BSISO22737:2021

BSIStandardsPublication

Intelligenttransportsystems—Low-speed

automateddriving(LSAD)systemsforpredefinedroutes—Performancerequirements,system

requirementsandperformancetestprocedures

bsi.

BSISO22737:2021BRITISHSTANDARD

Nationalforeword

ThisBritishStandardistheUKimplementationofISO22737:2021.

TheUKparticipationinitspreparationwasentrustedtoTechnicalCommitteeEPL/278,Intelligenttransportsystems.

Alistoforganizationsrepresentedonthiscommitteecanbeobtainedonrequesttoitscommitteemanager.

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Thispublicationisprovidedasis,andistobeusedatthe

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Therecipientisadvisedtoconsiderseekingprofessionalguidancewithrespecttoitsuseofthispublication.

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@TheBritishStandardsInstitution2021

PublishedbyBSIStandardsLimited2021

ISBN9780539039252

ICS03.220.20;35.240.60

CompliancewithaBritishStandardcannotconferimmunityfromlegalobligations.

ThisBritishStandardwaspublishedundertheauthorityofthe

StandardsPolicyandStrategyCommitteeon31July2021.

Amendments/corrigendaissuedsincepublication

DateTextaffected

BSISO22737:2021

INTERNATIONALSTANDARD

ISO22737

Firstedition2021-07

Intelligenttransportsystems—Low-speedautomateddriving(LSAD)

systemsforpredefinedroutes—

Performancerequirements,systemrequirementsandperformancetestprocedures

Systèmesdetransportintelligents—Systèmesdeconduite

automatiséeàbassevitessepourdesitinérairesprédéfinis(LSAD)—Exigencesdeperformance,exigencesdusystèmeetprocéduresdetestdeperformance

ReferencenumberISO22737:2021(E)

◎ISO2021

BSISO22737:2021ISO22737:2021(E)

