ISO 21202:2020
(Main)Intelligent transport systems — Partially automated lane change systems (PALS) — Functional / operational requirements and test procedures
Intelligent transport systems — Partially automated lane change systems (PALS) — Functional / operational requirements and test procedures
This document contains the basic control strategy, minimum functionality requirements, basic driver interface elements, minimum requirements for reaction to failure, and performance test procedures for PALS. PALS perform part or all of lane change tasks under the driver's initiation and supervision. PALS are intended to function on roads with visible lane markings, where non-motorized vehicles and pedestrians are prohibited (e.g. access controlled highway), and to perform a lane change into a lane with traffic moving in the same direction. Support on sections of roadway with temporary or irregular lane markings (such as roadwork zones) is not within the scope of this document. This document does not describe functionalities based on combinations with longitudinal control systems such as those standardized in ISO 22839 (FVCMS) or ISO 15622 (ACC). The driver always assumes responsibility for this system and the driver's decisions and operations take priority at all times. Use of PALS is intended for light-duty and heavy-duty vehicles (heavy trucks and buses). This document does not address any functional or performance requirements for detection sensors, nor any communication links for co-operative solutions.
Systèmes de transport intelligents — Systèmes de changement de voie partiellement automatisés (PALS) — Exigences fonctionnelles et opérationnelles et procédures d’essai
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INTERNATIONAL ISO
STANDARD 21202
First edition
2020-04
Intelligent transport systems —
Partially automated lane change
systems (PALS) — Functional /
operational requirements and test
procedures
Systèmes de transport intelligents — Systèmes de changement de
voie partiellement automatisés (PALS) — Exigences fonctionnelles et
opérationnelles et procédures d’essai
Reference number
©
ISO 2020
© ISO 2020
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: +41 22 749 01 11
Fax: +41 22 749 09 47
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland
ii © ISO 2020 – All rights reserved
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Symbols and abbreviated terms . 3
4.1 Symbols . 3
4.2 Abbreviated term . 3
5 Classification . 4
5.1 General . 4
5.1.1 Type I systems . 4
5.1.2 Type II systems . 4
6 Requirements . 5
6.1 General . 5
6.2 Functionality . 5
6.3 State transitions . 6
6.3.1 General. 6
6.3.2 PALS off state . 6
6.3.3 Transition from PALS off state to PALS stand-by state . 6
6.3.4 Transition from PALS stand-by state to PALS off state . 6
6.3.5 PALS stand-by state . 6
6.3.6 PALS active state. 6
6.3.7 Transition from PALS stand-by state to PALS active state . 7
6.3.8 Transition from PALS active state to PALS stand-by state . 7
6.3.9 Transition from PALS active state to PALS off state . 7
6.4 Driver interface and override capabilities . 7
6.4.1 System reaction . 7
6.4.2 Display elements . 8
6.5 Minimum performance . 8
6.5.1 Duration of the lane change manoeuvre . 8
6.5.2 Velocity for PALS operation . 8
6.5.3 Operational limit . 8
6.6 Failure reactions . 8
7 Performance evaluation test methods . 9
7.1 Environmental conditions . 9
7.2 Test course conditions . 9
7.3 Test vehicle conditions . 9
7.4 Test system installation and configuration . 9
7.5 Test procedures . 9
7.5.1 Parameters recoverable from data record . 9
7.5.2 Lane change test (types I and II) .10
7.5.3 Gap search test (type II only) .11
Bibliography .13
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 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.
iv © ISO 2020 – All rights reserved
Introduction
In general, driving assist systems and automated driving systems equipped in a vehicle reduce the
burden of the drivers and contribute to safe driving. For a lane change operation, there are many
drivers who are not good at performing a lane change. To support such drivers, Partially Automated
Lane Change Systems (PALS) execute an automatic lane change manoeuvre following the request of
the driver and under the supervision of the driver, on a road with visible lane markings, where non-
motorized vehicles and pedestrians are prohibited.
PALS acquire information not only on the position of the vehicle within the lane, but also on adjacent
lanes and obstacles in the vicinity of the subject vehicle (SV). PALS evaluate whether or not a lane change
to an adjacent lane is possible and send commands to the actuators which control lateral movement
of the vehicle to perform a lane change. This document specifies how PALS support drivers for a lane
change and describes PALS' operations.
INTERNATIONAL STANDARD ISO 21202:2020(E)
Intelligent transport systems — Partially automated
lane change systems (PALS) — Functional / operational
requirements and test procedures
1 Scope
This document contains the basic control strategy, minimum functionality requirements, basic driver
interface elements, minimum requirements for reaction to failure, and performance test procedures
for PALS.
PALS perform part or all of lane change tasks under the driver’s initiation and supervision. PALS
are intended to function on roads with visible lane markings, where non-motorized vehicles and
pedestrians are prohibited (e.g. access controlled highway), and to perform a lane change into a lane
with traffic moving in the same direction. Support on sections of roadway with temporary or irregular
lane markings (such as roadwork zones) is not within the scope of this document.
