ISO 17361:2007

Intelligent transport systems — Lane departure warning systems — Performance requirements and test procedures

ISO 17361:2007 specifies the definition of the system, classification, functions, human-machine interface (HMI) and test methods for lane departure warning systems. These are in-vehicle systems that can warn the driver of a lane departure on highways and highway-like roads. The subject system, which may utilize optical, electromagnetic, GPS or other sensor technologies, issues a warning consistent with the visible lane markings. The issuance of warnings at roadway sections having temporary or irregular lane markings (such as roadwork zones) is not within the scope of ISO 17361:2007. ISO 17361:2007 applies to passenger cars, commercial vehicles and buses. The system will not take any automatic action to prevent possible lane departures. Responsibility for the safe operation of the vehicle remains with the driver.

Systèmes intelligents de transport — Systèmes d'avertissement de départ de ruelle — Exigences de performance et méthodes d'essai

General Information

• Status: Withdrawn
• Publication Date: 14-Jan-2007
• Withdrawal Date: 14-Jan-2007
• ICS: 03.220.20 - Road transport
• ICS: 35.240.60 - IT applications in transport
• Technical Committee: ISO/TC 204 - Intelligent transport systems
• Drafting Committee: ISO/TC 204/WG 14 - Vehicle/roadway warning and control systems
• Current Stage: 9599 - Withdrawal of International Standard
• Completion Date: 06-Jun-2017

Relations

• Revised: ISO 17361:2017 - Intelligent transport systems — Lane departure warning systems — Performance requirements and test procedures
• Effective Date: 10-Dec-2016

Standards Content (Sample)

INTERNATIONAL ISO
STANDARD 17361
First edition
2007-02-01

Intelligent transport systems — Lane
departure warning systems —
Performance requirements and test
procedures
Systèmes intelligents de transport — Systèmes d'avertissement de
départ de ruelle — Exigences de performance et méthodes d'essai



Reference number
ISO 17361:2007(E)
©
ISO 2007

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ISO 17361:2007(E)
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©  ISO 2007
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ISO 17361:2007(E)
Contents Page
Foreword. iv
Introduction . v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions. 1
4 Specifications and requirements . 5
4.1 System functions. 5
4.2 System classification . 6
4.3 Requirements . 6
4.4 Optional functions . 8
5 Test method. 9
5.1 Test environment conditions. 9
5.2 Test course conditions. 9
5.3 Test vehicle conditions . 9
5.4 Test system installation and configuration. 9
5.5 Test procedure . 9
5.6 Criteria for passing the tests . 11
Annex A (informative) National road markings . 13
Bibliography . 19

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ISO 17361:2007(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.
International Standards are drafted in accordance with the rules given in the ISO/IEC Directives, Part 2.
The main task of technical committees is to prepare International Standards. Draft International Standards
adopted by the technical committees are circulated to the member bodies for voting. Publication as an
International Standard requires approval by at least 75 % of the member bodies casting a vote.
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.
ISO 17361 was prepared by Technical Committee ISO/TC 204, Intelligent transport systems.
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ISO 17361:2007(E)
Introduction
Lane departure warning systems (LDWSs) are based on fundamental traffic rules. The main focus of an
LDWS is to help the driver keep the vehicle in the lane on highways and highway-like roads. Accordingly, a
warning is issued to alert the driver in case of lane departure caused by, for example, inattention. LDWSs are
not intended to issue warnings with respect to collisions with other vehicles or to control vehicle motions.
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INTERNATIONAL STANDARD ISO 17361:2007(E)

