ISO 20900:2023

2022-07-2011-14
ISO/DIS 20900:2022(E)
ISO TC 204/WG 14
Secretariat: ANSI
Intelligent transport systems — Partially automated parking systems (PAPS) —
Performance requirements and test procedures
Systèmes de transport intelligents de transport — Systèmes de stationnement partiellement
automatisés (PAPS) — Exigences de performance et modes opératoiresprocédures d'essai

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ISO/DIS 20900:2022(E)
© ISO 2022, Published in Switzerland
All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or
utilized otherwise in any form or by any means, electronic or mechanical, including photocopying,
or posting on the internet or an intranet, without prior written permission. Permission can be
requested from either ISO at the address below or ISO’s member body in the country of the
requester.
ISO copyright office
Ch. de Blandonnet 8 • CP 401
CH-1214 Vernier, Geneva, Switzerland
Tel. + 41 22 749 01 11
Fax + 41 22 749 09 47
copyright@iso.org
www.iso.org

© ISO 2022 – All rights reserved
iiii

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ISO/DIS 20900:2022(E)
Contents
Foreword . vi
Introduction. vii
1 Scope . 1
2 Normative references . 1
3 Terms and definitions. 1
4 Definition of PAPS types and requirements . 3
4.1 PAPS types . 3
4.2 Basic system functionality. 3
4.2.1 Type 1 — System supervised by a conventional driver located in the
driver’s seat . 3
4.2.2 Type 2 — System supervised by a remote driver . 4
4.3 General requirements . 5
4.3.1 Maximum speed during operation . 5
4.3.2 PAPS termination conditions . 5
4.3.3 User’s manual . 5
5 Functional and performance requirements for PAPS . 6
5.1 Supported parking types . 6
5.1.1 Parking types. 6
5.1.2 Parallel parking space . 6
5.1.3 Parallel parking slot . 7
5.1.4 Perpendicular parking space . 8
5.1.5 Perpendicular parking slot . 9
5.1.6 Garage parking space . 10
5.2 States of operation and user interface . 12
5.2.1 Parking manoeuvre . 12
5.2.2 Leaving manoeuvre for Type 2 . 14
5.3 Information strategy. 16
5.3.1 General . 16
5.3.2 Information in “Search state” . 16
5.3.3 Information during “Found state” until “Waiting for authorization state” . 16
5.3.4 Information in “Waiting for authorization state” . 16
5.3.5 Information during “Parking/Leaving manoeuvre state” . 17
6 Performance test requirements . 17
6.1 General . 17
6.2 Environmental conditions . 17
6.3 Test object . 17
6.3.1 Bordering vehicle . 17
6.3.2 Limiting objects . 17
6.3.3 Reference kerb. 18
6.3.4 Slot lines . 18
6.4 Test criteria . 18
6.5 Performance test . 19
6.5.1 Parallel parking space . 19
6.5.2 Parallel parking slots . 21
6.5.3 Perpendicular parking space . 22
6.5.4 Perpendicular parking slot . 24
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ISO/DIS 20900:2022(E)
6.5.5 Garage parking space . 26
Bibliography . 28


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ISO/DIS 20900:2022(E)




