ISO 22733-1:2021 pdf download – Road vehicles — Test method to evaluate the performance of autonomous emergency braking systems — Part 1: Car-to-car.
5 Equivalent vehicle target The equivalent vehicle target (EVT) shall meet the requirements as defined in ISO 19206-1. 6 Measuring equipment and data processing 6.1 General The test conditions on measurement equipment and data processing shall be in accordance with ISO 15037-1:2019, Clause 6, unless otherwise specified below. 6.2 Description VUT and EVT shall be equipped with data measurement and acquisition equipment to sample and record data with an accuracy of at least: — VUT and EVT speed to 0,1 km/h; — VUT and EVT lateral and longitudinal position to 0,03 m; — VUT and EVT yaw rate to 0,1°/s; — VUT and EVT longitudinal acceleration to 0,1 m/s 2 ; — steering wheel velocity to 1,0°/s.
6.3 Transducer installation The transient vehicle pitch changes shall not adversely affect the measurement of the velocity and distance variables for the chosen transducer system. 6.4 Calibration All transducers shall be calibrated according to the manufacturer’s instructions. The transducer manufacturer’s recommended application software and firmware version shall be used. If parts of the measuring system can be adjusted, such calibration shall be performed immediately before the beginning of the tests. 6.5 Data processing Filter the measured data as follows: — position and speed are not filtered and are used in their raw state; — acceleration with a 12-pole phaseless Butterworth filter with a cut-off frequency of 10 Hz; — yaw rate with a 12-pole phaseless Butterworth filter with a cut-off frequency of 10 Hz; — force with a 12-pole phaseless Butterworth filter with a cut-off frequency of 10 Hz. 7 Test conditions 7.1 General The test conditions shall be in accordance with ISO 15037-1:2019, Clause 6, unless otherwise specified below. 7.2 General data General data on the test vehicle and test conditions shall be recorded as specified in ISO 15037-1:2019, 6.4.1.
7.3 Test track Conduct tests on a dry (no visible moisture on the surface), uniform, solid-paved surface with a consistent slope between level and 1 %. The test surface shall have a minimal peak braking coefficient (PBC) of 0,9. The surface shall be paved and shall not contain any irregularities (e.g. large dips or cracks, manhole covers or reflective studs) that may give rise to abnormal sensor measurements within a lateral distance of 3,0 m to either side of the theoretical path line and with a longitudinal distance of 30 m beyond the position of VUT/EVT at the end of the test. Lane markings are allowed. However, testing may only be conducted in an area where typical road markings depicting a driving lane may not be parallel to the test path within 3,0 m either side. Lines or markings may cross the test path but may not be present in the area where AEB activation and/or braking after FCW is expected. 7.4 Weather conditions Conduct tests in dry conditions with ambient temperature above 0 °C and below 45 °C. The surface temperature of the test track shall be between +10 °C and +50 °C.