ContentsPage

Foreword V

Introduction vi

1Scope 1

2Normativereferences 1

3Termsanddefinitions 1

4Symbolsandabbreviatedterms 3

5ExampleusecaseforanLSADsystemdeploymen 4

6LSADsystemarchitecture 5

7Basicrequirements 6

7.1General 6

7.2Minimumoperatingcapabilities 7

7.3Operationaldesigndomains(ODDs.) 7

7.4LSADstatetransitiondiagram 7

7.4.1LSADstatefunctionaldescriptions 8

7.4.2LSADstatetransitiondescription: 9

7.4.3PossibleextensionoftheLSADstatediagramtoaccommodatedispatcher

inpus 11

7.5Communicationrequirements 11

8Functionalrequirements 12

8.1Determinationofhazardoussituation 12

8.1.1Genera 12

8.1.2Non-occludedview 12

8.1.3Occludedview 13

8.2Minimalriskmanoeuvre(MRM) 14

8.3Drivinginthedrivablearea 15

8.4Emergencystop(e-stop) 15

9PerformancerequirementsfortheLSADsystem 16

9.1Maximumsubjectvehiclespeed(sv_max 16

9.2Obstacledetectionrequirements 16

9.2.1Maximumpedestrianspeed(pedmax 16

9.2.2Maximumpedalcyclistspeed(Vpcmax 16

9.2.3LSADsystemdeceleration 16

10Systemrequirements 16

10.1Recordingdataaboutasafety-criticaleven 16

11Performancetestprocedures 17

11.1General 17

11.2Environmentalparameters 17

11.3Hazardoussituation 18

11.3.1Pedestrianasanobstacle 18

11.3.2Pedalcyclistasanobstacle 20

11.3.3Hazardoussituationturningaroundacorner 23

11.3.4Falsepositivetests 24

11.4Drivableareatest 26

11.4.1Testsetup 26

11.4.2Vehicleparameters 27

11.4.3Evaluationpathparameters 27

11.4.4Environmentalparameters 27

11.4.5Passcriteriaforunblockeddrivablearea 27

11.4.6Passcriteriaforblockeddrivablearea 28

11.5Minimalriskmanoeuvre(MRM)tes 28

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11.5.1Testsetup 28

11.5.2Vehicleparameters 29

11.5.3Evaluationpathparameters 29

11.5.4Environmentalparameters 29

11.5.5MRMtrigger 30

11.5.6Passcriteri 30

AnnexA(informative)Testspeedsforhazardoussituationtests 31

AnnexB(informative)ExampleLSADcommunicationmessages 3

AnnexC(informative)ExampleLSADsystemdatarecorder 34

AnnexD(informative)LSADsystemactivities(experimenttests)invariouscountries 35

Bibliography 43

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Foreword

ISO(theInternationalOrganizationforStandardization)isaworldwidefederationofnationalstandardsbodies(ISOmemberbodies).TheworkofpreparingInternationalStandardsisnormallycarriedoutthroughISOtechnicalcommittees.Eachmemberbodyinterestedinasubjectforwhichatechnicalcommitteehasbeenestablishedhastherighttoberepresentedonthatcommittee.Internationalorganizations,governmentalandnon-governmental,inliaisonwithISO,alsotakepartinthework.ISOcollaboratescloselywiththeInternationalElectrotechnicalCommission(IEC)onallmattersofelectrotechnicalstandardization.

TheproceduresusedtodevelopthisdocumentandthoseintendedfortsfurthermaintenancearedescribedintheISO/IECDirectives,Part1.Inparticular,thedifferentapprovalcriterianeededforthedifferenttypesofISOdocumentsshouldbenoted.ThisdocumentwasdraftedinaccordancewiththeeditorialrulesoftheISO/IECDirectives,Part2(see

/directives).

Attentionisdrawntothepossibilitythatsomeoftheelementsofthisdocumentmaybethesubjectofpatentrights.ISOshallnotbeheldresponsibleforidentifyinganyorallsuchpatentrights.DetailsofanypatentrightsidentifiedduringthedevelopmentofthedocumentwillbeintheIntroductionand/orontheISOlistofpatentdeclarationsreceived(see

/patents

).

Anytradenameusedinthisdocumentisinformationgivenfortheconvenienceofusersanddoesnotconstituteanendorsement.

Foranexplanationofthevoluntarynatureofstandards,themeaningofISOspecifictermsandexpressionsrelatedtoconformityassessment,aswellasinformationaboutISO'sadherencetotheWorldTradeOrganization(WTO)principlesintheTechnicalBarrierstoTrade(TBT),see

/

iso/foreword.html.

ThisdocumentwaspreparedbyTechnicalCommitteeISO/TC204,Intelligenttransportsystems.

Anyfeedbackorquestionsonthisdocumentshouldbedirectedtotheuser'snationalstandardsbody.Acompletelistingofthesebodiescanbefoundat

/members.html

.

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Introduction

Themovetowardsautomateddrivingsystemsisleadingtoashiftinthewaypeople,goodsandservicesaretransported.Onesuchnewmodeoftransportislow-speedautomateddriving(LSAD)systems,whichoperateonpredefinedroutes.LSADsystemswillbeusedforapplicationslikelast-miletransportation,transportincommercialareas,businessoruniversitycampusareasandotherlow-speedenvironments.

AvehiclethatisdrivenbytheLSADsystem(whichcanincludeinteractionwithinfrastructure)canpotentiallyhavemanybenefits,likeprovidingsafe,convenientandaffordablemobilityandreducingurbancongestion.Itcanalsoprovideincreasedmobilityforpeoplewhoarenotabletodrive.However,withdifferentapplicationsofLSADsystemsintheindustryworldwide,thereisaneedtoprovideguidanceformanufacturers,operators,endusersandregulatorstoensuretheirsafedeployment.

