ISO 19586:2019

INTERNATIONAL ISO
STANDARD 19586
First edition
2019-12
Heavy commercial vehicles and
buses — Vehicle dynamics simulation
and validation — Lateral dynamic
stability of vehicle combinations
Véhicules utilitaires lourds et autobus — Dynamique du véhicule
simulation et validation — Stabilité latérale des véhicules articulés
Reference number
©
ISO 2019
© ISO 2019
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ii © ISO 2019 – All rights reserved

Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Principle . 2
5 Variables . 2
6 Minimum vehicle model parameters and requirements . 3
6.1 General . 3
6.2 Basic vehicle parameters. 3
6.3 Estimated vehicle parameters . 3
7 Physical tests . 4
7.1 General . 4
7.2 Test methods . 4
7.2.1 General. 4
7.2.2 Pseudo random steer input . 4
7.2.3 Single sine wave input . 4
8 Simulation . 5
8.1 General . 5
8.2 Data recording . 5
8.3 Documentation . 5
9 Comparison of simulation and physical tests . 5
9.1 General . 5
9.2 Characteristic values . 5
9.2.1 Rearward amplification (RA) . 5
9.2.2 Yaw damping and zero damping speed . 7
10 Validation process . 8
Annex A (informative) Principle of comparing simulation and test results .10
Bibliography .11
Foreword
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Vehicle dynamics and chassis components.
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iv © ISO 2019 – All rights reserved

Introduction
The main purpose of this document is to provide repeatable and discriminatory test results.
The dynamic behaviour of a road vehicle is a most important aspect of active vehicle safety. Any given
vehicle, together with its driver and the prevailing environment constitutes a closed-loop system
which is unique. The task of evaluating the dynamic behaviour is therefore very complicated, since the
significant interaction of these driver-vehicle-road elements are each complex in themselves. A complete
and accurate description of the behaviour of the road vehicle will inevitably involve information
obtained from a number of different tests.
Since this test method quantifies only one small part of the complete handling characteristics, the
results of this test can only be considered significant for a correspondingly small part of the overall
dynamic behaviour.
Moreover, insufficient knowledge is available to correlate overall vehicle dynamic properties with
accident prevention. A substantial amount of work is necessary to acquire sufficient and reliable data on
the correlation between accident prevention and vehicle dynamic properties in general and the results
of this test in particular. Consequently, proven correlation between test results and accident statistics
is used for any application of this test method for regulation purposes.
Test conditions and tyres have a strong influence on test results. Therefore, only results obtained under
comparable test and tyre conditions are comparable.
INTERNATIONAL STANDARD ISO 19586:2019(E)
Heavy commercial vehicles and buses — Vehicle dynamics
simulation and validation — Lateral dynamic stability of
vehicle combinations
1 Scope
This document specifies a method for comparing simulation results from a vehicle model to measured
test data for an existing vehicle combination’s lateral stability according to driving tests as specified in
ISO 14791. The comparison is made for the purpose of validating the simulation model for this type of
test. A complete validation comprises the comparison for at least one tested vehicle and one variant of
this vehicle, covered by a parameter variation in the vehicle model.
The document applies to heavy vehicles, including commercial vehicles, commercial vehicle
combinations, buses and articulated buses as defined in ISO 3833 (trucks and trailers with maximum
weight above 3,5 tonnes and buses and articulated buses with maximum weight above 5 tonnes,
according to ECE and EC vehicle classification, categories M3, N2, N3, O3 and O4).
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 14791:2000, Road vehicles — Heavy commercial vehicle combinations and articulated buses — Lateral
stability test methods
ISO 8855, Road vehicles — Vehicle dynamics and road-holding ability — Vocabulary
ISO 15037-2:2002, Road vehicles — Vehicle dynamics test methods — Part 2: General conditions for heavy
vehicles and buses
3 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO 8855, ISO 15037-2 and the
following apply.
ISO and IEC maintain terminological databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https:// www .iso .org/ obp
— IEC Electropedia: available at http:// www .electropedia .org/
3.1
simulation
calculation of motion variables of a vehicle from equations in a mathematical model of the vehicle system
3.2
basic vehicle parameters
parameters not subject to model fitting, which are directly and accurately measurable on the test vehicle
EXAMPLE Masses and dimensions.
3.3
estimated vehicle parameters
parameters that may be used for model fitting, which are typically hard to be determined
EXAMPLE Mass moment of inertia and tyre characteristics.
3.4
vehicle model validity range
basic vehicle parameters (3.2) which may be changed if the type of vehicle combination and tyre type
are maintained
Note 1 to entry: For example, when wheel base is modified some of the estimated parameters may need to be
updated accordingly.
4 Principle
The pseudo random and the single sine wave steering input according to ISO 14791 is used to determine
lateral stability by calculating the rearward amplification (RA) and yaw damping (D) of heavy
commercial vehicles and buses as defined in ISO 3833. Within this document, the purpose of the test is
to demonstrate that a vehicle model can predict the vehicle behaviour within specified tolerances. The
vehicle model is used to simulate a specific existing vehicle running tests as specified in ISO 14791. The
maximum lateral acceleration in the first vehicle unit is limited to a conservative value to assure linear
behaviour of the vehicle combination. The characteristic values from model results and physical testing
are compared for validating the model. In this document a tolerance is given for when the model is valid.
The tolerance depends upon t
...