ISO 19237

ISO/DISPRF 19237:2025(en)
ISO/TC 204/ WG 14
Secretariat: ANSI
Date: 2025-11-202026-08-21
Intelligent transport systems — Pedestrian detection and collision
mitigation systems (PDCMS) — Performance requirements and test
procedures
Systèmes intelligents de transport intelligents — Systèmes de détection des piétons et de prévention des
collisions (PDCMS) — Exigences de performance et modes opératoiresprocédures d'essai
PROOF
ISO/PRF 19237:2017(E2026(en)
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ISO/DISPRF 19237:20252026(en)
Contents Page
Foreword . iv
Introduction . v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Symbols and abbreviated terms . 3
5 Requirements and other provisions . 4
5.1 Minimum enabling capabilities . 4
5.2 Operating model — State transition diagram . 5
5.3 Performance requirements . 6
5.4 PDCMS Operation . 11
6 Test procedures . 11
6.1 General. 11
6.2 Test procedure requirements . 11
6.3 Test requirements for daytime . 12
6.4 Test requirements for night-time . 14
Bibliography . 23

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ISO/PRF 19237:2017(E2026(en)
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards
bodies (ISO member bodies). The work of preparing International Standards is normally carried out through
ISO technical committees. Each member body interested in a subject for which a technical committee has been
established has the right to be represented on that committee. International organizations, governmental and
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The procedures used to develop this document and those intended for its further maintenance are described
in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the different types of
ISO document should be noted. This document was drafted in accordance with the editorial rules of the
ISO/IEC Directives, Part 2 (see www.iso.org/directives).
ISO draws attention to the possibility that the implementation of this document may involve the use of (a)
patent(s). ISO takes no position concerning the evidence, validity or applicability of any claimed patent rights
in respect thereof. As of the date of publication of this document, ISO had not received notice of (a) patent(s)
which may be required to implement this document. However, implementers are cautioned that this may not
represent the latest information, which may be obtained from the patent database available at
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Any trade name used in this document is information given for the convenience of users and does not
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For an explanation of the voluntary nature of standards, the meaning of ISO specific terms and expressions
related to conformity assessment, as well as information about ISO's adherence to the World Trade
Organization (WTO) principles in the Technical Barriers to Trade (TBT), see www.iso.org/iso/foreword.html.
This document was prepared by Technical Committee ISO/TC 204, Intelligent transport systems.
This second edition cancels and replaces the first edition (ISO 19237:2017), which has been technically
revised.
The main changes are as follows:
— -- Clarificationclarification that a hazardous situation is not limited to a pedestrian crossing a straight road
through the addition of road curvature requirements.;
— Reductionreduction in minimum subject vehicle velocity;
— Requirementnew requirement that all PDCMS be capable of twilight and nighttimenight-time activation,
whereaswhich was previously optional.
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.

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ISO/DISPRF 19237:20252026(en)
Introduction
The fatality and severe injury rates of traffic accidents involving pedestrians are significantly high, resulting
in the loss of many lives.
Pedestrian detection and collision mitigation systems (PDCMS) reduce the severity of pedestrian collisions
that cannot be avoided and can reduce the likelihood of fatality. By a collision warning (CW) and automatically
activating emergency braking, PDCMS assist in slowing a vehicle when a collision is likely.
Functional elements of a PDCMS are shown in Figure 1Figure 1.

Figure 1 — Functional elements of pedestrian detection and collision mitigation systems (PDCMS)
A PDCMS detects pedestrians ahead of time, determine if detected pedestrians represent a hazardous
condition, and warn the driver if a hazard exists. A PDCMS estimates if the driver has an adequate opportunity
to respond to the hazard. If there is inadequate time available for the driver to respond, and if appropriate
criteria are met, a PDCMS determines that a collision is imminent. Based upon this assessment, a PDCMS will
activate CWs and vehicle brakes to mitigate collision severity. This document, while not a collision avoidance
standard, does not preclude a manufacturer from implementing collision avoidance with a PDCMS.
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ISO/PRF 19237:2017(E2026(en)
System designers and other users of this document can apply itthe provisions of this document to stand-alone
PDCMS or to the integration of the PDCMS functions into other driving assistance and support systems.
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DRAFT International Standard ISO/DIS 19237:2025(en)

