Date: 20-May-2021
• ICS: 43.020 - Road vehicles in general
• Technical Committee: ISO/TC 22/SC 33 - Vehicle dynamics and chassis components
• Drafting Committee: ISO/TC 22/SC 33/WG 16 - Active Safety test equipment
• Current Stage: 6060 - International Standard published
• Start Date: 21-May-2021
• Due Date: 29-Sep-2020
• Completion Date: 21-May-2021

Overview

ISO 19206-3:2021 - "Road vehicles - Test devices for target vehicles, vulnerable road users and other objects - Part 3: Requirements for passenger vehicle 3D targets" specifies performance and verification requirements for surrogate vehicle targets used to evaluate detection by active safety systems and ADAS. The standard defines the properties of an omni-directional, multi-purpose 3D vehicle target designed to represent passenger cars (notably B and C segment vehicles) in size, shape and sensor reflection characteristics. It covers how targets should respond to common sensing technologies (optical, radar, thermal), and includes requirements for target carriers, calibration and field verification.

Key Topics and Technical Requirements

• Vehicle target specifications
  • Physical dimensions and classes (reflecting common passenger cars)
  • Safety, repairability, durability and environmental considerations
  • Reference coordinate system and speed classes
• Sensor response requirements
  • Optical / near-infrared: features and stability for visual recognition (annexes describe sensor-specific measurements)
  • Radar: radar cross section characteristics, static and recognition features, measurement methods
  • Thermal (far‑infrared): thermal signature characteristics and reference measurement approaches
• Calibration and field verification
  • Methods to verify target properties against sensor responses and to maintain repeatability
• Target carrier and motion
  • Performance requirements for carriers that move/support targets (longitudinal, lateral, vertical positioning, yaw rates, accelerations)
  • Annexes provide guidance on measuring position, speed and acceleration
• Normative references
  • Includes ISO 8855 (vehicle dynamics vocabulary) and ISO 8608 (road surface profiles) as referenced standards

Bold note: ISO 19206-3:2021 does not specify test procedures (speeds/positions/timing) nor the performance criteria for active safety systems themselves.

Practical Applications

• Development and validation of ADAS and advanced driver assistance sensors (camera, lidar, radar, thermal)
• Test-lab design and procurement of standardized surrogate vehicle targets and carriers
• Supplier requirements for target manufacturers and test-equipment providers
• Benchmarking and reproducibility of detection tests across manufacturers and test facilities

Who should use this standard

• Automotive OEMs and ADAS system integrators
• Test laboratories and proving grounds
• Target and test-equipment manufacturers
• Regulatory bodies and standards developers involved in vehicle safety testing

Related Standards

• ISO 19206 series (other parts of test-device standards)
• ISO 8855 - Road vehicles: vehicle dynamics vocabulary
• ISO 8608 - Mechanical vibration: road surface profiles

ISO 19206-3:2021 helps ensure surrogate vehicle targets provide consistent, verifiable signatures for modern sensing technologies - a practical foundation for robust, repeatable active-safety testing.

Standards Content (Sample)

INTERNATIONAL ISO
STANDARD 19206-3
First edition
2021-05
Road vehicles — Test devices for
target vehicles, vulnerable road users
and other objects, for assessment of
active safety functions —
Part 3:
Requirements for passenger vehicle
3D targets
Véhicules routiers — Dispositifs d'essai pour véhicules cibles, usagers
de la route vulnérables et autres objets, pour l'évaluation de fonctions
de sécurité active —
Partie 3: Exigences pour cibles de véhicules particuliers 3D
Reference number
©
ISO 2021
© ISO 2021
All rights reserved. Unless otherwise specified, or required in the context of its implementation, 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
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: [phone]
Email: [e-mail]
Website: www.iso.org
Published in Switzerland
ii © ISO 2021 – All rights reserved

