ISO 21717:2018

INTERNATIONAL ISO
STANDARD 21717
First edition
2018-09
Intelligent transport systems —
Partially Automated In-Lane Driving
Systems (PADS) — Performance
requirements and test procedures
Reference number
©
ISO 2018
© ISO 2018
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ii © ISO 2018 – All rights reserved

Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Symbols . 3
5 Requirements for longitudinal control . 3
6 Requirements . 3
6.1 Functionality . 3
6.1.1 off state . 4
6.1.2 stand-by state . 4
6.1.3 active state . 4
6.1.4 longit state . 4
6.1.5 longit-lat state . 4
6.2 Basic driver interface and intervention capabilities . 5
6.2.1 General. 5
6.2.2 Operation elements and system reactions . 5
6.2.3 Display elements . 5
6.2.4 Driver monitoring . 5
6.2.5 Symbols . 5
6.3 Minimum functionality . 6
6.3.1 General. 6
6.3.2 Longitudinal control . 6
6.3.3 Lateral control . 6
6.4 Operational limits . 6
6.5 Failure reactions . 6
7 Performance evaluation test methods . 7
7.1 Environmental conditions . 7
7.2 Test course conditions . 7
7.3 Test vehicle conditions . 7
7.4 Test system installation and configuration . 8
7.5 Test procedure . 8
7.5.1 Parameters recoverable from data record . 8
7.5.2 Test track . 8
7.5.3 Procedure . 8
Annex A (informative) Example curved track for the test procedure . 9
Bibliography .11
Foreword
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iv © ISO 2018 – All rights reserved

Introduction
PADS is fundamentally intended to provide partially automated driving by longitudinal and lateral
control of equipped vehicles while travelling on roads where non-motorized vehicles and pedestrians
are prohibited. Free-flowing as well as congested traffic conditions could be addressed by PADS. The
functionality of the longitudinal control is standardized in accordance with ISO 15622. The intention of
the lateral control is to keep the vehicle in the lane and not to perform lane changes.
The main system function of a Partially Automated In-Lane Driving System (PADS) is to support the
driver in keeping the vehicle within the current lane and to keep the vehicle speed below a set maximum
or to control vehicle speed adaptively to a forward vehicle by using information about:
a) distance to forward vehicles,
b) the motion of the subject (PADS equipped) vehicle,
c) the position of the subject vehicle within the lane, and
d) driver commands (see Figure 1).
Based upon the information acquired, PADS sends commands to actuators that carry out its longitudinal
and lateral control strategy, and sends status information to the driver.
The goal of PADS is partial automation of longitudinal and lateral vehicle control to reduce drivers’
workload.
This document may be used as a system level standard by other standards, which extend the PADS
standard to a more detailed standard, e.g. for specific detection and ranging sensor concepts or
higher levels of functionality. Specific requirements for the detection and ranging sensor function and
performance or communication links for co-operative solutions are not considered in this document.
INTERNATIONAL STANDARD ISO 21717:2018(E)
Intelligent transport systems — Partially Automated In-
Lane Driving Systems (PADS) — Performance requirements
and test procedures
1 Scope
This document contains the basic control strategy, minimum functionality requirements, basic driver
interface elements, minimum requirements for diagnostics and reaction to failure, and performance
test procedures for Partially Automated In-Lane Driving Systems (PADS).
This document is applicable to passenger cars, commercial vehicles and buses. It is not applicable to
automated driving systems of level 3 or higher (as defined in SAE J3016: 2016).
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 15622, Intelligent transport systems — Adaptive cruise control systems — Performance requirements
and test procedures
3 Terms and definitions
For the purposes of this document, the following terms and definitions 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
subject vehicle
vehicle equipped with PADS
3.2
forward vehicle
vehicle in front of and moving in the same direction and travelling on the same roadway as the
subject vehicle
3.3
system states
one of several stages or phases of system operation
Note 1 to entry: See Figure 1.
3.3.1
PADS off state
state in which the system is switched off
3.3.2
PADS stand-by state
state in which the system is ready for activation by the driver
3.3.3
PADS active state
state in which the system is activated
3.3.4
PADS longit state
state in which the system controls speed and distance to a forward vehicle
3.3.5
PADS longit-lat state
state in which the system controls speed and distance to a forward vehicle and performs steering actions
3.4
lane
area of roadway that a vehicle would be expected to travel along in the absence of any obstruction
without the driver’s desire to change the path of travel
3.5
visible lane marking
delineators intentionally placed on the borderline of the lane that are directly visible by the driver while
driving, e.g. not covered by snow
3.6
incidental visible road feature
visible patterns on the road surface that were not explicitly intended to delineate the boundaries of the
lane but which are indicative of the position of the lane
Note 1 to entry: These may include such features as pavement seams or edges, curbs.
3.7
lane boundary
borderline of the lane that is determined by a visible lane marking and, in the absence of a visible lane
marking, by incidental visible road features or other means such as GPS, magnetic nails
Note 1 to entry: In the case of a visible lane marking, the boundary shall be at the centre thereof.
3.8
suppression request
driver request or a system feature intended to prevent PADS action if an intentional lane departure is
detected
3.9
steering action
steering manoeuvre which the system performs to influence the lateral movement of the subject vehicle
with the intention of keeping the vehicle within the lane
3.10
visibility
distance at which the illuminance of a non-diffusive beam of white light with a colour temperature of
2 700 K is decreased to 5 % of its original light source illuminance
3.11
failure
mechanical or electronic malfunction which causes a persistent loss of performance or function
Note 1 to entry: Temporary performance reductions, e.g. due to bad weather conditions, bad lane markings or
temporarily occurring sensor blindness are not a failure.
3.12
straight
segment of road on which curvature is less than 1/5 000 m
2 © ISO 2018 – All rights reserved

4 Symbols
Table 1 — Symbols and definitions
Symbol Definition
PADS_curvature_rate_max maximum rate of change of curvature which is allowed for the curve test track
PADS_Lat_Acel_max maximum lateral acceleration which is allowed to be induced by a steering action
PADS_Lat_Jerk_max maximum lateral jerk which is allowed to be induced by a steering action
Vmax maximum speed at which PADS is designed to function
Vmin minimum speed at which PADS is designed to function
PADS_lat_test_speed speed, at which the function is tested
5 Requirements for longitudinal control
Depending on the minimum speed, Vmin, PADS shall fulfil the following requirements of specific
ACC types:
— PADS with Vmin less than 5 m/s shall fu
...