TheLSADsystemrequirementsandproceduresspecifiedhereinareintendedtoassistmanufacturersoftheLSADsystemsinincorporatingminimumsafetyrequirementsintotheirdesignsandtoallowendusers,operatorsandregulatorstoreferenceaminimumsetofperformancerequirementsintheirprocurements.

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INTERNATIONALSTANDARDISO22737:2021(E)

Intelligenttransportsystems—Low-speedautomateddriving(LSAD)systemsforpredefinedroutes—

Performancerequirements,systemrequirementsandperformancetestprocedures

1Scope

Thisdocumentspecifies:

—requirementsfortheoperationaldesigndomain,

一systemrequirements,

一minimumperformancerequirements,and—performancetestprocedures

forthesafeoperationoflow-speedautomateddriving(LSAD)systemsforoperationonpredefinedroutes.LSADsystemsaredesignedtooperateatLevel4automation(seeISO/SAEPAS22736),withinspecificoperationaldesigndomains(ODD).

Thisdocumentappliestoautomateddrivingsystem-dedicatedvehicles(ADS-DVs)andcanalsobeutilizedbydual-modevehicles(seeISO/SAEPAS22736).ThisdocumentdoesnotspecifysensortechnologypresentinvehiclesdrivenbyLSADsystems.

2Normativereferences

Thefollowingdocumentsarereferredtointhetextinsuchawaythatsomeoralloftheircontentconstitutesrequirementsofthisdocument.Fordatedreferences,onlytheeditioncitedapplies.Forundatedreferences,thelatesteditionofthereferenceddocument(includinganyamendments)applies.

ISO19206-2,Roadvehicles—Testdevicesfortargetvehicles,vulnerableroadusersandotherobjects,forassessmentofactivesafetyfunctions—Part2:Requirementsforpedestriantargets

ISO19206-3,Roadvehicles—Testdevicesfortargetvehicles,vulnerableroadusersandotherobjects,forassessmentofactivesafetyfunctions—Part3:Requirementsforpassengervehicle3Dtargets

ISO19206-4,Roadvehicles—Testdevicesfortargetvehicles,vulnerableroadusersandotherobjects,forassessmentofactivesafetyfunctions—Part4:Requirementsforbicyclisttargets

ISO26262(allparts),Roadvehicles—Functionalsafety

ISO21448:—1),Roadvehicles—Safetyoftheintendedfunctionality

ISO/SAEPAS22736:—2),Taxonomyanddefinitionsfortermsrelatedtodrivingautomationsystemsforon-roadmotorvehicles

3Termsanddefinitions

Forthepurposesofthisdocument,thetermsanddefinitionsgiveninISO/SAEPAS22736andthefollowingapply.

1)Underpreparation.Stageatthetimeofpublication:ISO/DIS21448:2021.

2)Underpreparation.Stageatthetimeofpublication:ISO/SAEPRFPAS22736:2021.

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ISOandIECmaintainterminologicaldatabasesforuseinstandardizationatthefollowingaddresses:

—ISOOnlinebrowsingplatform:availableat

/obp

—IECElectropedia:availableat

/

3.1

hazardoussituation

conditionwherebytheposition,orientationandmotionofanobstacle(e.g.pedalcyclists,pedestrians,vehicles,etc.)relativetotheposition,orientationandmotionofthevehicledrivenbytheLSADsystem,canresultinanimminentcollision

3.2

predefinedroute

trajectorydefinedbeforestartofatriptobetraversedbythevehicledrivenbytheLSADsystem,fromapointoforigintoone(ormany)destinations)

Note1toentry:AsingletripofavehicledrivenbytheLSADsystemmayhavemanydestinations.Apredefinedroutehasalengthandcurvaturebutnotwidth.

3.3

minimalriskmanoeuvre

MRM

tacticaloroperationalmanoeuvretriggeredandexecutedbytheLSADsystemtoachieveminimalriskcondition

3.4

tripsegment

travelfrompointoforigintodestinationorfromonedestinationtoanotherdestinationinatrip

Note1toentry:Atripmaycomprisemultipletripsegments.