Contents Page
Foreword .v
Introduction .vi
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Abbreviated terms . 3
5 Vehicle target specifications . 4
5.1 Vehicle classes and target applicability . 4
5.2 Reference dimensional measurements . 4
5.3 Safety considerations . 4
5.4 Repairability and robustness . 4
5.5 Environmental conditions . 5
5.6 Reference coordinate system. 5
5.7 Speed classes . 5
6 Vehicle target response to sensing technologies . 6
6.1 General . 6
6.2 Optical requirements . 6
6.2.1 General. 6
6.2.2 Reference measurements . 6
6.2.3 Stability of dimensions for optical recognition . 6
6.2.4 Viewing angles . 6
6.2.5 Features related to optical requirements . 7
6.3 Radar requirements . 7
6.3.1 Reference measurements of radar properties . 7
6.3.2 Reference measurements . 7
6.3.3 Radar cross section, static measurements and requirements . 8
6.3.4 Radar recognition features of vehicle target . 8
6.3.5 Stability of dimensions for radar recognition . 8
6.4 Thermal requirements for Far Infrared vision systems . 8
6.4.1 General. 8
6.4.2 Reference measurements . 8
6.4.3 Thermal characteristics . 8
6.5 Calibration . 8
6.6 Field verification . 9
7 Motion and positioning during test for VT including target carrier system .9
7.1 General requirements . 9
7.2 Longitudinal positioning . 9
7.2.1 Speed range for operation . 9
7.2.2 Accelerations . 9
7.3 Lateral positioning . 9
7.3.1 General. 9
7.3.2 Yaw rate . 9
7.3.3 Lateral position .10
7.3.4 Lateral acceleration .10
7.3.5 Turning diameter .10
7.4 Vertical positioning .10
7.4.1 General.10
7.4.2 Pitch angle .10
7.4.3 Vertical motions .10
Annex A (informative) Vehicle classes and dimensions .11
Annex B (normative) Visual and near infrared sensor-specific recognition properties and
measurements .16
Annex C (normative) Radar-specific recognition properties and measurements .21
Annex D (informative) Measurement of position, speed and acceleration of the vehicle target .49
Annex E (informative) Field verification of vehicle target properties .50
Bibliography .51
iv © ISO 2021 – All rights reserved

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.
A list of all parts in the ISO 19206 series can be found on the ISO website.
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.
Introduction
ADAS (advanced driver assistance systems) and active safety systems are designed to support decision-
making for the driver, extend the driver’s awareness of the traffic situation with advanced warnings,
improve the behaviour of the vehicle, and even take over vehicle control in an emergency situation. The
goal is to completely avoid an accident or at least reduce the severity of an accident.
The surrogate target is an essential component in the evaluation of ADAS/active safety functions and
different levels of automated driving systems, in all situations where a collision with the target may
occur.
The characteristics of targets must be trustworthy and a vehicle target must be recognized as a real
vehicle by the various sensing technologies.
This document addresses the specification of vehicle 3D test targets.
It is important that a surrogate vehicle target represents a real vehicle in terms of detectability and
movement from all directions. It should also provide safety for the subject vehicle and test operators
if contact is made between the subject vehicle and the target. Crashworthiness and durability
requirements for the vehicle target require that the material and construction of the vehicle target are
adapted to fit the purposes.
Test cases usually address both stationary and moving targets and, as such, the physical construction
of the target accommodates a target carrier system capable of mimicking realistic motions. This
document includes requirements on the target carrier system as applicable.
Targets described in the ISO 19206 series can be used for system development or applied in conjunction
with existing standards, or standards under development, for assessment of ADAS and active safety
functions of vehicles.
vi © ISO 2021 – All rights reserved

