ù! *g &k¹l/*¤] 2ë]Çi z 4w; · 2019. 9. 25. · ezfk:r#øa´eqpp(lateral overlaps)6ð/...
TRANSCRIPT
98
(Autonomous Emergency Braking, AEB)Euro NCAP Test Protocol [2][3]
UN/ECE R131( 72 )[4]
(Forward Collision Warning, FCW)
Euro NCAP Test Protocol [2]
test [5]
ISO 15623 [6]
(Brake Assist System, BAS) UN/ECE R139( 84 )[7]
(Lane Support Systems, LSS)
(Lane Departure Warning, LDW)
ISO 17361[8]
Euro NCAP Test Protocol [9]
UN/ECE R130( 70 )[10]
(Lane Keep Assistance, LKA)
Euro NCAP Test Protocol [9]
ISO 11270 [11]
(Emergency Lane Keeping, ELK)
Euro NCAP Test Protocol [9]
(Blind Spot Warning, BSW) ISO 17387 [12]
(Electronic Stability Control, ESC) UN/ECE R140( 85 ) [13]
(Vehicle Stability Function, VSF)UN/ECE R13 Annex21( 42-3
6.9 ) [14]
/(Speed Assist System, SAS/Speed Limitation Devices, SLD)
Euro NCAP Test Protocol [15]
UN/ECE R89( 76 ) [16]
(Seatbelt Reminder, SBR) Euro NCAP Assessment Protocol [17]
1.
99
(AEB) (FCW)
(AEB)
(Autonomous Emergency Braking, AEB) (Forward Collision Warning, FCW) FCW
AEB AEBFCW Euro NCAP AEB
(AEB City System) (AEB Inter-Urban System) (AEB VRU System) 1 2 3 AEB FCW
AEB City System Euro NCAP(Car-to-Car Rear Stationary,
CCRs)10~50km/h
(Lateral Overlaps) 50%+50% 5 1
AEB
5km/h
AEB Inter-Urban SystemCCRs AEB City System
30~80km/h(Car-to-Car Rear Moving, CCRm)
(Car-to-Car Rear Braking, CCRb) 1 CCRm
20km/h 30~80km/h
CCRs 50%+50% CCRb50 km/h
50km/h 12
40m2 6m/S2 AEB Inter-Urban
System AEB City SystemCCRs
AEB VRU System Euro NCAP(AEB Pedestrian System)
(AEB Cyclist System) 2 AEB Pedestrian System
(8 km/h)
(5km/h)25% 75%
(5km/h)
(5km/h)25%
Euro NCAP
AEB City System AEB Inter-Urban System
100
1. Euro NCAP AEB [2]
2. Euro NCAP AEB [3]
101
4. AEB [4]
3. Euro NCAP AEB [3]
AEB Cyclist System 3
15km/h
15km/h 20km/h
25%
AEB Euro NCAP / (United Nations/Economic Commission for Europe, UN/ECE) R131 [4]
AEB 2019 Euro NCAP CCRs CCRm
AEB
102
4 AEB1
80km/h 12km/h AEB 1.4 0.8
20km/hAEB
4 2
(FCW)Euro NCAP AEB Inter-Urban System
FCWAEB
1 CCRs CCRm CCRb
AEB
FCW (TFCW) 1 0.2
4m/s2
Euro NCAP
(Driving robots)FCW
NHTSA) [5]
Euro NCAP AEB Inter-Urban System
… Euro NCAPEuro NCAP -50%
+50% 5 1 5
NHTSA FCW
CCRs CCRm CCRb
(Time to collision, TTC)2.1 2.0 2.47 5
(International Organization for Standardization, ISO) FCWISO 15623[6]
72km/h
±2 m 15% 770%
72 km/h 29 km/h
20.4 m
272 km/h
12 m
103
5. FCW [2][5]
Euro NCAP(AEB Inter-Urban) NHTSA
1. Car-to-Car Rear Stationary (CCRs)
30 to 80 km/h 72 km/h (45 mph)
0 0
-4 m/s2 @ TFCW+1.2 s
FCW7 5
2. Car-to-Car Rear Moving (CCRm)