Foreword . vii
Introduction. viii
1 Scope . 1
2 Normative references . 1
3 Terms and definitions. 1
4 Definition of PAPS types and requirements . 3
4.1 PAPS types . 3
4.2 Basic system functionality. 3
4.2.1 Type 1 — System supervised by a conventional driver located in the
driver’s seat . 3
4.2.2 Type 2 — System supervised by a remote driver . 4
4.3 General requirements . 5
4.3.1 Maximum speed during operation . 5
4.3.2 PAPS termination conditions . 6
4.3.3 User’s manual . 6
5 Functional and performance requirements for PAPS . 6
5.1 Supported parking types . 6
5.1.1 Parking types. 6
5.1.2 Parallel parking space . 6
5.1.3 Parallel parking slot . 8
5.1.4 Perpendicular parking space . 9
5.1.5 Perpendicular parking slot . 11
5.1.6 Garage parking space . 12
5.2 Operating states and user interface . 15
5.2.1 Parking manoeuvre . 15
5.2.2 Leaving manoeuvre for Type 2 . 18
5.3 Information strategy. 20
5.3.1 General . 20
5.3.2 Information in “Search state” . 20
5.3.3 Information during “Found state” until “Waiting for authorization state” . 20
5.3.4 Information in “Waiting for authorization state” . 20
5.3.5 Information during “Parking/Leaving manoeuvre state” . 21
6 Performance test requirements . 21
6.1 General . 21
6.2 Environmental conditions . 21
6.3 Test object . 21
6.3.1 Bordering vehicle . 21
6.3.2 Limiting objects . 21
6.3.3 Reference curb . 22
6.3.4 Slot lines . 22
6.4 Test criteria . 22
6.5 Performance test . 23
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ISO/DIS 20900:2022(E)
6.5.1 Parallel parking space . 23
6.5.2 Parallel parking slots . 27
6.5.3 Perpendicular parking space . 28
6.5.4 Perpendicular parking slot . 31
6.5.5 Garage parking space . 33
Bibliography . 36

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ISO/DIS 20900:2022(E)
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 non-governmental, in liaison with ISO, also take part in the work. ISO
collaborates closely with the International Electrotechnical Commission (IEC) on all matters of
electrotechnical standardization.
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 documents 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).
Attention is drawn to the possibility that some of the elements of this document may be the subject of
patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of any
patent rights identified during the development of the document will be in the Introduction and/or on
the ISO list of patent declarations received (see www.iso.org/patents).
Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
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 20900:2019), which has been technically
revised.
The main changes are as follows:
— Remove the “Permitted Area for concept of an "area where partially-automated parking systems
(PAPS” in) control is permitted" within parking scenarios. has been removed;
— Introduce the “Narrow Road”concept of a "narrow situation in" within parking scenarios has been
introduced.
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.
© ISO 2022 – All rights reserved
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ISO/DIS 20900:2022(E)
Introduction
Partially -automated parking systems (PAPS) perform parking manoeuvres controlling both longitudinal
and lateral movement of the vehicle to mitigate the driver’s burden. Information about the intended
parking space should be available byprior to starting the system operation, via on-board sensors and
potentially fromvia external infrastructural information sources prior to starting the system operation,
in order to determine the strategic path to follow.
The system consists of driver command input device(s) and non-contact sensors to acquirefor acquiring
external information. In addition, the system consists ofinvolves the automatic control of propulsion,
brake, transmission and steering, through which manoeuvre the vehicle is manoeuvred into an intended
relative position and is made to stop within certain tolerances without the driver’s direct manipulations.
A human -machine interface (HMI) provides system information to the driver. The system function is
initiated by a driver command. The system monitors the vicinity of the vehicle to detect and avoid
hazards. The vehicle behaviour and safety conditions are supervised by the driver.
The driver is able to cancel/halt the system operation at any time necessary.
The International Organization for Standardization (ISO) draws attention to the fact that it is claimed that
compliance with this document may involve the use of a patent.
ISO takes no position concerning the evidence, validity and scope of this patent right.
The holder of this patent right has assured ISO that he/she is willing to negotiate licences under
reasonable and non-discriminatory terms and conditions with applicants throughout the world. In this
respect, the statement of the holder of this patent right is registered with ISO. Information may be
obtained from the patent database available at www.iso.org/patents.
Attention is drawn to the possibility that some of the elements of this document may be the subject of
patent rights other than those in the patent database. ISO shall not be held responsible for identifying any
or all such patent rights.
© ISO 2022 – All rights reserved
viiiviii

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INTERNATIONAL STANDARD ISO 20900:2022(E)

