在 Are self-driving cars in China finally here? middle Law and Regulations introduces car drivingAutomated gradingFunctions and main standard conditions.
在 Are regulations ready for L3 mass production in China? middle , Law and Regulation Jun also introduced China from the perspectives of product development, testing demonstration, certification access, and mass production.L3 mass production regulationsenvironment.
Intelligent driving functions have experiencedsingle lane到Multi-LaneTowards againPilot Assisted Driving NOA（Navigate on Autopilot）In the development process, compared with L3 mass production, which is far away, L2 level NOA is more within reach.
Lawmakers will share it one after another有关NPlease pay attention to the relevant national standard requirements for OA systems.
GB/T "Intelligent Connected Vehicles - Technical Requirements and Test Methods for Integrated Driving Assistance Systems - Part 1:Single lane driving control》The standard stipulates the technical requirements for single-lane driving control systems.Implementation to be released soon, Law and Regulation Jun sorted out the main technical indicators based on its public opinion draft for research and development reference.
definition
The single-lane driving control system can control the vehicle according to the driving environment around the vehicle.landscape and portraitcontrol, to assist the driver in controlling the vehicle in selectedwithin a single lanetravel.
System activation and exit
①Within each power cycle (Except automatic start and stop), the first activation of the system requiresDriver operation。
② Drivers can pass at any timesingle operationExit the system, after which the driver's operation is still required to reactivate the system.
③ If it occurs before the system is activatedFault, the system cannot enter the activation state.
④ Allows the driver to adjust during system activationcruising speed等。
⑤ After the system is activated, the driver can still intervene in the vehicle movement, (When testing on curves) can be passed no larger than 50N The steering force is used to manually control the vehicle to leave the lane edge.
System prompts and warning signals
① The system should continue to issue during activation.Optical prompt signal, and differentiate, at least optically, between the inactive, partially activated and activated states of the system.
② If a failure occurs during system self-check and operation, the system should issueFault indication information, the fault indication information should at least include optical prompt signals.
③ Call the police: The vehicle reaches cruising speed (Set to 60km/h during test), if the driver releases the steering wheel,The system should be in
15sInner hair出Tips for getting rid ofSignal (optical prompt)
30sIssued within脱手警告Signal (optical warning + acoustic warning, the hands and/or steering wheel in the optical warning signal should be红色Display, and continues until the driver holds the steering wheel or the system enters an inactive state)
After acoustic warning30sautomatically enters the inactive state (different from the acoustic warning in the previous stage for at least 5s, or until the driver puts his hands on the steering wheel again)
④ driver monitoring：After the system is activated, it should monitor whether the driver is performing corresponding dynamic driving tasks. When the vehicle speed is greater than10km/hThe system should send out a hands-off alarm signal when the driver takes his hands off.
Lateral motion control
① No target vehicle: The vehicle drives in a straight line in the lane (driving at 30km/h for 5s → 80km/h for 5s → 60km/h for 5s), and the distance between the vehicle and the lane edge isHorizontal spacing dshould be kept at (Lane width w/2±0.3)m range.
② target vehicle：车辆在车道内沿直线行驶（以30km/h行驶 → 与前方15km/h的目标车辆相距100m → 减速至15km/h行驶5s → 目标车辆以 0.5m/s的横向速度切出 → 恢复至30km/h行驶5s），车辆始终保持在车道边线内。
③ maximum horizontalacceleration：The vehicle travels in a straight line within the lane (with maximum lateral acceleration +0.3m/s2driving at the corresponding speed → entering the curve → leaving the lane), the maximum lateral acceleration of the system≤3m/s2，变化率≤5m/s³。
NOTE: The standard allows2s以内The acceleration exceeds the declared value to cope with emergency situations, butNeed to meet the acceleration≤声明值 * 1.4，且≤ 3.3m/s2。
纵向运动控制
④ Test according to the two modes ① and ② of the above lateral motion control. The systemLongitudinal deceleration, longitudinal deceleration change率andLongitudinal acceleration limitas follows
⑤ Test according to the above lateral motion control ② mode.Steady state following time distance（c/v）应Not less than 0.8s.
（end）
The original article was originally published on the WeChat public account (Automotive Regulations Vision):Interpretation of the National Standard of Pilot Assisted Driving NOA Series - Single Lane Driving Control
English 
Chinese