INTERNATIONAL STANDARD ISO 19206-3:2021(E)
Road vehicles — Test devices for target vehicles,
vulnerable road users and other objects, for assessment of
active safety functions —
Part 3:
Requirements for passenger vehicle 3D targets
1 Scope
This document specifies performance requirements for surrogate targets used to assess the system
detection and performance of active safety systems.
This document specifies the properties of an omni-directional multi-purpose vehicle target for
assessment of interaction in a variety of traffic scenarios.
This document specifies the properties of a vehicle target that will allow it to represent a passenger
vehicle in terms of size, shape, reflection properties, etc. for testing purposes. This document addresses
the detection requirements for a vehicle target in terms of sensing technologies commonly in use at
the time of publication of this document, and where possible, anticipates future sensing technologies.
It also addresses methodologies to verify the target response properties to these sensors, as well as
performance requirements for the target carrier.
The vehicle targets specified in this document reflect passenger cars and, in particular, the smaller and
more common B and C segment cars.
This document does not address the test procedures in terms of speeds, positions, or timing of events.
Performance criteria for the active safety system are also not addressed.
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, Road vehicles — Vehicle dynamics and road-holding ability — Vocabulary
ISO 8608, Mechanical vibration — Road surface profiles — Reporting of measured data
3 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO 8855 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
subject vehicle
SV
vehicle with active safety system to be tested
3.2
vehicle target
VT
test device representing a vehicle, whose purpose is to activate sensor systems
Note 1 to entry: Vehicle target consists of a target structure (3.2.1) and optionally a target carrier (3.2.2).
Note 2 to entry: This document addresses test devices representing a vehicle having the necessary features to be
recognised from any direction (3D vehicle target).
3.2.1
target structure
physical structure whose purpose is to maintain the shape and provide the relevant sensor signature
representing a vehicle
3.2.2
target carrier
mechanical or electro-mechanical system used to move and/or support the target structure (3.2.1)
according to a test protocol
Note 1 to entry: Target carrier may be self-contained within, or supporting the target structure or external
devices connected with cables, beams, or similar structures. It can also be a self-propelled carrier.
Note 2 to entry: Target structure and target carrier may be integrated.
Note 3 to entry: Target structure fixation is included in the target carrier.
3.3
target axis system
axis system fixed in the reference frame of the target, so that the X axis is substantially horizontal and
t
forward (with the target at rest), and is parallel to the target’s longitudinal plane of symmetry, and the
Y axis is perpendicular to the target's longitudinal plane of symmetry and points to the left with the Z
t t
axis pointing upward
Note 1 to entry: See Figure 2 for further explanation of the target axes X , Y , Z .
t t t
3.4
target coordinate system
coordinate system based on the target axis system (3.3) with the origin located at the target reference
point (3.5)
Note 1 to entry: The position of the vehicle in the target coordinate system is described by coordinates x , y , z .
t t t
3.5
target reference point
point whose location relative to the external dimensions of the target, in its initial condition, remains
constant
Note 1 to entry: to entry:
x = 0, y = 0 at the centroid of the area defined by a horizontal projection of the plan view of the target;
z = 0 at the ground plane.
3.6
measurement equipment
equipment used to record the position and motions of the vehicle target (3.2) relative to the subject
vehicle (3.1)
Note 1 to entry: The measurement equipment is used to ensure that the test protocol is followed within
prescribed tolerances and to record data documenting the function of the active safety system and allowing its
performance to be assessed.
2 © ISO 2021 – All rights reserved

