ISO/TS 21934-2:2024

Technical
Specification
ISO/TS 21934-2
First edition
Road vehicles — Prospective
2024-10
safety performance assessment
of pre-crash technology by virtual
simulation —
Part 2:
Guidelines and requirements for
application
Véhicules routiers — Évaluation prospective de la performance
sécuritaire des systèmes de pré-accident par simulation
numérique —
Partie 2: Lignes directrices et exigences pour la mise en œuvre
Reference number
© ISO 2024
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ii
Contents Page
Foreword .v
Introduction .vi
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Symbols and abbreviated terms. 6
4.1 Symbols .6
4.2 Abbreviations .7
5 Overview: A general description of the process for prospective safety performance
assessment of pre-crash technology by virtual simulation . 8
5.1 General approach and structure .8
5.2 Input data .8
6 Evaluation objective .13
6.1 Process for identification of the evaluation objective . 13
6.2 Definition of a precise research question .14
6.3 Identification of relevant scenario categories .14
6.4 Metrics in prospective safety performance assessment by simulation .14
6.4.1 Introduction to metrics .14
6.4.2 Selective compilation of metrics to determine safety critical events .16
6.4.3 Selective compilation of collision related metrics .18
6.5 Selection of metric . 20
7 Baseline .21
7.1 Baseline approaches .21
7.1.1 General .21
7.1.2 Approach A . 23
7.1.3 Approach B . 23
7.1.4 Approach C . 23
7.1.5 Requirements .24
7.1.6 Example research questions . 25
7.2 Example for minimum required information for establishing a baseline . 25
8 Virtual simulation .26
8.1 Framework . 26
8.2 Models .27
8.2.1 Scope of section .27
8.2.2 Simulation control block .27
8.2.3 Vehicle surroundings block. 28
8.2.4 Sensor/perception input generation . 33
8.2.5 Vehicle under test block . 34
8.2.6 Collision block .42
8.3 Example for minimum required information for treatment simulation .42
9 Assessment of safety performance.44
9.1 Calculation of safety performance . 44
9.2 Example for minimum required information for safety performance assessment . 44
10 Documentation .44
11 Validation and verification .48
Annex A (informative) Example for documentation of input data .55
Annex B (informative) Comparison of simulation tools .59
Annex C (informative) Examples for documentation of a study . 61

iii
Bibliography .81

iv
Foreword
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This document was prepared by Technical Committee ISO/TC 22, Road vehicles, Subcommittee SC 36, Safety
and impact testing.
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Any feedback or questions on this document should be directed to the user’s national standards body. A
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v
Introduction
Active safety and advanced driver assistance systems (ADAS), collectively referred to in this document as
active safety technologies, as well as automated driving technology have recently been introduced into the
market. Their development raises questions about the extent to which these technologies prevent crashes
and their ensuing injuries. These questions are of relevance to stakeholders such as vehicle manufacturers
and suppliers, road authorities, research organisations and academia, politicians, insurance companies as
well as consumer organisations.
The answers to these questions are derived from assessing the technology in terms of road traffic safety.
There is a number of assessment methodologies in use (see ISO/TR 12353-4). In general, the current
methodologies are divided into two types: retrospective assessments and prospective assessments.
Retrospective methods determine the technology’s safety effect after its market introduction based
on accident data. A precondition for these methods is that sufficient accident cases with and without the
technology have been recorded for a comparison in a certain vehicle subgroup or class. Prospective methods,
on the other hand, predict the technology’s safety effect before its market introduction.
This document focuses on the prospective assessment of traffic safety for vehicle-integrated technologies
acting in th
...