Performance requirement and testing method for lane keeping assist (LKA) system of passenger cars
1 Scope
This standard specifies the requirements, testing conditions and testing methods for lane keeping assist (LKA) system of passenger cars.
This standard is applicable to Category M1 motor vehicles equipped with lane keeping assist (LKA) system, and it can be referred to by other vehicles.
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 (including any amendments) applies.
GB 5768.3 Road traffic signs and markings - Part 3: Road traffic markings
GB/T 26773-2011 Intelligent transport systems - Lane departure warning systems - Performance requirements and test procedures
GB/T 34590 (All parts) Road vehicles - Functional safety
3 Terms and definitions
For the purposes of this document, the terms and definitions given in GB 5768.3, GB/T 26773-2011 and the following apply. For the convenience of application, some terms and definitions in GB/T 26773-2011 are listed repeatedly as follows.
3.1
lane
driving area without any fixed obstacle interference where the driver does not need to change the driving path
[GB/T 26773-2011, Definition 3.1]
3.2
lane boundary line
visible road traffic markings used to determine lane boundary
3.3
lane departure
outer edge of the front wheel of vehicle is or will be beyond the lane boundary line
3.4
rate of departure
vertical component of the speed when the vehicle departs from the lane boundary line
3.5
lane keeping assist; LKA
during the driving process, the relative position between the vehicle and the lane boundary line is monitored in real time, and the lateral vehicle motion is controlled continuously or if necessary, so as to keep the vehicle driving in the original lane
3.5.1
lane departure prevention
during the driving process, the relative position between the vehicle and the lane boundary line is monitored in real time, and the lateral vehicle motion is controlled when the vehicle is about to depart from the lane, so as to assist the driver in keeping the vehicle driving in the original lane
3.5.2
lane centering control
during the driving process, the relative position between the vehicle and the lane boundary line is monitored in real time, and the lateral vehicle motion is controlled continuously and automatically, so that the vehicle always drives in the central area of the lane
4 Requirements
4.1 General requirements
4.1.1 The system shall be able to identify the relative position between the vehicle and the lane boundary line in the good condition of lane boundary line environment, and assist the driver in keeping the vehicle driving in the original lane.
4.1.2 The system shall at least have the function of lane departure prevention or lane centering control.
4.1.3 The system shall have the function of power-on self-check, which can check whether the main electrical components and sensing elements related to the LKA system work normally.
4.1.4 The system shall have the manual on/off function, and shall avoid the driver's misoperation.
4.1.5 The system shall monitor its own state and prompt the driver with clear and understandable state information, including system fault, system standby/activation, system on/off, etc. Among them, the on/off information of the system can be viewed indirectly by calling the menu, etc.
4.1.6 The system shall be provided with the conditions of function prevention, failure and exit, which shall be explained in the instructions for use of motor vehicle.
4.1.7 See Annex A for the state transitions of the system.
4.1.8 The functional safety requirements of the system shall be developed in accordance with GB/T 34590 (all parts) and shall meet the requirements of Annex B.
4.2 Performance requirements
4.2.1 The lane departure prevention function shall ensure that the lane departure does not exceed 0.4m outside the lane boundary line; the lane centering control function shall ensure that the lane departure is not beyond the outside of the lane boundary line.
4.2.2 The longitudinal deceleration of the vehicle caused by the lane departure prevention function shall not be greater than 3m/s2, and the reduction in vehicle speed caused shall not be greater than 5m/s.
4.2.3 The lateral acceleration of the vehicle caused by system activation shall not be greater than 3m/s2, and the rate of change of lateral vehicle acceleration shall not be greater than 5m/s3.
4.2.4 The system shall operate normally at least within the speed range of 70km/h~120km/h.
5 Testing conditions
5.1 Requirements for testing environment
Unless otherwise specified, the testing environment shall be as follows:
a) The visibility shall be greater than 1km;
b) The average wind speed shall not be greater than 3m/s, and the maximum wind speed shall not be greater than 5m/s;
c) The air temperature is -20℃~45℃;
d) The ambient illumination shall be above 500 lx and evenly distributed;
e) The driving direction of the vehicle shall be avoided to be parallel to the direct sunlight.