3.7
planned path
X, Y coordinates that define the desired trajectory of the target vehicle
3.8
lateral path deviation
position error of the target vehicle relative to the planned path (3.7) measured perpendicular from the
planned path direction
Note 1 to entry: See illustration in Figure 1.
Note 2 to entry: Y and X are the ground (fixed) coordinate axes in which the planned path is defined.
G G
Key
1 lateral path deviation
2 planned path
Figure 1 — Lateral path deviation
4 Abbreviated terms
CCD charge-coupled device
CMOS complementary metal oxide semiconductor
FIR far infrared
LIDAR light detection and ranging
NIR near infrared
PMD photonic mixer device
RCS radar cross section
SV subject vehicle
VT vehicle target
5 Vehicle target specifications
5.1 Vehicle classes and target applicability
The vehicle targets specified in this document reflect passenger cars and in particular the smaller and
more common B and C segment cars. See Annex A for more information.
The test devices described in this document are intended for testing of systems designed to mitigate or
avoid collisions in which the subject vehicle approaches the target vehicle from any direction.
5.2 Reference dimensional measurements
Reference measurements for the vehicle target should come from a representative sample of vehicles
from the B/C segment that were manufactured within five years prior to the publication date of this
document.
General dimensions of the vehicle fleet are given in Annex A.
5.3 Safety considerations
Drivers of the subject vehicle shall not be exposed to any substantial risk of personal injury. The vehicle
target and its components should not cause more than cosmetic damage to the subject vehicle when
struck at a relative velocity of 60 km/h. The conditions specified by the test procedure application shall
be taken into consideration.
NOTE Test procedures for specific applications typically indicate what measures are taken to reduce the
risk of injury and vehicle damage. These measures can include instructions to disable subject vehicle systems
such as supplementary occupant restraints, seatbelt pre-tensioners, vulnerable user protection systems, etc.
5.4 Repairability and robustness
The vehicle target should be easily reassembled or repaired after contacts. Field repairs should be
possible to perform with standard hand tools. The sensor-specific characteristics shall be met also
after re-assembly and repair. The time for reassembly is affected by the handling efficiency of the users
and should be as short as possible. As a guideline the reassembly should be possible with two persons
and should take less than 15 minutes. The target requirements should be fulfilled after at least fifty
crashes with a relative velocity of 60 km/h with a vehicle of category M1.
NOTE 1 This requirement does not apply to disposable and single impact targets.
NOTE 2 Category M1: vehicles designed and constructed for the carriage of passengers and comprising no
more than eight seats in addition to the driver's seat. (Source: UN consolidated resolution R.E.3 and Directive
2007/46/EC).
4 © ISO 2021 – All rights reserved

5.5 Environmental conditions
The vehicle target shall fulfil all requirements in an ambient temperature range of -5 °C to +40 °C. The
vehicle target shall not deteriorate under storage temperatures in the range of -40 °C to +80 °C when
properly stored.
NOTE The specified temperature range recognises that there are substantial technical challenges achieving
a cost-effective target fulfilling the requirements at lower temperatures than -5 °C.
5.6 Reference coordinate system
The reference coordinate system in this document essentially adopts the coordinate system given in
ISO 8855, adapting it to the purpose of the target vehicle movement. The target coordinate system,
which uses the target axis system located at the target reference point, is shown in Figure 2.
NOTE ψ is the rotation about the Z axis.
t t
Figure 2 — Reference coordinate system
5.7 Speed classes
The following speed classes are applicable according to this document, see Table 1.
Table 1 — Speed classes
Speed class Description
SC50 Operational speed up to 50 km/h (13,9 m/s)
SC80 Operational speed up to 80 km/h (22,2 m/s)
SC80+ Operational speed up to and greater than 80 km/h (22,2 m/s)
6 Vehicle target response to sensing technologies
6.1 General
Requirements related to sensing technologies commonly in use at the time of publication of this
document are listed in 6.2, 6.3 and 6.4. A vehicle target intended for use with a specific set of sensing
technologies only needs to meet the requirements of those technologies.
6.2 Optical requirements
6.2.1 General
Sensors operating on optical principles include CCD and CMOS camera sensors, stereo camera sensors,
photonic mixer devices (PMD) and light detection and ranging (LIDAR). These systems cover visible
and near infrared light frequency spectra. PMD and LIDAR are more reliant on infrared reflectivity of
the target surface.
6.2.2 Reference measurements
When technology-specific measurements are required, information of the type of sensor used,
environmental conditions during measurements, and date of measurement shall be provided with
the description of the vehicle models. The version of the vehicle target and the target carrier shall be
traceable to manufacturing drawings or supplier specifications.
General dimensions of the vehicle fleet are given in Annex A.
6.2.3 Stability of dimensions for optical recognition
Target surface shall not flutter or vibrate unrealistically due to aerodynamic effects for the applicable
speed class and a side wind of up to 5 m/s. Local fluttering should not exceed 10 mm perpendicularly
from the reference surface. Distortion of the vehicle shape should not exceed 25 mm in any direction.
6.2.4 Viewing angles
Main angles for recognition are shown in Figure 3.
6 © ISO 2021 – All rights reserved