50 to 80 km/h 72 km/h (45 mph)
20 km/h 32 km/h (20 mph)
-4 m/s2 @ TFCW+1.2 s
FCW7 5
3. Car-to-Car Rear Braking (CCRb)
50 km/h 72 km/h (45 mph)
50 km/h 72 km/h (45 mph)
-4 m/s2 @ TFCW+1.2 s
2 m/s2 6 m/s2
@ 12 m 40 m0.3 g (2.94 m/s2)@ 30 m
FCW7 5
72 km/h 2
104
2. ISO 15623 FCW 3 [6]
(BAS)(Brake Assist System, BAS)
BASABS
/ (UN/ECE) R139[7] BASA B
A BAS 100 km/h ABSABS (FABS) (aABS) 3(a)
105
3. BAS [7]
(LSS)FCW AEB BAS
(Lane Support Systems, LSS) Euro NCAP [9] Euro NCAP LSS
3(Emergency Lane Keeping, ELK) (Lane Keep Assistance, LKA) (Lane Departure Warning, LDW)
BAS (Threshold force, FT) (Threshold deceleration, aT)BAS ABS (aABS) FABS,
extrapolated 100 km/h BAS ABS:BAS (FABS - FT)
BAS (FABS, extrapolated - FT) 40% 80% FABS FABS, min
FABS, max BASB BAS A ABS (FABS)
(aABS) 100 km/h BAS ABS t = to + 0.815 km/h 50%~70% FABS 3(b)
t = to + 0.8 15 km/h (aBAS) 85% aABS
B BAS 50% 70% ABS85% ABS
106
6 Euro NCAP LSS ELK72 km/h
72 km/h 72 80 km/h (Rate of Departure ) 0.3~0.6
107
(km/h) (m/s)
720.1~0.3 4 4
0.6~0.8 4 4
(km/h) (m/s)
720~0.4 1 1 1 1
0.4~0.8 1 1 1 1
7. ISO 17361 LDW [8]
m/s 0.5~0.7 m/s
ELK
72 km/h0.2~0.5 m/s ELK
0.1 mELK
LKALKA
LKAELK
LKA 6
8 72 km/h0.2~0.5 m/s LKA
0.3 m
LDW LKA
LDW 0.2 m
ISO LDW LKAISO 17361 [8] ISO 11270 [11]
ISO 17361 250 m 500 m
LDW 772 km/h
0.1~0.3 m/s 0.6~0.8 m/s0~0.4 m/s
0.4~0.8 m/sLDWS
0.3 m1 m
0.75~1.5 m
108
ISO 11270 400~800 m LKA72 km/h 0.2~0.6 m/s
LKA 40.4 m LKA 1.1 m
72 km/h5 LKA
1/ (UN/ECE) R130 [10]
LDW 4 65 km/h
250 mLDW 0.1~0.8 m/s
0.3 m
4. LDW [10]
• 65 km/h• 250 m
• 65 km/h• 0.1~0.8 m/s
(BSW)(Blind Spot Warning, BSW)
BSW ISO 17387 [12] BSW 5C 3 m 0.5 m F
2.5 m
8
109
5. ISO 17387 BSW [12]
72 km/h30 m 76~83 km/h
2~3 m BSW
BSW
6.5 ~ 7.5 m
BSW
BSW72 km/h
3 m 5 H
0.25 ~ 0.75 m/s MM H
110
(km/h)
(m/s) (m)
72 76~83 -- 2 ~ 3
76~83 72 -- 2 ~ 3
72 76~83-- 6.5 ~ 7.5
76~83 72
72 0.25 ~ 0.75 --
8. ISO 17387 BSW [12]
(ESC/VSF)(Electronic Stability Control, ESC)
/ (UN/ECE) R140 [13] ESC 2018(Sine with Dwell)
ESC(Steering robots)
Sine with Dwell 0.3 G(G )A A 80 km/h 13.5°/s
0.5 G 13 0.3 G A
Sine with Dwell 80 km/h 6 0.7 Hz 2
0.5 A 1.50.5 A A 2.0
0.5 A A 6.5 270°300°
ESC (yaw rate)1 1.75
6 peak 35% 20% ESC
111
J •
VSF • VSF
• VSF
• VSF ( :)
9. (VSF) [14]
A 51.07 1.52 m 3.5 1.83 m
3.5 ESC
/ (UN/ECE)R13 Annex 21
VSF 2019 2020VSF
9J
VSFVSF
VSF 6. Sine with Dwell[13]
112
5 km/h10 s
:30 50 80 km/h -5~+0 km/h
(SAS) (SLD)(Speed Assist System, SAS)
Euro NCAP [15]
10
100 km 10
5 km/h10 s
10. Euro NCAP SAS [15]
…
3050 80 km/h 15 km/h
5 km/h
113
