GB/T 39323-2020Performance requirement and testing method for lane keeping assist (LKA) system of passenger cars (English PDF)

3.1 Lane

The driving area that the driver does not need to change the driving path, and there isn't any interference from fixed obstacles. [GB/T 26773-2011, definition 3.1]

3.2 Lane boundary line

The visible road traffic markings that are used to determine lane boundaries.

3.3 Lane departure

The outer edge of the front wheel of the vehicle exceeds or shall exceed the lane boundary line.

3.4 Rate of departure

The vertical component of the speed when the vehicle deviates from the lane boundary line.

3.5 Lane keeping assist; LKA

During the driving of the vehicle, monitor the relative position of the vehicle and the lane boundary line in real-time, continuously or when necessary, control the lateral movement of the vehicle to keep the vehicle in the original lane.

4.1 General requirements

4.1.1 The system shall be able to recognize the relative position of the vehicle and the lane boundary line in a good lane boundary line environment, and assist the driver to keep the vehicle in the original lane.

4.1.5 The system shall monitor its own status and prompt the driver with clear and easy-to-understand status information, including system failure, system standby/activation, system ON/OFF, etc. Among them, the system ON/OFF information may be viewed in indirect ways such as calling the menu.

4.1.6 The system shall be set with function inhibition, failure, and exit conditions and described in the motor vehicle product manual.

4.1.7 Refer to Appendix A for the state conversion of the system.

4.1.8 The functional safety requirements of the system shall be formulated in accordance with GB/T 34590 (all parts), and meet the requirements of Appendix B.

4.2 Performance requirements

4.2.1 The function of lane departure prevention shall ensure that the lane departure does not exceed 0.4m outside the lane boundary line; the function of lane centering control shall ensure that the lane departure does not exceed the outside lane boundary line.

4.2.3 The lateral acceleration of the vehicle caused by the system activation shall be no greater than 3m/s², and the rate of change of the lateral acceleration of the vehicle shall be no greater than 5m/s³.

5.1 Requirements for test environment

Except for special provisions, the test environment requirements are as follows. […]

5.2 Requirements for test road

The test road shall meet the following conditions. […]

5.3 Requirements for test vehicle

The mass of the test vehicle shall be BETWEEN the complete vehicle kurb mass plus the total mass of the driver and the test equipment (the total mass of the driver and the test equipment does not exceed 150kg) AND the maximum allowable total mass. The status of the test vehicle shall not be changed after the start of the test.

5.4 Requirements for test instrument

5.4.1 Instrument test parameters

The test parameters of the collection and recording instrument of the test vehicle include but not limited to the following. […]

5.4.2 Requirements for instrument measurement accuracy

The data collection and recording instrument of the test vehicle shall at least meet the following accuracy requirements.

6.1 Test categories

There are three categories of tests.

6.2 Straight lane departure prevention test

The test road shall be a long straight road that meets the requirements of 5.2.

In the test, the test vehicle travels in a straight line in the lane.

6.3 Curve lane departure prevention test

The test road is a straight lane connected with a curve lane, and the length of the curve lane shall ensure on which the vehicle can travel for more than 5s. The curve lane is divided into a fixed curvature part and a variable curvature part.

6.4 Lane centering control test

The test road is a straight lane connected with a curve lane, thereof, the length of the curve lane shall ensure on which the vehicle can travel for more than 5s. The curve lane is divided into a fixed curvature part and a variable curvature part. the curvature of the fixed curvature part is 2 x 10^-3 m-1 (radius <=500m). […]