Key
1 target reference point
Figure 3 — Viewing angles
6.2.5 Features related to optical requirements
The visual difference between the VT and a passenger vehicle of the B/C segment size should be as
small as possible. The contours of the VT should be representative of a real middle-sized passenger car.
It should demonstrate a high level of symmetry about the x-z plane.
The wheels, consisting of tire and rim, shall be round and of realistic dimensions.
The windows (windscreen, side windows, rear window) should give the impression of being transparent.
The interior of a real car (seat, steering wheel, rear view mirror, driver) may be indicated.
Features representing the rear lights, reflectors, and registration plate are required.
[10]
NOTE General requirements for the size and position of these features are available in 407/2011/EC , UN-
[11] [12] [9]
ECE Regulation 3 , UN-ECE Regulation 48 and FMVSS 108 .
Lighter colours of vehicle targets shall be used. High contrast to background should be considered.
Features necessary for the optical recognition as specified in Annex B shall be followed.
6.3 Radar requirements
6.3.1 Reference measurements of radar properties
At the time of publication of this document, automotive applications of radar are using 24 GHz and
(76 – 81) GHz.
6.3.2 Reference measurements
Reference measurements for the vehicle target should come from a representative sample of vehicles
from the B/C segment that were manufactured within five years prior to the publication date of this
document.
When technology-specific measurements are required, information of the type of sensor used,
environmental conditions during measurements, and date of measurement shall be provided with
the description of the vehicle models. The version of the vehicle target and the target carrier shall be
traceable to manufacturing drawings or supplier specifications.
6.3.3 Radar cross section, static measurements and requirements
Measurement of radar cross section as described in Annex C shall be followed.
6.3.4 Radar recognition features of vehicle target
Features necessary for radar recognition as specified in Annex C shall be followed.
6.3.5 Stability of dimensions for radar recognition
Local fluttering due to aerodynamic effects should not cause radar signature to vary, including micro-
Doppler effects, for the applicable speed class and a side wind of up to 5 m/s.
6.4 Thermal requirements for Far Infrared vision systems
6.4.1 General
The vehicle target is defined as possessing the optical characteristics according to 6.2 with features
added to provide response to thermal sensing. Inclusion of passive thermal sensor requirements is
optional.
Far infrared (FIR) vision systems can provide information to active safety systems in conditions of low
light or otherwise limited visibility. A thermal camera detects far-infrared electromagnetic radiation
with a wavelength in the range of 8 μm to 14 μm. Imaging is provided by means of an appropriate
camera.
6.4.2 Reference measurements
When technology-specific measurements are required, information of the type of sensor used,
environmental conditions during measurements, and date of measurement shall be provided with the
description of the measured subjects and/or target. The version of the target and the target carrier
shall be traceable to manufacturing drawings or supplier specifications.
6.4.3 Thermal characteristics
Vehicle targets commonly in use at the time of publication of this document do not feature vehicle-
specific FIR characteristics. Developers of vehicle targets that incorporate such characteristics should
ensure that the characteristics are comparable to typical vehicles represented by the target.
Characterization of these properties should follow the steps below:
1) measurement of typical vehicles,
2) establishment of boundaries,
3) verification that the vehicle target FIR measurements are within the specified boundaries.
6.5 Calibration
The vehicle target manufacturer shall provide a certificate detailing which test information has been
used to verify the product performance and which sensor technologies it conforms to. Target should
comply to this document with a certificate.
8 © ISO 2021 – All rights reserved

