Foreword

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This document was prepared by Technical Committee ISO/TC 22, Road vehicles, Subcommittee SC 33, Vehicle dynamics, chassis components and driving automation systems testing.

This first edition cancels and replaces the first edition of ISO/TS 22133:2023 , which has been technically revised.

The main changes are as follows:

update of the test coordinate system (6.3.2);
update of the local test object and global geofence (7.2);
redesign of the test object and control centre state diagram (9.2 and 9.3);
extension of MONR-struct with StopTrigger, ObjectAction, etc.;
increase of position accuracy (MONR, TRAJ, GEOF);
introduction of monitoring mode;
increase of the DRES message (added supported modes);
update of diagrams (e.g. Estop, NormalStop);
introduction of a normal stop by a test object;
improvement and development of object discovery detection;
added the dynamic position point message.

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.

Introduction

Testing of collision avoidance systems, active safety functions and more advanced autonomous functions in vehicles require testing on proving grounds. The purpose is to expose the vehicle under test to potentially dangerous traffic situations in a safe manner. The evaluation is done during development and in voluntary and mandatory test procedures.

To orchestrate these traffic scenarios, various impactable targets representing traffic actors are controlled. The number of controlled targets can be one or many depending on the required traffic situation scenario. Several requirements are important ranging from safety to position and speed precision, to logging capabilities.

This document specifies requirements, functionality and a protocol allowing for multivendor target carrier systems to be controlled according to the required traffic situation scenario, to report expected information for logging purposes and other functions required.

1 Scope

This document specifies requirements, procedures and message formats for controlling and monitoring of test objects, used for testing of active safety functions and autonomous vehicles.

This document specifies functionality and messaging for monitoring and controlling of test objects by a control centre facilitating an interoperable test object environment. This document defines a communication protocol which allows for the control centre to safely execute tests using test objects from multiple vendors.

This document does not specify the internal architecture of the test object nor control centre.

This document does not specify how testing of the vehicles shall be performed.

2 Normative references

3 Terms and definitions

4 Abbreviated terms

5 Test scenario illustration

6 General requirements and recommendations

6.1 Function overview

6.2 Test object coordinate system

6.3 Test scenario coordinate system

6.4 Time requirements

6.5 Communication requirements, recommendations and permissions

7 Safety and risk assessment requirements and recommendations

7.1 General

7.2 Local test object fence and global geofence

8 Communication security requirements

9 Architecture and interfaces

9.1 General

9.2 Control centre and test object states

9.3 Communication setup

9.4 Control functionalities

9.5 Monitoring functionalities

10 Trajectory and scenario-based testing

10.1 Introduction to trajectory and scenario-based testing

10.2 Static trajectories

10.3 Dynamic trajectories

10.4 Scenario description languages

11 Functional requirements

11.1 Device interface description XML (DIDX)

11.2 Control centre requirements and recommendations

11.3 Stationary test object requirements

11.4 Moveable test object requirements and recommendations

11.5 Functions with behaviour description

12 Message requirements

12.1 General

12.2 Message

12.3 Definition of messages

Bibliography