Intelligent transport systems — Partially -automated parking
systems (PAPS) — Performance requirements and test
procedures
1 Scope
[ [1] ]
This document addresses light vehicles , , for example passenger cars, pick-up trucks, light vans and
sport utility vehicles (motorcycles excluded), equipped with partially -automated parking systems
(PAPS).
This document establishes minimum functionality requirements that the driver can expect and that the
manufacturer needsare to takebe taken into account by the manufacturer.
Possible system There are two possible types of PAPS configuration includes the following two types:.
— Type 1: Systemthe system is supervised by the conventional driver located in the driver’s seat;.
— Type 2: Systemthe system is supervised by the remote driver (present within or outside the vehicle)
that), who is not necessarily located in the driver’s seat. The vehicle remains in the line of sight of the
remote driver.
For both types,This document addresses minimum requirements and conditions offor safety, system
performance and function, including (human -machine interface) (HMI) information content and
description of system operating states are addressed, for both types of system.
The requirements include the driver, who supervises the safety throughout the system manoeuvres.
System test requirements are also addressed, including test criteria, method, and conditions.
2 Normative references
There are no normative references in this document.
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
ISO and IEC maintain terminologicalterminology 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
partially -automated parking system
PAPS
system capable of measuring the dimensions of a parking space (3.2)/parking slot (3.3)/garage (3.4),
calculating an applicable trajectory, performing lateral and longitudinal (longitudinal in both directions)
© ISO 2022 – All rights reserved 1

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ISO 20900:2022(E)
control of the vehicle while manoeuvring into the space/slot/garage and providing needednecessary
instructions to the driver

3.2
parking space
area which exists between two bordering vehicles and is available for parking
3.3
parking slot
allotted place which is delineated by lines or markings and is available for parking
3.4
garage
parking space (3.2) of adequate size for a single vehicle enclosed with walls or otheranother structure
3.5
parking manoeuvre
operation to move a vehicle to a parking space (3.2)/parking slot (3.3)/garage (3.4)
3.6
leaving manoeuvre
operation to move a vehicle out from a space (3.2)/ parking slot (3.3)/garage (3.4)
3.7
conventional driver
driver who is seated in the driver’s seat and is capable of the supervision of the safe operation of the
vehicle
3.8
remote driver
driver who operates PAPSthe partially-automated parking system (PAPS) (3.1) using a remote control
device
Note 1 to entry: The remote driver may be seated in the vehicle.
3.9
automated parking manoeuvre
automated lateral and longitudinal motion control of the vehicle by the PAPSpartially-automated parking
system (PAPS) (3.1) during the parking manoeuvre while the driver supervises
3.10
automated leaving manoeuvre
automated lateral and longitudinal motion control of the vehicle by the PAPSpartially-automated parking
system (PAPS) (3.1) during the leaving manoeuvre while the driver supervises
3.11
system activation
action of transitioning the system operation from a system ready state to an active state
3.12
test object
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ISO 20900:2022(E)
object with a specific material, geometry and surface for testing the monitoring range
3.13
bordering vehicle
vehicle that delimits the parking space (3.2)
3.14
PAPS vehicle
vehicle which is equipped with PAPSa partially-automated parking system (PAPS) (3.1)
4 Definition of PAPS types and requirements
4.1 PAPS types
For PAPSWithin PAPSs, the driver operates the vehicle until the parking location is determined.
Following this, until the parking operation is completed, the system performs all operations necessary to
park the vehicle such as steering, acceleration, braking, transmission shifting and applying the parking
brake.
The following two types of PAPS are defined in this document based on the scenarios in which the system
is supervised by an on-board conventional driver or by a remote driver who is not necessarily located in
the driver’s seat.
4.2 Basic system functionality
4.2.1 Type 1 — System supervised by a conventional driver located in the driver’s seat
4.2.1.1 General
— The system shall be supervised by a conventional driver seated in the car.
— The conventional driver shall request automated parking manoeuvres.
— The system searches for parking spaces/slots/garages.
— The search may be initiated automatically or by a conventional driver.
— In both cases, the system shall inform the conventional driver that it has identified a possible parking
space/slot/garage.
— If multiple possible parking spaces/slots/garages are identified, the system shall present the
candidates and the conventional driver may select one fromof the candidates.
— In the case where the conventional driver does not select any of the options from the multiple parking
spaces/slots/garages identified by the PAPS, the search may continue.
With its automatic control of propulsion, brake, transmission and steering, the system shall move the
vehicle, park the vehicle in the target parking space/ slot/ garage within the specified location accuracy
limits, and finally release control.
4.2.1.14.2.1.2 System reactions for Type 1
System reactions corresponding to conventional driver intervention are specified in Table 1.Table 1.
Table 1 1 — System reactions corresponding to conventional driver intervention
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ISO 20900:2022(E)
Conventional driver intervention Corresponding system reactions
Main switch OFF ShallThe system shall cancel the parking manoeuvre and
inform the conventional driver, then. It should then stop
Shift transmission into park
the vehicle.
ShouldThe system should cancel the parking manoeuvre. If
Acceleration the parking manoeuvre is cancelled, the system shall
inform conventional driver of the cancellation.
Other shift operations
Steering
ShallThe system shall stop the vehicle and inform the
Minimum torque to override the system applied by
a b
conventional driver driver.
the conventional driver to the steering wheel shall
be defined by the vehicle manufacturer. Typical
a
value could be approximately 5 Nm.Steering
When the amount of braking by a conventional driver
exceeds the amount of braking generated by the system,
Braking
the system operates according to the amount of braking
applied by the conventional driver.
a a
  The minimum torque to override the system applied by the conventional driver to the steering wheel shall be defined by

the vehicle manufacturer. A typical value could be approximately 5 Nm.
b
In this case, the system shall immediately stop vehicle movement and provide the conventional driver with information which
indicates both suspension of the system control and action for the conventional driver to take. After driver compliance,
depending on the concept of the vehicle manufacturer or the driver’s selection, the system can either re-start the automatic
control or terminate it.

4.2.2 Type 2 — System supervised by a remote driver
4.2.2.1 General
There are two main scenarios: entering a parking space/slot/garage and leaving a garage/ perpendicular
parking space/slot.
4.2.2.2 Entering a parking space/slot/garage
The system searches for parking spaces/slots/garages. The search may be initiated by the driver. The
system should inform the driver that it has identified one or more possible parking spaces/slots/garages.
The system may also be activated after the driver parks the car straight (e.g. 1 m) in front of the
garage/perpendicular parking slot/space.
If multiple possible parking spaces/slots/garages are identified, the system should present candidates.
The system proposes a parking space/slot/garage, but the driver shall be able to choose the intended
parking space/slot/garage from the candidates. The proposed parking space/slot/garage may be used if
the driver does not make a selection. The driver transfers the control method to the remote supervision
device while the vehicle is stopped. The remote driver then activates the parking manoeuvre
...

INTERNATIONAL ISO
STANDARD 20900
Second edition
Intelligent transport systems —
Partially-automated parking systems
(PAPS) — Performance requirements
and test procedures
Systèmes de transport intelligents — Systèmes de stationnement
partiellement automatisés (PAPS) — Exigences de performance et
procédures d'essai
PROOF/ÉPREUVE
Reference number
ISO 20900:2022(E)
© ISO 2022

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ISO 20900:2022(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2022
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting on
the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address below
or ISO’s member body in the country of the requester.
ISO copyright office
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: +41 22 749 01 11
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland
ii
PROOF/ÉPREUVE © ISO 2022 – All rights reserved

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ISO 20900:2022(E)
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Definition of PAPS types and requirements . 2
4.1 PAPS types . 2
4.2 Basic system functionality . 3
4.2.1 Type 1 — System supervised by a conventional driver located in the
driver’s seat . 3
4.2.2 Type 2 — System supervised by a remote driver . 4
4.3 General requirements . 5
4.3.1 Maximum speed during operation . 5
4.3.2 PAPS termination conditions . 5
4.3.3 User’s manual . 5
5 Functional and performance requirements for PAPS . 6
5.1 Supported parking types . 6
5.1.1 Parking types . 6
5.1.2 Parallel parking space . 6
5.1.3 Parallel parking slot . 7
5.1.4 Perpendicular parking space . 8
5.1.5 Perpendicular parking slot. 9
5.1.6 Garage parking space . 10
5.2 Operating states and user interface .12
5.2.1 Parking manoeuvre .12
5.2.2 Leaving manoeuvre for Type 2 . 15
5.3 Information strategy . 16
5.3.1 General . 16
5.3.2 Information in “Search state” . 17
5.3.3 Information during “Found state” until “Waiting for authorization state” . 17
5.3.4 Information in “Waiting for authorization state” . 17
5.3.5 Information during “Parking/Leaving manoeuvre state” . 17
6 Performance test requirements .17
6.1 General . 17
6.2 Environmental conditions . . 17
6.3 Test object . 18
6.3.1 Bordering vehicle . 18
6.3.2 Limiting objects. 18
6.3.3 Reference curb . 18
6.3.4 Slot lines . 18
6.4 Test criteria . 19
6.5 Performance test . 19
6.5.1 Parallel parking space . 19
6.5.2 Parallel parking slots . 22
6.5.3 Perpendicular parking space . 22
6.5.4 Perpendicular parking slot. 25
6.5.5 Garage parking space . 27
Bibliography .29
iii
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ISO 20900:2022(E)
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 non-governmental, in liaison with ISO, also take part in the work.
ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of
electrotechnical standardization.
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 documents 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).
Attention is drawn to the possibility that some of the elements of this document may be the subject of
patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of
any patent rights identified during the development of the document will be in the Introduction and/or
on the ISO list of patent declarations received (see www.iso.org/patents).
Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
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 20900:2019), which has been technically
revised.
The main changes are as follows:
— the concept of an "area where partially-automated parking systems (PAPS) control is permitted"
within parking scenarios has been removed;
— the concept of a "narrow situation" within parking scenarios has been introduced.
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.
iv
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ISO 20900:2022(E)
Introduction
Partially-automated parking systems (PAPS) perform parking manoeuvres controlling both
longitudinal and lateral movement of the vehicle to mitigate the driver’s burden. Information about the
intended parking space should be available prior to starting the system operation, via on-board sensors
and potentially via external infrastructural information sources, in order to determine the strategic
path to follow.
The system consists of driver command input device(s) and non-contact sensors for acquiring external
information. In addition, the system involves the automatic control of propulsion, brake, transmission
and steering, through which the vehicle is manoeuvred into an intended relative position and is made
to stop within certain tolerances without the driver’s direct manipulations.
A human-machine interface (HMI) provides system information to the driver. The system function
is initiated by a driver command. The system monitors the vicinity of the vehicle to detect and avoid
hazards. The vehicle behaviour and safety conditions are supervised by the driver.
The driver is able to cancel/halt the system operation at any time necessary.
The International Organization for Standardization (ISO) draws attention to the fact that it is claimed
that compliance with this document may involve the use of a patent.
ISO takes no position concerning the evidence, validity and scope of this patent right.
The holder of this patent right has assured ISO that he/she is willing to negotiate licences under
reasonable and non-discriminatory terms and conditions with applicants throughout the world. In
this respect, the statement of the holder of this patent right is registered with ISO. Information may be
obtained from the patent database available at www.iso.org/patents.
Attention is drawn to the possibility that some of the elements of this document may be the subject of
patent rights other than those in the patent database. ISO shall not be held responsible for identifying
any or all such patent rights.
v
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INTERNATIONAL STANDARD ISO 20900:2022(E)
Intelligent transport systems — Partially-automated
parking systems (PAPS) — Performance requirements and
test procedures
1 Scope
[1]
This document addresses light vehicles, for example passenger cars, pick-up trucks, light vans and
sport utility vehicles (motorcycles excluded), equipped with partially-automated parking systems
(PAPS).
This document establishes minimum functionality requirements that the driver can expect and that
are to be taken into account by the manufacturer.
There are two possible types of PAPS configuration.
— Type 1: the system is supervised by the conventional driver located in the driver’s seat.
— Type 2: the system is supervised by the remote driver (present within or outside the vehicle), who
is not necessarily located in the driver’s seat. The vehicle remains in the line of sight of the remote
driver.
This document addresses minimum requirements and conditions for safety, system performance and
function, including human-machine interface (HMI) information content and description of system
operating states, for both types of system.
The requirements include the driver, who supervises the safety throughout the system manoeuvres.
System test requirements are also addressed, including test criteria, method and conditions.
2 Normative references
There are no normative references in this document.
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
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
partially-automated parking system
PAPS
system capable of measuring the dimensions of a parking space (3.2)/parking slot (3.3)/garage
(3.4), calculating an applicable trajectory, performing lateral and longitudinal (longitudinal in both
directions) control of the vehicle while manoeuvring into the space/slot/garage and providing
necessary instructions to the driver
3.2
parking space
area which exists between two bordering vehicles and is available for parking
1
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ISO 20900:2022(E)
3.3
parking slot
allotted place which is delineated by lines or markings and is available for parking
3.4
garage
parking space (3.2) of adequate size for a single vehicle enclosed with walls or another structure
3.5
parking manoeuvre
operation to move a vehicle to a parking space (3.2)/parking slot (3.3)/garage (3.4)
3.6
leaving manoeuvre
operation to move a vehicle out from a space (3.2)/ parking slot (3.3)/garage (3.4)
3.7
conventional driver
driver who is seated in the driver’s seat and is capable of the supervision of the safe operation of the
vehicle
3.8
remote driver
driver who operates the partially-automated parking system (PAPS) (3.1) using a remote control device
Note 1 to entry: The remote driver may be seated in the vehicle.
3.9
automated parking manoeuvre
automated lateral and longitudinal motion control of the vehicle by the partially-automated parking
system (PAPS) (3.1) during the parking manoeuvre while the driver supervises
3.10
automated leaving manoeuvre
automated lateral and longitudinal motion control of the vehicle by the partially-automated parking
system (PAPS) (3.1) during the leaving manoeuvre while the driver supervises
3.11
system activation
action of transitioning the system operation from a system ready state to an active state
3.12
test object
object with a specific material, geometry and surface for testing the monitoring range
3.13
bordering vehicle
vehicle that delimits the parking space (3.2)
3.14
PAPS vehicle
vehicle which is equipped with a partially-automated parking system (PAPS) (3.1)
4 Definition of PAPS types and requirements
4.1 PAPS types
Within PAPSs, the driver operates the vehicle until the parking location is determined.
2
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ISO 20900:2022(E)
Following this, until the parking operation is completed, the system performs all operations necessary
to park the vehicle such as steering, acceleration, braking, transmission shifting and applying the
parking brake.
The following two types of PAPS are defined in this document based on the scenarios in which the
system is supervised by an on-board conventional driver or by a remote driver who is not necessarily
located in the driver’s seat.
4.2 Basic system functionality
4.2.1 Type 1 — System supervised by a conventional driver located in the driver’s seat
4.2.1.1 General
— The system shall be supervised by a conventional driver seated in the car.
— The conventional driver shall request automated parking manoeuvres.
— The system searches for parking spaces/slots/garages.
— The search may be initiated automatically or by a conventional driver.
— In both cases, the system shall inform the conventional driver that it has identified a possible
parking space/slot/garage.
— If multiple possible parking spaces/slots/garages are identified, the system shall present the
candidates and the conventional driver may select one of the candidates.
— In the case where the conventional driver does not select any of the options from the multiple
parking spaces/slots/garages identified by the PAPS, the search may continue.
With its automatic control of propulsion, brake, transmission and steering, the system shall move the
vehicle, park the vehicle in the target parking space/slot/garage within the specified location accuracy
limits, and finally release control.
4.2.1.2 System reactions for Type 1
System reactions corresponding to conventional driver intervention are specified in Table 1.
Table 1 — System reactions corresponding to conventional driver intervention
Conventional driver intervention Corresponding system reactions
Main switch OFF The system shall cancel the parking manoeuvre and
inform the conventional driver. It should then stop the
Shift transmission into park
vehicle.
The system should cancel the parking manoeuvre. If the
Acceleration parking manoeuvre is cancelled, the system shall inform
conventional driver of the cancellation.
Other shift operations
The system shall stop the vehicle and inform the conven-
b
a
tional driver.
Steering
a
The minimum torque to override the system applied by the conventional driver to the steering wheel shall be defined
by the vehicle manufacturer. A typical value could be approximately 5 Nm.
b
In this case, the system shall immediately stop vehicle movement and provide the conventional driver with information
which indicates both suspension of the system control and action for the conventional driver to take. After driver
compliance, depending on the concept of the vehicle manufacturer or the driver’s selection, the system can either re-start
the automatic control or terminate it.
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ISO 20900:2022(E)
TTabablele 1 1 ((ccoonnttiinnueuedd))
Conventional driver intervention Corresponding system reactions
When the amount of braking by a conventional driver
exceeds the amount of braking generated by the system,
Braking
the system operates according to the amount of braking
applied by the conventional driver.
a
The minimum torque to override the system applied by the conventional driver to the steering wheel shall be defined
by the vehicle manufacturer. A typical value could be approximately 5 Nm.
b
In this case, the system shall immediately stop vehicle movement and provide the conventional driver with information
which indicates both suspension of the system control and action for the conventional driver to take. After driver
compliance, depending on the concept of the vehicle manufacturer or the driver’s selection, the system can either re-start
the automatic control or terminate it.
4.2.2 Type 2 — System supervised by a remote driver
4.2.2.1 General
There are two main scenarios: entering a parking space/slot/garage and leaving a garage/perpendicular
parking space/slot.
4.2.2.2 Entering a parking space/slot/garage
The system searches for parking spaces/slots/garages. The search may be initiated by the driver.
The system should inform the driver that it has identified one or more possible parking spaces/slots/
garages. The system may also be activated after the driver parks the car straight (e.g. 1 m) in front of
the garage/perpendicular parking slot/space.
If multiple possible parking spaces/slots/garages are identified, the system should present candidates.
The system proposes a parking space/slot/garage, but the driver shall be able to choose the intended
parking space/slot/garage from the candidates. The proposed parking space/slot/garage may be used if
the driver does not make a selection. The driver transfers the control method to the remote supervision
device while the vehicle is stopped. The remote driver then activates the parking manoeuvre using
the remote supervision device. Only while the remote driver is using the remote supervision device
to continuously give authorization for the vehicle to move, shall the system automatically operate and
park the vehicle in the target parking space/slot/garage within the specified location accuracy limits.
The vehicle is stopped when the final parking position is reached or when the remote driver deactivates
the system using the remote supervision device.
4.2.2.3 Leaving a garage/perpendicular parking space/slot
The system shall start the leaving manoeuvre when it receives and confirms a leaving manoeuvre
request from the remote driver. Only while the remote driver is using the remote supervision device
to continuously give authorization for the vehicle to move, shall the system automatically operate and
move the vehicle from the parking space/slot/garage within the specified location accuracy limits. The
vehicle is stopped when the specified position is reached or when the remote driver deactivates the
system using the remote supervision device.
4.2.2.4 System reactions for Type 2
System reactions corresponding to remote driver intervention and system failure are specified in
Tables 2 and 3.
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ISO 20900:2022(E)
Table 2 — System reactions corresponding to remote driver intervention
Remote driver intervention Corresponding system reactions
Main switch OFF
The system shall stop the vehicle and cancel automatic
(if available on remote device)
a
control of the system.
Ignition OFF
b
The system shall stop the vehicle.
A door or trunk of the vehicle opens while the remote
driver is giving the command to move by the remote
When the condition is cleared, the system may contin-
supervision device.
ue the parking manoeuvre.
a
In this case, the system shall immediately stop vehicle movement and provide the remote driver with information
which indicates cancellation of the system control.
b
In this case, the system shall immediately stop vehicle movement and provide the remote driver with information which
indicates suspension of the system control. After driver compliance, depending on the concept of the vehicle manufacturer
or the driver's selection, the system can either re-start the automatic control or terminate it.
Table 3 — System reactions corresponding to system failure
System failure Corresponding system reactions
The distance between the remote driver and the vehi-
a
The system shall stop the vehicle.
cle exceeds a threshold defined by the system designer.
When the condition is cleared, the system may contin-
The communication between the remote device and
ue the parking/leaving manoeuvre.
the system is interrupted or data is corrupted.
a
In this case, the system shall immediately stop vehicle movement and provide the remote driver with information which
indicates suspension of the system control. After driver compliance, depending on the concept of the vehicle manufacturer
or the driver’s selection, the system can either re-start the automatic control or terminate it.
4.3 General requirements
4.3.1 Maximum speed during operation
The system shall only operate up to 10 km/h (+2 km/h tolerance).
4.3.2 PAPS termination conditions
PAPS shall abort the automated parking/leaving manoeuvres if there is a system failure detected by
the PAPS.
The system shall cancel automated control and provide information to the driver upon detecting
malfunctions.
4.3.3 User’s manual
The vehicle user’s manual (owner’s manual) should include an advisory note that clearly indicates
how to use the system. It should also include a description of abort or pause criteria, the driver’s
responsibility and the limitations of the system.
The manual shall particularly emphasize the responsibility of the driver for safety while the system is
operating. This includes identifying obstructions and other possible hazards that can potentially not be
detected by the PAPS. Particularly in case of garage/perpendicular spaces/slots, the driver shall ensure
the parking space/slot/garage is of sufficient depth.
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ISO 20900:2022(E)
5 Functional and performance requirements for PAPS
5.1 Supported parking types
5.1.1 Parking types
PAPS shall support one or more parking types of the following:
a) parallel parking space;
b) parallel parking slot;
c) perpendicular parking space;
d) perpendicular parking slot;
e) garage parking space.
5.1.2 Parallel parking space
As a minimum requirement, the parking manoeuvre shall be performed with a parallel parking space
limited by either one or both of the following:
— two bordering vehicles;
— (optionally) curb as a lateral reference.
The system should be able to detect a reference curb, as described in Figure 9.
For this parking type, the bordering vehicles should be properly parallel parked. The standard parking
space width, W, is defined as the length of the PAPS vehicle plus Δy. The space depth, D, is defined as the
width of the PAPS vehicle plus 0,2 m, without side view mirrors. Two parking scenarios are considered,
either with or without a reference curb. In a situation with a reference curb, the vehicles are parked
with a fixed distance parallel to them. In a situation without a reference curb, the virtual connecting
line between the outer borders (without side view mirrors) of the two bordering parked vehicles
projected onto the ground is the lateral reference line.
The parking space is defined by its width, W, and its depth, D (as shown in Figure 1). W is the distance
between the two bordering vehicles. The depth, D, is the distance between the lateral reference line and
the width of the PAPS vehicle plus 0,2 m, without side view mirrors.
For a PAPS vehicle with a length between 4
...