Calibration shall be based on representative characteristics of the applied detection technology as
described in 6.2, 6.3 and 6.4, and the related annexes.
6.6 Field verification
For field verification of vehicle target functionality, see Annex E.
7 Motion and positioning during test for VT including target carrier system
7.1 General requirements
The target carrier system shall be capable of positioning the target within tolerances required by
the test procedure application. Repeatable test performance requires that subject and vehicle target
relative speed and position be consistent between test repetitions. Unless more stringent requirements
are needed by a specific test procedure, the positioning requirements outlined in this section are the
minimum requirements for the vehicle target. Recommendations for measurement equipment are
given in Annex D.
The following requirements should be fulfilled by the target carrier system.
— All visible parts of the target carrier system should be coloured to minimize the contrast with
background, e.g. grey, to approximate the test area road surface. In case of a uniform background
the colour shade of the background can be used.
— The target carrier system and resulting motion of the vehicle target shall minimally affect target
characteristics (radar, optical signature, etc).
— The target carrier shall accelerate and decelerate in a smooth manner, except for actions intended
to avoid impact or damage.
The requirements in this clause are applicable to all speed ranges. The positioning requirements in 7.2
and 7.3 are with reference to a coordinate system oriented with the vehicle target. The longitudinal
axis is parallel with the direction of travel, see Figure 2.
7.2 Longitudinal positioning
7.2.1 Speed range for operation
The steady state speed control accuracy shall be ± 1 km/h (± 0,3 m/s) for the speed classes in Table 1.
7.2.2 Accelerations
2 2
Deceleration/braking of at least 6 m/s is required. Acceleration of at least 1 m/s is recommended.
7.3 Lateral positioning
7.3.1 General
The vehicle target shall be able to meet the lateral positioning requirements in 7.3.2 and 7.3.3 while
operating in the speed range defined in 7.2.1 over a smooth road surface no rougher than road class A
as defined in ISO 8608.
7.3.2 Yaw rate
When using a self-propelled target carrier, the vehicle target shall be capable of maintaining a straight-
line path with a filtered yaw rate of ±1°/s.
7.3.3 Lateral position
The vehicle target shall be able to maintain a lateral path deviation of ±0,1 m during straight line
manoeuvres or during a steady-state turning manoeuvre.
7.3.4 Lateral acceleration
The vehicle target shall be able to achieve a lateral acceleration of ±4 m/s during turning manoeuvres.
The relative roll angle between the target structure and target carrier should be minimal during
manoeuvres performed within the operating capabilities of the target carrier.
7.3.5 Turning diameter
When using a self-propelled target carrier, the vehicle target shall be capable of a minimum turning
diameter no greater than 12 m.
7.4 Vertical positioning
7.4.1 General
The vehicle target shall be able to meet the vertical positioning requirements in 7.4.2 and 7.4.3 while
operating in the speed range defined in 7.2.1 over a smooth road surface no rougher than road class A
as defined in ISO 8608.
7.4.2 Pitch angle
For straight line motions at constant speed, the pitch angle of the VT shall not exceed ±2°.
7.4.3 Vertical motions
The vehicle target average surface should not vibrate or bounce more than 25 mm when operating in
the speed range defined in 7.2.1 over a smooth road surface.
10 © ISO 2021 – All rights reserved

