ISO/DIS 19206-4

DRAFT INTERNATIONAL STANDARD
ISO/DIS 19206-4
ISO/TC 22/SC 33 Secretariat: DIN
Voting begins on: Voting terminates on:
2019-09-18 2019-12-11
Road vehicles — Test devices for target vehicles,
vulnerable road users and other objects, for assessment of
active safety functions —
Part 4:
Requirements for bicyclist targets

Véhicules routiers — Dispositifs d'essai pour véhicules cibles, usagers de la route vulnérables et autres

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Foreword ..........................................................................................................................................................................................................................................v

Introduction ................................................................................................................................................................................................................................vi

1 Scope ................................................................................................................................................................................................................................. 1

2 Normative references ...................................................................................................................................................................................... 1

3 Terms and definitions ..................................................................................................................................................................................... 1

4 Symbols and abbreviated terms ........................................................................................................................................................... 2

5 Bicyclist target specifications ................................................................................................................................................................. 2

5.1 Bicyclist target size .............................................................................................................................................................................. 2

5.2 Dimensions of the BT rider .......................................................................................................................................................... 3

5.3 Safety considerations ........................................................................................................................................................................ 3

5.4 Repairability and robustness ...................................................................................................................................................... 3

5.5 Environmental conditions ............................................................................................................................................................. 3

5.6 Postures and articulation ............................................................................................................................................................... 3

5.6.1 General...................................................................................................................................................................................... 3

5.6.2 Static posture ...................................................................................................................................................................... 3

6 Bicyclist target response to sensing technologies ............................................................................................................. 4

6.1 General ........................................................................................................................................................................................................... 4

6.2 Optical requirements ......................................................................................................................................................................... 4

6.2.1 General...................................................................................................................................................................................... 4

6.2.2 Reference measurements ......................................................................................................................................... 4

6.2.3 Colours and clothing ..................................................................................................................................................... 4

6.3 Radar requirements ............................................................................................................................................................................ 5

6.3.1 General...................................................................................................................................................................................... 5

6.3.2 Reference measurements ......................................................................................................................................... 5

6.3.3 Radar cross section measurement of BT ..................................................................................................... 5

6.3.4 Micro-Doppler effect for rotating wheels and pedalling of the BT ....................................... 6

6.4 Thermal requirements for far IR vision systems ....................................................................................................... 7

6.4.1 General...................................................................................................................................................................................... 7

6.4.2 Reference measurements ......................................................................................................................................... 7

6.4.3 Thermal characteristics ............................................................................................................................................. 7

6.5 Calibration and verification ......................................................................................................................................................... 7

7 Motion and positioning during test for BT including target carrier system ..........................................8

7.1 General requirements ....................................................................................................................................................................... 8

7.2 Longitudinal positioning ................................................................................................................................................................ 8

7.2.1 Speed range for operation ....................................................................................................................................... 8

7.2.2 Accelerations ....................................................................................................................................................................... 9

7.3 Lateral positioning ............................................................................................................................................................................... 9

7.3.1 General...................................................................................................................................................................................... 9

7.3.2 Heading angle ..................................................................................................................................................................... 9

7.3.3 Lateral position ................................................................................................................................................................. 9

7.4 Vertical positioning ............................................................................................................................................................................. 9

7.4.1 General...................................................................................................................................................................................... 9

7.4.2 Pitch angle ............................................................................................................................................................................. 9

7.4.3 Vertical motions ................................................................................................................................................................ 9

Annex A (normative) Adult and child bicyclist target dimensions and postures ...............................................10

Annex B (normative) Sensor-specific recognition properties ................................................................................................17

Annex C (normative) Bicyclist target measurements and measurement equipment ....................................23

Annex D (normative) Bicyclist target articulation properties ................................................................................................28

Annex E (informative) Verification of bicyclist target properties .......................................................................................29

Annex F (informative) Field verification of target properties ................................................................................................34

Annex G (informative) Example interface between target carrier and BT bicycle ............................................35

Bibliography .............................................................................................................................................................................................................................37

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This document was prepared by Technical Committee ISO/TC 22 Road vehicles, Subcommittee SC 33

Vehicle dynamics and chassis components, Working Group 16 Active safety test equipment.

Any feedback or questions on this document should be directed to the user’s national standards body. A

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.

Testing of active safety systems requires documentation of test equipment, test environment, testing

procedures, and performance criteria. This document series addresses the specification of test target

objects for traffic scenarios representing vehicles, vulnerable road users and other objects in the

This document addresses the specification of bicyclist test targets. The bicyclist targets specified are

A bicyclist test target needs to represent the characteristics of the rider and bicycle yet provide safety

for the subject vehicle and test operators in the event that contact is made between the tested vehicle

and the bicyclist target. Crashworthiness and durability requirements for the bicyclist target require

that the material and construction of the bicyclist target are adapted to fit the purposes.

Test cases may address both stationary and moving targets and, as such, the physical construction of

the target may accommodate a target carrier system capable of mimicking the motions of a human

bicyclist. This document includes applicable requirements for the target carrier system.