Intelligent transport systems — Pedestrian detection and collision
mitigation systems (PDCMS) — Performance requirements and test
procedures
1 Scope
This document specifies the conceptconcepts of operation, minimum functionality, system requirements,
system interfaces, and test procedures for pedestrian detection and collision mitigation systems (PDCMS),
which can reduce the likelihood of fatality and severity of injury. A PDCMS requires information about range
to pedestrians, motion of pedestrians, motion of the subject vehicle (SV), driver commands and driver actions.
It specifies the behaviours that are required for PDCMS, and the system test criteria necessary to verify that a
given implementation meets the requirements of this document. Implementation choices are left to system
designers wherever possible.
PDCMS reduce the severity of pedestrian collisions that cannot be avoided, and may reduce the likelihood of
fatality and severity of injury. PDCMS require information about range to pedestrians, motion of pedestrians,
motion of the subject vehicle (SV), driver commands and driver actions. PDCMS detect pedestrians ahead of
time, determine if detected pedestrians represent a hazardous condition, and warn the driver if a hazard
exists. PDCMS estimate if the driver has an adequate opportunity to respond to the hazard. If there is
inadequate time available for the driver to respond, and if appropriate criteria are met, PDCMS determine that
a collision is imminent. Based upon this assessment, PDCMS will activate CWs and vehicle brakes to mitigate
collision severity. This document, while not a collision avoidance standard, does not preclude a manufacturer
from implementing collision avoidance with PDCMS.
Systems that include other countermeasures such as evasive steering are not within the scope of this
document.
Responsibility for the safe operation of the vehicle remains with the driver.
This document applies to light duty passenger vehicles. It does not apply to other vehicle categories such as
heavy vehicles or motorcycles. PDCMS are not intended for off-road use.
2 Normative references
The following documents are referred to in the text in such a way that some or all of their content constitutes
requirements of this document. For dated references, only the edition cited applies. For undated references,
the latest edition of the referenced document (including any amendments) applies.
ISO 1176, Road vehicles — Masses — Vocabulary and codes
ISO 19206--2, Road vehicles — Test devices for target vehicles, vulnerable road users and other objects, for
assessment of active safety functions — Part 2: Requirements for pedestrian targets
ISO/CIE 19476:2014, Characterization of the performance of illuminance meter and luminance meter
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
ISO/PRF 19237:2017(E2026(en)
ISO and IEC maintain terminology databases for use in standardization at the following addresses:
— — ISO Online browsing platform: available at https://www.iso.org/obp
— — IEC Electropedia: available at https://www.electropedia.org/
3.1 3.1
collision warning
CW
warning system that alerts the driver of a potential collision with a pedestrian (3.9) in the forward path of the
subject vehicle
3.2 3.2
driver override
driver-initiated suppression of an emergency braking (3.3) or collision warning (3.1) countermeasure
3.3 3.3
emergency braking
EB
PDCMS countermeasure for pedestrian detection and collision mitigation systems that responds to the
detection of an imminent pedestrian collision (3.10) by automatically activating braking to quickly reduce the
relative velocity
3.4 3.4
heavy vehicle
any single vehicle or combination of vehicles defined as Category 1-2 or Category 2 in [2].the United Nations
Economic and Social Council World Forum for Harmonization of Vehicle Regulations (WP.29)
[2]
TRANS/WP.29/1045
3.5 3.5
impact point of position
lateral contact position from the subject vehicle (SV) (3.11) point of view or expected lateral contact position
at the front of the SV when the SV collides with a pedestrian (3.9) or when a collision is expected
3.6 3.6
light duty passenger vehicle
vehicle according to category M1 (≦8 passenger seats except driver seat) in [1]the United Nations Economic
and Social Council World Forum for Harmonization of Vehicle Regulations (WP.29)
[1]
TRANS/WP.29/78/Rev.2
3.7 3.7
minimum speed reduction
minimum speed reduction PDCMS shall achieve
3.8smallest drop in speed that a pedestrian detection and collision mitigation system is able to achieve when
activated
ISO/DISPRF 19237:20252026(en)
3.8
minimum velocity
V
min
v
min
minimum subject vehicle (3.11SV) speed for which PDCMSa pedestrian detection and collision mitigation
system is capable of activating a countermeasure
3.9 3.9
pedestrian
human being on the road or near the road
3.10 3.10
pedestrian collision
collision between a subject vehicle (3.11the SV) and a pedestrian (3.9)
3.11 3.11
subject vehicle
SV
vehicle equipped with PDCMS as defined hereina pedestrian detection and collision mitigation system
3.12 3.12
target pedestrian
TP
pedestrian (3.9) that is positioned within the field of view of the sensor and that can be impacted by the subject
vehicle (3.11SV)
4 Symbols and abbreviated terms
ABS Anti-lock brake system
CW Collision warning
ESC Electronic stability control
EB Emergency braking
EB
Emergency brakingPedestrian detection and collision mitigation system
PDCMS
SV Subject vehicle
TP Target pedestrian
v Minimum velocity for PDCMS operation
min
v Subject vehicle velocity
sv
v Target pedestrian lateral velocity
tpL
v Maximum SV velocity for PDCMS operation
max
Ldd (Lateral) distance between the vehicle pass and TP as shown in Figure 2figure 2
L
x (Longitudinal) distance between SV and TP as shown in Figure 2figure 2
c
ISO/PRF 19237:2017(E2026(en)
Figure 2 — Lateral and longitudinal distance
5 Requirements and other provisions
5.1 Minimum enabling capabilities
Light duty passenger vehicles equipped with a PDCMS shall be capable of providing the following
characteristics:
— — detectdetecting the presence of pedestrian(s);
— — determinedetermining the direction of the detected pedestrian from the SV, distance and relative
velocity between the SV and the detected forward pedestrian;
— — determinedetermining the subject vehicleSV velocity;
— — initiateinitiating appropriate PDCMS countermeasures;
— — provideproviding CWs;
— — activateactivating and modulatemodulating the brakes whether or not the driver is already braking;
— — controlcontrolling the brake lights;
— — enhanceenhancing driver control based on brakes with a yaw stability capability and a capability to
manage longitudinal wheel slip, by utilizing an ESC system;
— — generategenerating at least the minimum required PDCMS speed reduction;
ISO/DISPRF 19237:20252026(en)
— — after EB has been initiated, permitpermitting the driver to increase the deceleration to any higher
value up to the maximum possible vehicle deceleration;
— — permitpermitting driver override at any time;
— — provideproviding information about system availability to the driver.
5.2 Operating model — State transition diagram
5.2.1 State functional descriptions
The PDCMS shall function according to the state transition diagram in Figure 3Figure 3. Specific
implementation of the state transitions, beyond what is illustrated below, of the state transitions is left to the
manufacturer.
Key
1 Ignition Onignition on or (optional) Ignition Onignition on and driver turn Onon
2 failure detected (automatic deactivation possible)
3 vsv ≥ ≥ vmin and vsv ≤ ≤ vmax
4 vsv < < vmin or vsv > > vmax
Exception:NOTE This does not apply when the SV speed falls below vmin or exceeds vmax as long as the command is being issued.