SLD
10 km/h30
3 km/h
• SLD 20%( 20 km/h ) • SLD 10 km/h
1±0.2 ( )30
• 20%
• 3 km/h
• 3 km/h
SLD
10 km/hSLD 30
• ( ±5 km/h
±5% ) •
±2 km/h ±4%
• 400 5
•
• ( ±5 km/h
±5% ) • 5
3 km/h
11. SLD [16]
SAS (Speed Limitation Devices, SLD)SAS
UN/ECE R89 [16] 2018
11 SLD
SLD
114
(SBR)(Seatbelt Reminder, SBR)
Euro NCAP[17] SBR 12 SBR
25 km/h 123090
7
(RTK DGPS) AEB ESCLSS BSW ESC Sine with Dwell 6
Euro NCAP AEB 8
Euro NCAP AEBEuro NCAP AEB CCRs CCRm
12. Euro NCAP SBR [17]
115
8(c)
Euro NCAP AEB FCWEuro NCAP
7. 8. Euro NCAP AEB
116
[1] B. Fildes et al. (2015), “Effectiveness of Low Speed Autonomous Emergency Braking in Real world Rear-end Crashes”, Accident Analysis & Prevention, Vol. 81.[2] Euro NCAP (2017), “Euro NCAP Test Protocol – AEB systems V2.0.1”.[3] Euro NCAP (2019), “Euro NCAP Test Protocol – AEB VRU systems v2.0.4”.[4] UN/ECE(2016), “Uniform provisions concerning the approval of motor vehicles with regard to the Advanced Emergency Braking Systems ” , Regulation No.131.
[6] ISO(2013), “Intelligent transport systems –Forward vehicle collision warning systems – Performance requirements and test procedures”, ISO 15623.[7] UN/ECE(2019), “Uniform provisions concerning the approval of passenger cars with regard to Brake Assist Systems (BAS)”, Regulation No.139.[8] ISO(2007), “Intelligent transport systems–Lane departure warning systems–Performance requirements and test procedures”, ISO 17361.[9] Euro NCAP (2018), “Euro NCAP Test Protocol –Lane Support Systems V2.0.2”.[10] UN/ECE(2016), “Uniform provisions concerning the approval of motor vehicles with regard to the Lane Departure Warning System”. Regulation No.130.[11] ISO(2014), “Intelligent transport systems–Lane keeping assistance systems (LKAS) –Performance requirements and test procedures”, ISO 11270.[12] ISO(2008), “Intelligent transport systems -- Lane change decision aid systems (LCDAS) -- Performance requirements and test procedures.” ISO 17387.[13] UN/ECE(2017), “Uniform provisions concerning the approval of passenger cars with regard to Electronic Stability Control (ESC) Systems”, Regulation No.140.[14] UN/ECE(2019), “Uniform provisions concerning the approval of vehicles of categories M, N and O with regard to braking”, Annex21, Regulation No.13.[15] Euro NCAP (2017), “Euro NCAP Test Protocol – Speed Assist System V2.0”. [16] UN/ECE(2019), “Uniform provisions concerning the approval of SLD or ASLD :” , Regulation No.89.[17] Euro NCAP (2018), “Euro NCAP Assessment Protocol – Safety Assist V8.0.4”.