3.5

drivablearea

manoeuvrableareaaroundthepredefinedroute(3.2)wheretheLSADsystemiscapableofoperatingNote1toentry:Thewidthofthedrivableareamayvaryalongthepredefinedroute.

3.6

pedalcyclist

human-vehiclecombinationconsistingofahumanridingontopofawheelframewithasteeringmechanism,brakes,twopedalsforpropulsion(optionallywithmotorassistpedalling)thatdoesnotrequirealicenceforuseonpublicroads

3.7

day-time

conditionwheretheambientilluminanceisgreaterthan20001x

3.8

night-time

conditionwheretheambientilluminanceislessthan1lx

3.9

standstill

vehiclestatewhenvehiclespeedisat0m/s

3.10

low-speedautomateddrivingsystems

LSAD

automateddrivingsystemthathasamaximumspeedof8,89m/s

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3.11

lowambientlightingcondition

ambientlightbetweenday-time(3.Z)andnight-time(3.8)

4Symbolsandabbreviatedterms

θ

anglebetweenpedestriantrajectoryandvehicletrajectorywhileinstraightsectionoftheevaluationpath

ADS-DV

automateddrivingsystem-dedicatedvehicle

DDTdynamicdrivingtask

e-stopemergencystop

LSADlow-speedautomateddriving

MaaSmobilityasaservice

MRCminimalriskcondition

ODDoperationaldesigndomain

RradiusofcurvatureoftrajectoryindrivableareaRTIrequesttointervene

SIat1widthofdrivablearea

SIat2lateraldistancebetweenSVandpedestrianstartingpoint

SIat3lateraldistancebetweenSVandtargetvehicles(TV?andTV?)

SIat4widthofreduceddrivablearea

Slonglongitudinaldistanceofdrivablearea

Slong2longitudinaldistanceofevaluationpathfromsituationC

Slong3longitudinaldistancebetweenpoint1andpoint4

Slong4longitudinaldistancebetweenpoint1andpoint4whereMRMistriggered

Slong5longitudinaldistancebetweenpoint4andendofevaluationpath

SVsubjectvehicle

Tped_to_Pt2timetakenbypedestriantoreachpoint2

Tpc_to_Pt2timetakenbypedalcyclisttoreachpoint2

TV(1,2)targetvehicle(1,2)

V2Xvehicleto-X

VLSADvelocityfortheLSADsystem

VLSAD_maxmaximumvelocityfortheLSADsystem

Vpcvelocityofpedalcyclist

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Vpcmaxmaximumvelocityofpedalcyclist

Vpedvelocityofpedestrian

Vped_maxmaximumvelocityofpedestrian

Vsv_maxmaximumvelocityofsubjectvehicle

VRUvulnerableroadusers

DDTdynamicdrivingtask

5ExampleusecaseforanLSADsystemdeployment

VehiclesdrivenbyLSADsystemsmaybeusedasapartofalarger(MaaS)system.Figure1depictsanexamplesystemarchitectureofsuchaMaaSsystem.However,thescopeofthisdocumentisrestrictedtotheLSADsysteminstalledinavehicleinFigure1.

AspertheexampleinFigure1,theLSADsystemreceivesatripdestinationfromthedispatcherviawirelesscommunication,whichinturnreceivesadestinationrequestfromtheuser(throughawebportaloramobileapp.Thedispatcherorthecontrolcentreprocessesthedestinationrequestandprovidesatrip/tripsegmentconfirmationtotheuserandcommandsthevehicledrivenbytheLSADsystemtoproceed.Theterm"dispatcher"inthisdocumentreferstothedriverlessoperationdispatcherr(seeISO/SAEPAS22736).