Intelligent transport systems — Lane departure warning
systems — Performance requirements and test procedures
1 Scope
This International Standard specifies the definition of the system, classification, functions, human–machine
interface (HMI) and test methods for lane departure warning systems. These are in-vehicle systems that can
warn the driver of a lane departure on highways and highway-like roads. The subject system, which may
utilize optical, electromagnetic, GPS or other sensor technologies, issues a warning consistent with the visible
lane markings. The issuance of warnings at roadway sections having temporary or irregular lane markings
(such as roadwork zones) is not within the scope of this International Standard. This International Standard
applies to passenger cars, commercial vehicles and buses. The system will not take any automatic action to
prevent possible lane departures. Responsibility for the safe operation of the vehicle remains with the driver.
2 Normative references
The following referenced documents are indispensable for the application 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 15037-1, Road vehicles — Vehicle dynamics test methods — Part 1: General conditions for passenger
cars
ISO 15037-2, Road vehicles — Vehicle dynamics test methods — Part 2: General conditions for heavy
vehicles and buses
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
3.1
lane
area of roadway that a vehicle would be expected to travel along in the absence of any obstruction without the
driver’s desire to change the path of travel
3.2
visible lane marking
delineators intentionally placed on the borderline of the lane that are directly visible by the driver while driving
(i.e. not covered by snow, etc.)
NOTE Annex A gives country-specific visible lane-marking definitions.
3.3
incidental visible road feature
visible patterns on the road surface that were not explicitly intended to delineate the boundaries of the lane but
which are indicative of the position of the lane
NOTE These include such features as pavement seams or edges, kerbs, and tracks or ruts left by previous vehicles.
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ISO 17361:2007(E)
3.4
lane boundary
borderline of the lane, situated at the centre of a visible lane marking or, in the absence of a visible lane
marking, determined by incidental visible road features or other means such as GPS, magnetic nails, etc.
3.5
default lane width
predetermined width given to a lane when a visible lane marking exists only on one side of the lane and no
other lane boundaries are detected by the system
3.6
departure
situation in which the outside of one of the front wheels of a vehicle or of the leading part of an articulated
vehicle – or, in the case of a three-wheeled vehicle, the outside of one of the wheels on the axle with the
widest track – is crossing a specified line
3.7
lane departure
point of departure across the lane boundary
3.8
rate of departure, V
subject vehicle’s approach velocity at a right angle to the lane boundary at the warning issue point
3.9
time to line crossing
TTLC
calculated time to lane departure
EXAMPLE The simplest method of calculating TTLC is to divide the lateral distance, D, between the predetermined
part of the vehicle and the lane boundary by the rate of departure, V, of the vehicle relative to the lane.
3.10
warning issue point
measured location and time at which a warning starts to be issued
3.11
warning threshold
location where the warning is issued on the road, which corresponds to a warning trigger point set in the
system
NOTE 1 In the case of TTLC, the warning threshold shifts depending on the rate of departure.
NOTE 2 The warning threshold is placed within the warning threshold placement zone (see Figure 1).
3.12
warning threshold placement zone
zone between the earliest and the latest warning lines within which the warning threshold is placed
NOTE There is one warning threshold placement zone around the left lane boundary and one around the right lane
boundary (see Figure 1).
3.13
warning condition
condition in which departure across the warning threshold occurs
NOTE See Figure 2.
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ISO 17361:2007(E)
3.14
repeatability
ability of a certain percentage of warnings issued by the system to consistently fall within a given range
3.15
false alarm
alarm that is issued when the warning conditions have not been fulfilled
3.16
earliest warning line
innermost limit of the warning threshold
3.17
latest warning line
outermost limit of the warning threshold
3.18
no warning zone
zone between the two earliest warning lines
3.19
suppression request
driver request or system feature intended to prevent a lane departure warning if an intended lane departure is
detected
3.20
lane departure warning
warning given to the driver in accordance with the lane departure warning condition in the absence of
suppression requests
3.21
system incapable
state of the system in which it is unable to warn the driver of a lane departure due to temporary conditions
3.22
status indication
indication of system status
NOTE Examples of status indication are on/off, failure and incapable.
3.23
haptic warning
warning that stimulates the driver’s sense of touch, vibration, force and motion
NOTE Steering wheel motion, steering wheel vibration, seat vibration and pedal vibration are examples of haptic
warnings.
3.24
curve cutting
act of driving to the inner side of a curve, which can lead to an intentional lane departure
3.25
visibility
distance at which the illuminance of a non-diffusive beam of white light with a colour temperature of 2 700 K is
decreased to 5 % of its original light source illuminance
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ISO 17361:2007(E)

Key
1 lane boundary (see 3.4)
2 warning threshold placement zone (see 3.12)
3 earliest warning line (see 3.16)
4 latest warning line (see 3.17)
5 no warning zone (see 3.18)
6 warning threshold (for reference only) (see 3.11)
Figure 1 — Concept of warning thresholds and warning threshold placement zones
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ISO 17361:2007(E)