Annex A
(informative)
Vehicle classes and dimensions
A.1 Overview of vehicle sizes and classes
The vehicle targets specified in this document reflect passenger cars and, in particular, the smaller
and more common B and C segment cars. References for requirements in the document are based
on a sample of vehicles from the relevant class. The criteria apply to the target structure, connected
target carrier system components and installed instrumentation. The vehicle classes referred to in the
document are given in Table A.1.
Table A.1 — Vehicle classes
Vehicle class
a
Example vehicles
b c
EU Segment US Euro NCAP
A - Mini car Minicompact City car Ford Ka, Smart Fortwo, Toyota Aygo, Volkswagen
car Up
B - Small car Subcompact car Supermini Ford Fiesta, Volkswagen Polo, Opel Corsa, Peugeot
C - Medium car Compact car Small family car Ford Focus, Volkswagen Golf, Opel Astra, Volvo
V40
D - Large car Midsize car Large family car Ford Mondeo, Hyundai Sonata, Opel Insignia, Alfa
Romeo 159, Mercedes C-Class, BMW 3 Series, Volvo
S60
E - Executive car Full size car Executive car Lexus GS, BMW 5 Series, Jaguar XF, Volvo S80
J - Sports utility car Mid-size SUV Small off-road 4x4 Ford Escape, Honda CR-V, Jeep Liberty, Kia
Sportage
Full-size SUV Large off-road 4x4
Jeep Grand Cherokee, Volkswagen Touareg, Volvo
XC90
M - Multipurpose MPV Small MPV Citroën C3 Picasso, Ford B-Max, Renault Kangoo
car
Minivan Large MPV VW Touran, Ford C-Max, Renault Scenic
Cargo van Ford Galaxy, Peugeot 807, SEAT Alhambra
a
Vehicle models mentioned are for the convenience of users of this document and does not constitute an endorsement of
the products named.
b
For explanation of the EU vehicle classes, see EU car segment. For EU segment statistics, see ACEA.
c
The US classes are defined in Reference [6].
A.2 Measurements on representative vehicles
Dimensional data from measurements carried out during the development of this document are shown
in Tables A.2 to A.4 below.
Dimensions in millimetres
Table A.2 — Vehicle measurement summary and typical target values, side
DRI target 4a target
a
No. Measurement Minimum Maximum Mean
(typical) (typical)
1 Length 3 734 4 420 4 075 4 023 4 000
2 Wheelbase 2 464 2 692 2 582 2 565 2 650
3 Roof beginning 1 600 2 134 1 941 1 727 1 950
4 Height 1 422 1 520 1 474 1 427 1 450
5 Height, Engine hood 630 889 710 661 700
6 Ground clearance 160 229 190 185 225
43 Tire diameter 570 635 608 607 620
44 Side mirror, lower edge 880 965 924 892 880
45 Side mirror, front edge 940 1 600 1 245 1 140 1 160
46 Side mirror, height 120 152 143 132 130
47 Side mirror, length 102 270 190 229 205
53 Front overhang 520 940 704 787 608
Graphic features
7 Side window, lower edge 900 1 080 964 914 860
8 Side window, top edge 1 370 1 461 1 418 1 371 1 385
41 Side window, front edge 965 1 500 1 186 1 294 1 030
42 Side window, length 1 930 2 616 2 313 2 413 2 280
a
See Figure A.1.
NOTE Numbers refer to Table A.2.
Figure A.1 — Side view measurements
12 © ISO 2021 – All rights reserved

Dimensions in millimetres
Table A.3 — Vehicle measurement summary and typical target values, front
DRI target 4a target
a
No. Measurement Minimum Maximum Mean
(typical) (typical)
16 Windshield, lower edge 940 1 100 1 009 951 950
50 License plate, lower edge 300 400 347 298 310
15 Tire width 178 280 209 206 160
51 Width, including side mirrors 1 930 2 159 2 048 1 829 2 010
52 Side mirror width 203 305 256 203 240
Graphic features
9 Headlight, top edge 650 914 797 813 880
10 Headlight, lower edge 550 750 627 572 600
11 Headlight, width 229 770 519 305 600
12 Distance between headlights 810 1 080 928 851 900
13 Fog light, top edge 356 460 397 457 380
14 Fog light, lower edge 260 370 300 267 280
48 Fog light, width 76 400 207 102 110
49 Fog light, distance between 940 1 690 1 161 1 219 1 040
a
See Figure A.2.
NOTE Numbers refer to Table A.3.
Figure A.2 — Front view measurements
Dimensions in millimetres
Table A.4 — Vehicle measurement summary and typical target values, rear
DRI target 4a target
a
No. Measurement Minimum Maximum Mean
(typical) (typical)
19 Width 1 575 1 803 1 668 1 712 1 650
20 Roof width 914 1 270 1 104 1 128 1 150
29 License plate, lower edge 370 787 614 775 570
Graphic features
b
21 Rear light , top edge 914 1 194 1 048 1 194 1 130
b
22 Rear light , lower edge and separate 686 900 781 851 730
retro-reflector upper edge
b
23 Rear light , width 178 900 441 229 340
24 Distance between rear lights and 720 1 143 1 000 1 041 1 110
distance between retroreflectors
25 High centre taillight, lower edge 23 330 92 102 120
26 High centre taillight, top edge 20 51 31 25 40
27 High centre taillight, width 229 470 341 170 300
30 Separate retro-reflector width 70 300 220 250 180
31 Separate retro-reflector lower edge 350 820 490 500 360
32 Separate retro-reflector side posi- N/A 250 80 0 100
tion
33 Reflector area, cm 48 120 74 89 81
a
See Figure A.3.
b
Including retroreflectors (if applicable).
14 © ISO 2021 – All rights reserved

