GB/T 41798-2022Intelligent and connected vehicles—Track testing methods and requirements for automated driving functions (English PDF)

3.1 Automated driving function

A general term for driving automation functions of level 3 and above specified in GB/T 40429, including "conditional automated driving", "highly automated driving" and "full automated driving" functions.

3.2 Vehicle under test; VUT

A vehicle for testing the automated driving function.

3.3 Object target

Traffic participants and obstacles that are used to construct the testing scenario.

3.4 Vehicle target; VT

A production passenger car used to build the testing scenario.

3.5 Automated driving mode

A mode in which all dynamic driving tasks are performed by the automated driving system.

4.1 Test site and test environment

4.1.1 The test site shall meet the following conditions.

4.1.2 The vehicle under test shall be tested in an environment with good weather and normal lighting. If the vehicle under test needs to be tested under special weather or night lighting conditions, refer to Annex A.

4.2 Test equipment and data collection

4.2.2 Test equipment requirements

The test equipment shall meet the following requirements. […]

4.2.3 Test record

The test process record shall include the following. […]

4.3 Requirements for vehicle under test

4.3.1 The vehicle under test shall meet the following human-machine interaction requirements.

4.3.2 The vehicle under test shall meet the following load requirements.

5.1 Process management

5.1.1 The test items shall be selected in accordance with Annex B according to the driving area under the designed operating conditions of the vehicle under test.

5.1.3 The speed limit setting of the test road shall meet the purpose of the test project.

5.1.4 During the test, the following requirements shall be met.

5.2 Test acceptance conditions

5.2.1 Complete the test items selected in 5.1.1 as required. Each test item shall be tested 3 times in accordance with the relevant test methods specified in Chapter 6: All 3 times meet the acceptance requirements of its design operating conditions.

5.2.2 During the test, if any of the following events occurs on the vehicle under test, the test process shall be regarded as not meeting the acceptance requirements.

6.1 Recognition and response of traffic signal

6.1.1 Speed limit sign

6.1.1.2 Test method

The vehicle under test drives to the speed limit sign in a long straight at a speed not lower than 0.75 times the initial road speed limit value.

6.1.1.3 Acceptance requirements

6.1.2 Curve

The vehicle under test shall meet the following requirements. […]

6.1.2.1 Testing scenario

The test road is a combination of long straights and curves. The length of the curve shall ensure that the vehicle under test travels in the curve for at least 5s. According to vmax, select any corresponding set of test parameters in Table 2. Set the corresponding speed limit signs, as shown in Figure 2.

6.1.2.3 Acceptance requirements

The vehicle under test shall meet the following requirements. […]

6.1.3 Stop and give way signs and markings

6.1.3.1 Testing scenario

The test road is a T-junction with at least two two-way two-lane. Set up stop and give way signs and markings at the intersection, as shown in Figure 3.

6.1.3.2 Test method

The vehicle under test drives to the stop and give way line in the lane.

6.1.4 Motor vehicle signal lights

6.1.4.1 Testing scenario

The test road is an intersection with at least two lanes in both directions. Motor vehicle signal lights are set at intersections. The turning radius of the road is not less than 15m.

The speed limit of the road section is set to 40km/h, as shown in Figure 4.

6.1.4.3 Acceptance requirements

6.1.4.3.1 When conducting right-turn tests at green and red lights, the vehicle under test shall pass through the intersection and enter the corresponding lane. Driving shall not be stopped during this process.

6.2 Identification and response of road transport infrastructure and obstacles

6.2.2 Roundabouts

6.2.2.1 Testing scenario

A roundabout with no less than 3 entrances and exits is set up on the test road. Each entrance and exit shall have at least two lanes in both directions. There is a driving vehicle target (VT1) upstream of the entrance of the vehicle under test. There is a stationary vehicle target (VT2) at the first entrance downstream, as shown in Figure 8.

6.2.8 Construction lane

6.2.8.1 Testing scenario

The test road shall be at least a long straight road with one-way two-lane. The middle lane line is a dashed white line. Traffic cones and traffic signs are placed in the outer lane according to the traffic control requirements of the long-term operation area of road construction, as shown in Figure 14. […]