Key
1 lane boundary (see 3.4)
2 lane departure (see 3.7)
3 warning threshold (see 3.11)
4 earliest warning line (see 3.16)
5 latest warning line (see 3.17)
a
When warning condition is fulfilled here, and there is no suppression request, a lane departure warning is issued.
Figure 2 — Illustration of warning issue definitions
4 Specifications and requirements
4.1 System functions
The functional elements of a lane departure warning system shall be in accordance with Figure 3.
The suppression request, vehicle speed detection, driver preference and other additional functional elements
are optional.
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ISO 17361:2007(E)

1 Minimum requirement.
2 Optional function.
Figure 3 — Functional elements
4.2 System classification
Lane departure warning systems are classified as shown in Table 1. They shall be able to give warning under
at least one of the curvature conditions in Table 1.
Table 1 — Classification types
Class
Parameter
I II
Radius of curvature W 500 m W 250 m
Vehicle speed W 20 m/s W 17 m/s
4.3 Requirements
4.3.1 Basic requirements
The system shall perform at a minimum the following functions.
a) Monitor system status for system failure, system incapable and system on/off (if switch is installed)
conditions.
b) Indicate system status to the driver.
c) Detect the lateral position of the subject vehicle relative to the lane boundary.
d) Determine if the warning condition is fulfilled.
e) Warn the driver.
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ISO 17361:2007(E)
4.3.2 Operational requirements
The following operational requirements apply.
a) The system shall warn the driver when the warning condition is fulfilled.
b) The latest warning line is located 0,3 m outside of the lane boundary for passenger cars and 1 m outside
of the lane boundary for trucks and buses.
c) The earliest warning line is located as specified in Figure 4 and Table 2.
d) The warning shall be consistently produced around the warning threshold as verified in 5.5.2.
e) False alarms shall be minimized as verified in 5.5.2.
f) A Class I system shall be operable at speeds equal to or above 20 m/s and a Class II system shall be
operable at speeds equal to or above 17 m/s. The system may operate at lower vehicle speeds.

Key
D maximum distance inside the lane boundary (m)
V rate of departure (m/s)
Figure 4 — Location of earliest warning line
Table 2 — Location of earliest warning line
Rate of departure, V Maximum distance inside the lane boundary
m/s m
0 < V u 0,5 0,75
a
0,5 < V u 1,0 1,5 × V
1,0 m/s < V 1,5
a
TTLC multiplied by rate of departure. See 3.9.
4.3.3 Human interface requirements
The following human interface requirements apply.
a) Warning presentation.
⎯ An easily perceivable haptic and/or audible warning shall be provided.
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ISO 17361:2007(E)
b) Interference with other warnings.
⎯ Even when a vehicle is equipped with LDWS along with other warning systems such as FVCWS
(Forward Vehicle Collision Warning System), the warning shall be clearly distinguishable to the driver
by a haptic, audible or visual modality, or any combination thereof.
c) Indication of the system status.
⎯ The system status shall be indicated to the driver.
⎯ The system status indication shall be easy to understand for the driver.
⎯ If a failure is detected during system start-up or operation, or a system incapable is detected during
operation, the driver shall be informed.
⎯ Any symbol used to notify the driver shall be a standard symbol. For example, if a symbol is used to
indicate that a system incapable condition exists, the symbol shall be the standard symbol for that
message.
d) The owner’s manual shall describe the minimum vehicle speed at which the system operates and the
conditions for a system incapable.
4.4 Optional functions
The following are optional functions of lane departure warning systems.
a) The system may be fitted with a system on/off control that can be operated by the driver at all times.
b) The system may detect the suppression request to minimize nuisance warnings. The suppression request
is issued, for example, if the driver operates a turn signal, is braking or is engaged in other high-priority
manoeuvres such as crash avoidance manoeuvres.
c) The system may give an indication to the driver when warnings are suppressed.
d) Subject vehicle speed can be optionally detected for uses including suppression of warnings below the
speeds identified in 4.3.2 f).
e) On roadways that contain only one lane marking, the system may use a default lane width to establish a
virtual lane marking on the opposite side from the visible lane marking to issue warnings, or system
incapable may be reported to the driver.
f) The warning threshold may be adjustable within the warning threshold placement zone.
g) While driving in a curve, the system may move the warning threshold farther
...