5 fail self-test, ignition Offoff or (optional) driver turn Offoff
Figure 3 — State transition diagram including optional features
ISO/PRF 19237:2017(E2026(en)
The PDCMS state descriptions of the PDCMS address the functional requirements of a PDCMS, identifying
which functions shall be performed in each state.
5.2.2 PDCMS Off
No countermeasures are performed in the PDCMS Off state. Upon turning the ignition to the Off position, the
PDCMS shall transition to the PDCMS Off state. Whenever the self-test function determines that the PDCMS
areis not able to deliver adequate performance, or when the driver manually turns off the PDCMS (optional),
it shall transition to the PDCMS Off state. The PDCMS may be in the PDCMS Off state when the vehicle’s ignition
is on.
5.2.3 PDCMS Inactive
In the PDCMS Inactive state, the PDCMS shall monitor vehicle speed and determine if it is appropriate to
activate the system.
The PDCMS shall enter the PDCMS Inactive state from the PDCMS Off state if the ignition on sequence has been
completed and the engine is running. The PDCMS shall enter Inactive state from the Active state if the
conditions for activating are not met, for example, if the vehicle speed drops below v . If a manufacturer
min
defined failure mode is encountered for which an automatic recovery (optional) is possible, the PDCMS shall
transition from PDCMS Active state to PDCMS Inactive state. Based on the results of a diagnostic self-test,
functions of all or some of the countermeasures may be restored. Once the recovery occurs, the system may
transition back to PDCMS Active state. Finally, if the driver manually turns on PDCMS (optional), then it shall
transit from the PDCMS Off state to the PDCMS Inactive state.
5.2.4 PDCMS Active
The PDCMS shall enter this state if the vehicle speed is greater than or equ
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