Astheremaybemorethanonepredefinedroutetoreachthedestination,theselectedpredefinedroutemaybe:

1)providedbythedispatcher/controlcentre;

2)selectedbytheuserviaauser-interfaceonamobileapporon-boardtheLSADsystemequippedvehicle;

3)selectedbytheLSADsystemitself

TheLSADsystemperiodicallyprovidesitsstatus(e.g.systemhealth,tripstatus)totheuserandthedispatcher/controlserver.

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LSAD

equippedvehicle

Figure1—Examplesystemarchitecture—LSADinaMaaSsystem

6LSADsystemarchitecture

Figure2representsthesystemarchitectureofanindividualLSADsystem.Figure2alsohighlightsthecomponentsfromtheLSADsystemarchitecturethatarecoveredwithinthescopeofthisdocument.

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InfrastructureDispatchandlorremoteasistance

LSADequippedvehicle

Systemdiagnosis

MRM

Dynamicdriving

task

Emergency

(subclause8.8and

Clause9)

Actuation

Sensorsystem

ODDmonitoring

(subclause7.3and

Clause8)

Communicationto

externalactors

Passenger(s)

monitoring

&sensor

system

performance

Hazardous

situation

determination

(subclause8.1)

Strategicroute

planning

manoeuvre

(subclause8.4)

Datastorage

(tacticaland

operationtasks)

implementation

(subclause8.2)

Key

functionalrequirementsdefinedinthisdocument

optionalfeaturesnotdefinedinthisdocument

functionalrequirementsnotdefinedinthisdocument

Figure2—Examplesystemarchitecture—IndividualLSADsystem

7Basicrequirements

7.1General

TheLSADsystemshallperformthedynamicdrivingtask(seeISO/SAEPAS22736).Theimplementationofthestrategicdrivingtasks(seeISO/SAEPAS22736)islefttothemanufacturer'sdiscretion.However,theLSADsystemshalloperateinpredefinedroutesonly.ThemaximumoperationalspeedofanLSADsystemengagedvehicleshallbeequaltoorlessthan8,89m/sor32km/h.However,thismaybesignificantlyreducedbasedonspecialconditions(selectedasperthediscretionofthedriverlessoperationdispatcher[ISO/SAEPAS22736])mentionedinthisdocument,forexampletimeofday,visibility,dayofweek,rainfall,snow,fog,iceonroadsetc.).

TheLSADsystemshallusesensorsinordertoenablepartofthedynamicdrivingtask.Thisincludesdetectingobjects,vehicles,pedestrians,buildings,pathways,etc.Appropriatehazardanalysisandriskassessmentshallbeperformedforthesensorperformanceandfailures,andothersafetycriticalsystemelements.TheLSADsystemdevelopmentshallbedevelopedaccordingtotheISO26262seriesandISO21448.

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7.2Minimumoperatingcapabilities

SubjectvehiclesdrivenbytheLSADsystemshallbecapableofperformingthefollowingfunctions:

a)followapredefinedroutetothedestination(8.3),b)detectahazardoussituation(8.1),

c)initiatebrakingand/orsteering,tomitigateand/oravoidcollisionwithobstacles(9.1,9.2),d)performminimalriskmanoeuvre(8.2),

e)informthedispatcheraboutthefaultstateoftheLSADsystem(e.g.binaryflag)(8.4),f)providewarningstoroadusersincaseofahazardoussituation.

7.3Operationaldesigndomains(ODDs)

EveryLSADsystemshallhaveitsODDdefinedbythemanufacturer.TheODDlimitationsforanLSADsystemshallspecifyatleastthefollowingattributes:

a)Lowspeed:thespeedofanLSADsystemshallbeequaltoorlessthan8,89m/sor32km/h.

b)Areasofapplication:forexample,eitherrestrictedaccessordedicatedroadways(publicorprivate),orpedestrian/bicyclepathways,orareasfromwhichallorsomespecificcategoriesofmotorvehiclesarerestricted.Restrictedaccessroadwayscanbespecifiedbylanemarkingsorspeedrestrictionorphysicaldemarcation.(SeeAnnexDforexamples).

