ISO 23374-1:2023

INTERNATIONAL ISO
STANDARD 23374-1
First edition
2023-07
Intelligent transport systems —
Automated valet parking systems
(AVPS) —
Part 1:
System framework, requirements
for automated driving and for
communications interface
Systèmes de transport intelligents — Systèmes de parking avec
voiturier automatisé (AVPS) —
Partie 1: Cadre du système, exigences relatives à la conduite
automatisée et à l'interface de communication
Reference number
ISO 23374-1:2023(E)
© ISO 2023

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ISO 23374-1:2023(E)
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© ISO 2023
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Published in Switzerland
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ISO 23374-1:2023(E)
Contents Page
Foreword . vi
Introduction .vii
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 2
4 Symbols and abbreviated terms.6
4.1 Symbols . 6
4.2 Abbreviated terms . 7
4.2.1 Terms defined in ISO/SAE PAS 22736 . 7
4.2.2 Terms relating to names of system and sub-systems . 7
4.2.3 Other terms . 7
5 System framework . 8
5.1 System description . 8
5.1.1 Basic functionalities . 8
5.1.2 Basic flow . 8
5.2 System configuration . 10
5.2.1 Sub-systems . 10
5.2.2 System architecture . 10
5.2.3 Interface . 10
5.3 Functional allocation . 11
5.4 Classification .12
5.4.1 Vehicle operation types .12
5.4.2 Traffic environment categories . 13
5.5 Human interaction .13
5.5.1 General .13
5.5.2 Service provider . 14
5.5.3 System operator . 14
5.5.4 Facility manager . 14
6 Requirements for automated vehicle operation functions .14
6.1 General . 14
6.1.1 Principles for performing automated vehicle operation . 14
6.1.2 Relationship of the operation functions . 15
6.1.3 Operational design domain . 15
6.2 Requirements for DDT . 16
6.2.1 General . 16
6.2.2 Basic performance requirements . 16
6.2.3 Additional requirements for operation under a mixed traffic environment . 17
6.3 Requirements for emergency stopping . 18
6.3.1 General . 18
[1]
6.3.2 DDT fallback . 19
6.3.3 Response to operation stop commands . 19
6.3.4 Detection of human activities . 19
6.4 Requirements for destination assignment . 19
6.4.1 General requirements . 19
6.4.2 Type 1 systems .20
6.4.3 Type 2 and 3 systems .20
6.5 Requirements for route planning . 20
6.6 Requirements for localization accuracy . 20
6.6.1 Accuracy requirement relative to the digital map . 20
6.6.2 Accuracy requirement of the end position relative to the destination . 21
6.7 Requirements for human activity recognition . 21
7 Requirements for management functions .21
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ISO 23374-1:2023(E)
7.1 Functions that influence the automated vehicle operation . 21
7.1.1 General . 21
7.1.2 Remote engagement . 21
7.1.3 Operation stop . 21
7.1.4 Remote assistance.22
7.1.5 Remote disengagement .22
7.1.6 Central control .22
7.2 Other management functions . 22
7.2.1 Compatibility and occupancy check . 22
7.2.2 SV identification .23
7.2.3 Response to incapacitation of the operation functions .23
7.2.4 Maintaining environmental conditions . 23
8 Requirements for the environment within parking facilities .24
8.1 General . 24
8.2 Common requirements . 24
8.2.1 Operation zone . 24
8.2.2 Drop-off and pick-up area . 24
8.2.3 SV identification area . 24
8.2.4 Wireless communication. 24
8.2.5 Operation stop device .25
8.2.6 Lighting . 25
8.3 Vehicle-operation-type-dependent requirements . 26
8.3.1 Detection capabilities of the R sub-system. 26
8.3.2 Localization markers . .26
8.3.3 Digital maps . 27
8.4 Traffic environment category dependent requirements .29
8.4.1 Mixed traffic .29
8.4.2 Exclusive traffic .29
9 Requirements for overall system operation .29
9.1 General .29
9.2 Requirements for the communication interface .30
9.2.1 General requirements .30
9.2.2 Security goals . 31
9.2.3 Security requirements . 31
9.3 System states and transition diagram . 31
9.3.1 State transition diagram . 31
9.3.2 Definition and requirements of system states . 33
9.3.3 Transition conditions . 36
9.4 Suspend condition codes .40
9.5 Object and event detection data reporting . 41
9.6 Data recording . 41
9.7 Information to the user . 42
9.8 Development process and management . 42
10 Test scenarios for automated vehicle operation .42
10.1 General . 42
10.1.1 Purpose . 42
10.1.2 Test sites . 43
10.1.3 Environmental conditions . 43
10.1.4 Example test setups . 43
10.1.5 Values of each figure .44
10.1.6 Test targets .44
10.1.7 Observing designed values at a preparation run . 45
10.1.8 Means to limit the designed values . . 45
10.1.9 Common pass criteria .46
10.1.10 List of test scenarios and scenes .46
10.2 Basic scenarios . 47
10.2.1 Scenario A: Entering. 47
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ISO 23374-1:2023(E)
10.2.2 Scenario B: Re-parking .48
10.2.3 Scenario C: Exiting .50
10.3 Basic scenes . 51
10.3.1 Scene 01: Climbing a ramp at slow speed . 51
10.3.2 Scene 02: Ramp down . 52
10.3.3 Scene 03: Operation on spiral ramps (up/down) .53
10.3.4 Scene 04: Out of drop-off area . 55
10.3.5 Scene 05: SV identification . 55
10.3.6 Scene 06: Out of operation zone.56
10.4 Traffic rules and behaviours . 57
10.4.1 Scene 11: Stopping location . 57
10.4.2 Scene 12: Intersection passing.58
10.4.3 Scene 13: Blocked intersection . 59
10.4.4 Scene 14: Give way in two-way traffic .60
10.4.5 Scene 15: Vehicle in front is reversing towards SV . 61
10.5 Static object avoidance . 62
10.5.1 Scene 21: Smallest object in the direction of travel (forward/reverse) . 62
10.5.2 Scene 22: Overhanging object .64
10.5.3 Scene 23: Infant in parking spot (reverse/forward) .65
10.5.4 Scene 24: Infant lying near ramp (up/down) .66
10.5.5 Scene 25: Infant behind a curve .68
10.5.6 Scene 26: Infant in front of parked vehicle (forward/reverse) .69
10.5.7 Scene 27: Infant beside parked vehicle . 70
10.5.8 Scene 28: Infant lying partly underneath parked vehicle. 71
10.6 Dynamic object avoidance . .72
10.6.1 Scene 31: Forward vehicle braking hard .72
10.6.2 Scene 32: Parked vehicle rushing out .73
10.6.3 Scene 33: Cross-cutting child . 75
10.6.4 Scene 34: Irregular movement of an adult .77
10.6.5 Scene 35: Bicyclist approaching . 79
10.7 Emergency stopping .80
10.7.1 Scene 41: Operation stop command .80
10.7.2 Scene 42: Communication failure .80
Annex A (normative) Communication sequences .81
Annex B (normative) Test targets . 108
Annex C (informative) Description of localization markers .110
Annex D (informative) Guidance in placing coded markers in parking facilities .117
Annex E (informative) Example of line markings detectable by on-board sensors. 123
Annex F (informative) Parking facility dimension. 125
Annex G (informative) Examples for system implementation . 128
Annex H (informative) Type 3 implementation example . 129
Bibliography . 153
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ISO 23374-1:2023(E)
Foreword
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This document was prepared by Technical Committee
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