NOTE Numbers refer to Table A.4.
Figure A.3 — Rear view measurements
Annex B
(normative)
Visual and near infrared sensor-specific recognition properties
and measurements
B.1 General
The vehicle target (VT) shall be able to represent the attributes of a reference vehicle in relation to
the sensors used in the subject vehicle (SV). This also applies after repeated reassemblies. For system
testing with a certain detection technology in the SV, the VT shall be equipped with the relevant
corresponding features given below.
Since some test procedures refer to a white body colour of the target, this document provides details on
the white colour. Other colours are allowed but are not defined in this document.
B.2 Visual and near infrared properties
B.2.1 Overall visual properties
The following requirements and recommendations apply, to enable a proper recognition with regard to
visual detection (see also Figure B.1).
— The visual difference between the passenger car target and a real standard car of the B and C class
should be as small as possible.
— The contours of the target should be representative of real standard cars of the B and C class.
— The target should demonstrate a high level of vertical symmetry.
— The body surface texture should be smooth.
— The colour and the texture should not blend in with the background.
— The wheels, consisting of tire and rim, shall be round and of realistic dimensions. They shall be
visible from both behind and from each side.
— Tire, rim and wheel casing shall differ in colour to create a visual distinction.
— The target shall give the appearance of a free space between chassis and road. Approximately
200 mm is recommended.
— As the VT shall represent reflections of a real car, the windows (windscreen, side windows, rear
window) should give the impression of being transparent. The interior of a real car (seat, steering
wheel, rear view mirror) may be indicated.
B.2.2 License plate
— The VT shall include a visual representation of a license plate.
— The license plate shall be representative of the region for which the VT is intended, with respect to
size, colour, position and reflectivity.
— Where feasible, the VT should be equipped with a real license plate. A license plate shall not be
mounted behind a transparent plastic foil.
16 © ISO 2021 – All rights reserved

— In case of using foil/sticker material, its size and position shall be equal to size and position of a
standard registration plate for the region of sale for the subject vehicle [e.g. 520 mm x 110 mm in
Europe, 305 mm x 152 mm (12 in x 6 in) in North America].
B.2.3 Lighting and retroreflectors
— The passenger car target shall include a visual representation of rear retroreflectors and rear
lighting.
— The retroreflectors and lighting shall be representative of the region for which the VT is intended,
with respect to size, colour, placement and reflectivity.
— Functional rear lights and brake lights can optionally be implemented.
— Optionally, a reflective foil colour “red” can be used (meeting the specifications of UN R104 or
FMVSS 108).
— Retroreflectors shall be implemented in a realistic manner using a retro-reflective element or
similar. Retroreflectors may be integrated in the rear lights or separated from the rear lights.
Key
1 smooth body surface without texturing
2 transparent impression of windows
3 characteristic shadow visible
4 visual representation of reflective lights
5 real/retroreflective license plate
6 wheels of realistic dimensions
Figure B.1 — Vehicle target visual properti
...