This document does not describe functionalities based on combinations with longitudinal control
systems such as those standardized in ISO 22839 (FVCMS) or ISO 15622 (ACC).
The driver always assumes responsibility for this system and the driver’s decisions and operations take
priority at all times.
Use of PALS is intended for light-duty and heavy-duty vehicles (heavy trucks and buses).
This document does not address any functional or performance requirements for detection sensors,
nor any communication links for co-operative solutions.
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 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
ISO 17387, Intelligent transport systems — Lane change decision aid systems (LCDAS) — Performance
requirements and test procedures
...
INTERNATIONAL ISO
STANDARD 21202
First edition
2020-04
Intelligent transport systems —
Partially automated lane change
systems (PALS) — Functional /
operational requirements and test
procedures
Systèmes de transport intelligents — Systèmes de changement de
voie partiellement automatisés (PALS) — Exigences fonctionnelles et
opérationnelles et procédures d’essai
Reference number
©
ISO 2020
© ISO 2020
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: +41 22 749 01 11
Fax: +41 22 749 09 47
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland
ii © ISO 2020 – All rights reserved
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Symbols and abbreviated terms . 3
4.1 Symbols . 3
4.2 Abbreviated term . 3
5 Classification . 4
5.1 General . 4
5.1.1 Type I systems . 4
5.1.2 Type II systems . 4
6 Requirements . 5
6.1 General . 5
6.2 Functionality . 5
6.3 State transitions . 6
6.3.1 General. 6
6.3.2 PALS off state . 6
6.3.3 Transition from PALS off state to PALS stand-by state . 6
6.3.4 Transition from PALS stand-by state to PALS off state . 6
6.3.5 PALS stand-by state . 6
6.3.6 PALS active state. 6
6.3.7 Transition from PALS stand-by state to PALS active state . 7
6.3.8 Transition from PALS active state to PALS stand-by state . 7
6.3.9 Transition from PALS active state to PALS off state . 7
6.4 Driver interface and override capabilities . 7
6.4.1 System reaction . 7
6.4.2 Display elements . 8
6.5 Minimum performance . 8
6.5.1 Duration of the lane change manoeuvre . 8
6.5.2 Velocity for PALS operation . 8
6.5.3 Operational limit . 8
6.6 Failure reactions . 8
7 Performance evaluation test methods . 9
7.1 Environmental conditions . 9
7.2 Test course conditions . 9
7.3 Test vehicle conditions . 9
7.4 Test system installation and configuration . 9
7.5 Test procedures . 9
7.5.1 Parameters recoverable from data record . 9
7.5.2 Lane change test (types I and II) .10
7.5.3 Gap search test (type II only) .11
Bibliography .13
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 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.
iv © ISO 2020 – All rights reserved
Introduction
In general, driving assist systems and automated driving systems equipped in a vehicle reduce the
burden of the drivers and contribute to safe driving. For a lane change operation, there are many
drivers who are not good at performing a lane change. To support such drivers, Partially Automated
Lane Change Systems (PALS) execute an automatic lane change manoeuvre following the request of
the driver and under the supervision of the driver, on a road with visible lane markings, where non-
motorized vehicles and pedestrians are prohibited.
PALS acquire information not only on the position of the vehicle within the lane, but also on adjacent
lanes and obstacles in the vicinity of the subject vehicle (SV). PALS evaluate whether or not a lane change
to an adjacent lane is possible and send commands to the actuators which control lateral movement
of the vehicle to perform a lane change. This document specifies how PALS support drivers for a lane
change and describes PALS' operations.
INTERNATIONAL STANDARD ISO 21202:2020(E)
Intelligent transport systems — Partially automated
lane change systems (PALS) — Functional / operational
requirements and test procedures
1 Scope
This document contains the basic control strategy, minimum functionality requirements, basic driver
interface elements, minimum requirements for reaction to failure, and performance test procedures
for PALS.
PALS perform part or all of lane change tasks under the driver’s initiation and supervision. PALS
are intended to function on roads with visible lane markings, where non-motorized vehicles and
pedestrians are prohibited (e.g. access controlled highway), and to perform a lane change into a lane
with traffic moving in the same direction. Support on sections of roadway with temporary or irregular
lane markings (such as roadwork zones) is not within the scope of this document.
This document does not describe functionalities based on combinations with longitudinal control
systems such as those standardized in ISO 22839 (FVCMS) or ISO 15622 (ACC).
The driver always assumes responsibility for this system and the driver’s decisions and operations take
priority at all times.
Use of PALS is intended for light-duty and heavy-duty vehicles (heavy trucks and buses).
This document does not address any functional or performance requirements for detection sensors,
nor any communication links for co-operative solutions.
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 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
ISO 17387, Intelligent transport systems — Lane change decision aid systems (LCDAS) — Performance
requirements and test procedures
...
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