5.2 Requirements for test road
The test road shall meet the following conditions:
a) The test road shall be paved smoothly with dry asphalt or concrete surface in good condition, and the peak friction coefficient of the road surface shall be greater than 0.8;
b) The test road shall be long enough to meet the needs of the test;
c) The setting of the lane boundary line shall meet the requirements of GB 5768.3; the lane boundary line color shall be white or yellow, and the line type shall be solid or dotted line; the lane boundary line shall be in good condition, and be free of defects such as damage, shielding and the like that affect the induction of the lane keeping assist system.
5.3 Requirements for test vehicle
The mass of the test vehicle shall be between the sum of the kerb mass of complete vehicle plus the total mass of the driver and test equipment (the total mass of the driver and test equipment does not exceed 150kg) and the maximum allowable total mass, and the state of the test vehicle shall not be changed after the start of the test.
5.4 Requirements for test instruments
5.4.1 Instrument test parameters
The test parameters of test vehicle data acquisition and recording instruments include but are not limited to the following:
a) The speed of the test vehicle in the whole test process;
b) The rate of departure of the test vehicle in the whole test process;
c) The lateral acceleration of the test vehicle in the whole test process;
d) The distance of the test vehicle relative to the lane boundary line in the whole test process.
5.4.2 Requirements for instrument measurement accuracy
The test vehicle data acquisition and recording instruments shall at least meet the following accuracy requirements:
a) Vehicle speed: 0.1km/h.
b) Rate of departure: 0.05km/h;
c) Lateral acceleration: 0.1m/s2;
d) Relative distance from the lane boundary line: not more than 0.02m;
e) The sampling and recording frequency of all dynamic data: not be less than 100Hz.
Foreword II
1 Scope
2 Normative references
3 Terms and definitions
4 Requirements
5 Testing conditions
6 Testing methods
Annex A (Informative) System states and transitions
Annex B (Normative) Functional safety requirements
Performance requirement and testing method for lane keeping assist (LKA) system of passenger cars
1 Scope
This standard specifies the requirements, testing conditions and testing methods for lane keeping assist (LKA) system of passenger cars.
This standard is applicable to Category M1 motor vehicles equipped with lane keeping assist (LKA) system, and it can be referred to by other vehicles.
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 (including any amendments) applies.
GB 5768.3 Road traffic signs and markings - Part 3: Road traffic markings
GB/T 26773-2011 Intelligent transport systems - Lane departure warning systems - Performance requirements and test procedures
GB/T 34590 (All parts) Road vehicles - Functional safety
3 Terms and definitions
For the purposes of this document, the terms and definitions given in GB 5768.3, GB/T 26773-2011 and the following apply. For the convenience of application, some terms and definitions in GB/T 26773-2011 are listed repeatedly as follows.
3.1
lane
driving area without any fixed obstacle interference where the driver does not need to change the driving path
[GB/T 26773-2011, Definition 3.1]
3.2
lane boundary line
visible road traffic markings used to determine lane boundary
3.3
lane departure
outer edge of the front wheel of vehicle is or will be beyond the lane boundary line
3.4
rate of departure
vertical component of the speed when the vehicle departs from the lane boundary line
3.5
lane keeping assist; LKA
during the driving process, the relative position between the vehicle and the lane boundary line is monitored in real time, and the lateral vehicle motion is controlled continuously or if necessary, so as to keep the vehicle driving in the original lane
3.5.1
lane departure prevention
during the driving process, the relative position between the vehicle and the lane boundary line is monitored in real time, and the lateral vehicle motion is controlled when the vehicle is about to depart from the lane, so as to assist the driver in keeping the vehicle driving in the original lane
3.5.2
lane centering control
during the driving process, the relative position between the vehicle and the lane boundary line is monitored in real time, and the lateral vehicle motion is controlled continuously and automatically, so that the vehicle always drives in the central area of the lane
4 Requirements
4.1 General requirements
4.1.1 The system shall be able to identify the relative position between the vehicle and the lane boundary line in the good condition of lane boundary line environment, and assist the driver in keeping the vehicle driving in the original lane.