Targets described in this document series may be used for system development or applied in conjunction

with existing standards, or standards under development, for assessment of ADAS and active safety

This document series specifies performance requirements for targets used to assess the system

This part of ISO 19206 specifies the properties of bicyclist targets (BT) that represent a human bicyclist

The document addresses the detection requirements for a BT in terms of sensing technologies

commonly in use at the time of publication of this document, and where possible, anticipated future

sensing technologies. It also addresses methodologies to verify the target response properties to these

The BT according to this document is also representative for electrically assisted pedal bicycles (pedal

This document does not address the test procedures in terms of speeds, positions, or timing of events.

Performance criteria for the active safety system being tested are also not addressed.

The following documents, in whole or in part, are normatively referenced in this document and are

indispensable for its application. For dated references, only the edition cited applies. For undated

references, the latest edition of the referenced document (including any amendments) applies.

ISO 8608:1995, Mechanical vibration — Road surface profiles — Reporting of measured data

ISO 19206-2, Road vehicles — Test devices for target vehicles, vulnerable road users and other objects, for

assessment of active safety functions — Part 2: Requirements for pedestrian targets

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:

test device representing a bicyclist on a bicycle used to test active safety systems

mechanical or electro-mechanical system used to move the target according to a test protocol

Note 1 to entry: Target carrier may be self-contained within, or supporting the target structure or external

equipment used to record the position of the bicyclist target relative to the subject vehicle to ensure that

the test protocol is followed within prescribed tolerances and record data documenting the function of

The bicyclist targets specified in this document are representative for adult and child sizes. References

for subsequent requirements are based on sample measurements of different demographics and

compiled into categories. The following human bicyclist sizes are relevant for this document:

Annex A, Tables A.1 and A.2 provide the information for a 50%-ile male adult and a 6-7 year old child.

Drivers of the subject vehicle shall not be exposed to any substantial risk of personal injury resulting

from impact of the BT by the SV. The BT 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

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.

The BT should be easily reassembled or repaired after contacts up to a relative speed of 60 km/h. Field

repairs should be possible with standard hand tools. After repair, the target body and/or target carrier

After a collision, the correctness of the BT posture and dimension shall be verified before start of a

The BT shall fulfil all requirements in a temperature range of -5 °C to +40 °C. The BT shall not deteriorate

under storage temperatures in the range of -20 °C to +80 °C when properly stored.

NOTE The specified temperature range recognises that there may be substantial technical challenges

achieving a cost-effective target fulfilling the requirements at lower temperatures than -5 °C.

BT rider postures can be of static (non-pedalling type) or articulated (pedalling type). Both variants

The BT shall be a full 3D representation of a human bicyclist with bicycle, and shall have rotating

wheels (synchronized to speed) or other means of producing the 3D visual and micro-Doppler effects

The BT described in this document represents an average human adult bicyclist on an average standard

adult utility bike (Figure 1) in relation to the vulnerable road users (VRU) detection sensors used in

vehicles. The requirements relate, unless not specified otherwise, to the BT including a target carrier.

The torso angles according to Table A.1 (10° and 30°) shall be implemented. Optional torso angles may

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 BT intended for use with a specific set of sensing technologies

Sensors operating on optical principles include CCD and CMOS camera sensors, stereo camera sensors,

Photonic Mixing 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

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 BT. The version of the BT and the target carrier shall be traceable to manufacturing

Skin surface parts of BT rider shall be non-reflective and skin-coloured. Hair may be represented by a

It is recommended to use a long-sleeved t-shirt and trousers in different, non-reflective, colours. A black

t-shirt and blue jeans are recommended. Clothing shall be loose fitting, but fluttering shall be avoided.

At the time of publication of this document, automotive applications of radar are using 24 GHz and

Reference measurement setups for human bicyclist subjects to be used for verification are provided in

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 reference subject(s). The version of the BT and the target carrier shall be traceable to

The radar reflective characteristics of the BT should be comparable to a human bicyclist of the same

For every radar frequency relevant for the BT, a set of radar cross section measurements shall be made.

3) Verification that the BT Radar Cross Section (RCS) measurements are within the boundaries.

— Static BT approached by moving vehicle or moving fixture, to check for inconsistencies at different

An example of the results of this process is illustrated in Figure 2, showing RCS measurements on

human bicyclist reference subjects and two BT versions at 77 GHz (static measurements).

Figure 2 — Radar cross-section measurement, example for human adult bicyclists and BTs

State of the art radar sensor technology can measure and detect the relative velocities of rotating

wheels and pedalling legs on the bicyclist. This characteristic of moving parts will be referenced as

Figure 3 shows an example of the distribution of relative velocities for a transversal moving human

The plot shows a snapshot at a distinct time from the approach. Due to the chosen reference coordinate

system, relative speeds show negative values (approach towards sensor). A typical H-shape of relative

velocities is depicted, with reflections in the centre emerging from non-rotating parts (travel speed

of bicycle), and two horizontal lines representing the two rotating wheels (double the travel speed

of bicycle for upper parts of wheels, zero relative velocity for part of wheels touching ground). The

pedalling motion shows additional relative speed information minor to the rotating wheels.

Figure 3 — Micro-Doppler effect example for pedalling (left) and non-pedalling (right) human

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 to 14 μm. Imaging is provided by means of an appropriate camera.

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 reference subject(s). The version of the BT and the target carrier system shall be

BTs commonly in use at the time of publication of this document do not feature human-specific FIR

characteristics. Developers of BT that incorporate such characteristics should ensure that the

Characterization of these properties should follow the same main steps used to characterizing RCS: