ISO 16505:2019
(Main)Road vehicles — Ergonomic and performance aspects of Camera Monitor Systems — Requirements and test procedures
Road vehicles — Ergonomic and performance aspects of Camera Monitor Systems — Requirements and test procedures
This document gives minimum safety, ergonomic, and performance requirements for Camera Monitor Systems to replace mandatory inside and outside rearview mirrors for road vehicles (e.g. classes I to IV as defined in UN Regulation No. 46). It addresses Camera Monitor Systems (CMS) that will be used in road vehicles to present the required outside information of a specific field of view inside the vehicle. These specifications are intended to be independent of different camera and display technologies unless otherwise stated explicitly. Advanced driver assistance systems (ADAS), such as parking aids, are not part of this document. NOTE 1 Mirror classes V and VI (as defined in UN Regulation No. 46) are not in scope of this document since the requirements are already defined in UN Regulation No. 46. NOTE 2 The definitions and requirements in this document are formulated with regard to a system structure, where one camera captures one legally prescribed field of view and one monitor displays one legally prescribed field of view. Of course, also other system structures (e.g. with one monitor displaying two legally prescribed fields of view) are within the scope of this document. For those systems, either the system supplier or the vehicle manufacturer has to prove that the resulting system fulfils the requirements given in Clause 6. NOTE 3 Whenever the phrases "field of view" or "field of vision" are used, then both have the same meaning and are to be used in parallel.
Véhicules routiers — Aspects ergonomiques et de performance des caméras embarquées — Exigences et procédures d'essai
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Standards Content (Sample)
INTERNATIONAL ISO
STANDARD 16505
Second edition
2019-07
Road vehicles — Ergonomic and
performance aspects of Camera
Monitor Systems — Requirements and
test procedures
Véhicules routiers — Aspects ergonomiques et de performance des
caméras embarquées — Exigences et procédures d'essai
Reference number
ISO 16505:2019(E)
©
ISO 2019
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ISO 16505:2019(E)
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© ISO 2019
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ii © ISO 2019 – All rights reserved
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ISO 16505:2019(E)
Contents Page
Foreword .v
Introduction .vi
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
3.1 Vehicle related terms and definitions . 1
3.2 Mirror related terms and definitions . 2
3.3 Camera related terms and definitions .12
3.4 Monitor related terms and definitions .15
3.5 Camera Monitor System based terms and definitions .23
4 Symbols and abbreviated terms .33
5 General information and use case definitions.36
6 Requirements .40
6.1 System documentation.40
6.2 Intended use .41
6.2.1 Default view .41
6.2.2 Adjusted default view .41
6.2.3 Temporary modified view .41
6.2.4 Luminance and contrast adjustment .42
6.2.5 Overlays .42
6.3 Operating readiness (system availability).42
6.4 Field of view .43
6.5 Magnification and resolution .43
6.5.1 Average magnification factor .43
6.5.2 Minimum magnification factor .43
6.5.3 Resolution (MTF) .44
6.6 Magnification aspect ratio .45
6.7 Monitor integration inside the vehicle .45
6.8 Image quality .46
6.8.1 Monitor isotropy .46
6.8.2 Luminance and contrast rendering .47
6.8.3 Colour rendering .47
6.8.4 Artefacts .48
6.8.5 Sharpness and depth of field .49
6.8.6 Geometric distortion .49
6.8.7 Further image quality requirements .50
6.9 Time behaviour .50
6.9.1 Frame rate.50
6.9.2 Image formation time .50
6.9.3 System latency .50
6.10 Failure behaviour .50
6.11 Quality and further ergonomic requirements . .50
6.11.1 Needs of older persons .51
6.12 Influences from weather and environment .51
7 Test methods .51
7.1 System documentation.51
7.2 Intended use .51
7.2.1 Default view .51
7.2.2 Adjusted default view .51
7.2.3 Temporary modified view .52
7.2.4 Luminance and contrast adjustment .52
7.2.5 Overlays .52
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ISO 16505:2019(E)
7.3 Operating readiness (system availability).52
7.4 Field of view .54
7.5 Magnification and resolution .54
7.5.1 Average magnification factor .54
7.5.2 Minimum magnification factor .55
7.5.3 Resolution (MTF) .57
7.6 Magnification aspect ratio .60
7.7 Monitor integration inside the vehicle .60
7.8 Image quality .61
7.8.1 Monitor isotropy .61
7.8.2 Luminance and contrast rendering .63
7.8.3 Colour rendering .71
7.8.4 Artefacts .74
7.8.5 Sharpness, resolution, and depth of field .75
7.8.6 Geometric distortion .77
7.8.7 Further Image quality requirements .77
7.9 Time behaviour .77
7.9.1 Frame rate.77
7.9.2 Image formation time .77
7.9.3 System latency .77
7.10 Failure behaviour .78
7.11 Quality and further ergonomic requirements . .79
7.11.1 Needs of older persons .79
7.12 Influences from weather and environment .79
8 Functional safety .79
Annex A (normative) Standard application on UN Regulation No. 46 class II and IV mirrors
in commercial vehicles .80
Annex B (informative) Formula applications, explanations, and guidelines .85
Annex C (informative) Calculation of the dimensional magnification and of a correction
factor to obtain the angular magnification .120
Annex D (informative) Complementary information for resolution measurement .125
Annex E (informative) Correlation between Resolution (MTF) and spatial frequency
measured using SFR method for depth of field evaluation or sharpness evaluation .134
Annex F (informative) Complementary charts and method for long distance measurements .139
Annex G (informative) Distortion measurement .142
Bibliography .149
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ISO 16505:2019(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).
Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
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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 35,
Lighting and visibility.
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.
This second edition cancels and replaces the first edition (ISO 16505:2015), of which it constitutes a
minor revision.
The main changes compared to the previous edition are as follows:
— 6.1 has been added, and all subsequent subclauses in Clause 6 have been renumbered, in order to
align with the subclause structure in Clause 7.
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 16505:2019(E)
Introduction
The purpose of this document is to give minimum safety, ergonomic, and performance requirements
and test methods for Camera Monitor Systems (CMS) to replace mandatory inside and outside rearview
mirrors for road vehicles (e.g. classes I to IV as defined in UN Regulation No. 46). This document can
follow updates of referred national regulations that influence the included contents.
Where possible, the requirements established for a CMS providing a specific legally prescribed field of
view are based on the properties of conventional state of the art mirror systems providing that field
of view.
The CMS is treated as a functional system in regard to requirement definitions and performance tests.
This document outlines general requirements and test methods regarding the basic aspects of CMS;
e.g. intended use, operating readiness, field of view, magnification, etc.
Furthermore, this document outlines requirements and test methods regarding the necessary object
size and resolution provided by the CMS. Besides the properties of the mirror system to be replaced,
those requirements are also based on physical aspects of the human operator (e.g. visual acuity).
The given requirements follow the assumption, that the CMS provides an ideal mapping of the real-
world scene. To correspond to reality, this document also provides requirements and test methods for
all relevant parameters that worsen the ideal mapping (e.g. isotropy or artefacts).
Finally, this document gives requirements and test methods regarding the aspects of time behaviour
and failure behaviour.
All requirements are established to be as generic as possible, i.e. that these are possible to apply to any
of the covered rearview mirrors. If additional or specific information is required for certain mirrors,
these are provided in separate annexes.
This document declares that CMS replacing legally prescribed mirrors have to be considered as safety-
relevant systems and therefore, relevant safety standards (e.g. ISO 26262) have to be considered.
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INTERNATIONAL STANDARD ISO 16505:2019(E)
Road vehicles — Ergonomic and performance aspects
of Camera Monitor Systems — Requirements and test
procedures
1 Scope
This document gives minimum safety, ergonomic, and performance requirements for Camera Monitor
Systems to replace mandatory inside and outside rearview mirrors for road vehicles (e.g. classes I to IV
as defined in UN Regulation No. 46). It addresses Camera Monitor Systems (CMS) that will be used in
road vehicles to present the required outside information of a specific field of view inside the vehicle.
These specifications are intended to be independent of different camera and display technologies unless
otherwise stated explicitly. Advanced driver assistance systems (ADAS), such as parking aids, are not
part of this document.
NOTE 1 Mirror classes V and VI (as defined in UN Regulation No. 46) are not in scope of this document since
the requirements are already defined in UN Regulation No. 46.
NOTE 2 The definitions and requirements in this document are formulated with regard to a system structure,
where one camera captures one legally prescribed field of view and one monitor displays one legally prescribed
field of view. Of course, also other system structures (e.g. with one monitor displaying two legally prescribed
fields of view) are within the scope of this document. For those systems, either the system supplier or the vehicle
manufacturer has to prove that the resulting system fulfils the requirements given in Clause 6.
NOTE 3 Whenever the phrases “field of view” or “field of vision” are used, then both have the same meaning
and are to be used in parallel.
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:
— ISO Online browsing platform: available at https: //www .iso .org/obp
— IEC Electropedia: available at http: //www .electropedia .org/
3.1 Vehicle related terms and definitions
3.1.1
vehicle
vehicle with a combustion engine and/or electric driving motor, intended for use on the road, with or
without external body components added, having a permissible maximum mass of at least 400 kg and a
maximum design speed equal to or exceeding 50 km/h
Note 1 to entry: Vehicles of categories M1, M2, M3, N1, N2 and N3 (see UN Regulation No. 46).
[SOURCE: ISO 13043:2011, 3.1]
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ISO 16505:2019(E)
3.1.2
vehicle coordinate system
positive x-axis pointing into the opposite of the forward movement direction of the vehicle, the z-axis
being orthogonal to the ground plane pointing upwards and the y-axis pointing to the right seen in
forward movement direction thus forming a right-handed coordinate system
3.1.3
driver’s ocular points
points that are uniquely defined for each vehicle
Note 1 to entry: See Figure 1.
Note 2 to entry: These points are related to data given by the vehicle manufacturer following definitions of the
responsible national body.
EXAMPLE “The driver’s ocular points” means two points 65 mm apart and 635 mm vertically above point R
of the driver’s seat as defined in Annex B. The straight line joining these points runs perpendicular to the vertical
longitudinal median plane of the vehicle. The centre of the segment joining the two ocular points is in a vertical
longitudinal plane which has to pass through the centre of the driver’s designated seating position, as specified
by the vehicle manufacturer.
3.1.4
driver ocular reference point
ORP
middle point between the two ocular points of the driver
Note 1 to entry: See Figure 1.
a
Ocular points.
b
Ocular reference point.
Figure 1 — Driver ocular reference point
EXAMPLE The two ocular points of the driver uses 635 mm vertically above point R as shown in the example
given in driver’s ocular points (3.1.3).
3.2 Mirror related terms and definitions
3.2.1
mirror
device with a reflective surface mounted to the bodywork of a vehicle
Note 1 to entry: It is used to see the required outside information of a specific field of view by indirect vision.
Note 2 to entry: The definitions from mirror distance to driver ocular reference point (3.2.2) to mirror angular
resolution (3.2.28) assume an ideal mirror and do not deal with artefacts like low quality surface, dirt, etc.
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ISO 16505:2019(E)
3.2.2
mirror distance to driver ocular reference point
distance from the driver ocular reference point to the centre of the mirror
Note 1 to entry: See Figure 2.
Note 2 to entry: It is denoted as a and is measured in metres.
mirror
Note 3 to entry: The mirror distance to driver ocular reference point influences the resolution and the
magnification requirements for a CMS replacing a mirror. The designed resolution and magnification of a CMS
should take into account that this distance is usually lower than the maximum values given in the following
subclauses.
3.2.3
maximum mirror distance to driver ocular reference point
maximum value for a as found in existing homologated vehicles for the given mirror
mirror
class on the driver side
Note 1 to entry: It is denoted as a and is measured in metres:
mirror/driver/max
— for UN Regulation No. 46 class I mirrors, this value is defined as a = 1,05 m;
mirror/driver/max
— for UN Regulation No. 46 class II mirrors, this value is defined as a = 1,7 m;
mirror/driver/max
— for UN Regulation No. 46 class III mirrors, this value is defined as a = 1,2 m;
mirror/driver/max
— for UN Regulation No. 46 class IV mirrors, this value is defined as a = 1,7 m.
mirror/driver/max
Note 2 to entry: The above values represent the maximum distances for mass produced vehicles of MY 2013
(based upon 2013 survey).
Note 3 to entry: See B.6.2 for more information on the values for class II and class IV mirrors.
3.2.4
maximum mirror distance to driver ocular reference point
maximum value for a as found in existing homologated vehicles for the given
mirror
mirror class on the passenger side
Note 1 to entry: It is denoted as a and is measured in metres:
mirror/passenger/max
— for UN Regulation No. 46 class II mirrors, this value is defined as a = 2,6 m;
mirror/passenger/max
— for UN Regulation No. 46 class III mirrors, this value is defined as a = 1,9 m;
mirror/passenger/max
— for UN Regulation No. 46 class IV mirrors, this value is defined as a = 2,6 m;
mirror/passenger/max
— for main mirrors on cab-over-engine type trucks according to Article 44 of Japanese Safety Regulations for
Road Vehicles, this value is defined as a = 2,5 m;
mirror/passenger/max
— for main mirrors on motor vehicles with a passenger capacity of 11 persons or more according to Article 44
of Japanese Safety Regulations for Road Vehicles, this value is defined as a = 2,5 m.
mirror/passenger/max
— for mirrors on the other vehicle category in Japan refer to Article 44 of Japanese Safety Regulations for Road
Vehicles.
Note 2 to entry: The above values represent the maximum distances for mass produced vehicles of MY 2013(based
upon 2013 survey).
Note 3 to entry: See B.6.3 for more information on the values for class II and class IV mirrors.
Note 4 to entry: According to Article 44 of Japanese Safety Regulations for Road Vehicles main mirror means
“Those mirrors used mainly for observing obstacles showing up around the rear portion on the left side of the
vehicle”. See Figures B.5, B.6, and B.7.
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ISO 16505:2019(E)
3.2.5
mirror viewing angle
total angle between the ray leaving the eye-point and reaching an object after being reflected from
the mirror surface, i.e. two times the angle between the driver’s line of sight and the surface normal
of the mirror
Note 1 to entry: See Figure 3.
Note 2 to entry: It is denoted as β and
...
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