c)Predefinedroutes:routesdefinedwithintheLSADsystembeforeoperationoftheLSADsystem.AnLSADsystemshallonlyoperateonthepredefinedroutes.Predefinedroutesshallbedefinedbyrelevantstakeholdersinconjunctionwitheachother(e.g.localauthorities,serviceproviders,manufacturers,etc.].Anydeviationfrompredefinedroutesshallbeconfirmedbythedispatchertonotresultinahazardoussituation.

d)Lightingconditionsintheareaofapplication.

e)Weatherconditions.

f)Roadconditions.

g)PresenceorabsenceofVRUs.

h)Potentialpresenceofstaticobstaclesinthedrivablearea.

i)Connectivityrequirements.

EithertheLSADsystemsorthedispatchershouldselectoperatingvalues(foravehicledrivenbytheLSADsystem)withintheboundariesofthepredefinedvaluesoftheODDattributesforthespecifiedapplicationbasedoncurrentODDconditions[e.g.foggyweatherconditions,night-timelightingconditions).

EXAMPLEAdispatcheroranLSADsystemcandecidetorestrictthemaximumallowablespeedonarainydaytoalowerspeedascomparedtoaclear,sunnyday.

7.4LSADstatetransitiondiagram

TheLSADsystemshallfunctionaccordingtothestatetransitiondiagramofFigure3.Specificimplementation,beyondthedescriptioninFigure3shallbetheresponsibilityofthemanufacturer.

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LSADactive

(subclause

)

LSADDDT

(defaultstateinLSADactive)

B2

A1

LSADstandby

VsAD=0km/h

C1

(subclause

C2C3

B1

C6

C4

LSADMinimalriskcondition(MRC)VLSAD=0km/h

LSADOFF

(subclause

)

LSADperform

e-stop

LSADperform

MRM

)

C5

Key

A1poweronandself-testpassed

B1systemfailureorpower-offdispatchercommandorpowerturnedoff

B2ODDconditionsaremetanddispatcherhassentengageADScommandandADSequippedvehiclehasdatarecordingcapabilityandhasengagedit

C1dispatcherdisengagecommand

C2passengerordispatcherinitiatesemergencystop

C3detectionofhazardoussituationwhichtheLSADsystemisunabletohandleorDDTperformancerelevantsystemfailureorlossofsafetycriticalV2XcommunicationsorimminentviolationofODDorsafetoproceedconfirmationauthorizationnotreceivedfromdispatcher

C4vehicleisinstandstill,i.e.0m/s

C5confirmationtoproceedtostandbystatebydispatcher

C6vehicleisinstandstill,i.e.0m/s,andconfirmationtoproceedtostandbystatebydispatcher

Figure3—LSADstatetransitiondiagram

7.4.1LSADstatefunctionaldescriptions

LSADoff

TheLSADsystemshallnotperformanyaspectofthedynamicdrivingtaskintheLSADoffstate.

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LSADstandby

InLSADstandbystate,theLSADsystemshall:

a)VerifythatODDconditionsaresatisfiedtoenableatransitiontoLSADactivestate.

b)Performcommunicationswithdispatcher.

c)Remaininstandstill.

LSADstandbystatemayreceiveanexternaloperatingcommandfromthedispatcherselectingtheoperatingvalues(e.g.nominalordegraded)fortheLSADsystemwheninDDTstate.

NotethatnominalmodesuggeststheidealperformanceofthevehicledrivenbytheLSADsystem.Degradedmodesuggestsreducedperformanceonpre-definedvehicleparametersduetoexternalorrtheLSADsystem'sinternalconditions.

LSADactive

InLSADactivestate,theLSADshallperformtheDDT.TheLSADsystem'smaximumoperatingspeedisdeterminedbythedispatcherorbythesystemitself.

LSADactivestatehasfoursub-states:

1)LSADDDTsub-state:Thisshallbethedefaultsub-stateintheLSADacti