4.1.2 The system shall at least have the function of lane departure prevention or lane centering control.
4.1.3 The system shall have the function of power-on self-check, which can check whether the main electrical components and sensing elements related to the LKA system work normally.
4.1.4 The system shall have the manual on/off function, and shall avoid the driver's misoperation.
4.1.5 The system shall monitor its own state and prompt the driver with clear and understandable state information, including system fault, system standby/activation, system on/off, etc. Among them, the on/off information of the system can be viewed indirectly by calling the menu, etc.
4.1.6 The system shall be provided with the conditions of function prevention, failure and exit, which shall be explained in the instructions for use of motor vehicle.
4.1.7 See Annex A for the state transitions of the system.
4.1.8 The functional safety requirements of the system shall be developed in accordance with GB/T 34590 (all parts) and shall meet the requirements of Annex B.
4.2 Performance requirements
4.2.1 The lane departure prevention function shall ensure that the lane departure does not exceed 0.4m outside the lane boundary line; the lane centering control function shall ensure that the lane departure is not beyond the outside of the lane boundary line.
4.2.2 The longitudinal deceleration of the vehicle caused by the lane departure prevention function shall not be greater than 3m/s2, and the reduction in vehicle speed caused shall not be greater than 5m/s.
4.2.3 The lateral acceleration of the vehicle caused by system activation shall not be greater than 3m/s2, and the rate of change of lateral vehicle acceleration shall not be greater than 5m/s3.
4.2.4 The system shall operate normally at least within the speed range of 70km/h~120km/h.
5 Testing conditions
5.1 Requirements for testing environment
Unless otherwise specified, the testing environment shall be as follows:
a) The visibility shall be greater than 1km;
b) The average wind speed shall not be greater than 3m/s, and the maximum wind speed shall not be greater than 5m/s;
c) The air temperature is -20℃~45℃;
d) The ambient illumination shall be above 500 lx and evenly distributed;
e) The driving direction of the vehicle shall be avoided to be parallel to the direct sunlight.
5.2 Requirements for test road
The test road shall meet the following conditions:
a) The test road shall be paved smoothly with dry asphalt or concrete surface in good condition, and the peak friction coefficient of the road surface shall be greater than 0.8;
b) The test road shall be long enough to meet the needs of the test;
c) The setting of the lane boundary line shall meet the requirements of GB 5768.3; the lane boundary line color shall be white or yellow, and the line type shall be solid or dotted line; the lane boundary line shall be in good condition, and be free of defects such as damage, shielding and the like that affect the induction of the lane keeping assist system.
5.3 Requirements for test vehicle
The mass of the test vehicle shall be between the sum of the kerb mass of complete vehicle plus the total mass of the driver and test equipment (the total mass of the driver and test equipment does not exceed 150kg) and the maximum allowable total mass, and the state of the test vehicle shall not be changed after the start of the test.
5.4 Requirements for test instruments
5.4.1 Instrument test parameters
The test parameters of test vehicle data acquisition and recording instruments include but are not limited to the following:
a) The speed of the test vehicle in the whole test process;
b) The rate of departure of the test vehicle in the whole test process;
c) The lateral acceleration of the test vehicle in the whole test process;
d) The distance of the test vehicle relative to the lane boundary line in the whole test process.
5.4.2 Requirements for instrument measurement accuracy
The test vehicle data acquisition and recording instruments shall at least meet the following accuracy requirements:
a) Vehicle speed: 0.1km/h.
b) Rate of departure: 0.05km/h;
c) Lateral acceleration: 0.1m/s2;
d) Relative distance from the lane boundary line: not more than 0.02m;
e) The sampling and recording frequency of all dynamic data: not be less than 100Hz.
Contents of GB/T 39323-2020
Foreword II
1 Scope
2 Normative references
3 Terms and definitions
4 Requirements
5 Testing conditions
6 Testing methods
Annex A (Informative) System states and transitions
Annex B (Normative) Functional safety requirements
